From 3cc6cff60760b9a6d0f86a2e245b35e2a58d55d3 Mon Sep 17 00:00:00 2001
From: Kai Junge <kai.junge@epfl.ch>
Date: Wed, 13 Apr 2022 22:54:46 +0200
Subject: [PATCH] Windows testing.
---
comms_wrapper.py | 24 ++++++-----
test_windows.py | 28 +++++++++++++
test_windows/pyCommsLib.cpp | 78 +++++++++++++++++++++++++++++++++++
test_windows/pyCommsLib.h | 17 ++++++++
test_windows/test_windows.ino | 25 +++++++++++
5 files changed, 162 insertions(+), 10 deletions(-)
create mode 100644 test_windows.py
create mode 100644 test_windows/pyCommsLib.cpp
create mode 100644 test_windows/pyCommsLib.h
create mode 100644 test_windows/test_windows.ino
diff --git a/comms_wrapper.py b/comms_wrapper.py
index dd5088d..94c51c8 100644
--- a/comms_wrapper.py
+++ b/comms_wrapper.py
@@ -35,9 +35,8 @@ class Arduino:
try:
self._rawReceivedMessage = self.arduino.readline().decode('utf-8')[:-2]
except:
- pass
- time.sleep(0.001)
-
+ #pass
+ time.sleep(0.000001)
def _startReadingThread(self):
self.__thread = Thread(target=self._serial_readline)
@@ -89,7 +88,6 @@ class Arduino:
msgName = singleMsg.split(";")[0]
msgPayload = singleMsg.split(";")[1]
-
if msgName == "echo_python":
self._echo_python_msg = msgPayload
else:
@@ -100,6 +98,11 @@ class Arduino:
else:
return False
+
+ #print(receivedMessageTemp["pot"], self.receivedMessages["pot"])
+ if receivedMessageTemp["pot"] != self.receivedMessages["pot"]:
+ print("asdfasdfasfdasd")
+ print(receivedMessageTemp["pot"])
if receivedMessageTemp == self.receivedMessages:
self.newMsgRecieved = False
@@ -150,11 +153,12 @@ class Arduino:
break
if self.handshakeStatus:
+ # while 1:
+ # self.receive_message()
+ # if self._echo_python_msg == "NO_PYTHON_MESSAGE":
+ # break
print("Successfull handshake with " + self.descriptiveDeviceName)
- while 1:
- self.receive_message()
- if self._echo_python_msg == "NO_PYTHON_MESSAGE":
- break
+ time.sleep(1)
else:
print("!! Handshake failed with " + self.descriptiveDeviceName + " !!")
@@ -199,7 +203,7 @@ class Arduino:
else:
print("Messege received from the arduino: ", self.receivedMessages)
- time.sleep(0.000001)
+ #time.sleep(0.0001)
return True
@@ -231,7 +235,7 @@ class Arduino:
for key, value in self.receivedMessages.items():
if value is None:
- print("Check if message name: ", key, " agrees with the arduino side")
+ print("Check if message names: ", key, " agrees with the arduino side")
########
diff --git a/test_windows.py b/test_windows.py
new file mode 100644
index 0000000..22e4b4f
--- /dev/null
+++ b/test_windows.py
@@ -0,0 +1,28 @@
+from comms_wrapper import *
+from time import sleep, time
+
+def main():
+ key = Key()
+
+ arduino1 = Arduino(descriptiveDeviceName="myArduino", portName="COM4", baudrate=115200)
+
+ arduino1.define_message_names(["pot"])
+
+ arduino1.connect_and_handshake()
+
+ timer = time()
+ while 1:
+ curr_time = round(time() - timer, 5)
+ curr_time = str(curr_time)[:5]
+
+ arduino1.receive_message(printOutput = False)
+
+ #print(arduino1._rawReceivedMessage)
+
+ # if arduino1.newMsgRecieved:
+ # print(curr_time, arduino1.receivedMessages)
+
+
+
+if __name__ == '__main__':
+ main()
diff --git a/test_windows/pyCommsLib.cpp b/test_windows/pyCommsLib.cpp
new file mode 100644
index 0000000..456e46c
--- /dev/null
+++ b/test_windows/pyCommsLib.cpp
@@ -0,0 +1,78 @@
+#include "pyCommsLib.h"
+#include "Arduino.h"
+
+
+#define size_of_array(arr) sizeof(arr) / sizeof(*arr)
+
+
+String rawMsgFromPython = "NO_PYTHON_MESSAGE";
+String payload = "";
+
+
+void load_msg_to_python(String* msgName, String* msg, int numOfMsg) {
+ // If we have the same number of data compared to the message
+ payload = "";
+
+ for (int i = 0; i < numOfMsg; i++) {
+ payload.concat(msgName[i]);
+ payload.concat(";");
+ payload.concat(msg[i]);
+ payload.concat(":");
+ }
+}
+
+
+void receive_msg_from_python() {
+
+ String msg = "";
+
+ while (Serial.available()) {
+ if (Serial.available()) {
+ msg = Serial.readStringUntil('\n');
+ }
+ }
+
+ if (msg != "") {
+ rawMsgFromPython = msg;
+ }
+
+}
+
+
+String latest_received_msg() {
+ return rawMsgFromPython;
+}
+
+void init_python_communication() {
+
+ while (true) {
+ // if the python side sent a message
+ if (Serial.available() > 0) {
+ String rawMsgFromPython = Serial.readStringUntil('\n');
+ if (rawMsgFromPython == "handshake1") {
+ break;
+ }
+ }
+ }
+
+ long timer = millis();
+ while (millis() - timer < 500) {
+ Serial.println("handshake2");
+ }
+
+
+ while (Serial.available()) {
+ Serial.read();
+ }
+}
+
+
+void sync() {
+ receive_msg_from_python();
+ String final_payload = "<echo_python;";
+ final_payload.concat(latest_received_msg());
+ final_payload.concat(":");
+ final_payload.concat(payload);
+ final_payload.concat(">");
+ Serial.println(final_payload);
+}
diff --git a/test_windows/pyCommsLib.h b/test_windows/pyCommsLib.h
new file mode 100644
index 0000000..75ee2f4
--- /dev/null
+++ b/test_windows/pyCommsLib.h
@@ -0,0 +1,17 @@
+#ifndef PYCOMMSLIB_H
+#define PYCOMMSLIB_H
+
+#define size_of_array(arr) sizeof(arr) / sizeof(*arr)
+
+
+#include <Arduino.h>
+
+void load_msg_to_python(String* msgName, String* msg, int numOfMsg);
+
+String latest_received_msg();
+
+void init_python_communication();
+
+void sync();
+
+#endif
diff --git a/test_windows/test_windows.ino b/test_windows/test_windows.ino
new file mode 100644
index 0000000..abcb2d4
--- /dev/null
+++ b/test_windows/test_windows.ino
@@ -0,0 +1,25 @@
+#include "pyCommsLib.h"
+
+String msgName[] = {"pot"};
+String dataCarrier[1];
+
+void setup() {
+ // Start the serial communication. The baudrate is arbiturary.
+ Serial.begin(115200);
+
+ // Connect with the Python side
+ init_python_communication();
+}
+
+long timer = millis();
+void loop() {
+
+ int pot = analogRead(A0);
+ //Serial.println(pot);
+
+ dataCarrier[0] = String(pot);
+
+ load_msg_to_python(msgName, dataCarrier, size_of_array(msgName));
+ sync();
+
+}
--
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