Sheller MQTT app configuration

mqtt_listener.py

@@ -1,101 +1,122 @@
 import paho.mqtt.client as mqtt
-import re
+import serial
-from dynio import *
 import time
 
-# State variable to check if HOME is received before POS
-home_received = False
-home = 0
-dxl_io = []
-motor = None
 
-# Functions to run when the corresponding command is received
+class ShellerRPMDisplay:
-def home():
+    mqtt_host = "172.22.112.94"
-    global motor, home
-    motor.write_control_table('Torque_Limit', 200)
-    motor.set_velocity_mode()
-    print('velocity mode set')
-    motor.torque_enable()
-    print('torque enabled')
-    motor.set_velocity(300)
-    print('velocity set')
-    time.sleep(1)
-    while motor.read_control_table('Present_Speed') > 0:
-        pass
-    motor.torque_disable()
-    home = motor.get_position()
-    motor.write_control_table('Multi_Turn_Offset', -1 * home)
-    motor.set_extended_position_mode()
-    motor.torque_enable()
 
-def set_pos(num):
+    COM_PORTS = [ "/dev/ttyACM0", "/dev/ttyUSB0" ]
-    global motor
+    buffer = ""
-    motor.set_position(num)
+    def init(self):
-    time.sleep(0.2)
+        self.drum = 0
-    while motor.read_control_table('Present_Speed') > 0:
+        self.paddle = 0
-        pass
+        try:
+            self.serials = [
+                serial.Serial(
+                    self.COM_PORTS[1],
+                    9600,
+                    timeout=1,
+                    stopbits=serial.STOPBITS_ONE,
+                    bytesize=serial.EIGHTBITS
+                ),
+                serial.Serial(
+                    self.COM_PORTS[0],
+                    9600,
+                    timeout=1,
+                    stopbits=serial.STOPBITS_ONE,
+                    bytesize=serial.EIGHTBITS
+                )
+            ]
+            self.mqtt_inform()
+            for s in self.serials:
+                s.write(bytearray("@D1\r\n", encoding='ascii'))
+            return True
+        except Exception as e:
+            print(e)
+            time.sleep(1)
+            if hasattr(self, "serials"):
+                del self.serials
+            return False
 
-def disable_torque():
+    def start(self):
-    global motor, home_received
+        self.isrunning = True
-    motor.torque_disable()
+        self.mqtt_inform()
-    home_received = False
 
+    def stop(self):
+        self.isrunning = False
+        if hasattr(self, "serials"):
+            try:
+                for serial in self.serials:
+                    serial.close()
+            except:
+                pass
+            del self.serials
 
-# The callback for when the client receives a CONNACK response from the server.
+    def main(self):
-def on_connect(client, userdata, flags, rc):
+        while self.isrunning:
-    print(f"Connected with result code {str(rc)}")
+            if not hasattr(self, "serials"):
+                self.init()
+            try:
+                for i, serial in enumerate(self.serials):
+                    if serial.in_waiting > 0:
+                        self.buffer += serial.read(serial.in_waiting).decode(
+                            "utf-8"
+                        )
+                        print(self.buffer)
+                        self.process_text(self.buffer[: self.buffer.index("\r")], i)
+                        self.buffer = ""
+            except Exception as e:
+                print(e)
+            time.sleep(1)
 
-    # Subscribing in on_connect() means that if we lose the connection and
+    def mqtt_inform(self):
-    # reconnect then subscriptions will be renewed.
+        # Publish MQTT messages for Moisture Percentage
-    client.subscribe("/meyer/#")
+        self.client = mqtt.Client()
+        self.client.connect(self.mqtt_host, 1883)
+        self.client.publish(
+            "homeassistant/sensor/sheller-paddle-rpm/config",
+            '{\
+                "name": "Paddle RPM", \
+                "state_topic": "homeassistant/sensor/sheller/state", \
+                "unit_of_measurement": "RPM", \
+                "value_template": "{{ value_json.paddle }}", \
+                "unique_id": "sheller-paddle-rpm", \
+                "device":{ \
+                    "identifiers": ["shelling-machine"], \
+                    "name": "Shelling Machine", \
+                    "manufacturer": "ME&E" \
+                } \
+            }', retain=True
+        )
+        self.client.publish(
+            "homeassistant/sensor/sheller-drum-rpm/config",
+            '{\
+                "name": "Drum RPM", \
+                "state_topic": "homeassistant/sensor/sheller/state", \
+                "unit_of_measurement": "RPM", \
+                "value_template": "{{ value_json.drum }}", \
+                "unique_id": "sheller-drum-rpm", \
+                "device":{ \
+                    "identifiers": ["shelling-machine"] \
+                } \
+            }', retain=True
+        )
 
-    # Connect to Dynamixels
+    def process_text(self, text, index):
-    global dxl_io, motor
+        print(text)
-    dxl_io = dxl.DynamixelIO('/dev/ttyACM0')
+        if index == 0:
-    motor = dxl_io.new_mx106(1,1)
+            self.paddle = text
-    motor.get_position()
+        elif index == 1:
-    motor.write_control_table('Torque_Limit', 200)
+            self.drum = text
 
+        self.client.publish(
+            "homeassistant/sensor/sheller/state",
+            '{"paddle": "%s", "drum": "%s"}'
+            % (self.paddle, self.drum), retain=True
+        )
 
-# The callback for when a PUBLISH message is received from the server.
+if __name__ == "__main__":
-def on_message(client, userdata, msg):
+    obj = ShellerRPMDisplay()
-    global home_received, motor
+    obj.start()
-
+    obj.main()
-    message = msg.payload.decode()
-    if msg.topic != "/meyer/":
-        return
-
-    if message == "HOME":
-        home()
-        home_received = True
-        time.sleep(0.5)
-        set_pos(int(-250*53.248))
-        client.publish("/meyer/pos", -250.0)
-    elif message == "DISABLE":
-        disable_torque()
-    elif re.match(r"^POS -?\d+$", message):  # This matches POS followed by a number
-        pos_num = int(message.split()[1])  # Extract the number from the message
-        pos_num *= 5.3248
-
-        if pos_num < -25000 or pos_num > 0:  # Check if the number is out of range
-            client.publish("/meyer/error", "Error: Number out of range")
-        elif not home_received:  # Check if HOME was received before POS
-            client.publish("/meyer/error", "Error: HOME command has to be run before POS")
-        else:
-            set_pos(int(pos_num))
-            client.publish("/meyer/pos", round(pos_num / 53.248,1))
-    else:
-        client.publish("/meyer/error", "Error: Unknown command")
-    
-
-client = mqtt.Client()
-client.on_connect = on_connect
-client.on_message = on_message
-
-# Connect to the broker
-client.connect("192.168.1.1", 1883, 60)
-
-# Blocking call that processes network traffic, dispatches callbacks and
-# handles reconnecting.
-client.loop_forever()
-