Updating Pi Code to handle multiple Arduinos

- Still need to implement listening. Right now the code just opens and closes the ports needed to communicate with the boards.

Author: himalayanelixir

raspberry_pi_controller/contoller.py

@@ -4,57 +4,51 @@
 
 #=====================================
 
-def sendToArduino(sendStr):
-  ser.write(sendStr.encode())
-
+def waitForArduino(port):
 
+   # wait until the Arduino sends 'Arduino Ready' - allows time for Arduino reset
+   # it also ensures that any bytes left over from a previous message are discarded
+   
+    global startMarker, endMarker
+    
+    msg = ""
+    while msg.find("Arduino is ready") == -1:
+      while ser[port].inWaiting() == 0:
+        pass
+      msg = recvFromArduino(port)
+      print ("Arduino Number:", port, "Is Ready")
+      print ("Message from Arduino:" + msg)
 #======================================
 
-def recvFromArduino():
+def recvFromArduino(port):
   global startMarker, endMarker
 
   ck = ""
   x = "z" # any value that is not an end- or startMarker
   #byteCount = -1 # to allow for the fact that the last increment will be one too many
-  x = ser.read()
+  x = ser[port].read()
   x = x.decode("utf-8")
   #print(x)
   # wait for the start character
   while  ord(x) != startMarker: 
-    x = ser.read()
+    x = ser[port].read()
     x = x.decode("utf-8") 
     #print(x)
   # save data until the end marker is found
   while ord(x) != endMarker:
     if ord(x) != startMarker:
       ck = ck + x 
       #byteCount += 1
-    x = ser.read()
+    x = ser[port].read()
     x = x.decode("utf-8") 
     #print(x) 
   return(ck)
 
+#=====================================
 
-#============================
-
-def waitForArduino():
-
-   # wait until the Arduino sends 'Arduino Ready' - allows time for Arduino reset
-   # it also ensures that any bytes left over from a previous message are discarded
-   
-    global startMarker, endMarker
-    
-    msg = ""
-    while msg.find("Arduino is ready") == -1:
-
-      while ser.inWaiting() == 0:
-        pass
-        
-      msg = recvFromArduino()
+def sendToArduino(sendStr):
+  ser.write(sendStr.encode())
 
-      print (msg)
-      print ("")
-      
 #======================================
 
 def runTest(td):
@@ -87,27 +81,37 @@ def runTest(td):
 import time
 import sys
 
-print ("")
-print ("")
-
-serPort = "/dev/cu.SLAB_USBtoUART"
-#serPort = "/dev/ttyUSB0"
-baudRate = 9600
-ser = serial.Serial(serPort, baudRate)
-print ("Serial port " + serPort + " opened  Baudrate " + str(baudRate))
 
+NUMBER_OF_SLAVES = 2
 startMarker = 60
 endMarker = 62
+baudRate = 9600
+serPort = ["/dev/cu.usbmodem1412101", "/dev/cu.usbmodem1412201"]
+#serPort = "/dev/cu.SLAB_USBtoUART"
+#serPort = "/dev/ttyUSB0"
+
+ser = [None] * NUMBER_OF_SLAVES
+
+for x in range(len(serPort)):
+  ser[x] = serial.Serial(serPort[x], baudRate)
+  # print(ser[x])
+  print ("Serial port " + serPort[x] + " opened")
+
+# Better Printout
+print("")
 
-waitForArduino()
+for port in range(len(serPort)):
+  waitForArduino(port)
 
-while 1 :
-    print ("===========")
-    print ("")
-    text = input("Up or Down?: ")
-    text = "<" + text + ">"
-    runTest(text)
-    time.sleep(1)
+#while 1 :
+#    print ("===========")
+#    print ("")
+#    text = input("Up or Down?: ")
+#    text = "<" + text + ">"
+#    runTest(text)
+#    time.sleep(1)
 
-ser.close
+for x in range(len(serPort)):
+  print ("Serial port " + serPort[x] + " closed")
+  ser[x].close