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Migrated arduino integration to the new SensorPlugin API.

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This commit is contained in:
Fabio Manganiello 2023-04-02 23:06:06 +02:00
parent cf16076bce
commit d5ddc0c65e
Signed by untrusted user: blacklight
GPG key ID: D90FBA7F76362774
5 changed files with 282 additions and 179 deletions
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3
platypush/backend/http/webapp/src/assets/icons.json
View file

@ -1,4 +1,7 @@
{ {
"arduino": {
"class": "fas fa-microchip"
},
"bluetooth": { "bluetooth": {
"class": "fab fa-bluetooth" "class": "fab fa-bluetooth"
}, },

26
platypush/backend/sensor/arduino/__init__.py
View file

@ -1,26 +0,0 @@
from platypush.backend.sensor import SensorBackend
class SensorArduinoBackend(SensorBackend):
"""
This backend listens for new events from an Arduino with a Firmata-compatible firmware.
Requires:
* The :class:`platypush.plugins.arduino.ArduinoPlugin` plugin configured.
Triggers:
* :class:`platypush.message.event.sensor.SensorDataChangeEvent` if the measurements of a sensor have changed
* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent` if the measurements of a sensor have
gone above a configured threshold
* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent` if the measurements of a sensor have
gone below a configured threshold
"""
def __init__(self, **kwargs):
super().__init__(plugin='arduino', **kwargs)
# vim:sw=4:ts=4:et:

12
platypush/backend/sensor/arduino/manifest.yaml
View file

@ -1,12 +0,0 @@
manifest:
events:
platypush.message.event.sensor.SensorDataAboveThresholdEvent: if the measurements
of a sensor havegone above a configured threshold
platypush.message.event.sensor.SensorDataBelowThresholdEvent: if the measurements
of a sensor havegone below a configured threshold
platypush.message.event.sensor.SensorDataChangeEvent: if the measurements of a
sensor have changed
install:
pip: []
package: platypush.backend.sensor.arduino
type: backend

415
platypush/plugins/arduino/__init__.py
View file

@ -1,26 +1,49 @@
import enum import enum
import time import time
from typing import Optional, Dict, Union, Callable, Tuple, Type from typing import List, Optional, Dict, Union, Callable, Tuple, Type
from typing_extensions import override
from pyfirmata2 import Arduino, ArduinoMega, ArduinoDue, ArduinoNano, Pin, util, ANALOG, INPUT, PWM from pyfirmata2 import (
Arduino,
ArduinoMega,
ArduinoDue,
ArduinoNano,
Board,
Pin,
util,
ANALOG,
INPUT,
PWM,
)
from platypush.common.sensors import Numeric
from platypush.entities.devices import Device
from platypush.entities.sensors import NumericSensor
from platypush.plugins import action from platypush.plugins import action
from platypush.plugins.sensor import SensorPlugin from platypush.plugins.sensor import SensorPlugin
class PinType(enum.IntEnum): class PinType(enum.IntEnum):
"""
PIN type enumeration (analog or digital).
"""
ANALOG = 1 ANALOG = 1
DIGITAL = 2 DIGITAL = 2
class BoardType(enum.Enum): class BoardType(enum.Enum):
"""
Board types.
"""
MEGA = 'mega' MEGA = 'mega'
DUE = 'due' DUE = 'due'
NANO = 'nano' NANO = 'nano'
# noinspection PyBroadException # pylint: disable=too-many-ancestors
class ArduinoPlugin(SensorPlugin): class ArduinoPlugin(SensorPlugin):
""" """
Interact with an Arduino connected to the host machine over USB using the Interact with an Arduino connected to the host machine over USB using the
@ -41,23 +64,32 @@ class ArduinoPlugin(SensorPlugin):
* **pyfirmata2** (``pip install pyfirmata2``) * **pyfirmata2** (``pip install pyfirmata2``)
Triggers:
* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent`
* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent`
* :class:`platypush.message.event.sensor.SensorDataChangeEvent`
""" """
def __init__(self, def __init__(
board: Optional[str] = None, self,
board_type: Optional[str] = None, board: Optional[str] = None,
baud_rate: int = 57600, board_type: Optional[str] = None,
analog_pins: Optional[Dict[str, int]] = None, baud_rate: int = 9600,
digital_pins: Optional[Dict[str, int]] = None, analog_pins: Optional[Dict[str, int]] = None,
timeout: float = 20.0, digital_pins: Optional[Dict[str, int]] = None,
conv_functions: Optional[Dict[Union[str, int], Union[str, Callable]]] = None, timeout: float = 20.0,
**kwargs): conv_functions: Optional[Dict[Union[str, int], Union[str, Callable]]] = None,
poll_interval: float = 1.0,
**kwargs,
):
""" """
:param board: Default board name or path (e.g. ``COM3`` on Windows or ``/dev/ttyUSB0`` on Unix). If not set :param board: Default board name or path (e.g. ``COM3`` on Windows or ``/dev/ttyUSB0`` on Unix). If not set
then the plugin will attempt an auto-discovery. then the plugin will attempt an auto-discovery.
:param board_type: Default board type. It can be 'mega', 'due' or 'nano'. Leave empty for auto-detection. :param board_type: Default board type. It can be 'mega', 'due' or 'nano'. Leave empty for auto-detection.
:param baud_rate: Default serial baud rate (default: 57600) :param baud_rate: Default serial baud rate (default: 9600)
:param analog_pins: Optional analog PINs map name->pin_number. :param analog_pins: Optional analog PINs map name->pin_number.
:param digital_pins: Optional digital PINs map name->pin_number. :param digital_pins: Optional digital PINs map name->pin_number.
:param timeout: Board communication timeout in seconds. :param timeout: Board communication timeout in seconds.
@ -77,7 +109,7 @@ class ArduinoPlugin(SensorPlugin):
temperature: 'lambda t: t * 500.0' temperature: 'lambda t: t * 500.0'
""" """
super().__init__(**kwargs) super().__init__(poll_interval=poll_interval, **kwargs)
self.board = board self.board = board
self.board_type = self._get_board_type(board_type) self.board_type = self._get_board_type(board_type)
@ -90,20 +122,28 @@ class ArduinoPlugin(SensorPlugin):
} }
self._pin_name_by_number = { self._pin_name_by_number = {
PinType.ANALOG: {number: name for name, number in self._pin_number_by_name[PinType.ANALOG].items()}, PinType.ANALOG: {
PinType.DIGITAL: {number: name for name, number in self._pin_number_by_name[PinType.DIGITAL].items()}, number: name
for name, number in self._pin_number_by_name[PinType.ANALOG].items()
},
PinType.DIGITAL: {
number: name
for name, number in self._pin_number_by_name[PinType.DIGITAL].items()
},
} }
self.conv_functions: Dict[Union[str, int], Callable] = { self.conv_functions: Dict[Union[str, int], Callable] = {
(self._pin_number_by_name[PinType.ANALOG].get(pin, pin)): (f if callable(f) else eval(f)) (self._pin_number_by_name[PinType.ANALOG].get(str(pin), pin)): (
f if callable(f) else eval(f)
)
for pin, f in (conv_functions or {}).items() for pin, f in (conv_functions or {}).items()
} }
self._boards = {} self._boards: Dict[str, Board] = {}
self._board_iterators = {} self._board_iterators: Dict[str, util.Iterator] = {}
@staticmethod @staticmethod
def _get_board_type(board_type: Optional[str] = None) -> Type: def _get_board_type(board_type: Optional[str] = None) -> Type[Board]:
if not board_type: if not board_type:
return Arduino return Arduino
@ -115,13 +155,15 @@ class ArduinoPlugin(SensorPlugin):
if board_type == BoardType.MEGA.value: if board_type == BoardType.MEGA.value:
return ArduinoMega return ArduinoMega
raise AssertionError('Invalid board_type: {}'.format(board_type)) raise AssertionError(f'Invalid board_type: {board_type}')
def _get_board(self, def _get_board(
board: Optional[str] = None, self,
board_type: Optional[str] = None, board: Optional[str] = None,
baud_rate: Optional[int] = None, board_type: Optional[str] = None,
timeout: Optional[float] = None): baud_rate: Optional[int] = None,
timeout: Optional[float] = None,
) -> Board:
board_name = board or self.board or Arduino.AUTODETECT board_name = board or self.board or Arduino.AUTODETECT
baud_rate = baud_rate or self.baud_rate baud_rate = baud_rate or self.baud_rate
timeout = timeout or self.timeout timeout = timeout or self.timeout
@ -129,48 +171,58 @@ class ArduinoPlugin(SensorPlugin):
if board_name in self._boards: if board_name in self._boards:
return self._boards[board_name] return self._boards[board_name]
board_type = self._get_board_type(board_type) if board_type else self.board_type board_obj_type = (
board = board_type(board_name, baudrate=baud_rate, timeout=timeout) self._get_board_type(board_type) if board_type else self.board_type
self.logger.info('Connected to board {}'.format(board.name)) )
self._boards[board_name] = board assert board_obj_type
self._board_iterators[board.name] = util.Iterator(board) board_obj = board_obj_type(board_name, baudrate=baud_rate, timeout=timeout)
self._board_iterators[board.name].start() board_name = board_obj.name or ''
return board self.logger.info('Connected to board %s', board_name)
self._boards[board_name] = board_obj
self._board_iterators[board_name] = util.Iterator(board_obj)
self._board_iterators[board_name].start()
return board_obj
def _get_board_and_pin(self, def _get_board_and_pin(
pin: Union[int, str], self,
pin_type: PinType, pin: Union[int, str],
board: Optional[str] = None, pin_type: PinType,
board_type: Optional[str] = None, board: Optional[str] = None,
baud_rate: Optional[int] = None, board_type: Optional[str] = None,
timeout: Optional[int] = None) -> Tuple[Arduino, int]: baud_rate: Optional[int] = None,
board = self._get_board(board, board_type=board_type, baud_rate=baud_rate, timeout=timeout) timeout: Optional[int] = None,
) -> Tuple[Board, int]:
board_ = self._get_board(
board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
)
if pin in self._pin_number_by_name[pin_type]: if pin in self._pin_number_by_name[pin_type]:
pin = self._pin_number_by_name[pin_type][pin] pin = self._pin_number_by_name[pin_type][str(pin)]
assert isinstance(pin, int), 'Invalid PIN number/name: {}'.format(pin) assert isinstance(pin, int), f'Invalid PIN number/name: {pin}'
return board, pin return board_, pin
@staticmethod @staticmethod
def _get_pin(pin: int, board: Arduino, pin_type: PinType) -> Pin: def _get_pin(pin: int, board: Board, pin_type: PinType) -> Pin:
pins = None pins = None
if pin_type == PinType.ANALOG: if pin_type == PinType.ANALOG:
pins = board.analog pins = board.analog
if pin_type == PinType.DIGITAL: if pin_type == PinType.DIGITAL:
pins = board.digital pins = board.digital
assert pins, 'Invalid pin_type: {}'.format(pin_type) assert pins, f'Invalid pin_type: {pin_type}'
if pins[pin].mode in [ANALOG, INPUT]: if pins[pin].mode in [ANALOG, INPUT]:
pins[pin].enable_reporting() pins[pin].enable_reporting()
return pins[pin] return pins[pin]
def _poll_value(self, def _poll_value(
pin: int, self,
board: Arduino, pin: int,
pin_type: PinType, board: Board,
timeout: Optional[float] = None) -> Optional[Union[bool, float]]: pin_type: PinType,
timeout: Optional[float] = None,
) -> Optional[Union[bool, float]]:
value = None value = None
poll_start = time.time() poll_start = time.time()
@ -180,8 +232,10 @@ class ArduinoPlugin(SensorPlugin):
pin_ = self._get_pin(pin=pin, board=board, pin_type=pin_type) pin_ = self._get_pin(pin=pin, board=board, pin_type=pin_type)
if pin_.mode not in [INPUT, ANALOG]: if pin_.mode not in [INPUT, ANALOG]:
self.logger.warning('PIN {} is not configured in input/analog mode'.format(pin)) self.logger.warning(
return 'PIN %d is not configured in input/analog mode', pin
)
return None
value = pin_.read() value = pin_.read()
if value is None: if value is None:
@ -193,13 +247,15 @@ class ArduinoPlugin(SensorPlugin):
return value return value
@action @action
def analog_read(self, def analog_read(
pin: Union[int, str], self,
board: Optional[str] = None, pin: Union[int, str],
board_type: Optional[str] = None, board: Optional[str] = None,
baud_rate: Optional[int] = None, board_type: Optional[str] = None,
conv_function: Optional[Union[str, Callable]] = None, baud_rate: Optional[int] = None,
timeout: Optional[int] = None) -> float: conv_function: Optional[Union[str, Callable]] = None,
timeout: Optional[int] = None,
) -> Optional[float]:
""" """
Read an analog value from a PIN. Read an analog value from a PIN.
@ -212,28 +268,44 @@ class ArduinoPlugin(SensorPlugin):
returns by default float values in the range ``[0.0, 1.0]``. returns by default float values in the range ``[0.0, 1.0]``.
:param timeout: Communication timeout in seconds (default: default configured ``timeout``). :param timeout: Communication timeout in seconds (default: default configured ``timeout``).
""" """
conv_function = conv_function or self.conv_functions.get(pin) board_, pin = self._get_board_and_pin(
board, pin = self._get_board_and_pin(pin=pin, pin=pin,
pin_type=PinType.ANALOG, pin_type=PinType.ANALOG,
board=board, board=board,
board_type=board_type, board_type=board_type,
baud_rate=baud_rate, baud_rate=baud_rate,
timeout=timeout) timeout=timeout,
)
conv_function = conv_function or self.conv_functions.get(pin) conv_function = conv_function or self.conv_functions.get(pin)
value = self._poll_value(pin=pin, board=board, pin_type=PinType.ANALOG, timeout=timeout) converter: Optional[Callable[[float], float]] = None
if isinstance(conv_function, str):
converter = eval(conv_function)
elif callable(conv_function):
converter = conv_function
elif conv_function is not None:
raise AssertionError(
'Expected conv_function to be null, a string or a function, '
f'got "{conv_function}" instead'
)
if conv_function: value = self._poll_value(
value = conv_function(value) pin=pin, board=board_, pin_type=PinType.ANALOG, timeout=timeout
)
if converter and value is not None:
value = converter(value)
return value return value
@action @action
def digital_read(self, def digital_read(
pin: Union[int, str], self,
board: Optional[str] = None, pin: Union[int, str],
board_type: Optional[str] = None, board: Optional[str] = None,
baud_rate: Optional[int] = None, board_type: Optional[str] = None,
timeout: Optional[int] = None) -> bool: baud_rate: Optional[int] = None,
timeout: Optional[int] = None,
) -> bool:
""" """
Read a digital value from a PIN. Read a digital value from a PIN.
@ -243,22 +315,31 @@ class ArduinoPlugin(SensorPlugin):
:param baud_rate: Baud rate (default: default configured ``baud_rate``). :param baud_rate: Baud rate (default: default configured ``baud_rate``).
:param timeout: Communication timeout in seconds (default: default configured ``timeout``). :param timeout: Communication timeout in seconds (default: default configured ``timeout``).
""" """
board, pin = self._get_board_and_pin(pin=pin, board_, pin = self._get_board_and_pin(
pin_type=PinType.DIGITAL, pin=pin,
board=board, pin_type=PinType.DIGITAL,
board_type=board_type, board=board,
baud_rate=baud_rate, board_type=board_type,
timeout=timeout) baud_rate=baud_rate,
timeout=timeout,
)
return self._poll_value(pin=pin, board=board, pin_type=PinType.DIGITAL, timeout=timeout) return bool(
self._poll_value(
pin=pin, board=board_, pin_type=PinType.DIGITAL, timeout=timeout
)
)
@action @action
def analog_write(self, pin: Union[int, str], def analog_write(
value: float, self,
board: Optional[str] = None, pin: Union[int, str],
board_type: Optional[str] = None, value: float,
baud_rate: Optional[int] = None, board: Optional[str] = None,
timeout: Optional[int] = None): board_type: Optional[str] = None,
baud_rate: Optional[int] = None,
timeout: Optional[int] = None,
):
""" """
Write a value to an analog PIN. Write a value to an analog PIN.
@ -269,21 +350,26 @@ class ArduinoPlugin(SensorPlugin):
:param baud_rate: Baud rate (default: default configured ``baud_rate``). :param baud_rate: Baud rate (default: default configured ``baud_rate``).
:param timeout: Communication timeout in seconds (default: default configured ``timeout``). :param timeout: Communication timeout in seconds (default: default configured ``timeout``).
""" """
board, pin = self._get_board_and_pin(pin=pin, board_, pin = self._get_board_and_pin(
pin_type=PinType.ANALOG, pin=pin,
board=board, pin_type=PinType.ANALOG,
board_type=board_type, board=board,
baud_rate=baud_rate, board_type=board_type,
timeout=timeout) baud_rate=baud_rate,
board.analog[pin].write(value) timeout=timeout,
)
board_.analog[pin].write(value)
@action @action
def digital_write(self, pin: Union[int, str], def digital_write(
value: bool, self,
board: Optional[str] = None, pin: Union[int, str],
board_type: Optional[str] = None, value: bool,
baud_rate: Optional[int] = None, board: Optional[str] = None,
timeout: Optional[int] = None): board_type: Optional[str] = None,
baud_rate: Optional[int] = None,
timeout: Optional[int] = None,
):
""" """
Write a value to a digital PIN. Write a value to a digital PIN.
@ -294,21 +380,26 @@ class ArduinoPlugin(SensorPlugin):
:param baud_rate: Baud rate (default: default configured ``baud_rate``). :param baud_rate: Baud rate (default: default configured ``baud_rate``).
:param timeout: Communication timeout in seconds (default: default configured ``timeout``). :param timeout: Communication timeout in seconds (default: default configured ``timeout``).
""" """
board, pin = self._get_board_and_pin(pin=pin, board_, pin = self._get_board_and_pin(
pin_type=PinType.DIGITAL, pin=pin,
board=board, pin_type=PinType.DIGITAL,
board_type=board_type, board=board,
baud_rate=baud_rate, board_type=board_type,
timeout=timeout) baud_rate=baud_rate,
board.digital[pin].write(value) timeout=timeout,
)
board_.digital[pin].write(value)
@action @action
def pwm_write(self, pin: Union[int, str], def pwm_write(
value: float, self,
board: Optional[str] = None, pin: Union[int, str],
board_type: Optional[str] = None, value: float,
baud_rate: Optional[int] = None, board: Optional[str] = None,
timeout: Optional[int] = None): board_type: Optional[str] = None,
baud_rate: Optional[int] = None,
timeout: Optional[int] = None,
):
""" """
Write a PWM value to a digital PIN. Write a PWM value to a digital PIN.
@ -319,26 +410,32 @@ class ArduinoPlugin(SensorPlugin):
:param baud_rate: Baud rate (default: default configured ``baud_rate``). :param baud_rate: Baud rate (default: default configured ``baud_rate``).
:param timeout: Communication timeout in seconds (default: default configured ``timeout``). :param timeout: Communication timeout in seconds (default: default configured ``timeout``).
""" """
board, pin = self._get_board_and_pin(pin=pin, board_, pin = self._get_board_and_pin(
pin_type=PinType.DIGITAL, pin=pin,
board=board, pin_type=PinType.DIGITAL,
board_type=board_type, board=board,
baud_rate=baud_rate, board_type=board_type,
timeout=timeout) baud_rate=baud_rate,
timeout=timeout,
)
assert board.digital[pin].PWM_CAPABLE, 'PIN {} is not PWM capable'.format(pin) assert board_.digital[pin].PWM_CAPABLE, f'PIN {pin} is not PWM capable'
if board.digital[pin] != PWM: if board_.digital[pin] != PWM:
board.digital[pin].mode = PWM board_.digital[pin].mode = PWM
time.sleep(0.001) time.sleep(0.001) # 1 μs spike to activate a PWM pin
board.digital[pin].write(value) board_.digital[pin].write(value)
@action @action
def get_measurement(self, def get_measurement(
board: Optional[str] = None, self,
board_type: Optional[str] = None, *_,
baud_rate: Optional[int] = None, board: Optional[str] = None,
timeout: Optional[int] = None) -> Dict[str, float]: board_type: Optional[str] = None,
baud_rate: Optional[int] = None,
timeout: Optional[int] = None,
**__,
) -> Dict[str, Optional[Union[float, bool]]]:
""" """
Get a measurement from all the configured PINs. Get a measurement from all the configured PINs.
@ -352,21 +449,35 @@ class ArduinoPlugin(SensorPlugin):
transformed through the configured ``conv_functions``. transformed through the configured ``conv_functions``.
""" """
ret = {} ret = {}
board = self._get_board(board=board, board_type=board_type, baud_rate=baud_rate, timeout=timeout) board_ = self._get_board(
board=board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
)
for pin in board.analog: assert board_, f'No such board: board={board}, board_type={board_type}'
if self._pin_name_by_number[PinType.ANALOG] and \
pin.pin_number not in self._pin_name_by_number[PinType.ANALOG]: for pin in board_.analog:
if (
self._pin_name_by_number[PinType.ANALOG]
and pin.pin_number not in self._pin_name_by_number[PinType.ANALOG]
):
continue continue
name = self._pin_name_by_number[PinType.ANALOG].get(pin.pin_number, 'A{}'.format(pin.pin_number)) name = self._pin_name_by_number[PinType.ANALOG].get(
value = self._poll_value(pin=pin.pin_number, board=board, pin_type=PinType.ANALOG, pin.pin_number, f'A{pin.pin_number}'
timeout=timeout or self.timeout) )
value = self._poll_value(
pin=pin.pin_number,
board=board_,
pin_type=PinType.ANALOG,
timeout=timeout or self.timeout,
)
if value is None: if value is None:
continue continue
conv_function = self.conv_functions.get(name, self.conv_functions.get(pin.pin_number)) conv_function = self.conv_functions.get(
name, self.conv_functions.get(pin.pin_number)
)
if conv_function: if conv_function:
value = conv_function(value) value = conv_function(value)
@ -374,8 +485,32 @@ class ArduinoPlugin(SensorPlugin):
return ret return ret
@override
def transform_entities(self, entities: Dict[str, Numeric]) -> List[Device]: # type: ignore
dev_id = 'arduino'
dev_name = 'Arduino'
if self.board:
dev_id += f':{self.board}'
dev_name += f' @ {self.board}'
return [
Device(
id=dev_id,
name=dev_name,
children=[
NumericSensor(
id=f'{dev_id}:{key}',
name=key,
value=value,
)
for key, value in entities.items()
],
)
]
@action @action
def close(self): def stop(self):
super().stop()
for it in self._board_iterators.values(): for it in self._board_iterators.values():
it.stop() it.stop()

5
platypush/plugins/arduino/manifest.yaml
View file

@ -1,5 +1,8 @@
manifest: manifest:
events: {} events:
platypush.message.event.sensor.SensorDataAboveThresholdEvent:
platypush.message.event.sensor.SensorDataBelowThresholdEvent:
platypush.message.event.sensor.SensorDataChangeEvent:
install: install:
pip: pip:
- pyfirmata2 - pyfirmata2