Merge pull request #1 from xtruan/develop

Develop

arduino/actuator/actuator.ino

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+#include <MeccaBrain.h>
+#include <Wire.h>
+
+#ifndef cbi
+#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+
+// set I2C address
+const int I2C_ADDR = 0x8;
+
+// configure pin addresses
+const int LED_PIN = LED_BUILTIN;
+const int MECC_LED_PIN = 3;
+
+// initialize MeccaBrain
+MeccaBrain meccLedChain(MECC_LED_PIN);
+const int MECC_COMM_LOOPS = 20;
+
+// the setup function runs once when you press reset or power the board
+void setup() {
+  // initialize digital pin LED_BUILTIN as an output.
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, LOW);
+
+  // initialize Meccano LED pin as an output
+  pinMode(MECC_LED_PIN, OUTPUT);
+
+  Wire.begin(I2C_ADDR);
+
+  #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega8__) || defined(__AVR_ATmega328P__)
+    // deactivate internal pull-ups for twi
+    // as per note from atmega8 manual pg167
+    cbi(PORTC, 4);
+    cbi(PORTC, 5);
+  #else
+    // deactivate internal pull-ups for twi
+    // as per note from atmega128 manual pg204
+    cbi(PORTD, 0);
+    cbi(PORTD, 1);
+  #endif
+
+  Wire.onReceive(receiveEvent); // register event handler
+
+  Serial.begin(9600);
+
+  // discover Meccano modules
+  for (int i = 0; i < MECC_COMM_LOOPS; i++)
+  {
+    meccLedChain.communicate();
+  }
+
+  delay(2000);
+}
+
+// the loop function runs over and over again forever
+void loop() {
+  // NOP
+}
+
+// action received for Meccano LED
+void actionMeccLed(int setting) {
+  byte red, green, blue;
+  byte fadeTime = 0x0;
+  if (setting == 0) {
+    red = 0x0; green = 0x0; blue = 0x0;
+  } else if (setting == 1) {
+    red = 0x7; green = 0x0; blue = 0x0;
+  } else if (setting == 2) {
+    red = 0x0; green = 0x7; blue = 0x0;
+  } else if (setting == 3) {
+    red = 0x0; green = 0x0; blue = 0x7;
+  } else if (setting == 4) {
+    red = 0x7; green = 0x7; blue = 0x0;
+  } else if (setting == 5) {
+    red = 0x0; green = 0x7; blue = 0x7;
+  } else if (setting == 6) {
+    red = 0x7; green = 0x0; blue = 0x7;
+  } else if (setting == 7) {
+    red = 0x7; green = 0x7; blue = 0x7;
+  } else {
+    red = 0x0; green = 0x0; blue = 0x0;
+  }
+  setMeccLedColor(red, green, blue, fadeTime);
+}
+
+// set the color of Meccano LED. 
+// red, green and blue are from 0 to 7 (0 - no color, 7 - max color) 
+// fadeTime is from 0 to 7 and means the speed of color change (0 - immediate change, 7 - longest change)
+// example: setMeccLedColor(7, 0, 0, 0) means change color to red immediately
+void setMeccLedColor(byte red, byte green, byte blue, byte fadeTime)
+{
+  meccLedChain.setLEDColor(red, green, blue, fadeTime);
+  for (int i = 0; i < MECC_COMM_LOOPS; i++)
+  {
+    meccLedChain.communicate();
+  }
+}
+
+// action received for test (internal Ardino) LED
+void actionTestLed(char setting) {
+  if (setting == 0) {
+      digitalWrite(LED_PIN, 0);
+    } else {
+      digitalWrite(LED_PIN, 1);
+    }
+}
+
+// process received event
+void processEvent(char type, char id, char setting) {
+  if (type == 'L') {
+    actionTestLed(setting);
+  } else if (type == 'M') {
+    actionMeccLed(setting);
+  } else if (type == 'S') {
+    // NOP
+  }
+}
+
+// executes when data is received from I2C master
+// registered as an event handler; see setup()
+void receiveEvent(int howMany) {
+  while (Wire.available()) { // loop through all but the last
+    if (Wire.available() == 3) {
+      char type = Wire.read(); // receive byte as a character
+      char id = Wire.read(); // receive byte as a character
+      char setting = Wire.read(); // receive byte as a character
+      processEvent(type, id, setting);
+    } else {
+      char c = Wire.read(); // receive byte as a character
+    }
+  }
+}

raspi/control.py

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+from collections import deque
+import csv
+import argparse
+import time
+
+import utils.transform as transform
+import utils.i2c as i2c
+from objects.anim_action import AnimAction
+
+COL_TIME_STR = 0
+COL_DEVICE_TYPE = 1
+COL_DEVICE_ID = 2
+COL_SETTING = 3
+
+anim_actions = deque([])
+
+def read_anim_csv(filename, delimiter=',', quotechar='"'):
+    csv_file = open(filename, 'r')
+    csv_reader = csv.reader(csv_file, delimiter=delimiter, quotechar=quotechar)
+
+    for row in csv_reader:
+        time_str = str(row[COL_TIME_STR])
+        time_sec = transform.time_convert(time_str)
+        device_type = str(row[COL_DEVICE_TYPE])
+        device_id = int(row[COL_DEVICE_ID])
+        setting = int(row[COL_SETTING])
+
+        action = AnimAction(time_str, time_sec, device_type, device_id, setting)
+        anim_actions.append(action)        
+
+    csv_file.close()
+
+def handle_anim():
+    start = time.time()
+    end = time.time()
+    while len(anim_actions) > 0:
+        if anim_actions[0].time_sec <= end - start:
+            handle_action(anim_actions.popleft())
+        time.sleep(0.001)
+        end = time.time()
+
+def handle_action(action):
+    i2c.write_anim_i2c(action)
+    print(action)
+
+def main():
+    parser = argparse.ArgumentParser(description="Animatronic Control Program")
+    parser.add_argument('-i', '--input', type=str, required=True)
+    args = parser.parse_args()
+
+    input_file = args.input
+    print('Input file: ' + input_file)
+    if '.csv' in input_file.lower():
+        print('Loading file...')
+        read_anim_csv(input_file)
+        print('Loaded!')
+        wait = input('Press enter to continue...')
+        handle_anim()
+    else:
+        raise Exception('Invalid file type')
+
+if __name__ == '__main__':
+    main()

raspi/objects/__init__.py

@@ -0,0 +1,2 @@
+
+

raspi/objects/anim_action.py

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+
+class AnimAction:
+    def __init__(self, time_str, time_sec, device_type, device_id, setting):
+        self.time_str = time_str
+        self.time_sec = time_sec
+        self.device_type = device_type
+        self.device_id = device_id
+        self.setting = setting
+
+    def __str__(self):
+        return str(self.time_str) + '-' + str(self.device_type) + '-' + str(self.device_id) + '-' + str(self.setting)
+

raspi/test.csv

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+00:00:01.10,LED,1,1
+00:00:01.20,LED,1,0
+00:00:01.30,LED,1,1
+00:00:01.40,LED,1,0
+00:00:03.00,MLED,1,0
+00:00:05.00,MLED,1,1
+00:00:07.00,MLED,1,2
+00:00:09.00,MLED,1,3
+00:00:11.00,MLED,1,4
+00:00:13.00,MLED,1,5
+00:00:15.00,MLED,1,6
+00:00:17.00,MLED,1,7
+00:00:20.00,SVO,1,90

raspi/utils/__init__.py

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+
+

raspi/utils/i2c.py

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+from smbus import SMBus
+
+from objects.anim_action import AnimAction
+
+I2C_ADDR = 0x8      # bus address
+I2C_BUS = SMBus(1)  # indicates /dev/ic2-1
+
+
+
+def write_anim_i2c(action):
+    data = [action.device_type.encode()[0], action.device_id, action.setting]
+    I2C_BUS.write_i2c_block_data(I2C_ADDR, 0x0, data)
+    #I2C_BUS.write_byte(I2C_ADDR, action.device_type.encode()[0])
+    #I2C_BUS.write_byte(I2C_ADDR, action.device_id)
+    #I2C_BUS.write_byte(I2C_ADDR, action.setting)

raspi/utils/transform.py

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+
+def time_convert(time_str):
+    time_list = time_str.split(':')
+    return float(int(time_list[0]) * 3600 + int(time_list[1]) * 60 + float(time_list[2]))