# -*- coding: utf-8 -*-
# (c) 2015 Tuomas Airaksinen
#
# This file is part of automate-arduino.
#
# automate-arduino 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 3 of the License, or
# (at your option) any later version.
#
# automate-arduino 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 automate-arduino. If not, see <http://www.gnu.org/licenses/>.
from traits.api import CInt, Instance, CBool, CFloat, CStr
import pyfirmata
from automate.actuators import FloatActuator
from automate.service import AbstractSystemService
from automate.statusobject import AbstractActuator
from . import arduino_service
[docs]class AbstractArduinoActuator(AbstractActuator):
"""
Abstract base class for Arduino actuators
"""
#: Arduino service number (specify, if more than 1 ArduinoService are configured in the system)
service = CInt(0)
#: Arduino pin number
pin = CInt
_arduino = Instance(AbstractSystemService, transient=True)
view = AbstractActuator.view + ["pin"]
simple_view = AbstractActuator.simple_view + ["pin"]
def setup(self, *args, **kwargs):
super(AbstractArduinoActuator, self).setup(*args, **kwargs)
self._arduino = self.system.request_service('ArduinoService', self.service)
[docs]class ArduinoDigitalActuator(AbstractArduinoActuator):
"""
Boolean-valued actuator object for digital Arduino output pins
"""
_status = CBool(transient=True)
def setup(self, *args, **kwargs):
super(ArduinoDigitalActuator, self).setup(*args, **kwargs)
self._arduino.setup_digital(self.pin)
def _status_changed(self):
self._arduino.change_digital(self.pin, self._status)
def cleanup(self):
self._arduino.cleanup_digital_actuator(self.pin)
[docs]class ArduinoLCDActuator(AbstractArduinoActuator):
"""
Actuator that sends target device digital output pin status change requests
Needs `AutomateFirmata <https://github.com/tuomas2/AutomateFirmata>`_
"""
_status = CStr(transient=True)
#: Target device number
device = CInt
def _status_changed(self):
self._arduino.lcd_print(self._status)
[docs]class ArduinoRemoteDigitalActuator(AbstractArduinoActuator):
"""
Actuator that sends target device digital output pin status change requests
Needs `AutomateFirmata <https://github.com/tuomas2/AutomateFirmata>`_
"""
_status = CBool(transient=True)
#: Target device number
device = CInt
def setup(self, *args, **kwargs):
super(ArduinoRemoteDigitalActuator, self).setup(*args, **kwargs)
self._arduino.send_virtualwire_command(self.device,
arduino_service.VIRTUALWIRE_SET_PIN_MODE,
self.pin,
pyfirmata.OUTPUT)
def _status_changed(self):
self._arduino.send_virtualwire_command(self.device,
arduino_service.VIRTUALWIRE_SET_DIGITAL_PIN_VALUE,
self.pin,
self.status)
[docs]class ArduinoRemotePWMActuator(AbstractArduinoActuator):
"""
Actuator that sends target device analog (PWM) output pin status change requests
Needs `AutomateFirmata <https://github.com/tuomas2/AutomateFirmata>`_
"""
_status = CFloat(transient=True)
#: Target device number
device = CInt
def setup(self, *args, **kwargs):
super(ArduinoRemotePWMActuator, self).setup(*args, **kwargs)
self._arduino.send_virtualwire_command(self.device,
arduino_service.VIRTUALWIRE_SET_PIN_MODE,
self.pin,
pyfirmata.PWM)
def _status_changed(self):
value = min(max(self.status, 0.), 1.)
value = int(round(value * 255)) # Arduino PWM has 8 bit resolution
self._arduino.send_virtualwire_command(self.device,
arduino_service.VIRTUALWIRE_ANALOG_MESSAGE,
self.pin,
value)
[docs]class ArduinoServoActuator(AbstractArduinoActuator):
"""
Float-valued actuator object for Arduino output pins that can be configured in Servo mode
Status is servo angle (0-360).
"""
_status = CFloat(transient=True)
#: Minimum pulse time (in microseconds)
min_pulse = CInt(544)
#: Maximum pulse time (in microseconds)
max_pulse = CInt(2400)
def _min_pulse_changed(self):
if self.traits_inited():
self.setup()
def _max_pulse_changed(self):
if self.traits_inited():
self.setup()
def setup(self, *args, **kwargs):
super(ArduinoServoActuator, self).setup(*args, **kwargs)
self.logger.debug("setup_servo %s %s %s %s %s %s", self, self.service, self.pin, self.min_pulse, self.max_pulse,
int(round(self._status)))
self._arduino.setup_servo(self.pin, self.min_pulse, self.max_pulse, int(round(self._status)))
def _status_changed(self):
self.logger.debug("change_servo %s %s %s", self.pin, int(round(self._status)))
self._arduino.change_digital(self.pin, int(round(self._status)))
def cleanup(self):
self._arduino.cleanup_digital_actuator(self.pin)
[docs]class ArduinoPWMActuator(FloatActuator, AbstractArduinoActuator):
"""
Float-valued actuator object for Arduino output pins that can be configured in PWM mode
Status is float between 0.0 and 1.0.
"""
def setup(self, *args, **kwargs):
super(ArduinoPWMActuator, self).setup(*args, **kwargs)
self._arduino.setup_pwm(self.pin)
def _status_changed(self):
self._arduino.change_digital(self.pin, max(0., min(1., self._status)))
def cleanup(self):
self._arduino.cleanup_digital_actuator(self.pin)