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csc prototype to arduino board with python API. part I (C recipe) by cheeng shu chin
ActiveState Code (http://code.activestate.com/recipes/577520/)

Few day ago, i'm try out arduino UNO robotic board. found it not that easy to use (C <--> Python). I wrote a arduino UNO prototype to serial API, which can interface to any programming Language. as long as the programming Language can interface to virtual serial port and using serial API, this recipe can be use... Requirement:

Upload this recipes to arduino uno with my prototype code (name "csc.pde" as below)

Base concept:

  1. wait from serial reply "?" and ready for read
  2. pass function name as string to arduino uno
  3. pass all argument as string to arduino uno
  4. read result as string from arduino uno

Can easy extend it to support:

  1. python API(open source and i like most) in part II
  2. other arduino board
  3. Bluetooth with serial interface
  4. any PC can control the arduino board easily via your prefer Language.
  5. interrupt

Future add-on:

  1. Json string passing to arduino
  2. Json Reply from arduino
  3. thread base design
  4. Interrupt direct call

Please study it and extend it and share among open source members especially in python... :)

Next Part II

C, 264 lines
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//Author: Cheeng Shu Chin
#define ARRAY_SIZE(x) (sizeof(x) / sizeof(x[0]))
typedef String (*cmd_func_ptr)();
typedef String (*funcp)(String);
typedef struct
{
  String cmd;
  cmd_func_ptr func;
} command;
String cmd,cmdlck;
volatile int int0=0;
volatile int int1=0;
int dbg=1;
cmd_func_ptr func;
command commands[] = 
{
  {"echo", &echo},
  {"unknown", &unknown},
  {"pinmode", &pinmode},
  {"digitalwrite", &digitalwrite},
  {"digitalread", &digitalread},
  {"analogread", &analogread},
  {"analoreference", &analogreference},
  {"analogwrite", &analogwrite},
  {"tones", &tones},
  {"notones", &notones},
  {"shiftout", &shiftout},
  {"shiftin", &shiftin},
  {"pulsein", &pulsein},
  {"attachinterrupt", &attachinterrupt},
  {"detachinterrupt", &detachinterrupt},
  {"cinterrupts", &cinterrupts},
  {"nocinterrupts", &nocinterrupts},
  {"debug", &debug},
  {"pycall", &pycall},
  {"test", &test},
  {"nop", &nop},
};
String rdata(String cstr)
{
  readagain:
  if (dbg>0)
  {
    reply(cstr);
  }else{
    reply("?");
  }
  String cst = "";
  while(Serial.available()>0)
  {
    cst += byte(Serial.read());
  }
  if (cst.equalsIgnoreCase("!"))
  {
    sprintln("cmd = "+cmdlck);
    goto readagain;
  }
  return cst;
}
void reply(String cst)
{
  loopagain:
  if (int0 != 0)
  {
    sprintln("!INT0 ?");
    int0 = 0;
    goto loopagain;
  }
  if (int1 != 0)
  {
    sprintln("!INT1 ?");
    int1 = 0;
    goto loopagain;
  }
 sprintln(cst);
  while(Serial.available()<1)
  {
  }
}
String nop()
{
  return "";
}
String test()
{
  int intp=str2int(rdata("interrupts ?"));
  if (intp == 0)
  {
    int0 = !int0;
  }
  if (intp == 1)
  {
    int1 = !int1;
  }
  return "";
}
String debug()
{
  dbg=str2int(rdata("debug ?"));
  return "";
}  
String unknown()
{
  return "unkown command: " + cmd;
}
void sprint(String cst)
{
  Serial.print(cst);
}
void sprintln(String cst)
{
  Serial.println(cst);
}
int str2int(String dt)
{
  char str[dt.length()+1];
  dt.toCharArray(str,dt.length()+1);
  return atoi(str);
}
String pinmode()
{
  int pin=str2int(rdata("pin ?"));
  int mode=str2int(rdata("mode ?"));
  pinMode(pin,mode);
  return "";
}
String digitalwrite()
{
  int pin=str2int(rdata("pin ?"));
  int value=str2int(rdata("value ?"));
  digitalWrite(pin,value);
  return "";
}
String digitalread()
{
  int pin=str2int(rdata("pin ?"));
  return digitalRead(pin);
}
String analogreference()
{
  int pin=str2int(rdata("type ?"));
  analogReference(pin);
  return "";
}
String analogwrite()
{
  int pin=str2int(rdata("pin ?"));
  int value=str2int(rdata("value ?"));
  analogWrite(pin, value);
  return "";
}
String analogread()
{
  int pin=str2int(rdata("pin ?"));
  return analogRead(pin);
}
String tones()
{
  int pin=str2int(rdata("pin ?"));
  int frequency=str2int(rdata("frequency ?"));
  int duration=str2int(rdata("duration ?"));
  tone(pin, frequency, duration);
  return "";
}
String notones()
{
  int pin=str2int(rdata("pin ?"));
  noTone(pin);
  return "";
}
String shiftout()
{
  int dataPin=str2int(rdata("dataPin ?"));
  int clockPin=str2int(rdata("clockPin ?"));
  int bitOrder=str2int(rdata("bitOrder ?"));
  int value=str2int(rdata("value ?"));
  shiftOut(dataPin, clockPin, bitOrder, value);
  return "";
}
String shiftin()
{
  int dataPin=str2int(rdata("dataPin ?"));
  int clockPin=str2int(rdata("clockPin ?"));
  int bitOrder=str2int(rdata("bitOrder ?"));
  return shiftIn(dataPin, clockPin, bitOrder);
}
String pulsein()
{
  int pin=str2int(rdata("pin ?"));
  int value=str2int(rdata("value ?"));
  int timeout=str2int(rdata("timeout ?"));
  return pulseIn(pin, value, timeout);
}
String attachinterrupt()
{
  int interrupt=str2int(rdata("interrupt ?"));
  if (interrupt == 0)
  {
    attachInterrupt(interrupt, pycallback0, CHANGE);
  }
  if (interrupt == 1)
  {
    attachInterrupt(interrupt, pycallback1, CHANGE);
  }
  return "";
}
void pycallback0()
{
  int0 = !int0;
}
void pycallback1()
{
  int1 = !int1;
}
String detachinterrupt()
{
  int interrupt=str2int(rdata("interrupt ?"));
  detachInterrupt(interrupt);
  return "";
}
String cinterrupts()
{
  interrupts();
  return "";
}
String nocinterrupts()
{
  noInterrupts();
  return "";
}
String echo()
{
  return rdata(cmd+" ?");
}
String pycall()
{
  String fc=rdata("Func ?");
  return funcparser(fc);
}
String funcparser(String cmdc)
{
  byte i = 0;
  func = &unknown;
  for(i = 0; i != ARRAY_SIZE(commands); ++i)
  {
    if (commands[i].cmd.equalsIgnoreCase(cmdc))
    {
      func = commands[i].func;
      break;
    }
  }
  return func();
}
void setup() 
{
  Serial.begin(115200);
}
void loop()
{
  cmdlck = "";
  cmd = rdata("?");
  cmdlck = cmd;
  sprintln(funcparser(cmd));
}
Tags: api, arduino, c, python, serial
Created by cheeng shu chin on Sun, 26 Dec 2010 (MIT)
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◄ cheeng shu chin's recipes (4) ►

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