Allow manual selection of serial port

Author: danic85

config/servos.yml

@@ -1,4 +1,5 @@
 servos:
+  port: /dev/ttyAMA0
   conf:
     leg_l_hip: { id: 0, pin: 9, range: [0, 180], start: 40 }
     leg_l_knee: { id: 1, pin: 10, range: [0, 180], start: 10 }

main.py

@@ -72,12 +72,11 @@ def main():
 
     # Throw exception to safely exit script when terminated
     signal.signal(signal.SIGTERM, Config.exit)
-
     # GPIO
     # gpio = pigpio.pi()
 
     # Arduino connection
-    serial = ArduinoSerial()
+    serial = ArduinoSerial(port=Config.get('servos','port'))
 
     servos = dict()
     servo_conf = Config.get('servos','conf')
@@ -184,7 +183,12 @@ def main():
     minute_loop = time()
     loop = True
     # pub.sendMessage('speak', msg='hi')
-    # pub.sendMessage('animate', action='celebrate')
+    # print('taking over servos')
+    # pub.sendMessage('servo:pan:mvabs', percentage=50)
+    # print('done')
+    # print('nodding')
+    # pub.sendMessage('animate', action='head_nod')
+    # print('done')
 
     try:
         pub.sendMessage('log', msg="[Main] Loop started")

main_viam.py

@@ -159,7 +159,9 @@ async def main():
     # print(f"my-webcam get_image return value: {my_webcam_return_value}")
     # roboflow_test = VisionClient.from_robot(robot, "roboflow-test")
 
-                
+    # print('taking over servos')
+    # pub.sendMessage('servo:pan:mvabs', percentage=50)
+    # print('done')
 
     try:
         while loop:

modules/arduinoserial.py

@@ -16,14 +16,17 @@ class ArduinoSerial:
     DEVICE_SERVO_RELATIVE = 4
     ORDER_RECEIVED = 5
     def __init__(self, **kwargs):
-        self.serial_file = ArduinoSerial.initialise()
+        self.port = kwargs.get('port', '/dev/ttyAMA0')
+        self.baudrate = kwargs.get('baudrate', 115200)
+        self.serial_file = ArduinoSerial.initialise(self.port, self.baudrate)
         self.file = None
         pub.subscribe(self.send, 'serial')
 
     @staticmethod
-    def initialise():
+    def initialise(port, baudrate):
         try:
-            serial_file = open_serial_port(baudrate=115200, timeout=None)
+            print('Trying to select port ' + port)
+            serial_file = open_serial_port(serial_port=port, baudrate=baudrate, timeout=None)
         except Exception as e:
             raise e
         is_connected = True # assume connection

modules/robust_serial/utils.py

@@ -56,6 +56,7 @@ def get_serial_ports():
         try:
             s = serial.Serial(port)
             s.close()
+            print('[Serial] Found ' + port)
             results.append(port)
         except (OSError, serial.SerialException):
             pass
@@ -73,9 +74,11 @@ def open_serial_port(serial_port=None, baudrate=115200, timeout=0, write_timeout
     :param write_timeout: (int)
     :return: (Serial Object)
     """
+    ports = get_serial_ports()
+    print('Serial port sent: ' + serial_port)
     # Open serial port (for communication with Arduino)
     if serial_port is None:
-        serial_port = get_serial_ports()[0]
+        serial_port = ports[0]
     # timeout=0 non-blocking mode, return immediately in any case, returning zero or more,
     # up to the requested number of bytes
     return serial.Serial(port=serial_port, baudrate=baudrate, timeout=timeout, writeTimeout=write_timeout)