wip

main.py

@@ -40,24 +40,8 @@ def listen_i2c(bus_number, address, register=0x00):
         print("Stopped listening.")
     finally:
         bus.close()
+        print("closed bus")
 
-def create_led_color_packet(r, g, b):
-    """
-    Create an 8-byte packet to set LED color for I2C transfer.
-    Packet format:
-    [0x10, 0x00, R, G, B, 0x00, 0x00, checksum]
-    - 0x10: Command for LED color
-    - 0x00: Target/channel (set as needed)
-    - R, G, B: Color bytes (0-255)
-    - 0x00, 0x00: Unused
-    - checksum: XOR of bytes 0-6
-    """
-    packet = [0x10, 0x00, r & 0xFF, g & 0xFF, b & 0xFF, 0x00, 0x00]
-    checksum = 0
-    for b in packet:
-        checksum ^= b
-    packet.append(checksum)
-    return bytes(packet)
 
 if __name__ == "__main__":
     if len(sys.argv) < 3:

newmain.py

@@ -0,0 +1,142 @@
+#!/usr/bin/env python3
+import sys
+from smbus2 import SMBus, i2c_msg
+import paho.mqtt.client as mqtt
+import RPi.GPIO as GPIO
+
+GPIO.setmode(GPIO.BCM) 
+GPIO.setup(17, GPIO.OUT)
+
+# --- I2C Packet Creator Functions ---
+class Packet:
+    LENGTH = 8
+    def __init__(self, data=None):
+        if data is None:
+            data = [0] * self.LENGTH
+        if len(data) != self.LENGTH:
+            raise ValueError(f"Packet must be {self.LENGTH} bytes")
+        self.bytes = list(data)
+    @classmethod
+    def from_bytes(cls, byte_list):
+        return cls(list(byte_list[:cls.LENGTH]))
+    def as_list(self):
+        return self.bytes
+
+def create_motor_state_packet(fl=None, fr=None, bl=None, br=None):
+    def getByteForState(state):
+        if state is None: return 0x00
+        return 0x01 if state else 0x02
+    packet = [
+        0x01, 0x00,
+        getByteForState(fl),
+        getByteForState(fr),
+        getByteForState(bl),
+        getByteForState(br),
+        0x00
+    ]
+    checksum = 0
+    for b in packet:
+        checksum ^= b
+    packet.append(checksum)
+    return Packet.from_bytes(packet)
+
+def create_tail_wagging_packet(wagging=False):
+    packet = [0x02, 0x00, 0x01 if wagging else 0x00, 0x00, 0x00, 0x00, 0x00]
+    checksum = 0
+    for b in packet:
+        checksum ^= b
+    packet.append(checksum)
+    return Packet.from_bytes(packet)
+
+def create_set_led_mode(mode=0):
+    packet = [0x02, 0x00, mode & 0xFF, 0x00, 0x00, 0x00, 0x00]
+    checksum = 0
+    for b in packet:
+        checksum ^= b
+    packet.append(checksum)
+    return Packet.from_bytes(packet)
+
+# --- MQTT & I2C Integration ---
+MQTT_BROKER = "192.168.188.30"
+MQTT_PORT = 1883
+I2C_BUS = 1
+
+BUTTON_TOPICS = {
+    "drive_forward":  "home/buttons/drive_forward",
+    "drive_backward": "home/buttons/drive_backward",
+    "turn_left":      "home/buttons/turn_left",
+    "turn_right":     "home/buttons/turn_right"
+}
+SWITCH_TOPIC = "home/switch/wag_tail"
+SELECT_TOPIC = "home/select/led_mode"
+
+LED_MODE_MAP = {
+    "standard": 0,
+    "rot": 1,
+    "rainbow": 2
+}
+
+def send_i2c_packet(packet: Packet, address):
+    with SMBus(I2C_BUS) as bus:
+        msg = i2c_msg.write(address, packet.as_list())
+        bus.i2c_rdwr(msg)
+        print(f"Sent I2C packet: {packet.as_list()}")
+
+def on_connect(client, userdata, flags, rc):
+    print("Connected to MQTT broker")
+    for topic in BUTTON_TOPICS.values():
+        client.subscribe(topic)
+        print(f"Subscribed to {topic}")
+    client.subscribe(SWITCH_TOPIC)
+    print(f"Subscribed to {SWITCH_TOPIC}")
+    client.subscribe(SELECT_TOPIC)
+    print(f"Subscribed to {SELECT_TOPIC}")
+
+def on_message(client, userdata, msg):
+    print(f"MQTT: {msg.topic} - {msg.payload}")
+    payload = msg.payload.decode().lower()
+    # Handle buttons
+    if msg.topic == BUTTON_TOPICS["drive_forward"] and payload == "on":
+        packet = create_motor_state_packet(fl=True, fr=True, bl=True, br=True)
+        send_i2c_packet(packet, 0x41)
+    elif msg.topic == BUTTON_TOPICS["drive_backward"] and payload == "on":
+        packet = create_motor_state_packet(fl=False, fr=False, bl=False, br=False)
+        send_i2c_packet(packet, 0x41)
+    elif msg.topic == BUTTON_TOPICS["turn_left"] and payload == "on":
+        packet = create_motor_state_packet(fl=False, fr=True, bl=False, br=True)
+        send_i2c_packet(packet, 0x41)
+    elif msg.topic == BUTTON_TOPICS["turn_right"] and payload == "on":
+        packet = create_motor_state_packet(fl=True, fr=False, bl=True, br=False)
+        send_i2c_packet(packet, 0x41)
+    elif msg.topic in BUTTON_TOPICS.values() and payload == "off":
+        send_i2c_packet(create_motor_state_packet(), 0x41)
+    # Handle wag tail switch: expects "ON" or "OFF"
+    elif msg.topic == SWITCH_TOPIC:
+        # wag = payload == "on"
+        # if wag:
+        #     GPIO.output(17, True)
+        # else:
+        #     GPIO.output(17, False)
+        packet = create_tail_wagging_packet(payload == "on")
+        send_i2c_packet(packet, 0x43)
+    # Handle led mode select: expects "standard", "rot", "rainbow"
+    elif msg.topic == SELECT_TOPIC:
+        if payload in LED_MODE_MAP:
+            mode = LED_MODE_MAP[payload]
+            packet = create_set_led_mode(mode)
+            send_i2c_packet(packet, 0x03)
+            print(f"LED mode set to {payload} ({mode})")
+        else:
+            print(f"Unknown LED mode: {payload}")
+
+def main():
+    client = mqtt.Client()
+    client.on_connect = on_connect
+    client.on_message = on_message
+    client.username_pw_set("mqtt", "mqtt")
+    client.connect(MQTT_BROKER, MQTT_PORT, 60)
+    print("MQTT client started. Waiting for button/switch/select events...")
+    client.loop_forever()
+
+if __name__ == "__main__":
+    main()