Ton/LinuxCNC_ArduinoConnector
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Merge branch 'main' into dev

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This commit is contained in:
Alexander Richter 2023-07-23 17:49:50 +02:00
commit 0fa79fec1e
1 changed files with 55 additions and 52 deletions
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arduino.py
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@ -22,13 +22,16 @@ import serial, time, hal
# Data is only send everythime it changes once. # Data is only send everythime it changes once.
# Inputs & Toggle Inputs = 'I' -write only -Pin State: 0,1 # Inputs & Toggle Inputs = 'I' -write only -Pin State: 0,1
# Outputs = 'O' -read only -Pin State: 0,1 # Outputs = 'O' -read only -Pin State: 0,1
# PWM Outputs = 'P' -read only -Pin State: 0-255 # PWM Outputs = 'P' -read only -Pin State: 0-255
# Digital LED Outputs = 'D' -read only -Pin State: 0,1 # Digital LED Outputs = 'D' -read only -Pin State: 0,1
# Analog Inputs = 'A' -write only -Pin State: 0-1024 # Analog Inputs = 'A' -write only -Pin State: 0-1024
# Latching Potentiometers = 'L' -write only -Pin State: 0-max Position # Latching Potentiometers = 'L' -write only -Pin State: 0-max Position
# binary encoded Selector = 'K' -write only -Pin State: 0-32 # binary encoded Selector = 'K' -write only -Pin State: 0-32
# Matrix Keypad = 'M' -write only -Pin State: 0,1 # Matrix Keypad = 'M' -write only -Pin State: 0,1
# Quadrature Encoders = 'R' -write only -Pin State: 0(down),1(up),-2147483648 to 2147483647(counter)
# Joystick Input = 'R' -write only -Pin State: -2147483648 to 2147483647(counter)
# Command 'E0:0' is used for connectivity checks and is send every 5 seconds as keep alive signal # Command 'E0:0' is used for connectivity checks and is send every 5 seconds as keep alive signal
@ -183,43 +186,43 @@ min_update_interval = 100
# setup Input halpins # setup Input halpins
for port in range(Inputs): for port in range(Inputs):
c.newpin("dIn.{}".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_OUT) c.newpin("din.{}".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_OUT)
c.newparam("dIn.{}-invert".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_RW) c.newparam("din.{}-invert".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_RW)
# setup Output halpins # setup Output halpins
for port in range(Outputs): for port in range(Outputs):
c.newpin("dOut.{}".format(OutPinmap[port]), hal.HAL_BIT, hal.HAL_IN) c.newpin("dout.{}".format(OutPinmap[port]), hal.HAL_BIT, hal.HAL_IN)
olddOutStates[port] = 0 olddOutStates[port] = 0
# setup Pwm Output halpins # setup Pwm Output halpins
for port in range(PwmOutputs): for port in range(PwmOutputs):
c.newpin("PwmOut.{}".format(PwmOutPinmap[port]), hal.HAL_FLOAT, hal.HAL_IN) c.newpin("pwmout.{}".format(PwmOutPinmap[port]), hal.HAL_FLOAT, hal.HAL_IN)
oldPwmOutStates[port] = 255 oldPwmOutStates[port] = 255
# setup Analog Input halpins # setup Analog Input halpins
for port in range(AInputs): for port in range(AInputs):
c.newpin("aIn.{}".format(AInPinmap[port]), hal.HAL_FLOAT, hal.HAL_OUT) c.newpin("ain.{}".format(AInPinmap[port]), hal.HAL_FLOAT, hal.HAL_OUT)
# setup Latching Poti halpins # setup Latching Poti halpins
for Poti in range(LPoti): for Poti in range(LPoti):
if SetLPotiValue[port]== 0: if SetLPotiValue[port]== 0:
for Pin in range(LPotiLatches[Poti][1]): for Pin in range(LPotiLatches[Poti][1]):
c.newpin("LPoti.{}.{}" .format(LPotiLatches[Poti][0],Pin), hal.HAL_BIT, hal.HAL_OUT) c.newpin("lpoti.{}.{}" .format(LPotiLatches[Poti][0],Pin), hal.HAL_BIT, hal.HAL_OUT)
else: else:
c.newpin("LPoti.{}.{}" .format(LPotiLatches[Poti][0],"out"), hal.HAL_S32, hal.HAL_OUT) c.newpin("lpoti.{}.{}" .format(LPotiLatches[Poti][0],"out"), hal.HAL_S32, hal.HAL_OUT)
# setup Absolute Encoder Knob halpins # setup Absolute Encoder Knob halpins
if BinSelKnob: if BinSelKnob:
if SetBinSelKnobValue == 0: if SetBinSelKnobValue == 0:
for port in range(BinSelKnobPos): for port in range(BinSelKnobPos):
c.newpin("BinSelKnob.0.{}".format(port), hal.HAL_BIT, hal.HAL_OUT) c.newpin("binselknob.0.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
else : else :
c.newpin("BinSelKnob.{}.{}" .format("0","out"), hal.HAL_S32, hal.HAL_OUT) c.newpin("binselknob.{}.{}" .format("0","out"), hal.HAL_S32, hal.HAL_OUT)
# setup Digital LED halpins # setup Digital LED halpins
if DLEDcount > 0: if DLEDcount > 0:
for port in range(DLEDcount): for port in range(DLEDcount):
c.newpin("DLED.{}".format(port), hal.HAL_BIT, hal.HAL_IN) c.newpin("dled.{}".format(port), hal.HAL_BIT, hal.HAL_IN)
oldDLEDStates[port] = 0 oldDLEDStates[port] = 0
# setup MatrixKeyboard halpins # setup MatrixKeyboard halpins
if Keypad > 0: if Keypad > 0:
@ -227,20 +230,20 @@ if Keypad > 0:
if Destination[port] == 0 & LinuxKeyboardInput: if Destination[port] == 0 & LinuxKeyboardInput:
pass #if destination is set to Linux, don't register a Hal Pin for this key. pass #if destination is set to Linux, don't register a Hal Pin for this key.
else: else:
c.newpin("Keypad.{}".format(Chars[port]), hal.HAL_BIT, hal.HAL_IN) c.newpin("keypad.{}".format(Chars[port]), hal.HAL_BIT, hal.HAL_IN)
#setup JoyStick Pins #setup JoyStick Pins
if JoySticks > 0: if JoySticks > 0:
for port in range(JoySticks*2): for port in range(JoySticks*2):
c.newpin("Counter.{}".format(JoyStickPins[port]), hal.HAL_S32, hal.HAL_OUT) c.newpin("counter.{}".format(JoyStickPins[port]), hal.HAL_S32, hal.HAL_OUT)
if QuadEncs > 0: if QuadEncs > 0:
for port in range(QuadEncs): for port in range(QuadEncs):
if QuadEncSig[port] == 1: if QuadEncSig[port] == 1:
c.newpin("CounterUp.{}".format(port), hal.HAL_BIT, hal.HAL_OUT) c.newpin("counterup.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
c.newpin("CounterDown.{}".format(port), hal.HAL_BIT, hal.HAL_OUT) c.newpin("counterdown.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
if QuadEncSig[port] == 2: if QuadEncSig[port] == 2:
c.newpin("Counter.{}".format(port), hal.HAL_S32, hal.HAL_OUT) c.newpin("counter.{}".format(port), hal.HAL_S32, hal.HAL_OUT)
@ -281,7 +284,7 @@ def extract_nbr(input_str):
def managageOutputs(): def managageOutputs():
for port in range(PwmOutputs): for port in range(PwmOutputs):
State = int(c["PwmOut.{}".format(PwmOutPinmap[port])]) State = int(c["pwmout.{}".format(PwmOutPinmap[port])])
if oldPwmOutStates[port] != State: #check if states have changed if oldPwmOutStates[port] != State: #check if states have changed
Sig = 'P' Sig = 'P'
Pin = int(PwmOutPinmap[port]) Pin = int(PwmOutPinmap[port])
@ -291,7 +294,7 @@ def managageOutputs():
oldPwmOutStates[port]= State oldPwmOutStates[port]= State
for port in range(Outputs): for port in range(Outputs):
State = int(c["dOut.{}".format(OutPinmap[port])]) State = int(c["dout.{}".format(OutPinmap[port])])
if olddOutStates[port] != State: #check if states have changed if olddOutStates[port] != State: #check if states have changed
Sig = 'O' Sig = 'O'
Pin = int(OutPinmap[port]) Pin = int(OutPinmap[port])
@ -301,7 +304,7 @@ def managageOutputs():
olddOutStates[port]= State olddOutStates[port]= State
for port in range(DLEDcount): for port in range(DLEDcount):
State = int(c["DLED.{}".format(port)]) State = int(c["dled.{}".format(port)])
if oldDLEDStates[port] != State: #check if states have changed if oldDLEDStates[port] != State: #check if states have changed
Sig = 'D' Sig = 'D'
Pin = int(port) Pin = int(port)
@ -334,20 +337,20 @@ while True:
if cmd == "I": if cmd == "I":
firstcom = 1 firstcom = 1
if value == 1: if value == 1:
c["dIn.{}".format(io)] = 1 c["din.{}".format(io)] = 1
c["dIn.{}-invert".format(io)] = 0 c["din.{}-invert".format(io)] = 0
if(Debug):print("dIn{}:{}".format(io,1)) if(Debug):print("din{}:{}".format(io,1))
if value == 0: if value == 0:
c["dIn.{}".format(io)] = 0 c["din.{}".format(io)] = 0
c["dIn.{}-invert".format(io)] = 1 c["din.{}-invert".format(io)] = 1
if(Debug):print("dIn{}:{}".format(io,0)) if(Debug):print("din{}:{}".format(io,0))
else:pass else:pass
elif cmd == "A": elif cmd == "A":
firstcom = 1 firstcom = 1
c["aIn.{}".format(io)] = value c["ain.{}".format(io)] = value
if (Debug):print("aIn.{}:{}".format(io,value)) if (Debug):print("ain.{}:{}".format(io,value))
elif cmd == "L": elif cmd == "L":
firstcom = 1 firstcom = 1
@ -355,28 +358,28 @@ while True:
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0: if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 0:
for Pin in range(LPotiLatches[Poti][1]): for Pin in range(LPotiLatches[Poti][1]):
if Pin == value: if Pin == value:
c["LPoti.{}.{}" .format(io,Pin)] = 1 c["lpoti.{}.{}" .format(io,Pin)] = 1
if(Debug):print("LPoti.{}.{} =1".format(io,Pin)) if(Debug):print("lpoti.{}.{} =1".format(io,Pin))
else: else:
c["LPoti.{}.{}" .format(io,Pin)] = 0 c["lpoti.{}.{}" .format(io,Pin)] = 0
if(Debug):print("LPoti.{}.{} =0".format(io,Pin)) if(Debug):print("lpoti.{}.{} =0".format(io,Pin))
if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1: if LPotiLatches[Poti][0] == io and SetLPotiValue[Poti] == 1:
c["LPoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value] c["lpoti.{}.{}" .format(io,"out")] = LPotiValues[Poti][value]
if(Debug):print("LPoti.{}.{} = 0".format("out",LPotiValues[Poti][value])) if(Debug):print("lpoti.{}.{} = 0".format("out",LPotiValues[Poti][value]))
elif cmd == "K": elif cmd == "K":
firstcom = 1 firstcom = 1
if SetBinSelKnobValue == 0: if SetBinSelKnobValue == 0:
for port in range(BinSelKnobPos): for port in range(BinSelKnobPos):
if port == value: if port == value:
c["BinSelKnob.{}".format(port)] = 1 c["binselknob.{}".format(port)] = 1
if(Debug):print("BinSelKnob.{}:{}".format(port,1)) if(Debug):print("binselknob.{}:{}".format(port,1))
else: else:
c["BinSelKnob.{}".format(port)] = 0 c["binselknob.{}".format(port)] = 0
if(Debug):print("BinSelKnob.{}:{}".format(port,0)) if(Debug):print("binselknob.{}:{}".format(port,0))
else: else:
c["BinSelKnob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value] c["binselknob.{}.{}" .format(0,"out")] = BinSelKnobvalues[value]
elif cmd == "M": elif cmd == "M":
@ -386,34 +389,34 @@ while True:
subprocess.call(["xdotool", "key", Chars[io]]) subprocess.call(["xdotool", "key", Chars[io]])
if(Debug):print("Emulating Keypress{}".format(Chars[io])) if(Debug):print("Emulating Keypress{}".format(Chars[io]))
else: else:
c["Keypad.{}".format(Chars[io])] = 1 c["keypad.{}".format(Chars[io])] = 1
if(Debug):print("Keypad{}:{}".format(Chars[io],1)) if(Debug):print("keypad{}:{}".format(Chars[io],1))
if value == 0 & Destination[io] == 0: if value == 0 & Destination[io] == 0:
c["Keypad.{}".format(Chars[io])] = 0 c["keypad.{}".format(Chars[io])] = 0
if(Debug):print("Keypad{}:{}".format(Chars[io],0)) if(Debug):print("keypad{}:{}".format(Chars[io],0))
elif cmd == "R": elif cmd == "R":
firstcom = 1 firstcom = 1
if JoySticks > 0: if JoySticks > 0:
for pins in range(JoySticks*2): for pins in range(JoySticks*2):
if (io == JoyStickPins[pins]): if (io == JoyStickPins[pins]):
c["Counter.{}".format(io)] = value c["counter.{}".format(io)] = value
if (Debug):print("Counter.{}:{}".format(io,value)) if (Debug):print("counter.{}:{}".format(io,value))
if QuadEncs > 0: if QuadEncs > 0:
if QuadEncSig[io]== 1: if QuadEncSig[io]== 1:
if value == 0: if value == 0:
c["CounterDown.{}".format(io)] = 1 c["counterdown.{}".format(io)] = 1
time.sleep(0.05) time.sleep(0.05)
c["CounterDown.{}".format(io)] = 0 c["counterdown.{}".format(io)] = 0
time.sleep(0.05) time.sleep(0.05)
if value == 1: if value == 1:
c["CounterUp.{}".format(io)] = 1 c["counterup.{}".format(io)] = 1
time.sleep(0.05) time.sleep(0.05)
c["CounterUp.{}".format(io)] = 0 c["counterup.{}".format(io)] = 0
time.sleep(0.05) time.sleep(0.05)
if QuadEncSig[io]== 2: if QuadEncSig[io]== 2:
c["Counter.{}".format(io)] = value c["counter.{}".format(io)] = value
elif cmd == 'E': elif cmd == 'E':
arduino.write(b"E0:0\n") arduino.write(b"E0:0\n")