Working on the firmata stuff ...

py/main.py

@@ -69,7 +69,8 @@ def web_server_worker(sck):
       req_content_length = int(req_headers.get(b'content-length',0))
       req_body = b''
       while len(req_body) < req_content_length:
-        req_body += sck.read(req_content_length - len(req_body))
+        x = sck.read(req_content_length - len(req_body))
+        if x: req_body += x
         yield
 
       http_status, res_headers, res_body = handle_request(
@@ -165,6 +166,7 @@ def executor():
     yield
 
 def loop():
+  mbot.initialize()
   tasks = [
     web_server('0.0.0.0', 80),
     mbot.talker(prog_loc),

py/mbot.py

@@ -1,23 +1,28 @@
 try:
-    import serial
-    port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=0)
-except ImportError:
     import machine
     port = machine.UART(0, 115200)
+except ImportError:
+    import serial
+    port = serial.Serial("/dev/ttyUSB0", baudrate=115200, timeout=0)
 
 import time
 
-time.sleep(5)
 
-port.write(bytearray([
-    0xF4, 0x04, 0x01,  # pin  4 = digital out (motor 2 dir)
-    0xF4, 0x05, 0x03,  # pin  5 = pwm out (motor 2 pwm)
-    0xF4, 0x06, 0x03,  # pin  6 = pwm out (motor 1 pwm)
-    0xF4, 0x07, 0x01,  # pin  7 = digital out (motor 1 dir)
-    0xF4, 0x09, 0x00,  # pin  9 = digital in (line left)
-    0xF4, 0x0A, 0x00,  # pin 10 = digital in (line right)
-    0xD1, 0x01,        # enable reporting of pins
-]))
+def initialize():
+    time.sleep(5)
+    buf = bytearray([
+        0xC6, 0x01,        # Enable reporting of ambient light pin
+        0xF4, 0x09, 0x00,  # pin  9 = digital in (line left)
+        0xF4, 0x0A, 0x00,  # pin 10 = digital in (line right)
+        0xD1, 0x01,        # enable reporting of digital pins
+        0xF4, 0x04, 0x01,  # pin  4 = digital out (motor 2 dir)
+        0xF4, 0x05, 0x03,  # pin  5 = pwm out (motor 2 pwm)
+        0xF4, 0x06, 0x03,  # pin  6 = pwm out (motor 1 pwm)
+        0xF4, 0x07, 0x01,  # pin  7 = digital out (motor 1 dir)
+    ])
+    while buf:
+        x = port.write(buf)
+        buf = buf[x:]
 
 def listener(vlocals):
     buf = b""
@@ -31,12 +36,12 @@ def listener(vlocals):
         if buf:
             if buf[0] == '\x91':
                 if len(buf) >= 3:
-                    vlocals["line_left"] = ord(buf[1]) & 0x02
-                    vlocals["line_right"] = ord(buf[1]) & 0x04
+                    vlocals["line_left"] = ord(buf[1]) & 0x02 != 0
+                    vlocals["line_right"] = ord(buf[1]) & 0x04 != 0
                     buf = buf[3:]
             elif buf[0] == '\xe6':
                 if len(buf) >= 3:
-                    vlocals["ambient"] = ord(buf[2]) << 7 + ord(buf[1])
+                    vlocals["ambient"] = ord(buf[2]) * 128 + ord(buf[1])
                     buf = buf[3:]
             else:
                 buf = buf[1:]
@@ -60,3 +65,10 @@ def talker(vlocals):
             x = port.write(buf)
             buf = buf[x:]
             yield
+
+if __name__ == "__main__":
+    v = {}
+    l = listener(v)
+    while True:
+        l.send(None)
+        print(repr(v))

py/upload.py

@@ -6,6 +6,8 @@
 
 port = serial.Serial("/dev/ttyUSB0", 115200)
 
+port.write(b'\x03')
+
 for fn in argv[1:]:
     fh = open(fn, "r")
 
@@ -19,4 +21,6 @@
 
     port.write('_fh.close()\r')
 
+port.write(b'\x04')
+
 port.close()

py/www/flobot.js

@@ -503,29 +503,31 @@ window.onload = function () {
     }
 
     Prog.prototype.poll = function() {
-        ajax_post('http://10.107.1.33/prog', this.upload_callback.bind(this));
+        ajax_post('http://10.107.1.33/prog', '', this.upload_callback.bind(this));
     }
 
     Prog.prototype.upload_callback = function (status, text) {
         if (status == 200) {
-            //this.update(text);
+            this.update(text);
             if (poll_timer) clearTimeout(poll_timer);
             poll_timer = setTimeout(this.poll.bind(this), 1000);
         } else {
+            document.getElementById('return').textContent = status + "\n\n" + text;
             if (poll_timer) clearTimeout(poll_timer);
         }
-        var s = this.serialize() + "\n\n" + (status == 200 ? text : status);
-        document.getElementById('debug').textContent = s;
     }
 
     Prog.prototype.update = function (text) {
-        var ports_dict = {};
-        var pp = text.split(/\s+/);
-        for (var i=0; i<pp.length; i+=2) {
-            var val = parseInt(pp[i+1], 16);
-            if (val > 0x7FFF) val -= 0x10000;
-            ports_dict[1*pp[i]] = val / 100;
+        var ports_dict = JSON.parse(text);
+
+        var s = "";
+        for (var k in ports_dict) {
+            if (ports_dict.hasOwnProperty(k)) {
+                s += k + " = " + ports_dict[k] + "\n";
+            }
         }
+        document.getElementById('return').textContent = s;
+
         this.nodes.forEach(function (n) {
             n.output_ports.forEach(function (p) {
                 if (p.port_id) p.show_value(ports_dict[p.port_id] || 0);

py/www/index.html

@@ -13,8 +13,12 @@
                 <li>Ports at each end must be the same type (shape)</li>
                 <li>Cycles are not allowed.</li>
             </ul>
+            <hr/>
             <span>Compiled python:</span>
             <pre id="debug"></pre>
+            <hr/>
+            <span>Response:</span>
+            <pre id="return"></pre>
         </div>
     </body>
 </html>