def run():
channel = grpc.insecure_channel('localhost:50051')
stub = GRPC.FPSimulationStub(channel)
started = False
i = 0
for y in range(16):
color = Proto.Color(r=0, g=0, b=0, a=255)
req = Proto.LedSetColorRequest(objLabel="DigitastLed00" + str(y),
color=color)
stub.led_setColor(req)
while True:
for button in stub.getButtonStates(Proto.Empty()):
if button.objLabel == "StartBtn":
started = True
elif button.objLabel == "StopBtn":
started = False
if started:
color = Proto.Color(r=255, g=0, b=0, a=255)
req = Proto.LedSetColorRequest(objLabel="DigitastLed00" + str(i),
color=color)
stub.led_setColor(req)
i = i + 1
i = i % 16
sleep(1)
def _reinitTexture(self, obj):
if _pixelContainer.get(obj.Name):
del _pixelContainer[obj.Name]
_pixelContainer[obj.Name] = FPPixelContainer.PixelContainer(
obj.ResolutionX, obj.ResolutionY)
_pixelContainer[obj.Name].clear(Proto.Color(r=0, g=0, b=0, a=255))
pixelStr = _pixelContainer[obj.Name].toString()
resolution = coin.SbVec2s(obj.ResolutionX, obj.ResolutionY)
for child in obj.Group:
rootNode = child.ViewObject.RootNode
# find texture node
tex = _findNodeIn(coin.SoTexture2.getClassTypeId(), rootNode)
if not tex:
#FreeCAD.Console.PrintMessage("inserting new texture\n")
tex = coin.SoTexture2()
rootNode.insertChild(tex, 1)
tex.model = coin.SoTexture2.REPLACE
# create the image for the texture
image = coin.SoSFImage()
#FreeCAD.Console.PrintMessage("Initial Texture begin:\n" + self._getTextureString(obj) + "\nTexture End")
image.setValue(
resolution,
FPPixelContainer.PixelContainer.NUM_COLOR_COMPONENTS, pixelStr)
tex.image = image
# find complexity node
complexity = _findNodeIn(coin.SoComplexity.getClassTypeId(),
rootNode)
if not complexity:
#FreeCAD.Console.PrintMessage("inserting new complexity\n")
complexity = coin.SoComplexity()
rootNode.insertChild(complexity, 1)
complexity.textureQuality = 0.00001
def display_clearDisplay(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
obj.Proxy.clearDisplay(obj, color = None)
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
return Proto.Empty()
def led_setColor(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
obj.Proxy.setColor(obj, request.color)
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
return Proto.Empty()
def display_drawRectangle(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
obj.Proxy.drawRectangle(obj, request.data)
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
return Proto.Empty()
def movePotentiometerToValue(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
_commandedValues[obj.Name] = request.value
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
return Proto.Empty()
def display_getTextSize(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
return obj.Proxy.getTextSize(obj, request.text, request.fontData )
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
answ = Proto.DisplayGetTextSizeAnswer(w = 0, h = 0)
return answ
def getTextSize(self, obj, txt, fontData):
_mutex.acquire()
try:
pixelContainer = _pixelContainer[obj.Name]
size = pixelContainer.getTextSize(txt, fontData)
answ = Proto.DisplayGetTextSizeAnswer(w=size[0], h=size[1])
return answ
finally:
_mutex.release()
def display_getResolution(self, request, context):
try:
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
return obj.Proxy.getResolution(obj)
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
answ = Proto.DisplayResolutionAnswer(x = 0, y = 0)
return answ
def display_setSubWindowPixels_ARGB32(self, request, context):
try:
start = time.time()
obj = FreeCAD.ActiveDocument.getObjectsByLabel(request.objLabel)[0]
obj.Proxy.setSubWindowPixels_ARGB32(obj, request.data)
durationUs = int((time.time() - start) * 1000000)
except IndexError:
FreeCAD.Console.PrintError(
"Object not found with label " + request.objLabel + "\n")
answ = Proto.Duration(usec = durationUs)
return answ
def getButton5dStates(self, request, context):
try:
dataAquisitionCBHolder.lock()
for objName in dataAquisitionCBHolder.button5dCB:
if(dataAquisitionCBHolder.button5dCB[objName]):
obj = FreeCAD.ActiveDocument.getObject(objName)
answ = Proto.GetButtonStateAnswer()
answ.objLabel = obj.Label
answ.state = dataAquisitionCBHolder.button5dCB[objName](objName)
yield answ
finally:
dataAquisitionCBHolder.button5dCB.clear()
dataAquisitionCBHolder.unlock()
def getPotentiometerValues(self, request, context):
try:
dataAquisitionCBHolder.lock()
for objName in dataAquisitionCBHolder.potentiometerCB:
if(dataAquisitionCBHolder.potentiometerCB[objName]):
obj = FreeCAD.ActiveDocument.getObject(objName)
answ = Proto.GetPotentiometerValuesAnswer()
answ.objLabel = obj.Label
answ.value = dataAquisitionCBHolder.potentiometerCB[objName](objName)
yield answ
finally:
# do not clear potentiometer acquisition callback
dataAquisitionCBHolder.unlock()
def getEncoderIncrements(self, request, context):
try:
dataAquisitionCBHolder.lock()
for objName in dataAquisitionCBHolder.encoderCB:
if(dataAquisitionCBHolder.encoderCB[objName]):
obj = FreeCAD.ActiveDocument.getObject(objName)
answ = Proto.GetEncoderIncrementsAnswer()
answ.objLabel = obj.Label
answ.increments = dataAquisitionCBHolder.encoderCB[objName](objName)
yield answ
finally:
dataAquisitionCBHolder.encoderCB.clear()
dataAquisitionCBHolder.unlock()
def getTouchValue(self, request, context):
try:
dataAquisitionCBHolder.lock()
for objName in dataAquisitionCBHolder.touchSurfaceCB:
if(dataAquisitionCBHolder.touchSurfaceCB[objName]):
obj = FreeCAD.ActiveDocument.getObject(objName)
answ = Proto.GetTouchValueAnswer()
answ.objLabel = obj.Label
tup = dataAquisitionCBHolder.touchSurfaceCB[objName](objName)
answ.pos.x = tup[0]
answ.pos.y = tup[1]
yield answ
finally:
# do not clear touchSurfaceCB acquisition callback
dataAquisitionCBHolder.unlock()
def onChanged(self, obj, prop):
#FreeCAD.Console.PrintMessage("in onChanged obj.Name: " + str(obj.Name) + " obj.Label: " + str(obj.Label) + " prop: " + str(prop) + "\n")
if prop == 'Proxy':
# Called at loading existing object on first place(Placement is not valid yet )
# Called at creation on first place(ToCheck: I think Placement is not valid here yet)
pass
elif prop == 'Group':
# Always called when the group changes(new group member inserted or removed)
# or gets created :
# - called after 'proxy'-cb
# - Placement is valid
# - strange thing is at this point there is no child object inside
if not obj.Group:
# Called when Removing all objects from group or when group-obj gets deleted
#FreeCAD.Console.PrintMessage(str(obj.Label) + " Obj has no Group attribute\n")
pass
elif prop == 'ExpressionEngine' or\
prop == 'Unenlightened_Red' or prop == 'Unenlightened_Green' or prop == 'Unenlightened_Blue':
# Called at loading existing object at last cb(Placement is valid now)
color = Proto.Color(r=0, g=0, b=0, a=255)
self.setColor(obj, color)
def run():
channel = grpc.insecure_channel('localhost:50051')
stub = GRPC.FPSimulationStub(channel)
cursorChanged = False
resReq = Proto.DisplayResolutionRequest(objLabel="FPSimDisplay")
resolution = stub.display_getResolution(resReq)
pixPos1 = Proto.PixelPos(x=resolution.x / 2, y=resolution.y / 2)
pixPos2 = Proto.PixelPos(x=resolution.x / 2, y=resolution.y / 2)
prevPixPos1 = deepcopy(pixPos1)
prevPixPos2 = deepcopy(pixPos2)
colRed = 0
colGreen = 0
colBlue = 0
FREQ_MAX_HZ = 30.0
freqRedHz = 0.0
freqGreenHz = 0.0
freqBlueHz = 0.0
ampRedFactor = 1.0
ampGreenFactor = 1.0
ampBlueFactor = 1.0
lastEraserPotiVal = None
mode = Modes.DRAW_POINTS
LedOnColor = Proto.Color(r=255, g=0, b=0, a=255)
LedOffColor = Proto.Color(r=0, g=0, b=0, a=255)
req = Proto.LedSetColorRequest(objLabel="Mode1Led", color=LedOnColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led", color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led", color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led", color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led", color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="ColorModLed", color=LedOffColor)
stub.led_setColor(req)
font = Proto.FontData(path="truetype/ttf-bitstream-vera/VeraIt.ttf",
size=40)
req = Proto.DisplaySetActiveFontRequest(objLabel="FPSimDisplay", data=font)
stub.display_setActiveFont(req)
txt = Proto.TextData(pos=Proto.PixelPos(x=10, y=10),
color=Proto.Color(r=0, g=255, b=0, a=255),
text="Im a draw-toy")
req = Proto.DisplayDrawTextRequest(objLabel="FPSimDisplay", data=txt)
stub.display_drawText(req)
colorAutomationOn = False
t = 0.0
while True:
for button in stub.getButtonStates(Proto.Empty()):
if button.objLabel == "Mode1Btn":
if mode != Modes.DRAW_POINTS:
req = Proto.LedSetColorRequest(objLabel="Mode1Led",
color=LedOnColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led",
color=LedOffColor)
stub.led_setColor(req)
mode = Modes.DRAW_POINTS
elif button.objLabel == "Mode2Btn":
if mode != Modes.DRAW_CONNECTOR_LINES:
req = Proto.LedSetColorRequest(objLabel="Mode1Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led",
color=LedOnColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led",
color=LedOffColor)
stub.led_setColor(req)
mode = Modes.DRAW_CONNECTOR_LINES
elif button.objLabel == "Mode3Btn":
if mode != Modes.DRAW_LINES:
req = Proto.LedSetColorRequest(objLabel="Mode1Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led",
color=LedOnColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led",
color=LedOffColor)
stub.led_setColor(req)
mode = Modes.DRAW_LINES
elif button.objLabel == "Mode4Btn":
if mode != Modes.DRAW_RECTANGLES:
req = Proto.LedSetColorRequest(objLabel="Mode1Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led",
color=LedOnColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led",
color=LedOffColor)
stub.led_setColor(req)
mode = Modes.DRAW_RECTANGLES
elif button.objLabel == "Mode5Btn":
if mode != Modes.DRAW_RECTANGLES_FULL:
req = Proto.LedSetColorRequest(objLabel="Mode1Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode2Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode3Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode4Led",
color=LedOffColor)
stub.led_setColor(req)
req = Proto.LedSetColorRequest(objLabel="Mode5Led",
color=LedOnColor)
stub.led_setColor(req)
mode = Modes.DRAW_RECTANGLES_FULL
elif button.objLabel == "ColorAutomationBtn":
if button.state == Proto.BUTTON_PRESSED:
if colorAutomationOn:
colorAutomationOn = False
req = Proto.LedSetColorRequest(objLabel="ColorModLed",
color=LedOffColor)
stub.led_setColor(req)
else:
colorAutomationOn = True
req = Proto.LedSetColorRequest(objLabel="ColorModLed",
color=LedOnColor)
stub.led_setColor(req)
for potentiometer in stub.getPotentiometerValues(Proto.Empty()):
if potentiometer.objLabel == "PotRed":
colRed = potentiometer.value
if potentiometer.objLabel == "PotGreen":
colGreen = potentiometer.value
if potentiometer.objLabel == "PotBlue":
colBlue = potentiometer.value
if potentiometer.objLabel == "PotEraser":
if not lastEraserPotiVal:
lastEraserPotiVal = potentiometer.value
if lastEraserPotiVal != potentiometer.value:
pixColor = Proto.Color(r=0, g=0, b=0, a=255)
X1 = int(float(lastEraserPotiVal * resolution.x) / 1024.0)
X2 = int(
float(potentiometer.value * resolution.x) / 1024.0)
P1 = Proto.PixelPos(x=X1, y=0)
P2 = Proto.PixelPos(x=X2, y=resolution.y - 1)
rectData = Proto.RectangleData(p1=P1,
p2=P2,
pixelColor=pixColor,
filled=True)
req = Proto.DisplayDrawRectangleRequest(
objLabel="FPSimDisplay", data=rectData)
stub.display_drawRectangle(req)
lastEraserPotiVal = potentiometer.value
if potentiometer.objLabel == "PotFreqRed":
freqRedHz = (potentiometer.value * FREQ_MAX_HZ) / 64.0
if potentiometer.objLabel == "PotFreqGreen":
freqGreenHz = (potentiometer.value * FREQ_MAX_HZ) / 64.0
if potentiometer.objLabel == "PotFreqBlue":
freqBlueHz = (potentiometer.value * FREQ_MAX_HZ) / 64.0
for encoderIncrementsAnswer in stub.getEncoderIncrements(
Proto.Empty()):
if encoderIncrementsAnswer.objLabel == "X_POS1":
pixPos1.x += encoderIncrementsAnswer.increments
if pixPos1.x < 0:
pixPos1.x = 0
if pixPos1.x > resolution.x - 1:
pixPos1.x = resolution.x - 1
cursorChanged = True
elif encoderIncrementsAnswer.objLabel == "Y_POS1":
pixPos1.y += encoderIncrementsAnswer.increments
if pixPos1.y < 0:
pixPos1.y = 0
if pixPos1.y > resolution.y - 1:
pixPos1.y = resolution.y - 1
cursorChanged = True
elif encoderIncrementsAnswer.objLabel == "X_POS2":
pixPos2.x += encoderIncrementsAnswer.increments
if pixPos2.x < 0:
pixPos2.x = 0
if pixPos2.x > resolution.x - 1:
pixPos2.x = resolution.x - 1
cursorChanged = True
elif encoderIncrementsAnswer.objLabel == "Y_POS2":
pixPos2.y += encoderIncrementsAnswer.increments
if pixPos2.y < 0:
pixPos2.y = 0
if pixPos2.y > resolution.y - 1:
pixPos2.y = resolution.y - 1
cursorChanged = True
for touchValueAnswer in stub.getTouchValue(Proto.Empty()):
if touchValueAnswer.objLabel == "TouchSurface":
if touchValueAnswer.pos.x != -1:
pixPos1.x = touchValueAnswer.pos.x
pixPos1.y = touchValueAnswer.pos.y
cursorChanged = True
if touchValueAnswer.objLabel == "AmpRedTouch":
if touchValueAnswer.pos.x != -1:
ampRedFactor = touchValueAnswer.pos.x / 100.0
if touchValueAnswer.objLabel == "AmpGreenTouch":
if touchValueAnswer.pos.x != -1:
ampGreenFactor = touchValueAnswer.pos.x / 100.0
if touchValueAnswer.objLabel == "AmpBlueTouch":
if touchValueAnswer.pos.x != -1:
ampBlueFactor = touchValueAnswer.pos.x / 100.0
if colorAutomationOn:
if freqRedHz > 0.0 and ampRedFactor > 0.0:
req = Proto.MovePotentiometerRequest(
objLabel="PotRed",
value=int((
(math.sin(t * freqRedHz) * ampRedFactor + 1.0) / 2.0) *
255.0))
stub.movePotentiometerToValue(req)
if freqGreenHz > 0.0 and ampGreenFactor > 0.0:
req = Proto.MovePotentiometerRequest(
objLabel="PotGreen",
value=int(
((math.sin(t * freqGreenHz) * ampGreenFactor + 1.0) /
2.0) * 255.0))
stub.movePotentiometerToValue(req)
if freqBlueHz > 0.0 and ampBlueFactor > 0.0:
req = Proto.MovePotentiometerRequest(
objLabel="PotBlue",
value=int(
((math.sin(t * freqBlueHz) * ampBlueFactor + 1.0) /
2.0) * 255.0))
stub.movePotentiometerToValue(req)
if cursorChanged:
cursorChanged = False
pixColor = Proto.Color(r=colRed, g=colGreen, b=colBlue, a=255)
if mode == Modes.DRAW_POINTS:
pix1 = Proto.PixelData_ARGB32(pos=pixPos1, color=pixColor)
pix2 = Proto.PixelData_ARGB32(pos=pixPos2, color=pixColor)
pixDataList = Proto.PixelDataList_ARGB32()
pixDataList.pixelData.extend([pix1])
pixDataList.pixelData.extend([pix2])
req = Proto.DisplaySetPixelsRequest_ARGB32(
objLabel="FPSimDisplay", pixelDataList=pixDataList)
stub.display_setPixels_ARGB32(req)
elif mode == Modes.DRAW_CONNECTOR_LINES:
lineData1 = Proto.LineData(p1=prevPixPos1,
p2=pixPos1,
pixelColor=pixColor)
lineData2 = Proto.LineData(p1=prevPixPos2,
p2=pixPos2,
pixelColor=pixColor)
req = Proto.DisplayDrawLineRequest(objLabel="FPSimDisplay",
data=lineData1)
stub.display_drawLine(req)
req = Proto.DisplayDrawLineRequest(objLabel="FPSimDisplay",
data=lineData2)
stub.display_drawLine(req)
elif mode == Modes.DRAW_LINES:
lineData = Proto.LineData(p1=pixPos1,
p2=pixPos2,
pixelColor=pixColor)
req = Proto.DisplayDrawLineRequest(objLabel="FPSimDisplay",
data=lineData)
stub.display_drawLine(req)
elif mode == Modes.DRAW_RECTANGLES:
rectData = Proto.RectangleData(p1=pixPos1,
p2=pixPos2,
pixelColor=pixColor,
filled=False)
req = Proto.DisplayDrawRectangleRequest(
objLabel="FPSimDisplay", data=rectData)
stub.display_drawRectangle(req)
elif mode == Modes.DRAW_RECTANGLES_FULL:
rectData = Proto.RectangleData(p1=pixPos1,
p2=pixPos2,
pixelColor=pixColor,
filled=True)
req = Proto.DisplayDrawRectangleRequest(
objLabel="FPSimDisplay", data=rectData)
stub.display_drawRectangle(req)
prevPixPos1 = deepcopy(pixPos1)
prevPixPos2 = deepcopy(pixPos2)
if colorAutomationOn:
t = t + 0.01
sleep(0.01)
def displayImage(stub):
# 3x3 bitmap
p1 = Proto.PixelPos(x=5, y=5)
p2 = Proto.PixelPos(x=7, y=7)
bitmap3x3 = [
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255),
Proto.Color(r=255, g=0, b=0, a=255)
]
data = Proto.DisplaySubWindowData_ARGB32(p1=p1, p2=p2)
data.pixelColor.extend(bitmap3x3)
req = Proto.DisplaySubWindowPixelsRequest_ARGB32(objLabel="FPSimDisplay",
data=data)
stub.display_setSubWindowPixels_ARGB32(req)
def getResolution(self, obj):
answ = Proto.DisplayResolutionAnswer(x=obj.ResolutionX,
y=obj.ResolutionY)
return answ