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authorSayamindu Dasgupta <sayamindu@gmail.com>2009-12-13 16:55:35 (GMT)
committer Sayamindu Dasgupta <sayamindu@gmail.com>2009-12-13 16:55:35 (GMT)
commitd7b5b616fb7371089988d7d81bb9292cb4815d1d (patch)
treea7ae5219a38d5df5b448455dde9a9f8b0e64055d
parente048769acf0941018bace8f1bbd3580d8dd4083f (diff)
Add Arduino support (no localization support yet)
Diffstat
-rwxr-xr-xfirmata.py167
-rw-r--r--images/arduinomask.pngbin0 -> 4885 bytes
-rw-r--r--images/en/arduino/analogread.svg89
-rw-r--r--images/en/arduino/analogwrite.svg85
-rw-r--r--images/en/arduino/arduinogroup.svg1015
-rw-r--r--images/en/arduino/arduinomask.pngbin0 -> 8303 bytes
-rw-r--r--images/en/arduino/arduinomask.svg977
-rw-r--r--images/en/arduino/color.svg39
-rw-r--r--images/en/arduino/delay.svg60
-rw-r--r--images/en/arduino/digitalread.svg89
-rw-r--r--images/en/arduino/digitalwrite.svg85
-rw-r--r--images/en/arduino/high.svg47
-rw-r--r--images/en/arduino/input.svg47
-rw-r--r--images/en/arduino/low.svg47
-rw-r--r--images/en/arduino/output.svg47
-rw-r--r--images/en/arduino/pwm.svg47
-rw-r--r--images/en/arduino/servo.svg47
-rw-r--r--images/en/arduino/setpinmode.svg87
-rw-r--r--images/palette/arduinooff.svg3686
-rw-r--r--images/palette/arduinoon.svg3686
-rw-r--r--taarduino.py50
-rw-r--r--talogo.py16
-rw-r--r--tasetup.py20
-rw-r--r--tawindow.py2
24 files changed, 10433 insertions, 2 deletions
diff --git a/firmata.py b/firmata.py
new file mode 100755
index 0000000..756c714
--- /dev/null
+++ b/firmata.py
@@ -0,0 +1,167 @@
+#! /usr/bin/env python
+
+"""
+Python API for the Firmata protocol
+Copyright (C) 2008 laboratorio (info@laboratorio.us)
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""
+
+__version__ = "0.3"
+
+import time
+import serial
+
+DIGITAL_MESSAGE = 0x90 # send data for a digital port
+ANALOG_MESSAGE = 0xE0 # send data for an analog pin (or PWM)
+REPORT_ANALOG = 0xC0 # enable analog input by pin #
+REPORT_DIGITAL = 0xD0 # enable digital input by port
+SET_PIN_MODE = 0xF4 # set a pin to INPUT/OUTPUT/PWM/etc
+REPORT_VERSION = 0xF9 # report firmware version
+SYSTEM_RESET = 0xFF # reset from MIDI
+START_SYSEX = 0xF0 # start a MIDI SysEx message
+END_SYSEX = 0xF7 # end a MIDI SysEx message
+
+# pin modes
+INPUT = 0
+OUTPUT = 1
+PWM = 2
+SERVO = 3
+
+LOW = 0
+HIGH = 1
+MAX_DATA_BYTES = 32
+
+class Arduino:
+
+ def __init__(self, port, baudrate=115200):
+
+ self.serial = serial.Serial(port, baudrate, bytesize=8, timeout=2)
+
+ self.wait_for_data = 0
+ self.exec_multibyte_cmd = 0
+ self.multibyte_channel = 0
+ self.stored_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, \
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ,0, 0, 0 ]
+ self.parsing_sysex = False
+ self.sysex_bytes_read = 0
+ self.digital_output_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ self.digital_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ self.analog_input_data = [ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 ]
+ self.major_version = 0
+ self.minor_version = 0
+ self.__report()
+
+ def __str__(self):
+ return "Arduino: %s" % self.serial.port
+
+ def pin_mode(self, pin, mode):
+ """Setting mode to pin"""
+ self.serial.write(chr(SET_PIN_MODE))
+ self.serial.write(chr(pin))
+ self.serial.write(chr(mode))
+
+ def digital_read(self, pin):
+ """Reading from digital pin"""
+ return (self.digital_input_data[pin >> 3] >> (pin & 0x07)) & 0x01
+
+ def digital_write(self, pin, value):
+ """Writing to a digital pin"""
+
+ port_number = (pin >> 3) & 0x0F
+
+ if value == 0:
+ self.digital_output_data[port_number] = self.digital_output_data[port_number] & ~(1 << (pin & 0x07))
+ else:
+ self.digital_output_data[port_number] = self.digital_output_data[port_number] | (1 << (pin & 0x07))
+
+ self.serial.write(chr(DIGITAL_MESSAGE | port_number))
+ self.serial.write(chr(self.digital_output_data[port_number] & 0x7F))
+ self.serial.write(chr(self.digital_output_data[port_number] >> 7))
+
+ def analog_read(self, pin):
+ """Reading from analog pin"""
+ return self.analog_input_data[pin]
+
+ def analog_write(self, pin, value):
+ """Writing to a analog pin"""
+ self.serial.write(chr(ANALOG_MESSAGE | (pin & 0x0F)))
+ self.serial.write(chr(value & 0x7F))
+ self.serial.write(chr(value >> 7))
+
+ def set_version(self, major, minor):
+ """Setting a minor and major version"""
+ self.major_version = major
+ self.minor_version = minor
+
+ def available(self):
+ """Checking serial connection status"""
+ return self.serial.isOpen()
+
+ def delay(self, secs):
+ """Waiting in seconds"""
+ time.sleep(secs)
+
+ def parse(self):
+ """Preparing the data to be handled"""
+ data = self.serial.read()
+ if data != "":
+ self.__process(ord(data))
+
+ def __process(self, input_data):
+ """Handling input data"""
+ command = None
+
+ if self.parsing_sysex:
+ if input_data == END_SYSEX:
+ self.parsing_sysex = False
+ else:
+ self.stored_input_data[self.sysex_bytes_read] = input_data
+ self.sysex_bytes_read += 1
+
+ elif self.wait_for_data > 0 and input_data < 128:
+ self.wait_for_data -= 1
+ self.stored_input_data[self.wait_for_data] = input_data
+
+ if self.exec_multibyte_cmd != 0 and self.wait_for_data == 0:
+ if self.exec_multibyte_cmd == DIGITAL_MESSAGE:
+ self.digital_input_data[self.multibyte_channel] = (self.stored_input_data[0] << 7) + self.stored_input_data[1]
+ elif self.exec_multibyte_cmd == ANALOG_MESSAGE:
+ self.analog_input_data[self.multibyte_channel] = (self.stored_input_data[0] << 7) + self.stored_input_data[1]
+ elif self.exec_multibyte_cmd == REPORT_VERSION:
+ self.set_version(self.stored_input_data[1], self.stored_input_data[0])
+ else:
+ if input_data < 0xF0:
+ command = input_data & 0xF0
+ self.multibyte_channel = input_data & 0x0F
+ else:
+ command = input_data # commands in the 0xF* range don't use channel data
+
+ if command == DIGITAL_MESSAGE or \
+ command == ANALOG_MESSAGE or \
+ command == REPORT_VERSION:
+ self.wait_for_data = 2
+ self.exec_multibyte_cmd = command
+
+ def __report(self):
+ """Reporting analog and digital pins"""
+
+ self.delay(2)
+ for port in range(6):
+ self.serial.write(chr(REPORT_ANALOG | port))
+ self.serial.write(chr(1))
+
+ for port in range(2):
+ self.serial.write(chr(REPORT_DIGITAL | port))
+ self.serial.write(chr(1))
diff --git a/images/arduinomask.png b/images/arduinomask.png
new file mode 100644
index 0000000..564e48f
--- /dev/null
+++ b/images/arduinomask.png
Binary files differ
diff --git a/images/en/arduino/analogread.svg b/images/en/arduino/analogread.svg
new file mode 100644
index 0000000..22c97ea
--- /dev/null
+++ b/images/en/arduino/analogread.svg
@@ -0,0 +1,89 @@
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+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
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+ xmlns:svg="http://www.w3.org/2000/svg"
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+ <tspan
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+ style="font-size:14px">analog</tspan>
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+ <tspan
+ x="0"
+ y="0"
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+ </text>
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diff --git a/images/en/arduino/analogwrite.svg b/images/en/arduino/analogwrite.svg
new file mode 100644
index 0000000..c0b4916
--- /dev/null
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diff --git a/images/en/arduino/arduinogroup.svg b/images/en/arduino/arduinogroup.svg
new file mode 100644
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--- /dev/null
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diff --git a/taarduino.py b/taarduino.py
new file mode 100644
index 0000000..f6b6474
--- /dev/null
+++ b/taarduino.py
@@ -0,0 +1,50 @@
+import firmata
+
+class TAArduino(object):
+ def __init__(self, dev='/dev/ttyUSB0', baud=115200):
+ object.__init__(self)
+ self._dev = dev
+ self._baud = baud
+ self._arduino = None # Do not initialize this now
+
+ self.HIGH = firmata.HIGH
+ self.LOW = firmata.LOW
+ self.INPUT = firmata.INPUT
+ self.OUTPUT = firmata.OUTPUT
+ self.PWM = firmata.PWM
+ self.SERVO = firmata.SERVO
+
+ def _check_init(self):
+ if self._arduino is None:
+ self._arduino = firmata.Arduino(port = self._dev, \
+ baudrate=self._baud)
+ self._arduino.parse()
+
+ def delay(self, secs):
+ # Do not use this. The firmata module uses time.sleep() to
+ # implement this, which breaks gtk+ (unresponsive window)
+ self._check_init()
+ self._arduino.delay(secs)
+
+ def pin_mode(self, pin, mode):
+ self._check_init()
+ self._arduino.pin_mode(int(pin), mode)
+
+ def analog_write(self, pin, value):
+ self._check_init()
+ self._arduino.analog_write(int(pin), int(value))
+
+ def digital_write(self, pin, value):
+ self._check_init()
+ self._arduino.digital_write(int(pin), value)
+
+ def analog_read(self, pin):
+ self._check_init()
+ self._arduino.parse() #XXX: Not sure why I have to do this here.
+ return self._arduino.analog_read(int(pin))
+
+ def digital_read(self, pin):
+ self._check_init()
+ return self._arduino.digital_read(int(pin))
+
+
diff --git a/talogo.py b/talogo.py
index 16002d7..3275ce3 100644
--- a/talogo.py
+++ b/talogo.py
@@ -570,6 +570,22 @@ def lcNew(tw):
show_template7(lc, x, y, z, a, b))
defprim(lc,'hideblocks', 0, lambda lc: hideblocks(lc))
+ # arduino primitives
+ defprim(lc,'delay', 1, prim_wait, True)
+ defprim(lc,'setpinmode', 2, lambda lc, x, y: lc.tw.arduino.pin_mode(x, y))
+ defprim(lc,'analogwrite', 2, lambda lc, x, y: \
+ lc.tw.arduino.analog_write(x, y))
+ defprim(lc,'digitalwrite', 2, lambda lc, x, y: \
+ lc.tw.arduino.digital_write(x, y))
+ defprim(lc,'analogread', 1, lambda lc, x: lc.tw.arduino.analog_read(x))
+ defprim(lc,'digitalread', 1, lambda lc, x: lc.tw.arduino.digital_read(x))
+ defprim(lc,'high', 0, lambda lc: lc.tw.arduino.HIGH)
+ defprim(lc,'low', 0, lambda lc: lc.tw.arduino.LOW)
+ defprim(lc,'input', 0, lambda lc: lc.tw.arduino.INPUT)
+ defprim(lc,'output', 0, lambda lc: lc.tw.arduino.OUTPUT)
+ defprim(lc,'pwm', 0, lambda lc: lc.tw.arduino.PWM)
+ defprim(lc,'servo', 0, lambda lc: lc.tw.arduino.SERVO)
+
lc.symtype = type(intern(lc, 'print'))
lc.listtype = type([])
lc.symnothing = intern(lc, '%nothing%')
diff --git a/tasetup.py b/tasetup.py
index 174c897..fe1f9a2 100644
--- a/tasetup.py
+++ b/tasetup.py
@@ -165,7 +165,21 @@ selectors = (
('template4','tp8','tp1',_('title'),'None'),
('hideblocks','hideblocks','noarg2'),
# not selectable, but here for backward compatability
- ('sound','sound','sound','None'))))
+ ('sound','sound','sound','None'))),
+ ('arduino', 55,
+ (('delay', 'delay', '1arg', 1),
+ ('setpinmode', 'setpinmode', 'twoargs'),
+ ('analogwrite', 'analogwrite', 'twoargs'),
+ ('digitalwrite', 'digitalwrite', 'twoargs'),
+ ('analogread', 'analogread', 'arduinoread', 5),
+ ('digitalread', 'digitalread', 'arduinoread', 13),
+ ('high','high','num'),
+ ('low','low','num'),
+ ('input','input','num'),
+ ('output','output','num'),
+ ('pwm','pwm','num'),
+ ('servo','servo','num'))))
+
dockdetails = {
'noarg': (('flow',True,37,5),('flow',False,37,44)),
@@ -241,7 +255,9 @@ dockdetails = {
'tp7': (('flow',True,37,5),('string',False,10,26), \
('media',False,10,73),('media',False,90,73),('media',False,10,130), \
('media',False,90,130),('flow',False,37,167)),
- 'string1': (('flow',True,37,5),('string',False,10,29),('flow',False,37,55))
+ 'string1': (('flow',True,37,5),('string',False,10,29),('flow',False,37,55)),
+ 'arduinoread': (('num',True,0,31,'('), ('num',False,150,31), \
+ ('numend',False,279,31,')'))
}
def count_up(self):
diff --git a/tawindow.py b/tawindow.py
index 7b25335..c626fb9 100644
--- a/tawindow.py
+++ b/tawindow.py
@@ -38,6 +38,7 @@ class taWindow: pass
from math import atan2, pi
DEGTOR = 2*pi/360
+from taarduino import *
from tasetup import *
from tasprites import *
from talogo import *
@@ -141,6 +142,7 @@ def twNew(win, path, lang, parent=None):
tw.cartesian = False
tw.polar = False
tw.spr = None # "currently selected spr"
+ tw.arduino = TAArduino()
return tw
#
generated by cgit v0.9.1 at 2024-04-23 15:41:14 (GMT)