summaryrefslogtreecommitdiff
path: root/digital/io-hub/tools/io_hub/mex.py
blob: ff3bea613da064142c38a6a33376d0525bb4704f (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
# io-hub - Modular Input/Output. {{{
#
# Copyright (C) 2011 Nicolas Schodet
#
# APBTeam:
#        Web: http://apbteam.org/
#      Email: team AT apbteam DOT org
#
# 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 2 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, write to the Free Software
# Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
#
# }}}
"""Mex interface to io-hub."""

from utils.observable import Observable
import simu.mex.msg
import simu.link.mex_gpio
import simu.link.mex_adc_channel

ADC_NB = 8

PWM_VALUE_MAX = 1024

CONTACT_INIT = 0xffffffff

class Mex:
    """Handle communications with simulated io-hub."""

    class ADC (Observable):
        """Analog to digital input."

        - value: volts.

        """

        def __init__ (self, node, instance, index):
            Observable.__init__ (self)
            self.value = 0
            self.__node = node
            self.__mtype = node.reserve (instance + ':adc')
            self.__index = index
            self.register (self.__notified)

        def __notified (self):
            m = simu.mex.msg.Msg (self.__mtype)
            v = int (1024 * self.value / 5)
            v = min (v, 1023)
            v = max (0, v)
            m.push ('BH', self.__index, v)
            self.__node.send (m)

    class PWM (Observable):
        """PWM output.

        - value: current PWM value (-1 ... +1).

        """

        def __init__ (self):
            Observable.__init__ (self)
            self.value = None

        class Pack:
            """Handle reception of several PWM for one message."""

            def __init__ (self, node, instance, list):
                self.__list = list
                node.register (instance + ':pwm', self.__handle)

            def __handle (self, msg):
                values = msg.pop ('%dh' % len (self.__list))
                for pwm, value in zip (self.__list, values):
                    pwm.value = float (value) / PWM_VALUE_MAX
                    pwm.notify ()

    class Contact (Observable):
        """Contact input.

        - state: True (open) or False (closed).

        """

        def __init__ (self, pack, index):
            Observable.__init__ (self)
            self.pack = pack
            self.index = index
            self.state = None
            self.register (self.__notified)

        def __notified (self):
            self.pack.set (self.index, self.state)

        class Pack:
            """Handle emission of several contacts for one message."""

            def __init__ (self, node, instance):
                self.node = node
                self.contacts = CONTACT_INIT
                self.mtype = node.reserve (instance + ':contact')

            def set (self, index, state):
                if state is None or state:
                    self.contacts |= 1 << index
                else:
                    self.contacts &= ~(1 << index)
                self.__send ()

            def __send (self):
                m = simu.mex.msg.Msg (self.mtype)
                m.push ('L', self.contacts)
                self.node.send (m)

    class Output (Observable):
        """Simple output.

        - state: True (1) or False (0).

        """

        def __init__ (self):
            Observable.__init__ (self)
            self.state = None

        class Pack:
            """Handle reception of several output for one message."""

            def __init__ (self, node, instance, list):
                self.__list = list
                node.register (instance + ':output', self.__handle)

            def __handle (self, msg):
                mask, = msg.pop ('L')
                for index, output in enumerate (self.__list):
                    new = (False, True)[(mask >> index) & 1]
                    if new != output.state:
                        output.state = new
                        output.notify ()

    class Codebar (Observable):
        """Codebar stub.

        - element_type: 'queen', 'king', or anything else.

        """

        def __init__ (self, pack, index):
            Observable.__init__ (self)
            self.pack = pack
            self.index = index
            self.element_type = None
            self.register (self.__notified)

        def __notified (self):
            self.pack.set (self.index, self.element_type)

        class Pack:
            """Handle emission of several codebar for one message."""

            def __init__ (self, node, instance):
                self.node = node
                self.codebars = [0, 0]
                self.mtype = node.reserve (instance + ':codebar')

            def set (self, index, element_type):
                if element_type == 'queen':
                    self.codebars[index] = 4
                elif element_type == 'king':
                    self.codebars[index] = 8
                else:
                    self.codebars[index] = 0
                self.__send ()

            def __send (self):
                m = simu.mex.msg.Msg (self.mtype)
                for c in self.codebars:
                    m.push ('b', c)
                self.node.send (m)

    class Path (Observable):
        """Path finding algorithm report.

        - path: sequence of (x, y) coordinates (millimeters).

        """

        def __init__ (self, node, instance):
            Observable.__init__ (self)
            self.path = [ ]
            node.register (instance + ':path', self.__handle)

        def __handle (self, msg):
            self.path = [ ]
            while len (msg) >= 4:
                self.path.append (msg.pop ('hh'))
            self.notify ()

    class PosReport (Observable):
        """General purpose position report.

        - pos: dict of sequence of (x, y) coordinates (millimeters).  The dict
          is indexed by position identifier.

        """

        def __init__ (self, node, instance):
            Observable.__init__ (self)
            self.pos = { }
            node.register (instance + ':pos-report', self.__handle)

        def __handle (self, msg):
            p = [ ]
            id, = msg.pop ('b')
            while len (msg) >= 4:
                p.append (msg.pop ('hh'))
            self.pos[id] = p
            self.notify ()

    class DebugDraw (Observable):
        """General purpose debug drawing."""

        def __init__ (self, node, instance):
            Observable.__init__ (self)
            self.drawing = [ ]
            node.register (instance + ':debug-draw', self.__handle)

        def __handle (self, msg):
            self.drawing = [ ]
            while len (msg):
                t, = msg.pop ('c')
                if t == 'c':
                    x, y, r, c = msg.pop ('hhhb')
                    self.drawing.append (['circle', x, y, r, c])
                elif t == 's':
                    x1, y1, x2, y2, c = msg.pop ('hhhhb')
                    self.drawing.append (['segment', x1, y1, x2, y2, c])
                elif t == 'p':
                    x, y, c = msg.pop ('hhb')
                    self.drawing.append (['point', x, y, c])
                elif t == 'n':
                    x, y, t = msg.pop ('hhl')
                    self.drawing.append (['text', x, y, str (t)])
                else:
                    raise ValueError
            self.notify ()

    def __init__ (self, node, instance = 'io-hub0',
            pwm_nb = 0, contact_nb = 0, output_nb = 0, gpios = False,
            adc_channels = False, codebar = False):
        self.adc = tuple (self.ADC (node, instance, i) for i in range (0, ADC_NB))
        if pwm_nb:
            self.pwm = tuple (self.PWM () for i in range (0, pwm_nb))
            self.__pwm_pack = self.PWM.Pack (node, instance, self.pwm)
        if contact_nb:
            self.__contact_pack = self.Contact.Pack (node, instance)
            self.contact = tuple (self.Contact (self.__contact_pack, i)
                    for i in range (contact_nb))
        if output_nb:
            self.output = tuple (self.Output () for i in range (0, output_nb))
            self.__output_pack = self.Output.Pack (node, instance,
                    self.output)
        if gpios:
            self.gpios = simu.link.mex_gpio.MexGpio.Pack (node, instance)
        if adc_channels:
            self.adc_channels = simu.link.mex_adc_channel.MexAdcChannel.Pack (
                    node, instance)
        if codebar:
            self.__codebar_pack = self.Codebar.Pack (node, instance)
            self.codebar = tuple (self.Codebar (self.__codebar_pack, i)
                    for i in (0, 1))
        self.path = self.Path (node, instance)
        self.pos_report = self.PosReport (node, instance)
        self.debug_draw = self.DebugDraw (node, instance)