def signal_handler(signal, frame):
print('\nexiting...')
if DMX: DMX.exit()
if Arms: Arms.exit()
if Prinboo: Prinboo.exit()
if Video: Video.exit()
exit()
def modAngle(self, type, inc):
dim = self.ServoDims[type]
for id in self.selected():
try: a = Arms.getAngle(id, dim)
except IndexError: return
angle = Arms.fitServoRange(a)
Arms.setAngle(id, dim, angle + inc)
def run(self, immediate=False):
#try:
# load the file again in case it has changed since the cuesheet was loading
self.load()
timestep = .05
printPeriodPeriod = .25
printPeriodTimestepCount = printPeriodPeriod / timestep
# Light Arms - may be absent
# TODO fade light arms!
try:
if self.armData: Arms.load(self.armData)
except:
pass
# DMX
if self.targetDMX:
target = self.targetDMX
current = DMX.get()
vel = [0] * len(current)
# calculate delta for each timestep
# -1 means don't change
for i in range(len(target)):
if target[i] >= 0:
vel[i] = (target[i] - current[i]) * (timestep / self.period)
print(' fading for', self.period, 'seconds..', end='', flush=True)
startTime = time.time()
endTime = startTime + self.period
nextTime = startTime + timestep
nextPrintTime = startTime + printPeriodPeriod
while 1:
# calculate new channel values and transmit
for i in range(len(current)): current[i] += vel[i]
channels = [round(x) for x in current]
DMX.setAndSend(0, channels)
now = time.time()
# print a period every so often
if now >= nextPrintTime:
print('.', end='', flush=True)
nextPrintTime += printPeriodPeriod
if now > endTime: break
nexTime += timestep
time.sleep(nextTime - time.time())
# make sure we arrive at the target numbers, as rounding error may creep in
DMX.setAndSend(0, target)
print('DONE')
def run(self, immediate=False):
# load the file again in case it has changed since the cuesheet was loading
self.load()
if self.targetDMX:
DMX.setAndSend(0, self.targetDMX)
# Light Arms - may be absent
try:
if self.armData: Arms.load(self.armData)
except:
pass
def run(self, immediate=False):
# load the file again in case it has changed since the cuesheet was loading
self.load()
if self.targetDMX:
DMX.setAndSend(0, self.targetDMX)
if self.limbs: #TODO figure out if we have a pose or an animation
Prinboo.limbs.setAngle(self.limbs)
if self.armData:
Arms.load(self.armData)
def handleChar(self, ch):
ch = ch.lower()
if ch == 'x':
self.toggleMode()
if ch == 'q':
for id in self.selected(): Arms.relax(id)
if ch == '0':
pass #Arms.setAngles(self.selected(), [Arms.ServoCenter] * len(self.ServoDims))
elif ch == 'w':
self.modAngle('y', self.inc())
elif ch == 's':
self.modAngle('y', -self.inc())
elif ch == 'a':
self.modAngle('x', self.inc())
elif ch == 'd':
self.modAngle('x', -self.inc())
elif ch == 'r':
self.modI(self.inc(), 0 + self.iyCursor*3)
elif ch == 'f':
self.modI(-self.inc(), 0 + self.iyCursor*3)
elif ch == 't':
self.modI(self.inc(), 1 + self.iyCursor*3)
elif ch == 'g':
self.modI(-self.inc(), 1 + self.iyCursor*3)
elif ch == 'y':
self.modI(self.inc(), 2 + self.iyCursor*3)
elif ch == 'h':
self.modI(-self.inc(), 2 + self.iyCursor*3)
elif ch == '<' or ch == ',':
self.inc.prev()
elif ch == '>' or ch == '.':
self.inc.next()
elif ch == '\x1b':
seq = getch() + getch()
if seq == '[C': # left arrow
if self.inSingleMode(): self.ixCursor += 1
else: self.ixCursor = self.ixCursor - self.ixCursor % self.PageWidth + self.PageWidth
self.ixCursor = min(self.numArms()-1, self.ixCursor)
elif seq == '[D': # right arrow
if self.inSingleMode(): self.ixCursor -= 1
else: self.ixCursor = self.ixCursor - self.ixCursor % self.PageWidth - self.PageWidth
self.ixCursor = max(0, self.ixCursor)
elif seq == '[A': #pass # up arrow
self.iyCursor = max(0, self.iyCursor - 1)
elif seq == '[B': #pass # down arrow
self.iyCursor = min(self.VerticalGroups - 1, self.iyCursor + 1)
print(self.iyCursor)
def display(self):
clearScreen()
numArms = self.PageWidth #self.numArms()
def printHSep(firstColBlank=True):
if firstColBlank: print(' |', end='')
else: print('---|', end='')
if self.inSingleMode():
for i in range(numArms):
if i == self.ixCursor: print('===|', end='')
else: print('---|', end='')
else:
for i in range(numArms):
if self.inGroup(i):
if self.inGroup(i+1, i): print('====', end='')
else: print('===|', end='')
else: print('---|', end='')
print('')
def printAngle(dim, index):
try:
angle = self.getAngle(dim, index)
if angle < 1: print('XXX|', end='')
else: print('{0:^3}|'.format(angle), end='')
except:
print('---|', end='')
print(' Light Arm View')
printHSep(False)
print('x: |', end='')
for i in range(numArms):
printAngle('x', i)
print('')
printHSep()
print('y: |', end='')
for i in range(numArms):
printAngle('y', i)
print('')
printHSep()
names = ''
for i in range(self.VerticalGroups):
if i == self.iyCursor: names += 'BGR'
else: names += 'bgr'
for channel in range(Arms.MaxChannels):
print(names[channel] + ': |', end='')
for i in range(numArms):
try: print('{0:^3}|'.format(Arms.getChannel(i, channel)), end='')
except: print('---|', end='')
print('')
printHSep(channel+1 != Arms.MaxChannels)
def __init__(self):
super().__init__()
self.VerticalGroups = int(Arms.MaxChannels / 3)
print(self.VerticalGroups)
self.PageWidth = min(Arms.num(), 32)
self.mode = 1 # index into self.Modes
self.ixCursor = 0
self.iyCursor = 0
self.inc = LinearStateMachine([1, 5, 20])
def __init__(self, duration, timestep, armData):
self.armData = armData
self.target = []
self.current = []
self.vel = []
# map each address to an index
for address, arm in self.armData.items():
i = Arms.arms.index(Arms.findArm(address))
self.target.append(arm.get('channels', []))
for i in range(Arms.num()):
self.current.append(Arms.getChannels(i))
# calculate delta for each timestep
# -1 means don't change
for i in range(len(self.target)):
self.vel.append([])
for j in range(len(self.target[i])):
if self.target[i][j] >= 0:
self.vel[i].append((self.target[i][j] - self.current[i][j]) * (timestep / duration))
else: self.vel[i].append(0)
def modI(self, inc, channel):
#print('ids:', self.selected())
for id in self.selected():
try: v = Arms.getChannel(id, channel)
except IndexError: return
Arms.setChannel(id, channel, Arms.fitChannelRange(v + inc))
def getAngle(self, type, index=None): if index is None: index = self.ixCursor dim = self.ServoDims[type] return Arms.getAngle(index, dim)
def numArms(self): return Arms.num() # returns a list of the selected arms' indices def selected(self):
except ImportError:
Video = None
print('No Video')
try: from lightarm import Arms
except ImportError:
Arms = None
print('No LightArms')
try: from dmx import DMX
except KeyError:
DMX = None
print('No DMX')
# call initialize outside of try-except to show errors to user
if Arms: Arms.initialize(config)
if DMX: DMX.initialize(config)
if Video: Video.initialize(config)
print("\n\n")
# these functions define the min and max values for robot spotlight parameters
#def fitServoRange(v): return max(212, min(812, v))
#def fitChannelRange(v): return max(0, min(MaxPWM, v))
def restAfterWord(word, line):
return line[line.find(word) + len(word):].strip()
class LinearStateMachine:
"""A faux iterator on an ordered list that can move forward or backward and clamps at the ends.
There is probably a more Pythonic way to do this."""
def finish(self): # make sure we arrive at the target numbers, as rounding error may creep in Arms.load(self.armData)
def step(self):
# calculate new channel values and transmit
for i in range(len(self.current)):
self.current[i] = [a+b for a,b in zip(self.current[i], self.vel[i])]
Arms.setChannels(i, self.current[i])
