robot-hand-control/ManoSerial.py at main · growolff/robot-hand-control · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
# -*- coding: utf-8 -*-

import struct
from struct import *
import serial
from array import array
from threading import Lock, Thread
from collections import namedtuple

from io import BytesIO

# control comands
from variables import *

import time as t

class ManoSerial(object):

    def __init__(self, port='/dev/ttyACM0',baudrate=500000):

        # estructura para enviar datos
        self.sendStruct = struct.Struct('<BBBBBB')
        '''
            uint8 s1 -> slave select: SS1, SS2, SS3
            uint8 s2 -> cmd: posRef, tensionRef
            uint8 s3 -> ref motor 1
            uint8 s4 -> ref motor 2
        '''
        self.device = port
        self.baudrate = baudrate
        self.running = False

        self.ser = serial.Serial(self.device, self.baudrate, timeout=0.1)
        self.serial_mutex = Lock()
        self.thread = Thread(target=self.serialHandlerThread)

        # estructura para recibir datos
        self.recvFmt = '<hhh'

        self.s1 = 0
        self.s2 = 0
        self.s3 = 0
        self.s4 = 0
        self.s5 = 0
        self.s6 = 0

        self.tuple = namedtuple('tuple','d1 d2 d3 d4 d5 d6')

        self.recvMsg = []
        self.r1 = 0
        self.r2 = 0
        self.r3 = 0

    def __exit__(self, exc_type, exc_value, traceback):
        self.stopProcess()

    def close(self):
        """
        Close the serial port.
        """
        if self.ser:
            self.ser.flushInput()
            self.ser.flushOutput()
            self.ser.close()

    def stopProcess(self):
        self.ser.flushInput()
        self.ser.flushOutput()
        self.running = False

    def startProcess(self):
        self.running = True
        self.thread.start()

    def to_hex(self,data):
        return ":".join("{:02x}".format(c) for c in data)

    def serialize(self,buff):
        return buff.write(self.sendStruct.pack(self.s1,self.s2,self.s3,self.s4,self.s5,self.s6))

    def sendCmd(self,s1=0,s2=0,s3=0,s4=0,s5=0,s6=0):
        self.s1 = s1
        self.s2 = s2
        self.s3 = s3
        self.s4 = s4
        self.s5 = s5
        self.s6 = s6
        print(self.s1,self.s2,self.s3,self.s4)
        buff = BytesIO()
        self.serialize(buff)
        #print(self.to_hex(buff.getvalue()))
        packet = bytearray(buff.getvalue())
        #print(packet)
        packet_str = bytes(packet)
        with self.serial_mutex:
            self.writeSerial(packet_str)

    def writeSerial(self, data):
        """
        Write in the serial port.
        """
        #print("Write Data: " + str(data))
        self.ser.flushInput()
        self.ser.flushOutput()
        self.ser.write(data)

    def getMsg(self):
        #print(self.recvMsg)
        return self.recvMsg

    def serialHandlerThread(self):

        recvStructLen = calcsize(self.recvFmt)
        while self.running is True:
            try:
                if self.ser.inWaiting():
                    msg = self.ser.read(recvStructLen)  # show the message as it is
                    self.recvMsg = unpack(self.recvFmt, msg)
                    print(self.recvMsg)
                    #self.r1 = self.recvMsg[0]
                    #self.r2 = self.recvMsg[1]
                    #self.r3 = self.recvMsg[2]

            except Exception as e:
                print("reading error: ",e)
        self.ser.close()

def to_hex(data):
    return ":".join("{:02x}".format(c) for c in data)

def test():
    t.sleep(1)
    mega.sendCmd(s1=SEND_DATA_TRUE)
    t.sleep(0.1)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=20)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=20)
    t.sleep(2)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=52)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=52)
    t.sleep(2)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=100)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=100)
    t.sleep(2)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=120)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=120)
    t.sleep(2)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=160)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=160)
    t.sleep(2)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=0)
    mega.sendCmd(s1=TO_SS1,s2=SET_POS_REF,s3=0)
    t.sleep(2)
    mega.sendCmd(s1=SEND_DATA_FALSE)
    t.sleep(0.5)

    mega.stopProcess()

if __name__ == '__main__':
    mega = ManoSerial('COM5',500000)
    mega.startProcess()
    try:
        test()
    except Exception as e:
        print(e)
        mega.stopProcess()