arduino_bridge.py

# examples/arduino_bridge.py
# Bridge pattern — Pi runs RTP SDK, forwards commands to Arduino via serial

import asyncio
import os
import serial
from dotenv import load_dotenv
load_dotenv()

from rtp import RTPDevice, RTPDeviceConfig, ConnectionConfig, ConnectionType, TaskResult

SERIAL_PORT = os.getenv("SERIAL_PORT", "/dev/ttyUSB0")
BAUD_RATE   = int(os.getenv("BAUD_RATE", "9600"))

# ─── Serial Bridge ────────────────────────────────────────────────

class ArduinoBridge:
    def __init__(self, port: str, baud: int):
        self.port = port
        self.baud = baud
        self._serial: serial.Serial | None = None

    def connect(self):
        self._serial = serial.Serial(self.port, self.baud, timeout=1)
        print(f"✅ Serial connected: {self.port} @ {self.baud}")

    def send(self, command: str) -> str:
        """Send command and wait for response."""
        if not self._serial:
            raise RuntimeError("Serial not connected")
        self._serial.write(f"{command}\n".encode())
        response = self._serial.readline().decode().strip()
        return response

    async def send_async(self, command: str, timeout: float = 30.0) -> str:
        """Async wrapper for serial send."""
        loop = asyncio.get_event_loop()
        return await asyncio.wait_for(
            loop.run_in_executor(None, self.send, command),
            timeout=timeout
        )


arduino = ArduinoBridge(SERIAL_PORT, BAUD_RATE)

# ─── Device Setup ─────────────────────────────────────────────────

config = RTPDeviceConfig(
    name="ArduinoArm-Bridge-01",
    description="Arduino robot arm controlled via Raspberry Pi serial bridge",
    capabilities=["pick", "place", "weld", "dispense"],
    price_per_task="0.03",
    payment_address=os.getenv("WALLET_ADDRESS", ""),
    api_key=os.getenv("SPRAAY_API_KEY", ""),
    connection=ConnectionConfig(
        type=ConnectionType.WEBHOOK,
        webhook_url=f"http://{os.getenv('PUBLIC_IP')}:3100/rtp/task",
        port=3100
    ),
    tags=["arduino", "bridge", "serial", "arm"]
)

device = RTPDevice(config)

# ─── Task Handlers ────────────────────────────────────────────────

@device.on_task("pick")
async def handle_pick(params, task):
    location = params.get("from_location", "default")
    print(f"🦾 Forwarding PICK to Arduino: {location}")
    await task.progress()

    response = await arduino.send_async(f"PICK:{location}")

    if response == "DONE":
        await task.complete(TaskResult(
            success=True,
            output=f"Arduino picked from {location}"
        ))
    else:
        await task.fail(f"Arduino error: {response}")


@device.on_task("place")
async def handle_place(params, task):
    location = params.get("to_location", "default")
    print(f"📦 Forwarding PLACE to Arduino: {location}")
    await task.progress()

    response = await arduino.send_async(f"PLACE:{location}")

    if response == "DONE":
        await task.complete(TaskResult(
            success=True,
            output=f"Arduino placed at {location}"
        ))
    else:
        await task.fail(f"Arduino error: {response}")


@device.on_task("weld")
async def handle_weld(params, task):
    duration = params.get("duration_ms", 2000)
    print(f"🔧 Forwarding WELD to Arduino: {duration}ms")
    await task.progress()

    response = await arduino.send_async(
        f"WELD:{duration}", timeout=30.0
    )

    if response == "DONE":
        await task.complete(TaskResult(
            success=True,
            output=f"Welded for {duration}ms"
        ))
    else:
        await task.fail(f"Arduino error: {response}")


@device.on_task("dispense")
async def handle_dispense(params, task):
    duration = params.get("duration_ms", 1000)
    print(f"💧 Forwarding DISPENSE to Arduino: {duration}ms")
    await task.progress()

    response = await arduino.send_async(
        f"DISPENSE:{duration}", timeout=10.0
    )

    if response == "DONE":
        await task.complete(TaskResult(
            success=True,
            output=f"Dispensed for {duration}ms"
        ))
    else:
        await task.fail(f"Arduino error: {response}")


# ─── Main ─────────────────────────────────────────────────────────

async def main():
    print("🤖 Arduino Bridge starting...")
    print(f"📡 Serial: {SERIAL_PORT} @ {BAUD_RATE}")

    arduino.connect()

    result = await device.register()
    print(f"📡 Registered: {result['robot_id']}")
    print(f"💧 Endpoint:   {result['endpoint']}")

    await device.listen(3100)


if __name__ == "__main__":
    asyncio.run(main())