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simulator/modules/sbot_interface/boards/arduino.py

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+"""
+A simulator for the SR Arduino board.
+
+Provides a message parser that simulates the behavior of an Arduino board.
+
+Based on the Arduino v2.0 firmware.
+"""
+from __future__ import annotations
+
+import logging
+
+from sbot_interface.devices.arduino_devices import BasePin, GPIOPinMode, UltrasonicSensor
+
+LOGGER = logging.getLogger(__name__)
+
+
+class Arduino:
+    """
+    A simulator for the SR Arduino board.
+
+    :param pins: A list of simulated devices connected to the Arduino board.
+                 The list is indexed by the pin number and EmptyPin is used for
+                 unconnected pins.
+    :param asset_tag: The asset tag to report for the Arduino board.
+    :param software_version: The software version to report for the Arduino board.
+    """
+
+    def __init__(self, pins: list[BasePin], asset_tag: str, software_version: str = '2'):
+        self.pins = pins
+        self.asset_tag = asset_tag
+        self.software_version = software_version
+
+    def handle_command(self, command: str) -> str:
+        """
+        Process a command string and return the response.
+
+        Executes the appropriate action on any specified pins automatically.
+
+        :param command: The command string to process.
+        :return: The response to the command.
+        """
+        if command[0] == 'a':  # analog read
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number == -1:
+                return '0'
+            return str(self.pins[pin_number].get_analog())
+        elif command[0] == 'r':  # digital read
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number == -1:
+                return 'l'
+            return 'h' if self.pins[pin_number].get_digital() else 'l'
+        elif command[0] == 'l':  # digital write low
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number != -1:
+                self.pins[pin_number].set_digital(False)
+            return ''
+        elif command[0] == 'h':  # digital write high
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number != -1:
+                self.pins[pin_number].set_digital(True)
+            return ''
+        elif command[0] == 'i':  # set pin mode to input
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number != -1:
+                self.pins[pin_number].set_mode(GPIOPinMode.INPUT)
+            return ''
+        elif command[0] == 'o':  # set pin mode to output
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number != -1:
+                self.pins[pin_number].set_mode(GPIOPinMode.OUTPUT)
+            return ''
+        elif command[0] == 'p':  # set pin mode to input pullup
+            pin_number = self._convert_pin_number(command, 1)
+            if pin_number != -1:
+                self.pins[pin_number].set_mode(GPIOPinMode.INPUT_PULLUP)
+            return ''
+        elif command[0] == 'u':  # ultrasonic measurement
+            pulse_pin = self._convert_pin_number(command, 1)
+            echo_pin = self._convert_pin_number(command, 2)
+
+            if pulse_pin == -1 or echo_pin == -1:
+                return '0'
+
+            ultrasound_sensor = self.pins[echo_pin]
+            if isinstance(ultrasound_sensor, UltrasonicSensor):
+                return str(ultrasound_sensor.get_distance())
+            else:
+                return '0'
+        elif command[0] == 'v':  # software version
+            return f"SRduino:{self.software_version}"
+        else:
+            # A problem here: we do not know how to handle the command!
+            # Just ignore this for now.
+            return ''
+
+    def _convert_pin_number(self, command: str, index: int) -> int:
+        if len(command) < index + 1:
+            LOGGER.warning(f'Incomplete arduino command: {command}')
+            return -1
+
+        pin_str = command[index]
+        try:
+            pin_number = ord(pin_str) - ord('a')
+        except ValueError:
+            LOGGER.warning(f'Invalid pin number in command: {command}')
+            return -1
+
+        if 0 < pin_number < len(self.pins):
+            return pin_number
+        else:
+            LOGGER.warning(f'Invalid pin number in command: {command}')
+            return -1