def __init__(self, currentNumOfSensors, sType, pins, partNumber,
currentCount):
wires = numpy.empty(
len(pins), dtype=object
) # TODO wires = ndarray((len(pins),),int) OR wires = [None] * len(pins) # Create an array on same length as pins[?, ?, ?]
for i in pins:
self.wires[i] = pins[i]
self.DebugObject = Debug(True, "Sensor.py")
def __init__(self, aType, actuatorID, pins, partNumber, direction):
"""
Constructor to initialize an Actutator object, which can be an AngularServo(), Motor(), or Relay()
Key arguments:
self - Newly created object
aType - Single String character to select type of actuator to create (S=Servo, M=Motor, R=Relay)
actuatorID - Interger CONSTANT defined in Driver.py to enable quick array searches
pins - Array to document wires / pins being used by Raspberry Pi to control an actuator
partNumber - Vendor part number string variable (e.g. Seamuing MG996R)
direction - Set counter-clockwise (CCW) / Linear IN or clockwise (CW) / Linear OUT as the forward direction
Return value:
Newly created Actuator() object
"""
currentProgramFilename = os.path.basename(__file__)
self.DebugObject = Debug(True, currentProgramFilename)
self.actuatorID = actuatorID
self.actuatorType = aType
numOfWires = len(pins)
wires = np.empty(numOfWires, dtype=object) # TODO wires = ndarray((len(pins),),int) OR wires = [None] * len(pins) # Create an array on same length as pins[?, ?, ?]
for i in range(numOfWires):
#TODO REMOVE print("PIN: " + repr(i))
self.wires[i] = pins[i]
self.partNumber = partNumber
self.forwardDirection = direction
# The last wire in array is the PWM control pin
tempServoObject = Servo(pins[0]) #TODO REMOVE BECAUSE TO SIMPLE AN OBJECT
#tempServoObject = gpiozero.Servo(pins[0]) #TODO REMOVE BECAUSE TO SIMPLE AN OBJECT
tempAngularServoObject = AngularSevo(wires[len(wires)-1])
# The last two wires in array are the INPUT control pins
tempMotorObject = Motor(wires[len(wires)-2], wires[len(wires)-1])
# The last wire in array is the relay control pin
tempRelayObject = OutputDevice(wires[len(wires)-1])
# https://gist.github.com/johnwargo/ea5edc8516b24e0658784ae116628277
# https://gpiozero.readthedocs.io/en/stable/api_output.html
# https://stackoverflow.com/questions/14301967/bare-asterisk-in-function-arguments/14302007#14302007
if(aType == "S"):
self.actuatorObject = tempAngularServoObject
#TODO If above DOES NOT WORK: self.actuatorType = Servo(wires[0], initial_value=0, min_pulse_width=1/1000, max_pulse_width=2/1000, frame_width=20/1000, pin_factory=None)
elif(aType == "M"):
self.actuatorObject = tempMotorObject
#TODO If above DOES NOT WORK: self.actuatorType = Motor(wires[0], wires[1], pwm=true, pin_factory=None)
elif(aType == "R"):
self.actuatorObject = tempRelayObject
#TODO If above DOES NOT WORK: self.actuatorObject = gpiozero.OutputDevice(wired[0], active_high=False, initial_value=False)
else:
self.DebugObject.Dprint("INVALID Actutator Type in __init__ method, please use S, M, or R string as first parameter to Actuator() Object")
def SwapTool(newTool):
"""
Change end effector tool connected to the 3-axis + rotational motor crane system
newTool - Name of new tool to cennect to the crane system
return NOTHING
"""
if(currentTool == newTool):
Debug.Dprint(Debug(True), "DO NOTHING")
elif(newTool == DRILL_BIT_TOOL):
GoToToolHome()
LockOldTool()
UnlockNewTool()
elif(newTool == TAPPING_SOCKET_TOOL):
GoToToolHome()
LockOldTool()
UnlockNewTool()
else:
Debug.Dprint(Debug(True), "ERROR: You attempted to use a tool not supported by Tapomatic v" + VERSION)
def __init__(self):
super(Level, self).__init__()
self.debug = Debug.Debug()
self.timer = Timer.Timer()
self.draglist = []
self.shadow_blocks = []
self.tooltips = []
self.shadow_drawable = True
size = int(settings.WINDOWWIDTH / 8)
self.img_size = size
self.recycle = Recycle.Recycle(size)
self.cook = CookButton.CookButton(size)
def __init__(self, drinkNameID, addOnFlavor, addOnFlavorLevel,
addOnHealthAdditive, addOnHealthAdditiveLevel, tapOrCutFlow,
brandingArt):
"""
Constructor to initialize an CocoDrink() object, which stores add-ons and artwork
Key arguments:
self -- Newly created CocoDrink object
drinkNameID -- CONSTANT product name of drink
addOnFlavor -- CONSTANT product name of flavoring being added to base drink (e.g. IMMUNITY_BOOST, PINA_COLADA, etc)
addOnFlavorLevel -- The unit step amount of flavor to be added to a drink from 0 to MAX_ADD_ON_LEVEL
Each unit is a different but constant volume (in milliLiters) for each flavor
addOnHealthAdditive -- CONSTANT product name of health additive being added to base liquid
addOnHealthAdditiveLevel -- The unit step amount of additive to be added to a drink from 0 to MAX_ADD_ON_LEVEL
Each discrete unit is a differnt but constant volume (in milliLiters) for each additive
tapOrCutFlow -- Variable used as conditional in program flow to determin if coconut is topped off or tapped
brandingArt -- PNG image to LASER brand onto the side of the coconut (max size is 200 MB or ? x ? pixels / ? x ? inches)
Return value:
New CocoDrink() object
"""
currentProgramFilename = os.path.basename(__file__)
self.DebugObject = Debug(True, currentProgramFilename)
self.drinkNameID = drinkNameID
self.addOnFlavor = addOnFlavor
self.addOnFlavorLevel = addOnFlavorLevel
self.addOnHealthAdditive = addOnHealthAdditive
self.addOnHealthAdditiveLevel = addOnHealthAdditiveLevel
self.tapOrCutFlow = tapOrCutFlow #TODO REMOVE - LIKELY NOT GOING TO BE SUPPORTED IN v2020.1
self.brandingArt = brandingArt
if (addOnFlavorLevel > CocoDrink.MAX_ADD_ON_LEVEL
or addOnHealthAdditiveLevel > CocoDrink.MAX_ADD_ON_LEVEL):
self.DebugObject.Dprint(
"OBJECT CREATION ERROR: You created a CocoDrink() object with add-on level greater then "
+ MAX_ADD_ON_LEVEL)
__exit__() # Destructor / memory clean up
if (addOnFlavorLevel < 0 or addOnHealthAdditiveLevel < 0):
self.DebugObject.Dprint(
"OBJECT CREATION ERROR: You created a CocoDrink() object with add-on level less then "
+ MIN_ADD_ON_LEVEL)
__exit__() # Destructor / memory clean up
if (CocoDrink.NO_DRINK > drinkNameID
or drinkNameID > CocoDrink.MAX_DRINK_NAME):
self.DebugObject.Dprint(
"OBJECT CREATION ERROR: You created a CocoDrink() object with a drink name that doesn't exist. Why did you do that genius?"
)
__exit__() # Destructor / memory clean up
def __init__(self, gpioFirePin, supplierPartNumber, cocoPartNumber,
powerLevel, maxPowerLevel, brandingArt):
"""
Create a LASER object with power settings, part numbers, and image data to used when fired via GPIO pin
Key arguments:
gpioFirePin -- 5V GPIO pin used to control a LASER or a 12V relay connected to a LASER
supplierPartNumber -- External supplier part number (i.e. PA-07-12-5V)
cocoPartNumber -- Internal part number (i.e XXX-YYYYY-Z)) linked to one supplier part number
powerLevel -- Power in Wats to intialize a LASER module first fire to
maxPowerLevel -- Max power in Watts that LASER can support in continous operation (> 30 seconds)
brandingArt -- Black & White PNG image to brand / burn into an object
Return value:
New LASER() object
"""
currentProgramFilename = os.path.basename(__file__)
self.DebugObject = Debug(True, currentProgramFilename)
#self.gpioFirePin = gpiozero.OutputDevice(gpioFirePin)
self.supplierPartNumber = supplierPartNumber
if (len(cocoPartNumber) != 10):
self.DebugObject.Dprint(
"Invalid part number format, please verify part number looks like XXX-YYYYY-Z"
)
# List of current valid internal LASER part numbers
if (cocoPartNumber == "205-0003-A" or cocoPartNumber == "???-????-?"):
self.cocoPartNumber = cocoPartNumber
else:
self.DebugObject.Dprint("Invalid part number format")
if (0 > powerLevel or powerLevel > LASER.MAX_POWER_LEVEL):
# Check for valid power level and default to 10 Watts if invalid
Debug.Dprint(
DebugOject, "Invalid power. I'm setting the LASER power to " +
repr(self.maxPowerLevel / 2) + " Watts")
self.powerLevel = self.MAX_POWER_LEVEL / 2
else:
self.powerLevel = powerLevel
self.brandingArt = LASER.__WarpImage(
CocoDrink.COCOTAPS_LOGO,
CocoDrink.SIZE_102MM) # Initialize to standard CocoTaps logo
LASER.__ConfigureLaserForNewImage(self.brandingArt)
from signal import pause
# Allow control of input and out pins
from gpiozero import OutputDevice, InputDevice
# Check status of network / new device IP addresses and Pi hardware
from gpiozero import PingServer, pi_info
# Useful pin status tools and math tools
from gpiozero.tools import all_values, negated, sin_values
# Useful for controlling devices based on date and time
from gpiozero import TimeOfDay
except ImportError:
DebugObject = Debug(True)
Debug.Dprint(
DebugObject,
"WARNING: You are running code on Mac or PC (NOT a Raspberry Pi 4), thus hardware control is not possible."
)
def GetMillimeters(pin):
"""
Get distance to closest object in direct line of sight for PING LASER rangefinder
Key arguments:
pin -- GPIO pin PING sensor is connected to
Return value:
range -- Distance in mm to closest object
return render_template(HTMLtoDisplay)
@app.route('/Complete')
def CompleteScreen():
"""
GUI to display COMPLETE.
HTTP GET Method
:return: HTML template to display complete.html
"""
HTMLtoDisplay = "complete.html"
return render_template(HTMLtoDisplay)
if __name__ == '__main__':
DebugOject = Debug(True, "GUI.py")
app.run(debug=True)
if (DebugOject.GetMode == True):
# Allow URLs to be refreshed (F5) without restarting web server after code changes
app.run(debug=True)
check_call("export FLASK_DEBUG=1", shell=True)
else:
app.run(debug=False) # check_call("export FLASK_DEBUG=0", shell=True)
app.run(host='0.0.0.0')
# #WelcomeScreen()
# #TODO Add button code
# #sleep(3)
# TapOrCutScreen()
#
# print("Sleeping Worked")
# Receiving data from the UDP Server.
data, addr = udpClientSocket.recvfrom(DATA_BUFFER_SIZE)
# TODO Debug.Dprint(driverDebugObject, "received message: " + data)
logging.info('received message:', data) #TODO LOGGING NOT WORKING, HAVE TO FIX
#TODO Write code to handle this data
now = datetime.now(timezone.utc)
endTimeStampMicroSec = (now - epoch)//timedelta(microsecond=1)
timeout = timeout - (endTimeStampMicroSec/1000 - startTimeStampMicroSec/1000)
if __name__ == "__main__":
driverDebugObject = Debug(True, "Driver.py")
#actuatorObjects = np.array(MAX_NUM_OF_ACTUATORS)
currentTool = NO_TOOL # Default is having no tool attached to 3-axis system
currentKnifeSectionInUse = 0 # Always attempt to used section 0 when code restarts
numberOfOrdersCompleted = 0
numberOfOrdersInProgress = 0
#TODO tempDrink = CocoDrink2(CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE)
#TODO tempDrink = CocoDrink(CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE)
vendQueue = np.array(MAX_VEND_QUEUE_SIZE)
GuiPi = RaspPi()
BackendPi = RaspPi()
"""
# Useful standard Python system jazz
import sys, time, traceback, argparse, string
# Robotic Beverage Technologies code for custom data logging and terminal debugging output
from Debug import *
try:
# OpenCV magic
# https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_table_of_contents_imgproc/py_table_of_contents_imgproc.html
import cv2
import numpy as np
except ImportError:
ImportDebugObject = Debug(True, "ComputerVision.py")
Debug.Dprint(ImportDebugObject, "Run ComputerVision.py with python not PYTHON3")
# Create a command line parser
# parser = argparse.ArgumentParser(prog = "Tapomatic Computer Vision", description = __doc__, add_help=True)
# parser.add_argument("-f", "--filename", type=str, default="Update.py", help="Local or cloud software to be loaded on ki$
# parser.add_argument("-l", "--loop", type=int, default=0, help="Set to 1 to loop this driver program.")
# args = parser.parse_args()
##GUIDE TO BEGINNERS
##Treat the Image as a matrix and that is how computers see and store the images.
## [x,y]
class ComputerVision():
def printImageForTestingPurpose(self, name, img):
# Check status of network / new device IP addresses and Pi hardware
from gpiozero import PingServer, pi_info
# Useful pin status tools and math tools
from gpiozero.tools import all_values, negated, sin_values
# Useful for controlling devices based on date and time
from gpiozero import TimeOfDay
# Allow control of output devices such as Motors, Servos, LEDs, and Relays
from gpiozero import Motor, Servo, LED, Energenie, OutputDevice
except ImportError:
#TODO DO LOW LEVEL PIN CONTROL THAT WORKS EVER WHERE? http://wiringpi.com/the-gpio-utility/
currentProgramFilename = os.path.basename(__file__)
ImportDebugObject = Debug(True, currentProgramFilename)
ImportDebugObject.Dprint("WARNING: You are running code on Mac or PC (NOT a Raspberry Pi 4), thus hardware control is not possible.")
class Actuator:
# Class attributes that can be accessed using ActuatorControl.X (not actuatorcontrol.X)
MAX_NUM_OF_SERVOS = 0 # Circular servos
MAX_NUM_OF_MOTORS = 12 # Circular stepper or brushless DC motors
MAX_NUM_OF_LINEAR_ACT = 5 # Linear actuators
N_A = 0 # Not Applicable
# Circular & linear actuator direction CONSTANTS
CCW = -1 # Counter-Clockwise
CW = 1 # Clockwise
LINEAR_IN = CCW # Towardsbase of linear actuator
from Debug import *
# Allow program to extract filename of the current file
import os
try:
# Robotic Beverage Technologies code for controlling many different types of motors, servos, and relays
from Actuator import *
# Robotic Beverage Technologies code for controlling the physical movement and power output of a LASER
from LASER import *
except ImportError:
#TODO DO LOW LEVEL PIN CONTROL THAT WORKS EVER WHERE? http://wiringpi.com/the-gpio-utility/
currentProgramFilename = os.path.basename(__file__)
TempDebugObject = Debug(
True, "Try/Catch ImportError in " + currentProgramFilename)
TempDebugObject.Dprint(
"WARNING - You are running code on Mac or PC (NOT a Raspberry Pi 4), thus hardware control is not possible."
)
class CocoDrink:
# Drink Name CONSTANTS
NONE = "NONE"
NO_DRINK = 0
COCONUT = 1
MAX_DRINK_NAME = COCONUT
# Coconut sizing CONSTANTS
SIZE_102MM = 102
def create_instance(c_instance):
""" Creates and returns the Base script """
return Debug.Debug(c_instance)
#!/usr/bin/python
# -*- coding: utf-8 -*-
import sys
import Debug as debug
reload(sys)
sys.setdefaultencoding('utf-8')
debug_log = debug.Debug("test.log", True)
def test():
log_msg = "%s test example." % debug.comm_get_func_head_info()
debug_log.debug_write_log(log_msg)
string = "test"
log_msg = "%s test example. %s" % (debug.comm_get_func_head_info(), string)
debug_log.debug_write_log(log_msg)
if __name__ == '__main__':
test()
def __init__(self):
self.DebugObject = Debug(True)
