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-rw-r--r--api_layers/arduino_layer.py224
-rw-r--r--api_layers/firmware/LabUI_firmware.ino218
2 files changed, 220 insertions, 222 deletions
diff --git a/api_layers/arduino_layer.py b/api_layers/arduino_layer.py
index 96e0f5a..88a2655 100644
--- a/api_layers/arduino_layer.py
+++ b/api_layers/arduino_layer.py
@@ -569,226 +569,6 @@ class ArduinoLayer:
# ═══════════════════════════════════════════════════════════════════════════
-# ARDUINO FIRMWARE — upload this to your board
+# Arduino firmware source: api_layers/firmware/LabUI_firmware.ino
+# Upload to board via Arduino IDE (115200 baud).
# ═══════════════════════════════════════════════════════════════════════════
-
-ARDUINO_FIRMWARE = r"""
-/*
- * LabUI Arduino Firmware v1.1
- * ─────────────────────────────────────────────────────────────────────────
- * Upload this sketch to your Arduino.
- * Set baud rate to 115200 in both this sketch and LabUI.
- *
- * WHAT IT DOES
- * Continuously streams analog + digital readings to the PC.
- * Listens for commands from the PC and executes them.
- *
- * RECEIVED COMMANDS (PC → Arduino):
- * W:D13:1 digitalWrite(13, HIGH)
- * W:D6:0 digitalWrite(6, LOW)
- * P:D9:128 analogWrite(9, 128) → ~50% PWM
- * C:SETPOINT:75.0 store named parameter
- * Q:A0 reply immediately with A0 reading
- * R:ALL send full data frame immediately
- * X:STOP set all outputs LOW
- * X:RESET reset to defaults
- *
- * SENT DATA (Arduino → PC):
- * A0:3.142,A1:0.015,D2:0,D3:1\n (every SEND_INTERVAL ms)
- * ACK:W:D13:1\n (after each command)
- * ERR:Unknown command\n (on parse failure)
- * ─────────────────────────────────────────────────────────────────────────
- */
-
-// ── Configuration ─────────────────────────────────────────────────────────
-int ANALOG_PINS[6] = {A0, A1, A2, A3, A4, A5}; // actual pin numbers (reconfigured by APIN:)
-int ANALOG_IDX[6] = {0, 1, 2, 3, 4, 5}; // label indices used in output (A0, A1, …)
-int DIGITAL_IN[16] = {2, 3, 4}; // reconfigured at runtime via DPIN:IN:
-int DIGITAL_OUT[16] = {5, 6, 7, 9, 10, 11}; // reconfigured via DPIN:OUT:
-int N_ANALOG = 0; // set by APIN: command (0 = inactive until configured by PC)
-int N_DIG_IN = 0; // set by DPIN:IN: command (0 = inactive until configured)
-int N_DIG_OUT = 0; // set by DPIN:OUT: command (0 = inactive until configured)
-const int SEND_INTERVAL = 50; // ms between data frames (50 = 20 Hz)
-const long BAUD_RATE = 115200;
-
-// ── Named parameters (set via C: commands) ──────────────────────────────
-float param_setpoint = 0.0;
-float param_kp = 1.0;
-float param_ki = 0.0;
-float param_kd = 0.0;
-int param_mode = 0;
-
-unsigned long lastSend = 0;
-
-// ── Setup ─────────────────────────────────────────────────────────────────
-void setup() {
- Serial.begin(BAUD_RATE);
- for (int i = 0; i < N_DIG_IN; i++) pinMode(DIGITAL_IN[i], INPUT_PULLUP);
- for (int i = 0; i < N_DIG_OUT; i++) pinMode(DIGITAL_OUT[i], OUTPUT);
-}
-
-// ── Main loop ─────────────────────────────────────────────────────────────
-void loop() {
- handleCommands();
- sendData();
-}
-
-// ── Command handler ───────────────────────────────────────────────────────
-void handleCommands() {
- if (!Serial.available()) return;
-
- String cmd = Serial.readStringUntil('\n');
- cmd.trim();
- if (cmd.length() == 0) return;
-
- char type = cmd.charAt(0);
-
- // W:Dxx:val — digital write
- if (type == 'W') {
- int c1 = cmd.indexOf(':', 2);
- if (c1 < 0) { Serial.println("ERR:Bad W format"); return; }
- String pinStr = cmd.substring(2, c1);
- int val = cmd.substring(c1 + 1).toInt();
- int pin = pinStr.substring(1).toInt(); // strip 'D'
- digitalWrite(pin, val ? HIGH : LOW);
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- // P:Dxx:duty — PWM write (0-255)
- else if (type == 'P') {
- int c1 = cmd.indexOf(':', 2);
- if (c1 < 0) { Serial.println("ERR:Bad P format"); return; }
- int pin = cmd.substring(2, c1).substring(1).toInt();
- int duty = constrain(cmd.substring(c1 + 1).toInt(), 0, 255);
- analogWrite(pin, duty);
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- // C:NAME:value — set named parameter
- else if (type == 'C') {
- int c1 = cmd.indexOf(':', 2);
- int c2 = cmd.indexOf(':', c1 + 1);
- if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad C format"); return; }
- String name = cmd.substring(2, c1);
- float val = cmd.substring(c2 + 1).toFloat();
- if (name == "SETPOINT") param_setpoint = val;
- else if (name == "KP") param_kp = val;
- else if (name == "KI") param_ki = val;
- else if (name == "KD") param_kd = val;
- else if (name == "MODE") param_mode = (int)val;
- // Add your own parameters here:
- // else if (name == "SPEED") motor_speed = val;
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- // Q:NAME — immediate query
- else if (type == 'Q') {
- String name = cmd.substring(2);
- if (name == "SETPOINT") { Serial.print("SETPOINT:"); Serial.println(param_setpoint, 3); }
- else if (name == "KP") { Serial.print("KP:"); Serial.println(param_kp, 4); }
- else {
- // Try to read as analog pin Q:A0
- if (name.charAt(0) == 'A') {
- int pin = name.substring(1).toInt();
- float v = analogRead(pin) * (5.0 / 1023.0);
- Serial.print(name); Serial.print(":"); Serial.println(v, 3);
- }
- }
- }
-
- // R:ALL — send full frame immediately
- else if (type == 'R') {
- sendFrame();
- }
-
- // X:STOP / X:RESET — emergency stop
- else if (type == 'X') {
- String sub = cmd.substring(2);
- for (int i = 0; i < N_DIG_OUT; i++) digitalWrite(DIGITAL_OUT[i], LOW);
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- // APIN:0,1,3 — reconfigure analog inputs at runtime (indices 0–5 into A0–A5)
- else if (type == 'A') {
- if (!cmd.startsWith("APIN:")) { Serial.println("ERR:Bad A command"); return; }
- String pinList = cmd.substring(5); // "0,1,3"
- const int _APINS[] = {A0,A1,A2,A3,A4,A5};
- N_ANALOG = 0;
- int start = 0;
- for (int i = 0; i <= (int)pinList.length(); i++) {
- if (i == (int)pinList.length() || pinList[i] == ',') {
- String tok = pinList.substring(start, i); tok.trim();
- if (tok.length() > 0 && N_ANALOG < 6) {
- int idx = tok.toInt();
- if (idx >= 0 && idx < 6) {
- ANALOG_PINS[N_ANALOG] = _APINS[idx];
- ANALOG_IDX[N_ANALOG] = idx;
- N_ANALOG++;
- }
- }
- start = i + 1;
- }
- }
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- // DPIN:IN:2,3,8 or DPIN:OUT:5,6,7 — reconfigure digital I/O pins at runtime
- else if (type == 'D') {
- int c1 = cmd.indexOf(':', 2);
- int c2 = (c1 >= 0) ? cmd.indexOf(':', c1 + 1) : -1;
- if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad DPIN format"); return; }
- String dir = cmd.substring(2, c1); // "IN" or "OUT"
- String pinList = cmd.substring(c2 + 1); // "2,3,8"
- bool isIn = (dir == "IN");
- int* arr = isIn ? DIGITAL_IN : DIGITAL_OUT;
- int* cnt = isIn ? &N_DIG_IN : &N_DIG_OUT;
- int mode = isIn ? INPUT_PULLUP : OUTPUT;
- *cnt = 0;
- int start = 0;
- for (int i = 0; i <= (int)pinList.length(); i++) {
- if (i == (int)pinList.length() || pinList[i] == ',') {
- String tok = pinList.substring(start, i); tok.trim();
- if (tok.length() > 0 && *cnt < 16) {
- arr[*cnt] = tok.toInt();
- pinMode(arr[*cnt], mode);
- (*cnt)++;
- }
- start = i + 1;
- }
- }
- Serial.print("ACK:"); Serial.println(cmd);
- }
-
- else {
- Serial.print("ERR:Unknown command: "); Serial.println(cmd);
- }
-}
-
-// ── Data sender ───────────────────────────────────────────────────────────
-void sendData() {
- if (millis() - lastSend < SEND_INTERVAL) return;
- lastSend = millis();
- sendFrame();
-}
-
-void sendFrame() {
- String out = "";
- bool first = true;
- // Analog inputs — converted to 0.0–5.0 V
- for (int i = 0; i < N_ANALOG; i++) {
- float v = analogRead(ANALOG_PINS[i]) * (5.0 / 1023.0);
- if (!first) out += ",";
- out += "A" + String(ANALOG_IDX[i]) + ":" + String(v, 3);
- first = false;
- }
- // Digital inputs (INPUT_PULLUP — invert so pressed=1)
- // These share the same output line as analog — one line per frame.
- for (int i = 0; i < N_DIG_IN; i++) {
- if (!first) out += ",";
- out += "D" + String(DIGITAL_IN[i]) + ":" + String(!digitalRead(DIGITAL_IN[i]));
- first = false;
- }
- Serial.println(out);
- // Example combined output: A0:3.142,D2:0,D3:1
-}
-"""
diff --git a/api_layers/firmware/LabUI_firmware.ino b/api_layers/firmware/LabUI_firmware.ino
new file mode 100644
index 0000000..8f1b252
--- /dev/null
+++ b/api_layers/firmware/LabUI_firmware.ino
@@ -0,0 +1,218 @@
+/*
+ * LabUI Arduino Firmware v1.1
+ * ─────────────────────────────────────────────────────────────────────────
+ * Upload this sketch to your Arduino.
+ * Set baud rate to 115200 in both this sketch and LabUI.
+ *
+ * WHAT IT DOES
+ * Continuously streams analog + digital readings to the PC.
+ * Listens for commands from the PC and executes them.
+ *
+ * RECEIVED COMMANDS (PC → Arduino):
+ * W:D13:1 digitalWrite(13, HIGH)
+ * W:D6:0 digitalWrite(6, LOW)
+ * P:D9:128 analogWrite(9, 128) → ~50% PWM
+ * C:SETPOINT:75.0 store named parameter
+ * Q:A0 reply immediately with A0 reading
+ * R:ALL send full data frame immediately
+ * X:STOP set all outputs LOW
+ * X:RESET reset to defaults
+ *
+ * SENT DATA (Arduino → PC):
+ * A0:3.142,A1:0.015,D2:0,D3:1\n (every SEND_INTERVAL ms)
+ * ACK:W:D13:1\n (after each command)
+ * ERR:Unknown command\n (on parse failure)
+ * ─────────────────────────────────────────────────────────────────────────
+ */
+
+// ── Configuration ─────────────────────────────────────────────────────────
+int ANALOG_PINS[6] = {A0, A1, A2, A3, A4, A5}; // actual pin numbers (reconfigured by APIN:)
+int ANALOG_IDX[6] = {0, 1, 2, 3, 4, 5}; // label indices used in output (A0, A1, …)
+int DIGITAL_IN[16] = {2, 3, 4}; // reconfigured at runtime via DPIN:IN:
+int DIGITAL_OUT[16] = {5, 6, 7, 9, 10, 11}; // reconfigured via DPIN:OUT:
+int N_ANALOG = 0; // set by APIN: command (0 = inactive until configured by PC)
+int N_DIG_IN = 0; // set by DPIN:IN: command (0 = inactive until configured)
+int N_DIG_OUT = 0; // set by DPIN:OUT: command (0 = inactive until configured)
+const int SEND_INTERVAL = 50; // ms between data frames (50 = 20 Hz)
+const long BAUD_RATE = 115200;
+
+// ── Named parameters (set via C: commands) ──────────────────────────────
+float param_setpoint = 0.0;
+float param_kp = 1.0;
+float param_ki = 0.0;
+float param_kd = 0.0;
+int param_mode = 0;
+
+unsigned long lastSend = 0;
+
+// ── Setup ─────────────────────────────────────────────────────────────────
+void setup() {
+ Serial.begin(BAUD_RATE);
+ for (int i = 0; i < N_DIG_IN; i++) pinMode(DIGITAL_IN[i], INPUT_PULLUP);
+ for (int i = 0; i < N_DIG_OUT; i++) pinMode(DIGITAL_OUT[i], OUTPUT);
+}
+
+// ── Main loop ─────────────────────────────────────────────────────────────
+void loop() {
+ handleCommands();
+ sendData();
+}
+
+// ── Command handler ───────────────────────────────────────────────────────
+void handleCommands() {
+ if (!Serial.available()) return;
+
+ String cmd = Serial.readStringUntil('\n');
+ cmd.trim();
+ if (cmd.length() == 0) return;
+
+ char type = cmd.charAt(0);
+
+ // W:Dxx:val — digital write
+ if (type == 'W') {
+ int c1 = cmd.indexOf(':', 2);
+ if (c1 < 0) { Serial.println("ERR:Bad W format"); return; }
+ String pinStr = cmd.substring(2, c1);
+ int val = cmd.substring(c1 + 1).toInt();
+ int pin = pinStr.substring(1).toInt(); // strip 'D'
+ digitalWrite(pin, val ? HIGH : LOW);
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ // P:Dxx:duty — PWM write (0-255)
+ else if (type == 'P') {
+ int c1 = cmd.indexOf(':', 2);
+ if (c1 < 0) { Serial.println("ERR:Bad P format"); return; }
+ int pin = cmd.substring(2, c1).substring(1).toInt();
+ int duty = constrain(cmd.substring(c1 + 1).toInt(), 0, 255);
+ analogWrite(pin, duty);
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ // C:NAME:value — set named parameter
+ else if (type == 'C') {
+ int c1 = cmd.indexOf(':', 2);
+ int c2 = cmd.indexOf(':', c1 + 1);
+ if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad C format"); return; }
+ String name = cmd.substring(2, c1);
+ float val = cmd.substring(c2 + 1).toFloat();
+ if (name == "SETPOINT") param_setpoint = val;
+ else if (name == "KP") param_kp = val;
+ else if (name == "KI") param_ki = val;
+ else if (name == "KD") param_kd = val;
+ else if (name == "MODE") param_mode = (int)val;
+ // Add your own parameters here:
+ // else if (name == "SPEED") motor_speed = val;
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ // Q:NAME — immediate query
+ else if (type == 'Q') {
+ String name = cmd.substring(2);
+ if (name == "SETPOINT") { Serial.print("SETPOINT:"); Serial.println(param_setpoint, 3); }
+ else if (name == "KP") { Serial.print("KP:"); Serial.println(param_kp, 4); }
+ else {
+ // Try to read as analog pin Q:A0
+ if (name.charAt(0) == 'A') {
+ int pin = name.substring(1).toInt();
+ float v = analogRead(pin) * (5.0 / 1023.0);
+ Serial.print(name); Serial.print(":"); Serial.println(v, 3);
+ }
+ }
+ }
+
+ // R:ALL — send full frame immediately
+ else if (type == 'R') {
+ sendFrame();
+ }
+
+ // X:STOP / X:RESET — emergency stop
+ else if (type == 'X') {
+ String sub = cmd.substring(2);
+ for (int i = 0; i < N_DIG_OUT; i++) digitalWrite(DIGITAL_OUT[i], LOW);
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ // APIN:0,1,3 — reconfigure analog inputs at runtime (indices 0–5 into A0–A5)
+ else if (type == 'A') {
+ if (!cmd.startsWith("APIN:")) { Serial.println("ERR:Bad A command"); return; }
+ String pinList = cmd.substring(5); // "0,1,3"
+ const int _APINS[] = {A0,A1,A2,A3,A4,A5};
+ N_ANALOG = 0;
+ int start = 0;
+ for (int i = 0; i <= (int)pinList.length(); i++) {
+ if (i == (int)pinList.length() || pinList[i] == ',') {
+ String tok = pinList.substring(start, i); tok.trim();
+ if (tok.length() > 0 && N_ANALOG < 6) {
+ int idx = tok.toInt();
+ if (idx >= 0 && idx < 6) {
+ ANALOG_PINS[N_ANALOG] = _APINS[idx];
+ ANALOG_IDX[N_ANALOG] = idx;
+ N_ANALOG++;
+ }
+ }
+ start = i + 1;
+ }
+ }
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ // DPIN:IN:2,3,8 or DPIN:OUT:5,6,7 — reconfigure digital I/O pins at runtime
+ else if (type == 'D') {
+ int c1 = cmd.indexOf(':', 2);
+ int c2 = (c1 >= 0) ? cmd.indexOf(':', c1 + 1) : -1;
+ if (c1 < 0 || c2 < 0) { Serial.println("ERR:Bad DPIN format"); return; }
+ String dir = cmd.substring(2, c1); // "IN" or "OUT"
+ String pinList = cmd.substring(c2 + 1); // "2,3,8"
+ bool isIn = (dir == "IN");
+ int* arr = isIn ? DIGITAL_IN : DIGITAL_OUT;
+ int* cnt = isIn ? &N_DIG_IN : &N_DIG_OUT;
+ int mode = isIn ? INPUT_PULLUP : OUTPUT;
+ *cnt = 0;
+ int start = 0;
+ for (int i = 0; i <= (int)pinList.length(); i++) {
+ if (i == (int)pinList.length() || pinList[i] == ',') {
+ String tok = pinList.substring(start, i); tok.trim();
+ if (tok.length() > 0 && *cnt < 16) {
+ arr[*cnt] = tok.toInt();
+ pinMode(arr[*cnt], mode);
+ (*cnt)++;
+ }
+ start = i + 1;
+ }
+ }
+ Serial.print("ACK:"); Serial.println(cmd);
+ }
+
+ else {
+ Serial.print("ERR:Unknown command: "); Serial.println(cmd);
+ }
+}
+
+// ── Data sender ───────────────────────────────────────────────────────────
+void sendData() {
+ if (millis() - lastSend < SEND_INTERVAL) return;
+ lastSend = millis();
+ sendFrame();
+}
+
+void sendFrame() {
+ String out = "";
+ bool first = true;
+ // Analog inputs — converted to 0.0–5.0 V
+ for (int i = 0; i < N_ANALOG; i++) {
+ float v = analogRead(ANALOG_PINS[i]) * (5.0 / 1023.0);
+ if (!first) out += ",";
+ out += "A" + String(ANALOG_IDX[i]) + ":" + String(v, 3);
+ first = false;
+ }
+ // Digital inputs (INPUT_PULLUP — invert so pressed=1)
+ // These share the same output line as analog — one line per frame.
+ for (int i = 0; i < N_DIG_IN; i++) {
+ if (!first) out += ",";
+ out += "D" + String(DIGITAL_IN[i]) + ":" + String(!digitalRead(DIGITAL_IN[i]));
+ first = false;
+ }
+ Serial.println(out);
+ // Example combined output: A0:3.142,D2:0,D3:1
+}
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