update

Panduza · Oct 11, 2023 · 3c5bf11 · 3c5bf11
1 parent 885d3b6
commit 3c5bf11
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Showing 3 changed files with 32 additions and 29 deletions.
diff --git a/platform/panduza_platform/connectors/uart_ftdi_serial.py b/platform/panduza_platform/connectors/uart_ftdi_serial.py
@@ -76,6 +76,7 @@ def __init__(self,**kwargs):
         """
         # Init local mutex
         self._mutex = asyncio.Lock()
+        self._mutex2 = asyncio.Lock()
 
         key = kwargs["serial_port_name"]
 
@@ -100,23 +101,22 @@ async def connect(self):
         """Start the serial connection
         """
 
-        self.reader,_ = await serial_asyncio.open_serial_connection(loop = self.loop,url=self.port_name, baudrate=self.baudrate)
+        self.reader,self.writer = await serial_asyncio.open_serial_connection(loop = self.loop,url=self.port_name, baudrate=self.baudrate)
+
+        # We need to wait for the serial connection
         await asyncio.sleep(4)
 
 
 
     ###########################################################################
     ###########################################################################
 
-
     async def read_uart(self):
-       # async with self._mutex:
+       async with self._mutex:
             try:
 
-                #await asyncio.sleep(1)
                 data = await asyncio.wait_for(self.reader.readuntil(b'\n'), timeout=2.0) 
                 decoded_data = data.decode('utf-8').strip()
-
                 return decoded_data
 
             except asyncio.TimeoutError as e: 
@@ -127,30 +127,31 @@ async def read_uart(self):
     ###########################################################################
     ###########################################################################
 
-
     async def write_uart(self,message):
-        #async with self._mutex:
-            _, self.writer = await serial_asyncio.open_serial_connection(loop = self.loop,url=self.port_name, baudrate=self.baudrate)
-            #await asyncio.sleep(0.3)
-            self.writer.write(message.encode())
-            await self.writer.drain()
-            self.writer.close() 
+        async with self._mutex:
+            try:
+
+                self.writer.write(message.encode())
+                await self.writer.drain()
+            except Exception as e:
+                raise Exception('Error during writing to uart').with_traceback(e.__traceback__)
 
 
     ###########################################################################
     ###########################################################################
 
     async def write_read_uart(self,message):
-        async with self._mutex:
-
+        async with self._mutex2:
             await self.write_uart(message)
             data = await self.read_uart()
-
             return data
 
 
 
 
+
+
+
     ###########################################################################
     # SERIAL SYNCHRONOUS
     ###########################################################################

diff --git a/platform/panduza_platform/drivers/servomotor/drv_panduza_servomotor.py b/platform/panduza_platform/drivers/servomotor/drv_panduza_servomotor.py
@@ -41,6 +41,8 @@ async def _PZA_DRV_loop_init(self, loop, tree):
 
         # Get the gate connector
         self.uart_connector = await ConnectorUartFtdiSerial.Get(**settings)
+
+        # We need to wait for the serial connection
         await asyncio.sleep(2.2)
 
         self.__fakes = {
@@ -58,27 +60,27 @@ async def _PZA_DRV_SERVOMOTOR_get_position_value(self):
 
         response = await self.uart_connector.write_read_uart(f"get {self.servo_id}")
         self.__fakes["position"]["value"] = int(response)
-
-        #self.__fakes["position"]["value"] = await self.__round_value(self.__fakes["position"]["value"])
-        self.__fakes["position"]["value"] = await self.change_to_even_nuber(self.__fakes["position"]["value"])
 
         return self.__fakes["position"]["value"]
 
 
 
     async def _PZA_DRV_SERVOMOTOR_set_position_value(self,value):
 
-        #value = await self.__round_value(value)
-        print(f"command set {self.servo_id} {value}")
+        # print(f"command set {self.servo_id} {value}")
         await self.uart_connector.write_read_uart(f"set {self.servo_id} {value}")
 
         self.__fakes["position"]["value"] = value
 
-
-    async def __round_value(self,value):      
-        return ((value + 2) // 5) * 5
+
+
+
+
+
+    # async def __round_value(self,value):      
+    #     return ((value + 2) // 5) * 5
 
-    async def change_to_even_nuber(self,number):
-        if number % 2 != 0: 
-            number += 1     
-        return number
+    # async def change_to_even_nuber(self,number):
+    #     if number % 2 != 0: 
+    #         number += 1     
+    #     return number
diff --git a/platform/panduza_platform/meta_drivers/servomotor.py b/platform/panduza_platform/meta_drivers/servomotor.py
@@ -95,8 +95,8 @@ async def __polling_task(self):
         while self.alive:
             await asyncio.sleep(self.__polling_cycle)
 
-            #await self._update_attribute("position", "value", await self._PZA_DRV_SERVOMOTOR_get_position_value(), 'always')
-            await self._update_attribute("position", "value", await self._PZA_DRV_SERVOMOTOR_get_position_value(), 'on-change')
+            await self._update_attribute("position", "value", await self._PZA_DRV_SERVOMOTOR_get_position_value(), 'always')
+            #await self._update_attribute("position", "value", await self._PZA_DRV_SERVOMOTOR_get_position_value(), 'on-change')
 
             # await self._update_attributes_from_dict({
             #     "position": {