def set_pin(self, name, state):
"""Set the state of pin 'name' to state 'state'
"""
if not name in self.PINS:
log.error("No pin exists for %s." % name)
return
PIN = self.PINS[name]
if running_on_rpi():
if self.PIN_TYPES[PIN] == 'OUTPUT':
# for an output, the state is on or off (true or false)
GPIO.output(PIN, state)
elif self.PIN_TYPES[PIN] == 'SERVO':
# for a servo, the state is the desired angle
self.SERVOS[PIN].setAngle(state)
elif self.PIN_TYPES[PIN] == 'STEPPER':
# for a stepper, the state is the desired angle
# positive is clockwise, negative is counterclockwise
if state >= 0:
self.STEPPERS[PIN].turnClockwise(abs(state))
else:
self.STEPPERS[PIN].turnCounterClockwise(abs(state))
log.info("Set %s, pin %d, to %s" % (name, PIN, state))
else:
log.error("Not running on RPi. Can't set pin.")
def add_pin(self, name, pin_number, pin_type):
"""Add a pin to the pin map and initialize to pin_type.
"""
if None != pin_number:
self.PINS[name] = pin_number
else:
log.warning("No pin number set for %s" % name)
return
if running_on_rpi():
if pin_type == 'OUTPUT':
GPIO.setup(pin_number, GPIO.OUT)
self.PIN_TYPES[pin_number] = pin_type
elif pin_type == 'INPUT':
GPIO.setup(pin_number, GPIO.IN)
self.PIN_TYPES[pin_number] = pin_type
elif pin_type == 'SERVO':
# TODO: Add interface for setting frequency of servo
self.PIN_TYPES[pin_number] = pin_type
self.SERVOS[pin_number] = ServoMotor(pin_number)
else:
log.warning("Unknown pin type: %s" % pin_type)
self.PIN_TYPES[pin_number] = None
else:
log.error("Cannot initialize pin, not running on raspberry pi.")
log.info("%s set to pin %d as type %s" % (name, pin_number, pin_type))
def set_sample_led(light_on, LED_PIN):
"""Turn on the LEDs surrounding the sample so a picture can be taken
"""
if running_on_rpi():
if None != LED_PIN:
# light_on = True will turn on LED, False will turn off
log.info("Setting sample LED to " + str(light_on))
GPIO.output(LED_PIN, light_on)
else:
log.error("LED pin set to None.")
else:
log.error("Not running on RPi")
def __init__(self):
"""Initialize the hardware class by configuring hardware setup.
"""
self.PINS = {}
self.PIN_TYPES = {}
self.SERVOS = {}
self.STEPPERS = {}
# configure raspberry pi to BOARD mode
# this means all pin numbers should be the true pin number on the pi
if running_on_rpi():
GPIO.setmode(GPIO.BOARD)
log.info("Raspberry pi set to GPIO.BOARD.")
log.info("Hardware class created.")
def setAngle(self, desired_angle_deg):
"""Set the angle of this servo to a desired angle in degrees.
"""
ratio = desired_angle_deg / 180.0
min_angle_freq_hz = 2.5
max_angle_freq_hz = 12.5
# TODO: Test this
if running_on_rpi():
self.pwm.ChangeDutyCycle(min_angle_freq_hz +
max_angle_freq_hz * ratio)
else:
log.warning(
"Cannot set angle of servo to %d, not running on RPi." %
desired_angle_deg)
def turnCounterClockwise(self, degrees):
"""Drive the stepper motor counterclockwise 'degrees'
"""
# convert degrees to steps
ratio = degrees / 360.0
steps = int(self.complete_revolution_steps * ratio)
if running_on_rpi():
for i in range(steps):
for halfstep in range(8):
for pin in self.control_pins:
GPIO.output(self.control_pins[pin],
halfstep[halfstep][pin])
time.sleep(self.step_time_s)
else:
log.warning(
"Cannot turn stepper motor counter-clockwise %d degrees, not running on RPi."
% degrees)
"""@module prepare_sample Prepare sample for sensing Author: Josh Rands Date: 2/9/2020 Email: [email protected] """ import logging as log import time import init from helpers import running_on_rpi from hardware_iface import open_main_valve, close_main_valve_halfway if running_on_rpi(): import RPi.GPIO as GPIO # Global params for timing stuff test_chamber_fill_time_s = 4 reagent_drip_time_s = 1 def mix_reagent(): """Drive the stepper motor to mix the reagent in the sample tube """ log.warning("Reagent not being mixed.") # TODO: Turn on mixing prop motor with stepper pins... # TODO: Wait until mixed
def get_img(source, file_name=None):
"""Return a 2-dimensional array of rgb pixels.
"""
width = init.sensing_config.data['img_width']
height = init.sensing_config.data['img_height']
if source == 'file':
log.info("Getting image from file.")
if None == file_name:
file_name = input("Enter image name: ")
img = image.imread("imgs/" + file_name)
# save image to sample.png for debugging
image.imsave('raw-sample.png', img)
return img
elif source == 'usb':
log.info("Getting image from camera.")
cam_id = init.sensing_config.data['camera_id']
pygame.camera.init()
pygame.camera.list_cameras()
cam = pygame.camera.Camera("/dev/video" + str(cam_id))
cam.start()
# Take the picture
init.hardware.set_pin('sensing_led', True)
img = cam.get_image()
init.hardware.set_pin('sensing_led', False)
img = pygame.transform.scale(img, (width, height))
pixels = pygame.surfarray.array3d(img)
pygame.image.save(img,"raw-sample.png")
cam.stop()
return pixels
elif source == 'rpi':
log.info("Getting image from RPi camera.")
if running_on_rpi():
with picamera.PiCamera() as camera:
with picamera.array.PiRGBArray(camera) as stream:
# Turn on LED
init.hardware.set_pin('sensing_led', True)
# sleep to guarantee led is on...
time.sleep(0.1)
# adjust resolution for easier data processing
camera.resolution = (width, height)
camera.capture(stream, format='rgb') # was 'bgr'
# At this point the image is available as stream.array
img = stream.array
# save to file
camera.capture('raw-sample.png')
# Turn off LED
init.hardware.set_pin('sensing_led', False)
return img
else:
log.error("Not running on RPi.")
else:
log.error("Invalid image source.")
return None
