Support connectivity on Android devices with USB Serial

uf/android/comm/usbserialandroid_ascii.py

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+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Author: Adrian Clark <adrian.clark@canterbury.ac.nz>
+# Modifed from file written by: Duke Fong <duke@ufactory.cc>
+
+
+import _thread, threading
+
+# Import USB 4 Android and USB Serial 4 Android libraries
+from usb4a import usb
+from usbserial4a import serial4a
+
+# We need to use the select_port function defined in these scripts as the port selection is slightly different
+from ..utils.usbserialandroid_select_serial_port import select_port
+from ...utils.log import *
+
+class USBSerialAndroidAscii(threading.Thread):
+    def __init__(self, ufc, node, iomap, dev_port = None, baud = 115200, filters = None):
+
+        self.ports = {
+            'in': {'dir': 'in', 'type': 'topic', 'callback': self.in_cb},
+            'out': {'dir': 'out', 'type': 'topic'},
+            'service': {'dir': 'in', 'type': 'service', 'callback': self.service_cb}
+        }
+
+        self.node = node
+        self.logger = logging.getLogger('uf.' + node.replace('/', '.'))
+        ufc.node_init(node, self.ports, iomap)
+
+        dev_port = select_port(logger = self.logger, dev_port = dev_port, filters = filters)
+
+        if not dev_port:
+            quit(1)
+
+        # Use the USB Serial 4 Android Serial Port Function to open 
+        self.com =  serial4a.get_serial_port(dev_port.name, baud, 8, 'N', 1)
+
+        if not self.com.isOpen():
+            raise Exception('serial open failed')
+        threading.Thread.__init__(self)
+        self.daemon = True
+        self.alive = True
+        self.start()
+
+    def run(self):
+        while self.alive:
+            # Read_Until is the equivalent function to ReadLines
+            line = self.com.read_until()
+            if not line:
+                continue
+            line = ''.join(map(chr, line)).rstrip()
+            self.logger.log(logging.VERBOSE, '-> ' + line)
+            if self.ports['out']['handle']:
+                self.ports['out']['handle'].publish(line)
+        self.com.close()
+
+    def stop(self):
+        self.alive = False
+        self.join()
+
+    def in_cb(self, message):
+        self.logger.log(logging.VERBOSE, '<- ' + message)
+        self.com.write(bytes(map(ord, message + '\n')))
+
+    def service_cb(self, message):
+        pass
+
+

uf/android/serial/tools/usbserialandroid_list_ports.py

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+#!/usr/bin/env python
+#
+# This is a module that gathers a list of serial ports including details on
+# GNU/Linux systems.
+#
+# Author: Adrian Clark <adrian.clark@canterbury.ac.nz>
+#
+# This file is was modified based off of part of pySerial. 
+# https://github.com/pyserial/pyserial
+# (C) 2011-2015 Chris Liechti <cliechti@gmx.net>
+#
+# SPDX-License-Identifier:    BSD-3-Clause
+
+from __future__ import absolute_import
+
+import glob
+import os
+
+class USBSerial4A():
+    """Wrapper for USBSerial 4 Android library"""
+
+    def __init__(self, device):
+        # Store the USBDevice reference in Device
+        self.device = device
+        self.name = device.getDeviceName()
+
+        # Haven't translated across the relevant functions yet
+        # But they aren't necessary for functionality
+        self.description = 'n/a'
+        self.hwid = 'n/a'
+
+        # USB specific data pulled from USBDevice
+        self.vid = device.getVendorId()
+        self.pid = device.getProductId()
+        self.serial_number = device.getSerialNumber()
+        self.manufacturer = device.getManufacturerName()
+        self.product = device.getProductName()
+
+        # Haven't translated across the relevant functions yet
+        # But they aren't necessary for functionality
+        self.location = None
+        self.interface = None
+
+        self.description = self.usb_description()
+        self.hwid = self.usb_info()
+
+        # Original Code from pySerial - should double check against
+        # What is being done with USBSerial 4 Android to ensure consistency
+        #
+        # self.usb_device_path = None
+        # if os.path.exists('/sys/class/tty/{}/device'.format(self.name)):
+        #    self.device_path = os.path.realpath('/sys/class/tty/{}/device'.format(self.name))
+        #    self.subsystem = os.path.basename(os.path.realpath(os.path.join(self.device_path, 'subsystem')))
+        # else:
+        #     self.device_path = None
+        #    self.subsystem = None
+        # check device type
+        # if self.subsystem == 'usb-serial':
+        #    self.usb_interface_path = os.path.dirname(self.device_path)
+        #elif self.subsystem == 'usb':
+        #    self.usb_interface_path = self.device_path
+        #else:
+        #    self.usb_interface_path = None
+        # fill-in info for USB devices
+        #if self.usb_interface_path is not None:
+        #    self.usb_device_path = os.path.dirname(self.usb_interface_path)
+
+        #    try:
+        #        num_if = int(self.read_line(self.usb_device_path, 'bNumInterfaces'))
+        #    except ValueError:
+        #        num_if = 1
+
+        #    self.vid = int(self.read_line(self.usb_device_path, 'idVendor'), 16)
+        #    self.pid = int(self.read_line(self.usb_device_path, 'idProduct'), 16)
+        #    self.serial_number = self.read_line(self.usb_device_path, 'serial')
+        #    if num_if > 1:  # multi interface devices like FT4232
+        #        self.location = os.path.basename(self.usb_interface_path)
+        #    else:
+        #        self.location = os.path.basename(self.usb_device_path)
+
+            #self.manufacturer = self.read_line(self.usb_device_path, 'manufacturer')
+            #self.product = self.read_line(self.usb_device_path, 'product')
+            #self.interface = self.read_line(self.usb_interface_path, 'interface')
+
+        #if self.subsystem in ('usb', 'usb-serial'):
+         #   self.apply_usb_info()
+        #~ elif self.subsystem in ('pnp', 'amba'):  # PCI based devices, raspi
+        #elif self.subsystem == 'pnp':  # PCI based devices
+          #  self.description = self.name
+         #   self.hwid = self.read_line(self.device_path, 'id')
+        #elif self.subsystem == 'amba':  # raspi
+          #  self.description = self.name
+         #   self.hwid = os.path.basename(self.device_path)
+
+        #if is_link:
+            #self.hwid += ' LINK={}'.format(device)
+    def usb_info(self):
+        """return a string with USB related information about device"""
+        return 'USB VID:PID={:04X}:{:04X}{}{}'.format(
+            self.vid or 0,
+            self.pid or 0,
+            ' SER={}'.format(self.serial_number) if self.serial_number is not None else '',
+            ' LOCATION={}'.format(self.location) if self.location is not None else '')
+
+    def usb_description(self):
+        """return a short string to name the port based on USB info"""
+        if self.interface is not None:
+            return '{} - {}'.format(self.product, self.interface)
+        elif self.product is not None:
+            return self.product
+        else:
+            return self.name
+
+from usb4a import usb
+def comports(include_links=False):
+    # Get all the USB Devices
+    usb_device_list = usb.get_usb_device_list()
+
+    # Parse them through USBSerial4A class and return as a list
+    return [info
+            for info in [USBSerial4A(d) for d in usb_device_list]
+            ]    # hide non-present internal serial ports
+
+# - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
+# test
+if __name__ == '__main__':
+    for info in sorted(comports()):
+        print("{0}: {0.subsystem}".format(info))

uf/android/usbserialandroid_swift/__init__.py

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+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Author: Adrian Clark <adrian.clark@canterbury.ac.nz>
+# Modifed from file written by: Duke Fong <duke@ufactory.cc>
+
+from ...utils.module_group import ModuleGroup
+from ..comm.usbserialandroid_ascii import USBSerialAndroidAscii
+from ...comm.protocol_ascii import ProtocolAscii
+
+# I had to duplicate these files otherwise it pulls in original the
+# original Swift files, and then crashes requiring PySerial, which
+# we don't actually need
+from .swift_body import SwiftBody
+from .gripper import Gripper
+from .pump import Pump
+from .keys import Keys
+
+# A new class was used so we can use the USBSerialAndroidAscii Module
+# Rather than the one based on PySerial
+class UsbSerialAndroid_Swift(ModuleGroup):
+    '''\
+    The top module of swift and swift_pro
+    default kwargs: dev_port = None, baud = 115200, filters = {'hwid': 'USB VID:PID=2341:0042'}
+    '''
+
+    def __init__(self, ufc, node, iomap, **kwargs):
+
+        self.sub_nodes = [
+            {
+                # Module here is changed
+                'module': USBSerialAndroidAscii,
+                'node': 'serial_ascii',
+                'args': ['dev_port', 'baud', 'filters'],
+                'iomap': {
+                    'out': 'inner: pkt_ser2ptc',
+                    'in':  'inner: pkt_ptc2ser'
+                }
+            },
+            {
+                'module': ProtocolAscii,
+                'node': 'ptc_ascii',
+                'args': ['cmd_pend_size'],
+                'iomap': {
+                    'cmd_async':  'outer: ptc_async',
+                    'cmd_sync':   'outer: ptc_sync',
+                    'report':     'outer: ptc_report',
+                    'service':    'outer: ptc',
+
+                    'packet_in':  'inner: pkt_ser2ptc',
+                    'packet_out': 'inner: pkt_ptc2ser'
+                }
+            },
+            {
+                'module': SwiftBody,
+                'node': 'swift_body',
+                'iomap': {
+                    'pos_in':    'outer: pos_in',
+                    'pos_out':   'outer: pos_out',
+                    'buzzer':    'outer: buzzer',
+                    'service':   'outer: service',
+
+                    'cmd_async': 'outer: ptc_async',
+                    'cmd_sync':  'outer: ptc_sync',
+                    'report':    'outer: ptc_report'
+                }
+            },
+            {
+                'module': Gripper,
+                'node': 'gripper',
+                'iomap': {
+                    'service':  'outer: gripper',
+                    'cmd_sync': 'outer: ptc_sync'
+                }
+            },
+            {
+                'module': Pump,
+                'node': 'pump',
+                'iomap': {
+                    'service':      'outer: pump',
+                    'limit_switch': 'outer: limit_switch',
+                    'cmd_sync':     'outer: ptc_sync',
+                    'report':       'outer: ptc_report'
+                }
+            },
+            {
+                'module': Keys,
+                'node': 'keys',
+                'iomap': {
+                    'service':  'outer: keys',
+                    'key0':     'outer: key0',
+                    'key1':     'outer: key1',
+                    'cmd_sync': 'outer: ptc_sync',
+                    'report':   'outer: ptc_report'
+                }
+            }
+        ]
+
+        if 'dev_port' not in kwargs:
+            kwargs['dev_port'] = None
+        if 'baud' not in kwargs:
+            kwargs['baud'] = 115200
+        if 'filters' not in kwargs:
+            kwargs['filters'] = {'hwid': 'USB VID:PID=2341:0042'}
+        if 'cmd_pend_size' not in kwargs:
+            kwargs['cmd_pend_size'] = 2
+        super().__init__(ufc, node, iomap, **kwargs)
+
+

uf/android/usbserialandroid_swift/gripper.py

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+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2017, UFactory, Inc.
+# All rights reserved.
+#
+# Author: Duke Fong <duke@ufactory.cc>
+
+from time import sleep
+from ...utils.log import *
+
+
+class Gripper():
+    def __init__(self, ufc, node, iomap):
+
+        self.ports = {
+            'service': {'dir': 'in', 'type': 'service', 'callback': self.service_cb},
+
+            'cmd_sync': {'dir': 'out', 'type': 'service'},
+        }
+
+        self.logger = logging.getLogger('uf.' + node.replace('/', '.'))
+        ufc.node_init(node, self.ports, iomap)
+
+    def set_gripper(self, val):
+        if val == 'on':
+            self.ports['cmd_sync']['handle'].call('M2232 V1')
+        else:
+            self.ports['cmd_sync']['handle'].call('M2232 V0')
+
+        # TODO: modify the default timeout time with a service command
+        for _ in range(20):
+            ret = self.ports['cmd_sync']['handle'].call('P2232')
+            if val == 'on':
+                if ret == 'ok V2': # grabbed
+                    return 'ok'
+            else:
+                if ret == 'ok V0': # stop
+                    return 'ok'
+            sleep(0.5)
+        return 'err, timeout for {}, last ret: {}'.format(val, ret)
+
+    def service_cb(self, msg):
+        msg = msg.split(' ', 2)
+
+        if msg[1] == 'value':
+            if msg[0] == 'get':
+                ret = self.ports['cmd_sync']['handle'].call('P2232')
+                self.logger.debug('get value ret: %s' % ret)
+
+                if ret == 'ok V0':
+                    return 'ok, stoped'
+                elif ret == 'ok V1':
+                    return 'ok, working'
+                elif ret == 'ok V2':
+                    return 'ok, grabbed'
+                else:
+                    return 'err, unkown ret: %s' % ret
+
+            if msg[0] == 'set':
+                self.logger.debug('set value: %s' % msg[2])
+                return self.set_gripper(msg[2])
+
+