communications.py

import socket
import sys
import time
import struct
import board
import busio
import serial
import syslog
import io
#   ARDUINO communications
#The following line is for serial over GPIO
ard = serial.Serial(
    port='/dev/ttyS0',
    baudrate=57600,
    parity=serial.PARITY_NONE,
    stopbits=serial.STOPBITS_ONE,
    bytesize=serial.EIGHTBITS,
    timeout=1
)
sio = io.TextIOWrapper(io.BufferedRWPair(ard, ard))
#   TACTIL SPI setup
from digitalio import DigitalInOut, Direction
from adafruit_cap1188.spi import CAP1188_SPI
spi = busio.SPI(board.SCK, board.MOSI, board.MISO)
cs = DigitalInOut(board.D5)
cap = CAP1188_SPI(spi, cs)
touch_array=[0,0,0,0,0,0,0,0]

#   PC Communications
# Create a TCP/IP socket
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)

# Connect the socket to the port where the server is listening
server_address = ('192.168.137.1', 8000)
print('connecting to {} port {}'.format(*server_address))
sock.connect(server_address)
data_recv = [0,0]
ard_rcv = [0,0,0]
data_ard_rcv=""
send_ok=[1]

def posture_msg (i):
    switcher = {
            1: 'kbalance',
            2: 'kheadL',
            3: 'kheadR',
            4: 'kstr',
            5: 'ksleep',
            6: 'ksleep' #kbuttUp
            }
    return switcher.get(i,"Invalid posture")

def skill_msg (i):
    switcher = {
            0: 'ksleep',
            1: 'kcr',
            2: 'kbk',
            3: 'kbalanceUp',
            4: 'ksit',
            5: 'kbalanceDown',
            6: 'kcr',
            7: 'khi2',
            8: 'khunt',
            9: 'kcr',
            10: 'kdropped',
            11: 'kstr',
            12: 'kbuttUp',
            13: 'klay',
            14: 'kheadlay',
            15: '2',
            16: '3',
            17: 'kbuttUp',
            18: 'krest'
            }
    return switcher.get(i,"Invalid skill")

while(1):
    # receive
    data = sock.recv(2)
    data_recv = list(data)
    print("Recibido PC: ", data_recv)
    
    
    if data_recv[0] == 4:
        #leer sensor tactil
        for j in range(0,len(touch_array)):
            touch_array[j]=0
        for i in range(1, 9):
            if cap[i].value:
                #print("Pin {} touched!".format(i))
                touch_array[i-1]=cap[i].raw_value
        print(touch_array)
        #         enviar a arduino solicitud de sensores y recepcion
        ard_msg='1'
        ard.write((str(ard_msg)+'\n').encode())
        # leer arduino
        ard_msg='1'
        ard.write((str(ard_msg)+'\n').encode())

        # leer arduino
        i=0
        ard.reset_input_buffer()
        while i < 3:
            data_ard_rcv = ard.readline().decode()       
            print(data_ard_rcv)
            ard_rcv[i]= int((data_ard_rcv.split())[0])
            i = i + 1
        print(ard_rcv)
        # enviar lectura de sensores a PC
        send_array = ard_rcv + touch_array
        sock.sendall(struct.pack("iiiiiiiiiii", *send_array))
        print("Enviando PC: ", send_array)
        

    if data_recv[0] == 1:
        ard_msg=posture_msg (data_recv[1])
        print("Solicitado cambio de postura: ", ard_msg)
        ard.write((str(ard_msg)+'\n').encode())
        time.sleep(2)
    if data_recv[0] == 2:
        ard_msg=skill_msg (data_recv[1])
        print("Solicitado cambio de estado: ", ard_msg)
        ard.write((str(ard_msg)+'\n').encode())
        time.sleep(4)
# finally:
#     print('closing socket')
#      sock.close()