def on_menu_down(self, sender: IDevice):
sender.stop()
# Hover the plate and deactivate the servos
pymoab.hoverPlate()
pymoab.sync()
sleep(0.5)
pymoab.disableServoPower()
pymoab.sync()
sleep(0.5)
def _calibration_failure(self, sender: Device):
log.warn("Failed to calibrate.")
self._print_results()
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.ERROR)
pymoab.sync()
sleep(2)
sender.stop()
def _calibration_success(self, sender: Device):
log.info("Calibration Success.")
self._print_results()
self._write_calibration(sender)
pymoab.setIcon(pymoab.Icon.CHECK)
pymoab.setText(pymoab.Text.CAL_COMPLETE)
pymoab.sync()
sleep(2)
sender.stop()
def update(self):
# get input IO and dispatch it to listeners
event = self.events.get_next_event()
if event is not None:
self.events.dispatch_event(self, event)
# check if we should still run after processing events
if self.runloop.running:
# get sensor data
elapsedSec: float = 0
img: Optional[np.ndarray] = None
if self.sensor:
counter.start("sensor", WindowedAverageCounter)
elapsedSec, img = self.sensor.getNextInput(self)
counter.stop()
# fetch previous plate angles if we have an actuator
lastPlateAngles = Vector2(0, 0)
if self.actuator:
lastPlateAngles = self.actuator.getLastSetPlateAngles()
# pass sensor output to various detectors
detectorResults: Dict[str, Any] = {}
if self.detectors and img is not None:
for detectorName in self.detectors:
detector = self.detectors[detectorName]
counter.start(detectorName, WindowedAverageCounter)
feature = detector.detect(self, img, lastPlateAngles)
detectorResults[detectorName] = detector.post_detect(
feature)
counter.stop()
# run the controller
output = self.controller.getControlOutput(self, elapsedSec,
detectorResults,
lastPlateAngles)
# actuate
if self.actuator:
self.actuator.setPlateAngles(self, output)
# and execute debuging decorators
if self.config.debug:
if self.debug_decorator is not None:
self.debug_decorator.decorate({SENSOR_IMG_ARG: img})
# sync our desired state with servos and display
pymoab.sync()
def signal_handler(sig, frame) -> int:
log.info(f"Signal {sig} received, shutting down...")
# Lower the plate and deactivate the servos
# lowerPlate is 155º; testing a lower position of 160º
pymoab.setServoPositions(155, 155, 155)
pymoab.sync()
time.sleep(0.2)
pymoab.disableServoPower()
pymoab.sync()
time.sleep(0.1)
# Clear the screen
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.BLANK)
pymoab.sync()
time.sleep(0.1)
sys.exit(0)
def main():
args = parse_args()
# load configs
config = load_config(args.config)
# Load calibration.json file which contains the ball hue (22 default)
calibration = load_calibration(args.calibration)
# Now that log is configured, we can say we're starting up
log.info("Moab starting.")
# onetime init of pymoab library
# side effect of setting OLED to Initalizing... which is ok
pymoab.init()
pymoab.sync()
time.sleep(0.1)
# put plate in "ready" mode, then cut power until needed
pymoab.setServoPositions(150, 150, 150)
pymoab.sync()
time.sleep(0.1)
pymoab.disableServoPower()
pymoab.sync()
time.sleep(0.1)
# optional perf timing
global perf_timer
if args.perf_interval_sec > 0:
perf_timer = ThreadedTimer()
perf_timer.start(args.perf_interval_sec, printPerformanceCounters)
try:
devices = config["devices"]
except Exception as e:
log.exception(f"Error reading devices from {args.config}\n{e}")
sys.exit(-1)
device_stack = deque()
device_stack.append(args.device)
previous_menu: int = 0
# Register the signal handler
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
while True:
curr_device = device_stack.pop() if len(device_stack) > 0 else None
if curr_device is None:
break
try:
config = from_dict(IDevice.Config, devices.get(curr_device))
config.menu_idx = previous_menu
device = Device.createFromConfig(config, calibration)
log.info("{} §".format(curr_device.upper()))
device.run()
previous_menu = device.previous_menu
# Did our current device ask us to activate another one?
next_device = device.get_next_device()
if next_device is not None:
# Save this device so we can go back to it
device_stack.append(curr_device)
# Will be the one popped off next iteration
device_stack.append(next_device)
except Exception as e:
log.exception(f"Error instantiating {args.device}\n{e}")
curr_device = None
continue
# Reload configs
config = load_config(args.config)
calibration = load_calibration(args.calibration)