def summary():
trace("SUMMARY:",log_trace)
trace("Errors : " + str(s_error),log_trace)
if s_error==0:
trace("Result : No errors occurred.",log_trace)
else:
trace("Self Test FAILED",log_trace)
if online==1:
print "Saving results on remote server"
url = 'http://plm.fabtotum.com/reports/add_report.php'
files = {'file': open(log_trace, 'rb')}
info={'ID':controller_serial_id, 'result':s_error}
try:
r = requests.post(url,info, files=files)
trace("Self Test results saved online",log_trace)
except:
#print "Response: " + r.text
trace("Could not contact remote support server, is Internet connectivity available?",log_trace)
if s_error>0:
#clean the buffer and leave
#shutdown temps
serial.write("M104 S0\r\n") #shutdown extruder (fast)
serial.write("M140 S0\r\n") #shudown bed (fast)
serial.flush()
serial.close()
write_json('1', status_json)
call (['sudo php /var/www/fabui/script/finalize.php '+str(task_id)+" self_test"], shell=True)
sys.exit()
def send_ping_cmd(serial):
#in python, we can simply write down the MessagePack message and it is automatically built
#here is an order called "ping" which has a string as data
msg = msgpack.packb({'ping': 'Hello there :-)'}, use_single_float=True)
dtgrm = serial_datagram.encode(msg)
serial.write(dtgrm)
serial.flush()
def __init__(self, serial, timeout=10, debug=False, dbgFileName=""):
self.__dbgFileName = dbgFileName
try:
if dbgFileName <> "":
self.__dbgOutput = open(dbgFileName, 'w+')
except KeyboardInterrupt:
exit(-1)
except:
print "Bad FILE name!"
exit(-1)
self.uart = serial
self.timeout = timeout
self.modem_type = "None"
if serial.isOpen() == True:
serial.flush()
result = False
# These are critical for getting the modem back after a reboot of the Pi
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
self.send_mdm_cmd('\n', 1)
self.send_mdm_cmd('AT', 1)
result, resp = self.get_version()
if debug == True:
self.dbg = "Init type: " + str(resp)
if result == False:
print "AT ERR: " + resp
if debug == True:
self.dbg = "Init AT ERR: " + str(resp)
else:
self.modem_type = resp
def summary():
trace("SUMMARY:",log_trace)
trace("Errors : " + str(s_error),log_trace)
if s_error==0:
trace("Result : No errors occurred.",log_trace)
else:
trace("Self Test FAILED",log_trace)
if online==1:
print "Saving results on remote server"
url = 'http://plm.fabtotum.com/reports/add_report.php'
files = {'file': open(log_trace, 'rb')}
info={'ID':controller_serial_id, 'result':s_error}
try:
r = requests.post(url,info, files=files)
trace("Self Test results saved online",log_trace)
except:
#print "Response: " + r.text
trace("Could not contact remote support server, is Internet connectivity available?",log_trace)
if s_error>0:
#clean the buffer and leave
#shutdown temps
serial.write("M104 S0\r\n") #shutdown extruder (fast)
serial.write("M140 S0\r\n") #shudown bed (fast)
serial.flush()
serial.close()
write_json('1', status_json)
call (['sudo php /var/www/fabui/script/finalize.php '+str(task_id)+" self_test"], shell=True)
sys.exit()
def main():
process_serial()
drive_motors(100, 255, 1, 100, 255, 1)
time.sleep(1)
#drive_motors(100, 255, 0, 100, 255, 0)
drive_motors(0, 0, 0, 0, 0, 0)
#serial.write(OutgoingMessageType.debug, 0)
#read_response_status(None, None)
serial.flush()
def get_sensor_datapoint(serial=ARDUINO):
'''Gets sensor data from arduino.'''
serial.flush()
serial.read_all()
serial.write('getTempHumidity\n'.encode())
time.sleep(0.2)
s = serial.readline().strip().decode()
humidity, temp = s.split(',')
return DataPoint(float(humidity), float(temp))
def serial_cmd(cmd, serial):
# send command to serial port
serial.write(cmd + '\r')
serial.reset_input_buffer()
serial.reset_output_buffer()
serial.flush()
# read data from serial port
c = serial.read(1300)
return c
def write_packet(i, val):
i = int(i)
val = int(val)
msb = (int(val) & 0xFF00) >> 8
lsb = int(val) & 0xFF
p = bytearray([i, msb, lsb])
serial.write(p)
serial.flush()
def write_packet(i, val):
i = int(i)
val = int(val)
print ("SENDING {} {}".format(i, val))
msb = (int(val) & 0xFF00) >> 8
lsb = int(val) & 0xFF
p = bytearray([i, msb, lsb])
serial.write(p)
serial.flush()
def send_set_led_cmd(serial, led, action):
#in python, we can simply write down the MessagePack message and it is automatically built
#here is an order called "ping" which has a string as data
#max uint8_t
led = led & 255
action = action & 255
msg = msgpack.packb({'set_led': [led, action]}, use_single_float=True)
dtgrm = serial_datagram.encode(msg)
serial.write(dtgrm)
serial.flush()
def moveTo(x, y):
time.sleep(1)
print("Moving to:", x, y)
serial.write("moveTo".encode())
time.sleep(3)
xx = str(x)
serial.write(xx.encode())
done = serial.readline()
print(done.decode())
time.sleep(2)
xx = str(y)
serial.write(xx.encode())
done = serial.readline()
print(done.decode())
print("written")
time.sleep(1)
done = serial.readline()
print(done.decode())
done = serial.readline()
print(done.decode())
done = serial.readline()
print(done.decode())
video = cv2.VideoCapture(0)
ret, im = video.read()
#cv2.imshow("test picutre", im)
cv2.imwrite("test1.jpg", im)
video.release()
''' config = {
"apiKey": "AIzaSyAkRS3SPqdS2Jr4I4W_DKc7luoGpP33vQg",
"authDomain": "cncproj-a880d.firebaseapp.com",
"databaseURL": "https://sample-1886e.firebaseio.com/"''' "https://cncproj-a880d.firebaseio.com/", '''
"storageBucket": "sample-1886e.appspot.com" ''' "cncproj-a880d.appspot.com" '''
}'''
config = {
"apiKey": "AIzaSyAkRS3SPqdS2Jr4I4W_DKc7luoGpP33vQg",
"authDomain": "sample-1886e.firebaseio.com",
"databaseURL": "https://sample-1886e.firebaseio.com/",
"storageBucket": "sample-1886e.appspot.com"
}
#print("here 1")
firebase1 = pyrebase.initialize_app(config)
#print("here 2")
storage = firebase1.storage()
#print("here 3")
storage.child("example1.jpg").put(
r"C:\Users\harsh\AppData\Local\Programs\Python\Python36\test1.jpg")
serial.flush()
#capture();
return
def write(self, data, half_duplex=None):
if half_duplex is None:
half_duplex = self.half_duplex
serial = self.serial
data = self.encode(data)
cnt = serial.write(data)
serial.flush()
if half_duplex:
# Clean RX buffer in case of half duplex
# All written data is read into RX buffer
serial.read(cnt)
def serial_read(cmd, no, serial):
# send command to serial port
serial.write(cmd + '\r')
#serial.reset_input_buffer()
serial.reset_output_buffer()
serial.flush()
# read data from serial port
c = serial.read(no)
if (len(c) == 0):
return 'NO CONN'
else:
return c
def initSerial(port, baudrate):
serial.port = port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd( 'Opening port %s - %s' %(port, baudrate) )
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def sendSignal(serial, data):
"""
INPUT: string
"""
serial.flush() # wait for all the data is written
# reformat data
data = "<" + data + ">"
# encode data
encoded_data = str.encode(data)
# send data
serial.write(encoded_data)
print(colored("SENT:\t ", 'red'), data)
def initSerial(port, baudrate):
serial.port = port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd('Opening port %s - %s' % (port, baudrate))
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def xmodem_send(self, serial, file): length = len(file.read()) / 128 file.seek(0, 0) i = 1 t, anim = 0, '|/-\\' serial.setTimeout(1) while 1: if serial.read(1) != NAK: t = t + 1 print anim[t%len(anim)],'\r', if t == 60 : return False else: break p = 1 s = file.read(128) while s: s = s + '\xFF'*(128 - len(s)) chk = 0 for c in s: chk+=ord(c) while 1: serial.write(SOH) serial.write(chr(p)) serial.write(chr(255 - p)) serial.write(s) serial.write(chr(chk%256)) serial.flush() answer = serial.read(1) if answer == NAK: continue if answer == ACK: break return False s = file.read(128) p = (p + 1)%256 # update progressbar progress = (100*i) / float(length) self.p["value"] = progress self.label2["text"] = str(round(progress, 2))+'%' self.win.update_idletasks() i += 1 serial.write(EOT) if progress == 100: self.win.destroy() return True else: return False
def readValue():
line = (serial.readline()).decode() # read a '\n' terminated line
line = line[:-1]
if (line == '1'):
print('OK')
inputVal_text.set('OK')
intputVal.config(fg='green')
elif (line == '2'):
print('Alerte')
inputVal_text.set('Alerte')
intputVal.config(fg='red')
else:
print('distance de : ' + line + ' cm')
outputVal_text.set('distance de : ' + line + ' cm')
serial.flush()
def put(self, address, type, value):
with self.__lock:
result = None
while result is None:
serial = self.serial()
try:
serial.write([address, 0, type, int(value)])
serial.flush()
result = True
except Exception as e:
print e
self.__clean()
def put(self, address, type, value):
with self.__lock:
result = None
while result is None:
serial = self.serial()
try:
serial.write([address, 0, type, int(value)])
serial.flush()
result = True
except Exception as e:
print e
self.__clean()
def get(self, address, type):
with self.__lock:
result = None
while result is None:
serial = self.serial()
try:
print type
serial.write([address, 1, type])
serial.flush()
result = struct.unpack('B', serial.read(1))[0]
except Exception as e:
print e
self.__clean()
return result
def get(self, address, type):
with self.__lock:
result = None
while result is None:
serial = self.serial()
try:
print type
serial.write([address, 1, type])
serial.flush()
result = struct.unpack('B', serial.read(1))[0]
except Exception as e:
print e
self.__clean()
return result
def initSerial(port, baudrate):
# Serial port Configuration
serial.port = "/dev/" + port
serial.baudrate = baudrate
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
serial.flush()
logd('Opening port %s - %s' % (port, baudrate))
serial.isOpen()
if serial.isOpen():
logd('Success')
else:
logd('Failed')
exit(2)
def tagRead():
import serial
try:
serial= serial.Serial("/dev/ttyACM0", baudrate=9600)
n=0
serial.flushInput()
serial.flushOutput()
while True:
data=serial.readline()
n=n+1
if data[0:3]=="ISO" and n>3:
myString1=data.find('[')+1
myString2=data.find(',')
serial.flush()
serial.close()
return data[myString1:myString2]
except Exception as e:
return 0
def writeToSerial(serial, data):
length = len(data)
# initialize message buffer
message = [0x00 for _ in range(length + 5)]
# set first two start bytes
message[0] = 0x10
message[1] = 0x02
# initialize checksum value (sum of start and end bytes)
checksum = 0x25
# fill message buffer with data and calculate checksum value
for i in range(length):
checksum += data[i]
message[2 + i] = data[i]
# set last two end bytes
message[2 + length] = 0x10
message[3 + length] = 0x03
# add checksum value
message[4 + length] = checksum & 0xFF # truncate to one byte
# write message
serial.write(message)
serial.flush()
def getDistanceArray():
# flush the buffer
serial.flush()
# This constant will request the values for all of the sensors
sensorValsArray = []
# Write that value to the Arduinos serial monitor
amountOfSensors = 5
# set inital value of i to the first sensor
i = 1
# set inital value of sensor val to 1 so the while loop is entered
sensorVal = 1
# while loop that asks for sensor values sequentially, converts them to an integer and adds them to an array
while(sensorVal > -1):
# ask for the sensor value from the arduino
serial.write(str.encode(str(i)))
# read the sensor value, conert it to an integer and store it in the temp variable
sensorVal = int(serial.readline())
# if the sensor was actually there store the value in the array
if(sensorVal > -1):
sensorValsArray.append(sensorVal)
# delay
time.sleep(0.01)
# increment i to check for next sensor
i += 1
return sensorValsArray
def writeToTape(serial, array, maxvalue):
print("Writing")
print(array)
data = ""
if array[0] > 1e1:
for x in array:
towrite = [0, 0, 0] #rgb
towrite[0] = x
towrite[1] = 60
towrite[2] = 254 - x
for x in towrite:
capped = int(min(254,max(0,x)))
data += chr(capped)
else:
# cleartape(serial)
return
# write control
serial.write(data)
serial.write(CONTROL)
serial.flushInput()
serial.flush()
def writeToTape(serial, array, maxvalue):
print("Writing")
print(array)
data = ""
if array[0] > 1e1:
for x in array:
towrite = [0, 0, 0] #rgb
towrite[0] = x
towrite[1] = 60
towrite[2] = 254 - x
for x in towrite:
capped = int(min(254, max(0, x)))
data += chr(capped)
else:
# cleartape(serial)
return
# write control
serial.write(data)
serial.write(CONTROL)
serial.flushInput()
serial.flush()
def to_arduino():
working=0
v=["99!","98!","97!","96!","95!","94!","93!","92!","91!","90!","89!","88!","87!","86!","85!","84!","83!","82!","81!","80!","79!","78!","77!","76!","75!","74!","73!","72!","71!","70!","69!","68!","67!","66!","65!","64!","63!","62!","61!","60!","59!","58!","57!","56!","55!","54!","53!","52!","51!","50!","49!","48!","47!","46!","45!","44!","43!","42!","41!","40!","39!","38!","37!","36!","35!","34!","33!","32!","31!","30!","29!","28!","27!","26!","25!","24!","23!","22!","21!","20!","19!","18!","17!","16!","15!","14!","13!","12!","11!","10!","9!","8!","7!","6!","5!","4!","3!","2!","2!","2!"]
d=[7,7,7,7,7,6,6,6,6,6,5,5,5,5,5,4,4,4,4,4,3,3,3,3,3,3,3,3,3,3,3,3,3,3,3,2.5,2.5,2.5,2.5,2.5,2.25,2.25,2.25,2.25,2.25,2,2,2,2,2,1.85,1.85,1.85,1.85,1.85,1.75,1.75,1.75,1.75,1.75,1.6,1.6,1.6,1.6,1.6,1.5,1.5,1.5,1.5,1.5,1.35,1.35,1.35,1.35,1.35,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25,1.25]
while True:
if controller_h.state==1:
try:
controller_h.update()
value = int(controller_h.dim)
if value<0:
value=99
delay=d[value]
value=v[value].encode('UTF-8')
if working == 0:
working =1
serial.close()
serial.open()
serial.write(value)
serial.flush()
serial.close()
time.sleep(delay)
working=0
except:
pass
time.sleep(dx * 0.02) #take its time to move
raspistill("_l") #snap a pic with laser
serial.write('M700 S0\r\n') # Turn laser off
raspistill("") #snap a pic without laser
percent = 100 * float(i) / float(slices)
printlog(percent, i)
pos += dx
i += 1
#END of S_SCAN
serial.write('M700 S0\r\n') # Turn laser off (you never know!)
serial.write('G0 X5 Y5\r\n') #go to idle position
serial.write('M701 S255\r\n') # Turn red on
serial.write('M702 S255\r\n') # Turn green on
serial.write('M703 S255\r\n') # Turn blue on
time.sleep(3)
serial.flush()
serial.close() #close serial
print "Scan Completed!"
completed = 1
completed_time = float(time.time())
percent = 100
printlog(percent, i)
sys.exit()
def recieveSignal(serial):
serial.flush() # wait for all the data is written
# Reading from arduino serial
msg = serial.readline()
print(colored("RECIEVED: ", 'blue'), msg)
return msg
udp_socket = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
udp_socket.bind(udp_server_address)
if BROADCAST_MODE:
udp_socket.setsockopt(socket.SOL_SOCKET,socket.SO_BROADCAST,1)
slip_processor=slip.slip()
while True:
(rlist, wlist, xlist) = select.select([udp_socket,serial], [], [])
if serial in rlist:
serial_data = serial.read(1)
slip_processor.append(serial_data)
slip_packets=slip_processor.decode()
for packet in slip_packets:
if BROADCAST_MODE:
udp_socket.sendto(packet,udp_broadcast)
else:
udp_socket.sendto(packet,udp_client_address)
if udp_socket in rlist:
udp_data,udp_client = udp_socket.recvfrom(MAX_UDP_PACKET)
slip_data=slip_processor.encode(udp_data)
serial.write(slip_data)
serial.flush()
udp_client_address=(udp_client[0],UDP_PORT_OUT)
time.sleep(0.001) #avoid flooding the microcontroller (to be controlled)
def xmodem_send(serial, file, quiet=True):
SOH = bytes(bytearray([0x01]))
EOT = bytes(bytearray([0x04]))
ACK = bytes(bytearray([0x06]))
NAK = bytes(bytearray([0x15]))
NCG = b'C'
DATA_SIZE = 128
t = 0
while True:
if serial.read(1) != NCG:
t = t + 1
if t == 10:
print('*', end='')
sys.stdout.flush()
return False
else:
break
pn = 1
file.seek(0)
data = bytearray(file.read(DATA_SIZE))
tx_size = 0
while data:
for i in range(DATA_SIZE - len(data)):
data += bytes(bytearray([0xFF]))
crc = calc_crc(data)
MAX_RETRIES = 1
retries = 0
while True:
serial.write(SOH)
serial.write(bytes(bytearray([pn])))
serial.write(bytes(bytearray([0xFF - pn])))
serial.write(data)
serial.write(bytes(bytearray([(crc & 0xFF00) >> 8])))
serial.write(bytes(bytearray([crc & 0xFF])))
serial.flush()
answer = serial.read(1)
if answer == NAK:
if not quiet:
print('!', end='')
sys.stdout.flush()
retries += 1
if retries > MAX_RETRIES:
return False
else:
continue
if answer == ACK:
retries = 0
tx_size += DATA_SIZE
if not tx_size % (1024 * 10):
print('.', end='')
sys.stdout.flush()
break
# If got nothing, exit
serial.write(EOT)
serial.flush()
if not quiet:
print('$', end='')
sys.stdout.flush()
return False
data = bytearray(file.read(DATA_SIZE))
pn = (pn + 1) % 256
serial.write(EOT)
serial.flush()
answer = serial.read(1)
if answer == NAK:
return False
return True
def snd_bytearray_uart(msg):
global serial
byte = serial.write(msg)
serial.flush()
return byte
while not rospy.is_shutdown():
# main loop
topOfFrame=time.time()
# do our work
# read data from the seral port if there is any
serData = ser.read(1024)
# process the data from the arduino
# we don't want any blocking, so we use read and parse the lines ourselves
holdBuffer = readBuffer(serData)
#drive command
com = ',' # comma symbol we use as a separator
EOL = '\n'
if robot.newCommand:
ardCmd = "DRV"+str(robot.leftMotorCmd)+com+str(robot.rightMotorCmd)+EOL
serial.write(ardCmd)
serial.flush() # output Now
if frameKnt % (FRAMERATE/2)==0: # twice per second
hbMessage = "HBB"+com+str(time.time())+EOL
serial.write(hbMessage)
serial.flush() # output Now
frameKnt +=1
frameKnt=min(FRAMERATE,frameKnt) # just count number of frames in a second
# done with work, now we make timing to get our frame rate to come out right
#
endOfWork = time.time()
workTime = endOfWork - topOfFrame
sleepTime = (FRAME-workTime)+ timeError
time.sleep(sleepTime)
endOfFrame = time.time()
