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62 lines
1.6 KiB
Python
62 lines
1.6 KiB
Python
from typing import List
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from threading import Thread
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import RPi.GPIO as GPIO
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import spidev
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from .MerlinMessage import MerlinMessage
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from .lib_nrf24 import NRF24
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GPIO.setmode(GPIO.BCM)
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class Merlin():
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radio: NRF24
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send_queue: List[MerlinMessage] = []
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my_urdi = [0xf0, 0xf0, 0xf0, 0xf0, 0xe1]
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def __init__(self):
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radio = NRF24(GPIO, spidev.SpiDev())
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radio.begin(0, 17)
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radio.setPALevel(NRF24.PA_HIGH)
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radio.setDataRate(NRF24.BR_2MBPS)
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radio.setChannel(0x60)
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radio.setPayloadSize(2)
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radio.setAutoAck(True)
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#radio.setAddressWidth(4)
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radio.enableAckPayload()
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radio.openReadingPipe(1, self.my_urdi)
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radio.startListening()
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radio.stopListening()
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radio.startListening()
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self.radio = radio
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def send(self, message: MerlinMessage):
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self.send_queue.append(message)
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def _send(self, message: MerlinMessage):
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self.radio.stopListening()
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self.radio.openWritingPipe(message.urdi)
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self.radio.write(message.data)
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self.radio.startListening()
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def receiveAndTransmit(self):
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while True:
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# send messages from queue
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while self.send_queue and (message := self.send_queue.pop()):
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self._send(message)
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# receiving messages
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if not self.radio.available():
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continue
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rawData = []
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self.radio.read(rawData, self.radio.getPayloadSize())
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func, arg = rawData
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print(f'{func=} {arg=}')
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receiveAndTransmitThread = Thread(target=Merlin().receiveAndTransmit)
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receiveAndTransmitThread.start()
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