added functionality to python file
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Alexander Richter
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arduino.py
Normal file → Executable file
140
arduino.py
Normal file → Executable file
@ -1,6 +1,5 @@
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#!/usr/bin/python3.9
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import serial, time, hal
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import serial, time, hal, asyncio
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# LinuxCNC_ArduinoConnector
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# By Alexander Richter, info@theartoftinkering.com 2022
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@ -63,53 +62,63 @@ PwmOutPinmap = [13,11]
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# Set how many Analog Inputs you have programmed in Arduino and which pins are Analog Inputs
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AInputs = 1
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AInPinmap = [94]
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AInPinmap = [1]
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# Set how many Latching Analog Inputs you have programmed in Arduino and how many latches there are
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LPoti = 2
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LPotiLatches = [9,4]
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LPotiLatches = [[2,9],
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[3,4]]
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# Set if you have an Absolute Encoder Knob and how many positions it has (only one supported, as i don't think they are very common and propably nobody uses these anyway)
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AbsKnob = 1
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AbsKnobPos = 31
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AbsKnobPos = 32
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Debug = 0
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######## End of Config! ########
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######## SetUp of HalPins ########
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# setup Input halpins
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for port in range(Inputs):
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c.newpin("dIn-%02d" % InPinmap[port], hal.HAL_BIT, hal.HAL_IN)
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c.newparam("dIn-%02d-invert" % InPinmap[port], hal.HAL_BIT, hal.HAL_RW)
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c.newpin("dIn.{}".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_OUT)
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c.newparam("dIn.{}-invert".format(InPinmap[port]), hal.HAL_BIT, hal.HAL_RW)
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# setup Output halpins
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for port in range(Outputs):
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c.newpin("dOut-%02d" % OutPinmap[port], hal.HAL_BIT, hal.HAL_OUT)
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c.newpin("dOut.{}".format(OutPinmap[port]), hal.HAL_BIT, hal.HAL_IN)
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# setup Pwm Output halpins
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for port in range(PwmOutputs):
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c.newpin("PwmOut-%02d" % PwmOutPinmap[port], hal.HAL_FLOAT, hal.HAL_OUT)
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c.newpin("PwmOut.{}".format(PwmOutPinmap[port]), hal.HAL_FLOAT, hal.HAL_IN)
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# setup Analog Input halpins
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for port in range(AInputs):
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c.newpin("aIn-%02d" % AInPinmap[port], hal.HAL_FLOAT, hal.HAL_IN)
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c.newpin("aIn.{}".format(AInPinmap[port]), hal.HAL_FLOAT, hal.HAL_OUT)
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# setup Latching Poti halpins
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for latches in range(LPoti):
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for port in range(LPotiLatches[latches]):
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c.newpin("LPoti-%02d" % [port], hal.HAL_BIT, hal.HAL_IN)
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for Poti in range(LPoti):
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for Pin in range(LPotiLatches[Poti][1]):
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c.newpin("LPoti.{}.{}" .format(LPotiLatches[Poti][0],Pin), hal.HAL_BIT, hal.HAL_OUT)
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# setup Absolute Encoder Knob halpins
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if AbsKnob:
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for port in range(AbsKnobPos):
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c.newpin("AbsKnobPos-%02d" % [port], hal.HAL_BIT, hal.HAL_IN)
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c.newpin("AbsKnob.{}".format(port), hal.HAL_BIT, hal.HAL_OUT)
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c.ready()
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#setup Serial connection
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arduino = serial.Serial(connection, 115200, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
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######## GlobalVariables ########
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firstcom = 0
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event = time.time()
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timeout = 9 #send something after max 9 seconds
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######## Functions ########
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def keepAlive(event):
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return event + timeout < time.time()
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def readinput(input_str):
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for i in range(50):
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@ -130,42 +139,95 @@ def extract_nbr(input_str):
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out_number += ele
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return int(out_number)
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def sendData():
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for port in range(PwmOutputs):
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#Outcommand = b"P{}:{}\n".format(PwmOutPinmap[port],c["PwmOut.{}".format(PwmOutPinmap[port])])
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#arduino.write(Outcommand)
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Sig = 'O'
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Pin = PwmOutPinmap[port]
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#State = int(c["PwmOut.{}".format(PwmOutPinmap[port])])
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State = 1
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arduino.write(b'O')
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arduino.write(Pin)
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arduino.write(b":")
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arduino.write(State)
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arduino.write(b"\n")
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event = time.time() #reset timeout timer
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if (Debug):print ("Sending:{}{}:{}".format(Sig,Pin,State))
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######## Detect Serial connection and blink Status LED if connection lost -todo ########
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#try:
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arduino = serial.Serial(connection, 9600, timeout=1, xonxoff=False, rtscts=False, dsrdtr=True)
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while True:
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try:
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data = arduino.readline().decode('utf-8')
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# I127:1
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if (Debug):print ("I received:{}".format(data))
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data = data.split(":",1)
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#[I127]["1"]
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if len(data) == 2:
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try:
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cmd = data[0][0]
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if cmd == "":
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if (Debug):print ("No Command!:{}.".format(cmd))
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else:
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if not data[0][1]:
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io = 0
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else:
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io = extract_nbr(data[0])
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value = extract_nbr(data[1])
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data[1] = extract_nbr(data[1])
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if data[1]<0: data[1] = 0
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if value<0: value = 0
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if data[0] == "I":
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c.dIn = data[1]
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elif data[0] == "A":
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c.aIn = data[1]
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elif data[0] == "L":
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pass
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elif data[0] == "K":
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c.AbsKnob = data[1]
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elif data[0] == "E":
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arduino.printline("E:")
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if cmd == "I":
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if value == 1:
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c["dIn.{}".format(io)] = 1
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c["dIn.{}-invert".format(io)] = 0
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if(Debug):print("dIn{}:{}".format(io,1))
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if value == 0:
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c["dIn.{}".format(io)] = 0
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c["dIn.{}-invert".format(io)] = 1
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if(Debug):print("dIn{}:{}".format(io,0))
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else:pass
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finally:
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pass
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elif cmd == "A":
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c["aIn.{}".format(io)] = value
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if (Debug):print("aIn.{}:{}".format(io,value))
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elif cmd == "L":
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if port == value:
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c["AbsKnob.{}".format(port)] = 1
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if(Debug):print("AbsKnob.{}:{}".format(port,1))
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else:
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c["AbsKnob.{}".format(port)] = 0
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if(Debug):print("AbsKnob.{}:{}".format(port,0))
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elif cmd == "K":
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for port in range(AbsKnobPos):
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if port == value:
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c["AbsKnob.{}".format(port)] = 1
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if(Debug):print("AbsKnob.{}:{}".format(port,1))
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else:
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c["AbsKnob.{}".format(port)] = 0
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if(Debug):print("AbsKnob.{}:{}".format(port,0))
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elif cmd == 'E':
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arduino.write(b"E:\n")
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firstcom = 1
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if (Debug):print("Sending E:")
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else: pass
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except: pass
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except KeyboardInterrupt:
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if (Debug):print ("Keyboard Interrupted.. BYE")
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exit()
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except:
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if (Debug):print ("I received garbage")
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arduino.flush()
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#sendData()
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if keepAlive(event):
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arduino.write(b"E:\n")
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if (Debug):print("keepAlive")
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event = time.time()
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