‹ f0dmxSuperCollider Firmata 3 ›

Optoforce

2017-02-10 18:38:38 other

Here's some Python code for reading serial input from Optoforce's 3D sensor and sending it over OSC to MaxMSPJitter or SuperCollider.

The slightly odd baud rate of 1000000 isn't supported in SuperCollider nor MaxMSPJitter under macOS, so I had to use Python for this.

#for the 3d sensor OMD-30-SE-100N
#f.olofsson 2017

#first argument is serial port, second ip and third port.  e.g.
#python optoforceOsc.py '/dev/tty.usbmodem1451' '127.0.0.1' 9999

import sys
from struct import *
from threading import Thread
import serial
from OSC import OSCServer, OSCClient, OSCMessage, OSCClientError

osc= OSCClient()
if len(sys.argv)>3:
  osc.connect((sys.argv[2], int(sys.argv[3])))  #send to address and port
else:
  osc.connect(('127.0.0.1', 57120))  #default send to SC on same computer

serport= '/dev/cu.usbmodem1411'
if len(sys.argv)>1:
  serport= sys.argv[1]

ser= serial.Serial(
  port= serport,
  baudrate= 1000000,
  parity= serial.PARITY_NONE,
  stopbits= serial.STOPBITS_ONE,
  bytesize= serial.EIGHTBITS,
  timeout= 1
)
print('connected to serial port: '+ser.portstr)

def oscInput(addr, tags, stuff, source):
  print stuff  #for now do nothing

server= OSCServer(('0.0.0.0', 9998))  #receive from everywhere
server.addDefaultHandlers()
server.addMsgHandler('/optoforceConfig', oscInput)
server_thread= Thread(target= server.serve_forever)
server_thread.start()

print('sending OSC to: '+str(osc.address()))
print('listening for OSC on port: '+str(server.address()[1]))

###configure sensor (optional)
conf= bytearray(9)
speed= 10  #0, 1, 3, 10, 33, 100 (default 10)
filter= 3   #0 - 6 (default 4)
zero= 255   #0, 255
checksum= 170+0+50+3+speed+filter+zero
conf[0]= 170
conf[1]= 0
conf[2]= 50
conf[3]= 3
conf[4]= speed
conf[5]= filter
conf[6]= zero
conf[7]= checksum>>8
conf[8]= checksum&255
ser.write(conf)

def main():
  while True:
    b= ser.read(4)
    header= unpack('BBBB', b)
    if header==(170, 7, 8, 10): #data
      b= ser.read(12)
      counter= unpack('>H', b[0:2])[0]
      status= unpack('>H', b[2:4])[0]
      xyz= unpack('>hhh', b[4:10])
      checksum= unpack('>H', b[10:12])[0]
      sum= (170+7+8+10)
      for i in range(10):
        sum= sum+ord(b[i])
      if checksum==sum:
        #print(counter, status, xyz)
        msg= OSCMessage()
        msg.setAddress('/optoforce')
        msg.append(xyz)
        try:
          osc.send(msg)
        except OSCClientError:
          print 'OSC: could not send to address'
      else:
        print 'data: checksum error'
        print checksum
    else:
      if header==(170, 0, 80, 1): #status
        b= ser.read(3)
        status= unpack('B', b[0])[0]
        checksum= unpack('>H', b[1:3])[0]
        if checksum!=(170+0+80+1+status):
          print 'status: checksum error'
          print checksum
      else:
        print 'header: serial read error'
        print header

if __name__ == '__main__':
  try:
    main()
  except KeyboardInterrupt:
    server.close()
    server_thread.join()
    ser.close()
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