512 lines
17 KiB
Python
512 lines
17 KiB
Python
import enum
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import time
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from typing import List, Optional, Dict, Union, Callable, Tuple, Type
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from pyfirmata2 import (
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Arduino,
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ArduinoMega,
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ArduinoDue,
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ArduinoNano,
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Board,
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Pin,
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util,
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ANALOG,
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INPUT,
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PWM,
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)
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from platypush.common.sensors import Numeric
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from platypush.entities.devices import Device
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from platypush.entities.sensors import NumericSensor
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from platypush.plugins import action
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from platypush.plugins.sensor import SensorPlugin
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class PinType(enum.IntEnum):
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"""
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PIN type enumeration (analog or digital).
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"""
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ANALOG = 1
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DIGITAL = 2
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class BoardType(enum.Enum):
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"""
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Board types.
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"""
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MEGA = 'mega'
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DUE = 'due'
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NANO = 'nano'
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# pylint: disable=too-many-ancestors
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class ArduinoPlugin(SensorPlugin):
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"""
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Interact with an Arduino connected to the host machine over USB using the
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`Firmata <https://www.arduino.cc/en/reference/firmata>`_ protocol.
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You have two options to communicate with an Arduino-compatible board over USB:
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- Use this plugin if you want to use the general-purpose Firmata protocol - in this case most of your
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processing logic will be on the host side and you can read/write data to the Arduino transparently.
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- Use the :class:`platypush.plugins.serial.SerialPlugin` if instead you want to run more custom logic
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on the Arduino and communicate back with the host computer through JSON formatted messages.
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Download and flash the
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`Standard Firmata <https://github.com/firmata/arduino/blob/master/examples/StandardFirmata/StandardFirmata.ino>`_
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firmware to the Arduino in order to use this plugin.
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"""
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def __init__(
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self,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: int = 9600,
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analog_pins: Optional[Dict[str, int]] = None,
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digital_pins: Optional[Dict[str, int]] = None,
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timeout: float = 20.0,
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conv_functions: Optional[Dict[Union[str, int], Union[str, Callable]]] = None,
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poll_interval: float = 1.0,
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**kwargs,
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):
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"""
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:param board: Default board name or path (e.g. ``COM3`` on Windows or ``/dev/ttyUSB0`` on Unix). If not set
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then the plugin will attempt an auto-discovery.
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:param board_type: Default board type. It can be 'mega', 'due' or 'nano'. Leave empty for auto-detection.
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:param baud_rate: Default serial baud rate (default: 9600)
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:param analog_pins: Optional analog PINs map name->pin_number.
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:param digital_pins: Optional digital PINs map name->pin_number.
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:param timeout: Board communication timeout in seconds.
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:param conv_functions: Optional mapping of conversion functions to apply to the analog values read from a
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certain PIN. The key can either be the PIN number or the name as specified in ``analog_pins``, the value
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can be a function that takes an argument and transforms it or its lambda string representation.
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Note that ``analog_read`` returns by default float values in the range [0.0, 1.0]. Example:
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.. code-block:: yaml
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arduino:
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board: /dev/ttyUSB0
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analog_pins:
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temperature: 1 # Analog PIN 1
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conv_functions:
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temperature: 'lambda t: t * 500.0'
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"""
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super().__init__(poll_interval=poll_interval, **kwargs)
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self.board = board
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self.board_type = self._get_board_type(board_type)
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self.baud_rate = baud_rate
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self.timeout = timeout
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self._pin_number_by_name = {
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PinType.ANALOG: analog_pins or {},
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PinType.DIGITAL: digital_pins or {},
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}
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self._pin_name_by_number = {
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PinType.ANALOG: {
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number: name
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for name, number in self._pin_number_by_name[PinType.ANALOG].items()
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},
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PinType.DIGITAL: {
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number: name
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for name, number in self._pin_number_by_name[PinType.DIGITAL].items()
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},
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}
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self.conv_functions: Dict[Union[str, int], Callable] = {
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(self._pin_number_by_name[PinType.ANALOG].get(str(pin), pin)): (
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f if callable(f) else eval(f)
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)
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for pin, f in (conv_functions or {}).items()
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}
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self._boards: Dict[str, Board] = {}
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self._board_iterators: Dict[str, util.Iterator] = {}
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@staticmethod
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def _get_board_type(board_type: Optional[str] = None) -> Type[Board]:
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if not board_type:
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return Arduino
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board_type = board_type.lower()
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if board_type == BoardType.DUE.value:
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return ArduinoDue
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if board_type == BoardType.NANO.value:
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return ArduinoNano
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if board_type == BoardType.MEGA.value:
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return ArduinoMega
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raise AssertionError(f'Invalid board_type: {board_type}')
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def _get_board(
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self,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[float] = None,
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) -> Board:
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board_name = board or self.board or Arduino.AUTODETECT
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baud_rate = baud_rate or self.baud_rate
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timeout = timeout or self.timeout
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if board_name in self._boards:
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return self._boards[board_name]
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board_obj_type = (
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self._get_board_type(board_type) if board_type else self.board_type
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)
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assert board_obj_type
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board_obj = board_obj_type(board_name, baudrate=baud_rate, timeout=timeout)
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board_name = board_obj.name or ''
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self.logger.info('Connected to board %s', board_name)
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self._boards[board_name] = board_obj
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self._board_iterators[board_name] = util.Iterator(board_obj)
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self._board_iterators[board_name].start()
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return board_obj
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def _get_board_and_pin(
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self,
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pin: Union[int, str],
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pin_type: PinType,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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) -> Tuple[Board, int]:
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board_ = self._get_board(
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board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
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)
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if pin in self._pin_number_by_name[pin_type]:
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pin = self._pin_number_by_name[pin_type][str(pin)]
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assert isinstance(pin, int), f'Invalid PIN number/name: {pin}'
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return board_, pin
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@staticmethod
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def _get_pin(pin: int, board: Board, pin_type: PinType) -> Pin:
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pins = None
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if pin_type == PinType.ANALOG:
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pins = board.analog
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if pin_type == PinType.DIGITAL:
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pins = board.digital
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assert pins, f'Invalid pin_type: {pin_type}'
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if pins[pin].mode in [ANALOG, INPUT]:
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pins[pin].enable_reporting()
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return pins[pin]
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def _poll_value(
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self,
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pin: int,
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board: Board,
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pin_type: PinType,
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timeout: Optional[float] = None,
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) -> Optional[Union[bool, float]]:
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value = None
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poll_start = time.time()
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while value is None:
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if timeout and time.time() - poll_start >= timeout:
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raise RuntimeError('Read timeout')
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pin_ = self._get_pin(pin=pin, board=board, pin_type=pin_type)
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if pin_.mode not in [INPUT, ANALOG]:
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self.logger.warning(
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'PIN %d is not configured in input/analog mode', pin
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)
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return None
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value = pin_.read()
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if value is None:
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time.sleep(0.001)
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if pin_type == PinType.DIGITAL:
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value = bool(value)
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return value
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@action
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def analog_read(
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self,
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pin: Union[int, str],
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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conv_function: Optional[Union[str, Callable]] = None,
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timeout: Optional[int] = None,
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) -> Optional[float]:
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"""
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Read an analog value from a PIN.
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:param pin: PIN number or configured name.
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:param board: Board path or name (default: default configured ``board``).
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param conv_function: Optional conversion function override to apply to the output. It can be either a function
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object or its lambda string representation (e.g. ``lambda x: x*x``). Keep in mind that ``analog_read``
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returns by default float values in the range ``[0.0, 1.0]``.
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.ANALOG,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout,
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)
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conv_function = conv_function or self.conv_functions.get(pin)
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converter: Optional[Callable[[float], float]] = None
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if isinstance(conv_function, str):
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converter = eval(conv_function)
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elif callable(conv_function):
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converter = conv_function
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elif conv_function is not None:
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raise AssertionError(
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'Expected conv_function to be null, a string or a function, '
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f'got "{conv_function}" instead'
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)
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value = self._poll_value(
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pin=pin, board=board_, pin_type=PinType.ANALOG, timeout=timeout
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)
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if converter and value is not None:
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value = converter(value)
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return value
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@action
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def digital_read(
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self,
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pin: Union[int, str],
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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) -> bool:
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"""
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Read a digital value from a PIN.
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:param pin: PIN number or configured name.
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:param board: Board path or name (default: default configured ``board``).
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.DIGITAL,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout,
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)
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return bool(
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self._poll_value(
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pin=pin, board=board_, pin_type=PinType.DIGITAL, timeout=timeout
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)
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)
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@action
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def analog_write(
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self,
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pin: Union[int, str],
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value: float,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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):
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"""
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Write a value to an analog PIN.
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:param pin: PIN number or configured name.
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:param value: Voltage to be sent, a real number normalized between 0 and 1.
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:param board: Board path or name (default: default configured ``board``).
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.ANALOG,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout,
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)
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board_.analog[pin].write(value)
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@action
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def digital_write(
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self,
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pin: Union[int, str],
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value: bool,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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):
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"""
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Write a value to a digital PIN.
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:param pin: PIN number or configured name.
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:param value: True (HIGH) or False (LOW).
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:param board: Board path or name (default: default configured ``board``).
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.DIGITAL,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout,
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)
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board_.digital[pin].write(value)
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@action
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def pwm_write(
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self,
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pin: Union[int, str],
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value: float,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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):
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"""
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Write a PWM value to a digital PIN.
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:param pin: PIN number or configured name.
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:param value: PWM real value normalized between 0 and 1.
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:param board: Board path or name (default: default configured ``board``).
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.DIGITAL,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout,
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)
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assert board_.digital[pin].PWM_CAPABLE, f'PIN {pin} is not PWM capable'
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if board_.digital[pin] != PWM:
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board_.digital[pin].mode = PWM
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time.sleep(0.001) # 1 μs spike to activate a PWM pin
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board_.digital[pin].write(value)
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@action
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def get_measurement(
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self,
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*_,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None,
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**__,
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) -> Dict[str, Optional[Union[float, bool]]]:
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"""
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Get a measurement from all the configured PINs.
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:param board: Board path or name (default: default configured ``board``)
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:param board_type: Board type. It can be 'mega', 'due' or 'nano' (default: configured ``board_type``).
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:param baud_rate: Baud rate (default: default configured ``baud_rate``)
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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:return: dict, where the keys are either the configured names of the PINs (see ``analog_pins`` configuration)
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or all the analog PINs (names will be in the format 'A0..A7' in that case), and the values will be the
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real values measured, either normalized between 0 and 1 if no conversion functions were provided, or
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transformed through the configured ``conv_functions``.
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"""
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ret = {}
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board_ = self._get_board(
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board=board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
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)
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assert board_, f'No such board: board={board}, board_type={board_type}'
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for pin in board_.analog:
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if (
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self._pin_name_by_number[PinType.ANALOG]
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and pin.pin_number not in self._pin_name_by_number[PinType.ANALOG]
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):
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continue
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name = self._pin_name_by_number[PinType.ANALOG].get(
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pin.pin_number, f'A{pin.pin_number}'
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)
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value = self._poll_value(
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pin=pin.pin_number,
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board=board_,
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pin_type=PinType.ANALOG,
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timeout=timeout or self.timeout,
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)
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if value is None:
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continue
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conv_function = self.conv_functions.get(
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name, self.conv_functions.get(pin.pin_number)
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)
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if conv_function:
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value = conv_function(value)
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ret[name] = value
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return ret
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def transform_entities(self, entities: Dict[str, Numeric]) -> List[Device]: # type: ignore
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dev_id = 'arduino'
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dev_name = 'Arduino'
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if self.board:
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dev_id += f':{self.board}'
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dev_name += f' @ {self.board}'
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return [
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Device(
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id=dev_id,
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name=dev_name,
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children=[
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NumericSensor(
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id=f'{dev_id}:{key}',
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name=key,
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value=value,
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)
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for key, value in entities.items()
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],
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)
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]
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@action
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def stop(self):
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super().stop()
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for it in self._board_iterators.values():
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it.stop()
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for board in self._boards.values():
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board.exit()
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self._board_iterators = {}
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self._boards = {}
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# vim:sw=4:ts=4:et:
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