Merge branch 'main' into feature/ptcs-update-4

ptcs/ptcs_bridge/train_base.py

@@ -2,6 +2,7 @@
 
 NotifyPositionIdCallback = Callable[["TrainBase", int], None]
 NotifyRotationCallback = Callable[["TrainBase", int], None]
+NotifyVoltageCallback = Callable[["TrainBase", int], None]
 
 
 class TrainBase:
@@ -24,3 +25,6 @@ async def start_notify_position_id(self, callback: NotifyPositionIdCallback) ->
 
     async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None:
         raise NotImplementedError()
+
+    async def start_notify_voltage(self, callback: NotifyVoltageCallback) -> None:
+        raise NotImplementedError()

ptcs/ptcs_bridge/train_client.py

@@ -5,12 +5,18 @@
 from bleak.backends.characteristic import BleakGATTCharacteristic
 from bleak.backends.service import BleakGATTService
 
-from .train_base import NotifyPositionIdCallback, NotifyRotationCallback, TrainBase
+from .train_base import (
+    NotifyPositionIdCallback,
+    NotifyRotationCallback,
+    NotifyVoltageCallback,
+    TrainBase,
+)
 
 SERVICE_TRAIN_UUID = UUID("63cb613b-6562-4aa5-b602-030f103834a4")
 CHARACTERISTIC_MOTOR_INPUT_UUID = UUID("88c9d9ae-bd53-4ab3-9f42-b3547575a743")
 CHARACTERISTIC_POSITION_ID_UUID = UUID("8bcd68d5-78ca-c1c3-d1ba-96d527ce8968")
 CHARACTERISTIC_ROTATION_UUID = UUID("aab17457-2755-8b50-caa1-432ff553d533")
+CHARACTERISTIC_VOLTAGE_UUID = UUID("7ecc0ed2-5ef9-c9e6-5d16-582f86035ecf")
 
 
 logger = logging.getLogger(__name__)
@@ -55,6 +61,9 @@ def _get_characteristic_position_id(self) -> BleakGATTCharacteristic:
     def _get_characteristic_rotation(self) -> BleakGATTCharacteristic:
         return self._get_characteristic(CHARACTERISTIC_ROTATION_UUID)
 
+    def _get_characteristic_voltage(self) -> BleakGATTCharacteristic:
+        return self._get_characteristic(CHARACTERISTIC_VOLTAGE_UUID)
+
     async def send_motor_input(self, motor_input: int) -> None:
         assert isinstance(motor_input, int)
         assert 0 <= motor_input <= 255
@@ -81,3 +90,13 @@ def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
 
         characteristic = self._get_characteristic_rotation()
         await self._client.start_notify(characteristic, wrapped_callback)
+
+    async def start_notify_voltage(self, callback: NotifyVoltageCallback) -> None:
+        def wrapped_callback(_characteristic: BleakGATTCharacteristic, data: bytearray):
+            assert len(data) == 4
+            voltage = int.from_bytes(data, byteorder="little")
+            logger.info("%s notify voltage %s mV", self, voltage)
+            callback(self, voltage)
+
+        characteristic_voltage = self._get_characteristic_voltage()
+        await self._client.start_notify(characteristic_voltage, wrapped_callback)

ptcs/ptcs_bridge/train_simulator.py

@@ -2,7 +2,12 @@
 import logging
 import math
 
-from .train_base import NotifyPositionIdCallback, NotifyRotationCallback, TrainBase
+from .train_base import (
+    NotifyPositionIdCallback,
+    NotifyRotationCallback,
+    NotifyVoltageCallback,
+    TrainBase,
+)
 
 logger = logging.getLogger(__name__)
 
@@ -81,6 +86,9 @@ async def start_notify_position_id(self, callback: NotifyPositionIdCallback) ->
     async def start_notify_rotation(self, callback: NotifyRotationCallback) -> None:
         self._notify_rotation_callback = callback
 
+    async def start_notify_voltage(self, callback: NotifyVoltageCallback) -> None:
+        raise NotImplementedError()
+
 
 async def main():
     t0 = TrainSimulator("t0")

ptcs/ptcs_client/dist/models/TrainState.ts

@@ -18,4 +18,5 @@ export type TrainState = {
     stop_distance: number;
     departure_time: (number | null);
     speed_command: number;
+    voltage_mV: number;
 };

ptcs/ptcs_control/components/train.py

@@ -37,6 +37,7 @@ class Train(BaseComponent):
     stop: Stop | None = field(default=None)  # 列車の停止目標
     stop_distance: float = field(default=0.0)  # 停止目標までの距離[cm]
     departure_time: int | None = field(default=None)  # 発車予定時刻
+    voltage_mV: int = field(default=0)  # 電池電圧[mV]
 
     # commands
     speed_command: float = field(default=0.0)  # 速度指令値

ptcs/ptcs_server/server.py

@@ -107,11 +107,18 @@ def handle_notify_rotation(train_client: TrainBase, _rotation: int):
                 return
             train_control.move_forward_mr(1)
 
+        def handle_notify_voltage(train_client: TrainBase, _voltage_mV: int):
+            train_control = control.trains.get(train_client.id)
+            if train_control is None:
+                return
+            train_control.voltage_mV = _voltage_mV
+
         for train in bridge.trains.values():
             match train:
                 case TrainClient():
                     await train.start_notify_position_id(handle_notify_position_id)
             await train.start_notify_rotation(handle_notify_rotation)
+            # await train.start_notify_voltage(handle_notify_voltage)
 
         def handle_notify_collapse(obstacle_client: WirePoleClient, is_collapsed: bool):
             obstacle_control = control.obstacles.get(obstacle_client.id)

ptcs/ptcs_server/types/state.py

@@ -54,6 +54,7 @@ class TrainState(BaseModel):
     stop_distance: float
     departure_time: int | None
     speed_command: float
+    voltage_mV: int
 
     @staticmethod
     def from_control(train: Train) -> TrainState:
@@ -80,6 +81,7 @@ def from_control(train: Train) -> TrainState:
             stop_distance=train.stop_distance,
             departure_time=train.departure_time,
             speed_command=train.speed_command,
+            voltage_mV=train.voltage_mV,
         )
 
 

ptcs/ptcs_ui/src/components/Information.tsx

@@ -17,6 +17,7 @@ export const Information: React.FC = () => {
           <th></th>
           <th>train</th>
           <th>speed</th>
+          <th>voltage</th>
         </tr>
       </thead>
       <tbody>
@@ -30,6 +31,7 @@ export const Information: React.FC = () => {
                 </td>
                 <td>{id}</td>
                 <td>{train.speed_command.toFixed(2)}</td>
+                <td>{train.voltage_mV}</td>
               </tr>
             ))}
       </tbody>

train/train_controller.py

@@ -8,13 +8,25 @@
 if platform.system() == "Windows":
     ADDRESS_T0 = 'e0:5a:1b:e2:7a:f2'
     ADDRESS_T1 = '94:b5:55:84:15:42'
+    ADDRESS_T2 = 'e0:5a:1b:e2:7b:1e'
+    ADDRESS_T3 = '1c:9d:c2:66:84:32'
+    ADDRESS_T4 = '24:4c:ab:f5:c6:3e'
+
 
 elif platform.system() == "Darwin":
     ADDRESS_T0 = "00B55AE6-34AA-23C2-8C7B-8C11E6998E12"
     ADDRESS_T1 = "F2158243-18BB-D34C-88BC-F8F193CAD15E"
+    ADDRESS_T2 = 'EB57E065-90A0-B6D0-98BA-81096FA5765E'
+    ADDRESS_T3 = '4AA3AAE5-A039-8484-013C-32AD94F50BE0'
+    ADDRESS_T4 = 'FC44FB3F-CF7D-084C-EA29-7AFD10C47A57'
+
 else:
     raise Exception(f"{platform.system()} not supported")
 
+####### TODO: 車両のアドレスを指定してください #######
+address = ADDRESS_T2
+#################################################
+
 SERVICE_UUID = "63cb613b-6562-4aa5-b602-030f103834a4"
 CHARACTERISTIC_SPEED_UUID = "88c9d9ae-bd53-4ab3-9f42-b3547575a743"
 CHARACTERISTIC_POSITIONID_UUID = "8bcd68d5-78ca-c1c3-d1ba-96d527ce8968"
@@ -32,8 +44,7 @@ async def main():
     for d in devices:
         print("  - ", d)
 
-    ####### TODO: クライアントのアドレスを選択してください #######
-    async with BleakClient(ADDRESS_T0) as client:
+    async with BleakClient(address) as client:
         print("Connected to", client)
         print("Services:")
         for service in client.services:
@@ -52,12 +63,22 @@ async def main():
         await client.start_notify(characteristicRotation, rotationNotification_callback)
         await client.start_notify(characteristicVoltage, voltageNotification_callback)
 
-        i=150 #3V時171で回り始める
-        while(i<=255):
-            i = i+1
+        if address == ADDRESS_T0:
+            i = 220
+        elif address == ADDRESS_T1:
+            i = 200
+        elif address == ADDRESS_T2:
+            i = 210
+        elif address == ADDRESS_T3:
+            i = 220
+        elif address == ADDRESS_T4:
+            i = 210
+
+        while(i<256):
             await client.write_gatt_char(characteristicSpeed, f"{i}".encode())
             print("motorInput:", i)
             await asyncio.sleep(0.3)
+
 
 
 async def positionIdNotification_callback(sender, data):