def show(message, pos_x=None, pos_y=None, wait=True, index=1):
if not isinstance(index, (int, float)):
return 0
message = str(message)
if message == '':
clear()
return
str_len = len(message)
if pos_x != None or pos_y != None:
if pos_x == None:
pos_x = 0
if pos_y == None:
pos_y = 0
if (not isinstance(pos_x, (int, float))) or (not isinstance(
pos_y, (int, float))):
return
pos_x = int(pos_x)
pos_y = int(pos_y)
neurons_request("m_led_panel", "show_str_with_pos",
(pos_x, pos_y, message), index)
else:
if wait:
neurons_request("m_led_panel", "show_str_until_done", message,
index)
while neurons_blocking_read("m_led_panel", "get_status",
(), index) != [1]:
if not neurons_is_block_online("m_led_panel", index):
return
time.sleep(0.1)
else:
neurons_request("m_led_panel", "show_str", message, index)
def get_gyroscope(axis, index = 1):
if not isinstance(index, (int, float)):
return 0
if axis == 'x':
value = neurons_blocking_read("m_motion_sensor", "get_gyr_x", (INQUIRE_ID, GYRO_X_ID), index)
elif axis == 'y':
value = neurons_blocking_read("m_motion_sensor", "get_gyr_y", (INQUIRE_ID, GYRO_Y_ID), index)
elif axis == 'z':
value = neurons_blocking_read("m_motion_sensor", "get_gyr_z", (INQUIRE_ID, GYRO_Z_ID), index)
else:
return 0
if value != None:
return value[0]
else:
return 0
def get_rotation(axis, index = 1):
if not isinstance(index, (int, float)):
return 0
if axis == 'x':
value = neurons_blocking_read("m_motion_sensor", "get_rotate_x", (INQUIRE_ID, ROTATE_X_ID), index)
elif axis == 'y':
value = neurons_blocking_read("m_motion_sensor", "get_rotate_y", (INQUIRE_ID, ROTATE_Y_ID), index)
elif axis == 'z':
value = neurons_blocking_read("m_motion_sensor", "get_rotate_z", (INQUIRE_ID, ROTATE_Z_ID), index)
else:
return 0
if value != None:
return value[0]
else:
return 0
def get_acceleration(axis, index = 1):
if not isinstance(index, (int, float)):
return 0
if axis == 'x':
value = neurons_blocking_read("m_motion_sensor", "get_acc_x", (INQUIRE_ID, ACC_X_ID), index)
elif axis == 'y':
value = neurons_blocking_read("m_motion_sensor", "get_acc_y", (INQUIRE_ID, ACC_Y_ID), index)
elif axis == 'z':
value = neurons_blocking_read("m_motion_sensor", "get_acc_z", (INQUIRE_ID, ACC_Z_ID), index)
else:
return 0
if value != None:
return value[0] * ACC_SHIFT
else:
return 0
def get_volume(index=1):
if not isinstance(index, (int, float)):
return 0
value = neurons_blocking_read("m_speaker", "get_volume", (), index)
if value == None:
return 0
else:
return value[0]
def is_playing(index=1):
if not isinstance(index, (int, float)):
return False
value = neurons_blocking_read("m_speaker", "get_status", (), index)
if value == None:
return False
else:
return bool(value[0])
def is_rotating_anticlockwise(index = 1):
if not isinstance(index, (int, float)):
return False
value = neurons_blocking_read("m_angle_sensor", "get_dir", (), index)
if value[0] == ANTICLOCKWISE_VALUE:
return True
else:
return False
def get_angle_speed(index = 1):
if not isinstance(index, (int, float)):
return 0
value = neurons_blocking_read("m_angle_sensor", "get_angle_speed", (), index)
if value != None:
return value[0]
else:
return 0
def get_load(index=1):
if not isinstance(index, (int, float)):
return 0
value = neurons_blocking_read("m_servo", "get_load", (), index)
if value != None:
return value[0]
else:
return 0
def get_learn_data(index=1): #获取学习的信息
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
value = neurons_blocking_read("m_smart_camera", "get_learn_data", (),
index)
if value != None:
return value
else:
return 0
def get_barcode_count(index=1): #获取按键的信息
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
value = neurons_blocking_read("m_smart_camera", "get_barcode_count", (),
index)
if value != None:
return value[0]
else:
return 0
def get_load(index = 1):
if not isinstance(index, (int, float)):
return 0
ret = neurons_blocking_read("m_dc_motor", "get_load", (), index)
if ret:
return ret[0]
else:
return 0
def get_shake_strength(index = 1):
if not isinstance(index, (int, float)):
return 0
value = neurons_blocking_read("m_motion_sensor", "get_shake_strength", (INQUIRE_ID, SHAKE_ID), index)
if value != None:
return round(value[0], 1)
else:
return 0
def get_crossings_line_angle_sigle_data(index=1): #获取交叉口线角度的单独的信息
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
value = neurons_blocking_read("m_smart_camera",
"get_crossings_line_angle_sigle_data", (),
index)
if value != None:
return value
else:
return 0
def get_roll(index = 1):
if not isinstance(index, (int, float)):
return 0
value = neurons_blocking_read("m_motion_sensor", "get_roll", (INQUIRE_ID, ROLL_ID), index)
if value != None:
return value[0]
else:
return 0
def get_crossings_all_data(index=1): #获交叉口的所有信息
if (not isinstance(index, (int, float))) or (index <= 0):
return 0
value = neurons_blocking_read("m_smart_camera", "get_crossings_all_data",
(), index)
if value != None:
value[0] = round(value[0] * FRAME_REVISE_COE_LINE_X)
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_Y)
return value
else:
return 0
def get_barcode_all_data(barcode_id, index=1): #获取某个条形码的所有信息
if (not isinstance(barcode_id, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return 0
barcode_id = num_range_scale(barcode_id, 0, 15)
value = neurons_blocking_read("m_smart_camera", "get_barcode_all_data",
(barcode_id), index)
if value != None:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_X)
value[2] = round(value[2] * FRAME_REVISE_COE_LINE_Y)
return value
else:
return 0
def get_pixel(pos_x, pos_y, index=1):
if not isinstance(index, (int, float)):
return False
if (not isinstance(pos_x,
(int, float))) or (not isinstance(pos_y, (int, float))):
return False
pos_x = int(pos_x)
pos_y = int(pos_y)
if pos_x < 0 or pos_x > 15 or pos_y < 0 or pos_y > 7:
return False
ret = neurons_blocking_read("m_led_panel", "get_pixel", (pos_x, pos_y),
index)
return bool(ret[2])
def is_shaked(level = "usual", index = 1):
if not isinstance(index, (int, float)):
return False
value = neurons_blocking_read("m_motion_sensor", "get_shake_strength", (INQUIRE_ID, SHAKE_ID), index)
if level in SHAKED_THRESHOLD:
thres = SHAKED_THRESHOLD[level]
else:
thres = SHAKED_THRESHOLD["usual"]
if value != None:
return bool(value[0] > thres)
else:
return False
def __get_info(index=1):
global __led_value
if not isinstance(index, (int, float)):
return
value = neurons_blocking_read("m_rgb", "get_info", (), index)
value = value if value != None else [0, 0, 0]
if index > __RGB_NUM_MAX:
return
__led_value[int(index)] = value
return value
def get_line_sigle_data(type_id, index=1): #获取线的单独的信息
if (not isinstance(type_id, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return 0
if type_id == 0x00 or type_id == 0x01 or type_id == 0x02 or type_id == 0x03:
value = neurons_blocking_read("m_smart_camera", "get_line_sigle_data",
(type_id), index)
if value != None:
if type_id == 0x00 or type_id == 0x02:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_X)
else:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_Y)
return value
return 0
def get_fills_all_data(fills_id, index=1): # 获取某个色块所有信息
if (not isinstance(fills_id, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return 0
fills_id = num_range_scale(fills_id, 1, 7)
fills_id -= 1
value = neurons_blocking_read("m_smart_camera", "get_fills_all_data",
(int(fills_id)), int(index))
if value != None:
value[1] = round(value[1] * FRAME_REVISE_COE_COLOR_BLOCK_X)
value[2] = round(value[2] * FRAME_REVISE_COE_COLOR_BLOCK_Y)
value[3] = round(value[3] * FRAME_REVISE_COE_COLOR_BLOCK_X)
value[4] = round(value[4] * FRAME_REVISE_COE_COLOR_BLOCK_Y)
return value
else:
return 0
def get_reflected_light(ch, index=1):
if not isinstance(index, (int, float)):
return 0
ch = _get_channel(ch)
if ch == None:
return 0
value = neurons_blocking_read("m_dual_rgb_sensor", "get_reflect_data", (),
index)
if value == None:
return 0
else:
if ch == __SENSOR_CHANNEL_1:
return value[0]
elif ch == __SENSOR_CHANNEL_2:
return value[1]
def get_current(channel=None, index=1):
if index != 0x01:
return 0
if channel != "ALL" and channel != "S1" and channel != "S2":
return 0
value = neurons_blocking_read("m_halobot", "servo_get_current",
(channel_dict["ALL"]), index)
#print(value)
if value != None:
if channel == "S1":
return value[1]
elif channel == "S2":
return value[2]
else:
return value[1:]
else:
return 0
def get_crossings_sigle_data(type_id, index=1): #获取交叉口的单独的信息
if (not isinstance(type_id, (int, float))) or (not isinstance(
index, (int, float))) or (index <= 0):
return 0
if type_id == 0x06 or type_id == 0x07 or type_id == 0x08:
value = neurons_blocking_read("m_smart_camera",
"get_crossings_sigle_data", (type_id),
index)
if value != None:
if type_id == 0x06:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_X)
elif type_id == 0x07:
value[1] = round(value[1] * FRAME_REVISE_COE_LINE_Y)
return value
else:
return 0
def play_melody_until_done(music, index=1):
if not isinstance(index, (int, float)):
return
if not isinstance(music, str):
return
# only process music name which the length is 4, such as "!101"
if len(music) != 4:
return
neurons_request("m_speaker", "play_melody", music, index)
if not neurons_is_block_online("m_speaker", index):
return
time.sleep(0.1)
while neurons_blocking_read("m_speaker", "get_status", (), index) != [0]:
if not neurons_is_block_online("m_speaker", index):
return
time.sleep(0.1)
def change_power(power, index = 1):
if not isinstance(index, (int, float)):
return
if not isinstance(power, (int, float)):
return
# there is a bug in mbuild dc motor, the type of power is 'byte'
# can not cover -200 ~ 200, so we use another way to implement that
# power = num_range_scale(power, -200, 200)
# neurons_request("m_dc_motor", "change_power", power, index)
cur_power = neurons_blocking_read("m_dc_motor", "get_power", (), index)
if cur_power:
power_to = cur_power[0] + power
else:
power_to = power
power_to = num_range_scale(power_to, -100, 100)
neurons_request("m_dc_motor", "set_power", power_to, index)
def get_barcode_sigle_data(barcode_id, type_id, index=1): #获取条形码X的单独的信息
if (not isinstance(barcode_id, (int, float))) or (not isinstance(
type_id,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
barcode_id = num_range_scale(barcode_id, 0, 15)
if type_id == 0x0b or type_id == 0x0c:
value = neurons_blocking_read("m_smart_camera",
"get_barcode_sigle_data",
(barcode_id, type_id), index)
if value != None:
if type_id == 0x0b:
value[2] = round(value[2] * FRAME_REVISE_COE_LINE_X)
else:
value[2] = round(value[2] * FRAME_REVISE_COE_LINE_Y)
return value
else:
return 0
def _get_rgb_value(item, ch, index):
if not isinstance(index, (int, float)):
return 0
ch = _get_channel(ch)
if ch == None:
return 0
value = neurons_blocking_read("m_dual_rgb_sensor", "get_color_rgb", (),
index)
if value == None:
return 0
if ch == __SENSOR_CHANNEL_1:
ret = value[item]
elif ch == __SENSOR_CHANNEL_2:
ret = value[item + 3]
return ret
def get_fills_sigle_data(fills_id, type_id, index=1): # 获取某个色块的单独的信息
if (not isinstance(fills_id, (int, float))) or (not isinstance(
type_id,
(int, float))) or (not isinstance(index,
(int, float))) or (index <= 0):
return 0
fills_id = num_range_scale(fills_id, 1, 7)
fills_id -= 1
if type_id == 0x00 or type_id == 0x01 or type_id == 0x02 or type_id == 0x03:
value = neurons_blocking_read("m_smart_camera", "get_fills_sigle_data",
(fills_id, type_id), index)
if value != None:
if type_id == 0x00 or type_id == 0x02:
value[2] = round(value[2] * FRAME_REVISE_COE_COLOR_BLOCK_X)
else:
value[2] = round(value[2] * FRAME_REVISE_COE_COLOR_BLOCK_Y)
return value
else:
return 0
