Initial Draft

01 debug_panto_heartbeats.py

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+import serial
+import binascii
+
+com = "/dev/cu.usbserial-0001"
+
+con = serial.Serial(com, baudrate=115200, timeout=5)
+while True:
+    header = con.read(size=2)
+    print(binascii.hexlify(header))
+
+    msg_type = con.read(size=1)
+    print(binascii.hexlify(msg_type))
+
+    package_id = con.read(size=1)
+    print(binascii.hexlify(package_id))
+
+    message_size = con.read(size=2)
+    print(binascii.hexlify(message_size))
+
+    body = con.read(size=int.from_bytes(message_size, byteorder="big"))
+    print(binascii.hexlify(body))
+
+    if msg_type == bytes.fromhex("20"):
+        print("received debug message:")
+        print(body)
+
+con.close()

02 debug_panto.py

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+import serial
+import binascii
+import logging
+
+com = "/dev/cu.usbserial-0001"
+
+logging.basicConfig(level=logging.INFO)
+
+con = serial.Serial(com, baudrate=115200, timeout=5)
+
+while True:
+    header = con.read(size=2)
+
+    msg_type = con.read(size=1)
+
+    package_id = con.read(size=1)
+
+
+    message_size = con.read(size=2)
+
+
+    body = con.read(size=int.from_bytes(message_size, byteorder="big"))
+
+
+    if msg_type == bytes.fromhex("20"):
+        logging.info("received debug message:")
+        logging.info(body)
+
+    elif msg_type == bytes.fromhex("00"):
+        logging.info("receive sync")
+        con.write(bytes.fromhex("445080000000"))
+    elif msg_type == bytes.fromhex("01"):
+        logging.info("receive heartbeat")
+        con.write(bytes.fromhex("445081000000"))
+    elif msg_type == bytes.fromhex("10"):
+        logging.info("receive position")
+        """
+        4450     // magic number
+        10       // message type: position
+        00       // packet ID: not utilized
+        0028     // payload length: 2 handles, 5 values each, 4 bytes each - 2*5*4 = 40 = 0x28
+        FFFFFFFF // x position of first handle
+        FFFFFFFF // y position of first handle
+        FFFFFFFF // rotation of first handle
+        FFFFFFFF // x position of first handle's god object
+        FFFFFFFF // y position of first handle's god object
+        FFFFFFFF // x position of second handle
+        FFFFFFFF // y position of second handle
+        FFFFFFFF // rotation of second handle
+        FFFFFFFF // x position of second handle's god object
+        FFFFFFFF // y position of second handle's god object
+        """
+        x_1 = int.from_bytes(body[:4], byteorder='big', signed=False)
+        y_1 = int.from_bytes(body[4:8], byteorder='big', signed=False)
+        r_1 = int.from_bytes(body[8:12], byteorder='big', signed=False)
+        g_x1 = int.from_bytes(body[12:16], byteorder='big', signed=False)
+        g_y1 = int.from_bytes(body[16:20], byteorder='big', signed=False)
+        x_2 = int.from_bytes(body[20:24], byteorder='big', signed=False)
+        y_2 = int.from_bytes(body[24:28], byteorder='big', signed=False)
+        r_2 = int.from_bytes(body[28:32], byteorder='big', signed=False)
+        g_x2 = int.from_bytes(body[32:36], byteorder='big', signed=False)
+        g_y2 = int.from_bytes(body[36:40], byteorder='big', signed=False)
+
+
+        logging.info(f"{x_1} {y_1} {r_1} {g_x1} {g_y1} {x_2} {y_2} {r_2} {g_x2} {g_y2}")
+    else:
+        logging.warning(binascii.hexlify(header))
+
+        logging.warning((binascii.hexlify(msg_type)))
+
+        logging.warning(binascii.hexlify(package_id))
+        logging.warning(binascii.hexlify(message_size))
+        logging.warning(binascii.hexlify(body))
+
+con.close()

Readme.md

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+# Dualpanto Testing
+
+Goal of this repository is to provide some (semi) automatic testing for the dualpanto platform.
+
+This involves basic functionality checks of the hardware, the firmware and potentially the unity integration
+
+## Levels of Testing and Repository structure
+
+### Hardware
+
+On a hardware level we need to test that the dualpanto can
+
+- show up as a serial device
+- receive uploaded (mini) firmware
+- read encoders
+- actuate motors
+- move two handles in sync
+
+### Firmware
+
+On a firmware level we need to test that the dualpanto can
+- perform the handshake
+- keep the connection alive
+- move the handles if instructed
+- report the handle position
+- accept obstacles
+- render obstacles
+
+### Unity
+
+TODO
+
+
+This project is currenty under developement
+
+For questions, please reach out to [email protected]

config.py

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+COM_PORT = "/dev/tty.SLAB_USBtoUART"

firmware/00 template/.gitignore

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+.pio

firmware/00 template/platformio.ini

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+[platformio]
+description = Dual Panto firmware
+
+[env:esp32dev]
+platform = [email protected]
+framework = arduino
+board = esp32dev
+monitor_speed = 115200
+
+# On OSX you need to use the following USB port
+# On Windows outcomment this line‚
+# upload_port = /dev/cu.SLAB_USBtoUART

firmware/00 template/src/main.cpp

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+#include "Arduino.h"
+
+#ifndef LED_BUILTIN
+#define LED_BUILTIN 13
+#endif
+
+void setup()
+{
+  // initialize LED digital pin as an output.
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop()
+{
+  // turn the LED on (HIGH is the voltage level)
+  digitalWrite(LED_BUILTIN, HIGH);
+
+  // wait for a second
+  delay(1000);
+
+  // turn the LED off by making the voltage LOW
+  digitalWrite(LED_BUILTIN, LOW);
+
+   // wait for a second
+  delay(1000);
+}

firmware/01 hello world/.gitignore

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+.pio

firmware/01 hello world/platformio.ini

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+[platformio]
+description = Dual Panto firmware
+
+[env:esp32dev]
+platform = [email protected]
+framework = arduino
+board = esp32dev
+monitor_speed = 115200
+
+# On OSX you need to use the following USB port
+# On Windows outcomment this line‚
+# upload_port = /dev/cu.SLAB_USBtoUART

firmware/01 hello world/src/main.cpp

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+#include "Arduino.h"
+
+#ifndef LED_BUILTIN
+#define LED_BUILTIN 13
+#endif
+
+void setup()
+{
+  // initialize LED digital pin as an output.
+  pinMode(LED_BUILTIN, OUTPUT);
+}
+
+void loop()
+{
+  // turn the LED on (HIGH is the voltage level)
+  digitalWrite(LED_BUILTIN, HIGH);
+
+  // wait for a second
+  delay(1000);
+
+  // turn the LED off by making the voltage LOW
+  digitalWrite(LED_BUILTIN, LOW);
+
+   // wait for a second
+  delay(1000);
+}

firmware/02 echo/.gitignore

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+.pio

firmware/02 echo/platformio.ini

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+[platformio]
+description = Dual Panto firmware
+
+[env:esp32dev]
+platform = [email protected]
+framework = arduino
+board = esp32dev
+monitor_speed = 115200
+
+# On OSX you need to use the following USB port
+# On Windows outcomment this line‚
+# upload_port = /dev/cu.SLAB_USBtoUART

firmware/02 echo/src/main.cpp

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+#include "Arduino.h"
+
+int incomingByte = 0;    // for incoming serial data
+
+
+void setup()
+{
+    Serial.begin(9600);    // opens serial port, sets data rate to 9600 bps
+}
+
+void loop()
+{
+  // send data only when you receive data:
+  if (Serial.available() > 0) {
+    // read the incoming byte:
+    incomingByte = Serial.read();
+    // say what you got:
+    Serial.write(incomingByte);
+  }
+}

firmware/03 panto firmware/.gitattributes

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+*.sh text eol=lf