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
LINEAR_OUT = CW # Away from base of linear
SERVO_SLACK = 0.2 # Positional accuaracy slack for servo so that control system does not go crazy
FORWARD = 1
BACKWARD = -1
# Pin value CONSTANTS
LOW = 0
HIGH = 1
# Wire value CONTSTANTS
# Raspberry Pi 4 Pin Layout https://pinout.xyz/pinout/pin1_3v3_power
NO_PIN = -1 #TODO This constant may not be needed :)
NO_WIRE = 0
VCC_3_3V = 1
VCC_3_3V_NAME = "BOARD1" # 3.3 Volts @ upto 0.050 Amps = 0.165 Watts https://pinout.xyz/pinout/pin1_3v3_power
VCC_5V = 2
VCC_5V_NAME = "BOARD2" # 5 Volts @ upto ~1.5 Amps (Power Adapter - Pi usgae) = 7.5 Watts https://pinout.xyz/pinout/pin2_5v_power
GND = "BOARD6&9&14&20&25&30&34&39" # Digital Ground (0 Volts) https://pinout.xyz/pinout/ground
# Negative to NOT confuse it with Pi BOARD 12 https://pinout.xyz/pinout/pin12_gpio18
HIGH_PWR_5V = 5 # 5.00 Volts @ upto 5.0 Amps = 25.0 Watts to power Pi, force / load cell sensor and servos
HIGH_PWR_12V = 12 # 12.0 Volts @ upto 5.0 Amps = 70.0 Watts to power linear actuators
HIGH_PWR_36V = 36 # TODO (30 or 36) Volts @ upto 5 Amps = 150 Watts to power Stepper Motors
# wires are on the actuator side of hardwrae schematic. While pins are on the CPU side, but often have similar names
wires = [NO_WIRE, NO_WIRE, NO_WIRE, NO_WIRE, NO_WIRE, NO_WIRE, NO_WIRE]
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 Run(self, duration, newPosition, speed, direction):
#TODO https://www.google.com/search?q=pass+object+to+python+function&rlz=1C1GCEA_enUS892US892&oq=pass+object+to+python+function&aqs=chrome..69i57.5686j0j7&sourceid=chrome&ie=UTF-8
#TODO https://stackoverflow.com/questions/20725699/how-do-i-pass-instance-of-an-object-as-an-argument-in-a-function-in-python
"""
Run an actuator for a given number of milliseconds to a given position at percentage of max speed in FORWARD or BACKWARDS direction
Key arguments:
duration - Time actuator is in motion, for Servo() objects this can be used to control speed of movement
newPosition - New position between -1 and 1 that actuator should move to
speed - Speed at which actuator moves at, for Servo() objects this parameter is NOT used
direction - Set counter-clockwise (CCW or LINEAR_IN) or clockwise (CW or LINEAR_OUT) as the forward direction
Return Value:
NOTHING
"""
print("Actuator.py Run() function started!")
if(type == "S"):
currentPosition = self.actuatorObject.value()
if(currentPosition < (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.max() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MAX POS
elif(currentPosition > (newPosition - Actuator.SERVO_SLACK)):
self.actuatorObject.min() #TODO THIS MAY NOT STOP AND GO ALL THE WAY TO MIN POS
else:
# NEAR to new position DO NOTHING
self.actuatotObject.dettach()
elif(type == "M"):
#TODO Write motor control code
Motor.enable() #TODO CHANGE TO self.acutatorObject
currentPosition = actuatorObject.value
while(currentPosition != newPosition):
if(actuatorObject.forwardDirection == Actuator.CW):
Motor.forward(speed)
else:
Motor.reverse(speed)
currentPosition = self.actuatorObject.value
sleep(duration) #TODO signal.pause(duration)
Motor.disable()
elif(type == "R"):
relay.on()
sleep(duration) #TODO signal.pause(duration)
relay.off()
else:
self.DebugObect.Dprint("INVALID Actutator Type sent to Run method, please use S, M, R as first parameter to Actuator() Object")
self.DebugObject.Dprint("Run function completed!")
def setAngularPosition(self, newAngle):
"""
Set the rotational position of a AngularServo() or Motor() object
Key arguments:
newAngle - Rotational angle to set actuator to, more exact for Servo() objects then Motor() object
Return value:
NOTHING
"""
if(self.actuatorType == "S"):
self.angle = newAngle
elif(self.actuatorType == "M"):
self.DebugObject.Dprint("THIS CODE IS GOING TO BE HARD")
#TODO Possible global variable with dead recoking needed
elif(self.actuatorType == "R"):
self.Debug.Dprint("Relays do not have rotational positions. Are you sure you called the correct object?")
else:
self.DebugObject.Dprint("INVALID Actutator Type sent to SetAngularPosition method, please use S, M, R as first parameter to Actuator() Object")
def getPosition(self):
"""
Read the linear or rotational positon on an actuator
Return value:
The position of actuator, with value between -1.0 and 1.0 inclusively
"""
if(self.actuatorType == "S"):
print("TODO")
#TODO return self.value
def isActive(self):
"""
Determine if actuator is moving
Return value:
TRUE if actuator is powered on and moving, FALSE otherwise
"""
return self.actuatorOjbect.isActive
def setAngle(self, angle):
print("TODO")
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
LINEAR_OUT = CW # Away from base of linear
class CocoDrink:
# Drink Name CONSTANTS
NONE = "NONE"
NO_DRINK = 0
COCONUT = 1
MAX_DRINK_NAME = COCONUT
# Coconut sizing CONSTANTS
SIZE_102MM = 102
SIZE_88MM = 88
# Addon Name CONSTANTS #TODO CONVERT INTERGERS TO STRINGS???
IMMUNITY_BOOST = 1
DAILY_VITAMINS = 2
ENERGY_BOOST = 3
PINA_COLADA = 4
PINEAPPLE_FLAVOR = 5
ORANGE_FLAVOR = 6
MAX_ADD_ON_NAME = ORANGE_FLAVOR
# Extra add-ons for v2021.1
CBD = 7
ENERGY_BOOST = 8
ORGINAL_RED_BULL = 9
RUM = 10
# Add-On level CONSTANTS
MAX_ADD_ON_LEVEL = 5
MIN_ADD_ON_LEVEL = 0
# User GUI.py program flow selection CONSTANTS
TAPPED = 0
TOPPED_OFF = 1 #TODO REMOVE - LIKELY NOT GOING TO BE SUPPORTED IN v2020.1
FLAVOR = 2
HEALTH_ADDITIVE = 3
# LASER branding PNG filename CONSTANTS
RESORT_WORLD_LOGO = "ResortWorldLogoV0.png"
COCOTAPS_LOGO = "CocoTapsLogoV0.png"
WYNN_HOTEL_LOGO = "WynnHotelLogoV0.png"
RED_BULL_LOGO = "RedBullLogoV0.png"
BACARDI_LOGO = "BacardiLogoV0.png"
ROYAL_CARRIBBEAN_LOGO = "RoyalCarribbeanLogoV0.png"
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 __enter__(self):
"""
The 'with' statement clarifies code that previously would use try...finally blocks to ensure that clean-up code is executed.
https://docs.python.org/2.5/whatsnew/pep-343.html
https://stackoverflow.com/questions/1984325/explaining-pythons-enter-and-exit
Key arguments:
NONE
Return value:
NOTHING
"""
print("in __enter__")
return self
def __exit__(self, exception_type, exception_value, traceback):
"""
Memory cleanup
Key arguments:
exception_type --
exception_value --
traceback --
Return value:
NOTHING
"""
self.DebugObject.Dprint("Cleaning up CocoDrink() object in __exit__ ")
def GetAddOn(self, lType):
"""
Determine the type of add-on the user selected from GUI.py and branch code floW
Key arguments:
lType -- Type of liquid add-on to inject into a coconut
Return value:
addOn -- CocoDrink CONSTANT based on user selection
"""
if (lType == CocoDrink.FLAVOR):
addOn = self.GetFlavorType()
elif (lType == CocoDrink.HEALTH_ADDITIVE):
addOn = self.GetHealthAdditiveType() #TODO OR (self)
return addOn
def GetFlavorType(self):
"""
Get product name of flavoring
Key arguments:
NONE
Return value:
Integer GLOBAL CONSTANT from CocoDrink.py
"""
return self.addOnFlavor
def GetHealthAdditiveType(self):
"""
Get product name of additive fluid
Key arguments:
NONE
Return value:
return Integer GLOBAL CONSTANT from CocoDrink.py
"""
return self.addOnHealthAdditive
def GetLaserArtType(self):
"""
Get filename of logo LASER branding into coconut
Key arguments:
NONE
Return value:
return String GLOBAL CONSTANT from CocoDrink.py
"""
return self.brandingArt
def GetFlavorLevel(self):
"""
Get amount / level of flavor fluid in a coco drink in User Interface units
Key arguments:
NONE
Return value:
return Integer value between 0 and MAX_ADD_ON_LEVEL inclusively
"""
return self.addOnFlavorLevel
def GetHealthAdditiveLevel(self):
"""
Get amount / level of health additive fluid in a Cocodrink in User Interface units
Key arguments:
NONE
Return value:
return Integer value between 0 and MAX_ADD_ON_LEVEL inclusively
"""
return self.addOnHealthAdditiveLevel
def ConvertLevelToVolume(self, addOnUnits):
"""
Since each fluid has a different flavor or health effect strength per mL this function defined what the User Interface units represent
Key arguments:
addOnUnits -- Integer variable, between and 0 and MAX_ADD_ON_LEVEL (inclusive)
Reture value:
volume -- Interger variable, in units of mL for pumps to dispense
"""
self.addOnFlavor = addOnFlavor
self.addOnFlavorLevel = addOnFlavorLevel
self.addOnHealthAdditive = addOnHealthAdditive
self.addOnHealthAdditiveLevel = addOnHealthAdditiveLevel
if (self.addOnHealthAdditive == IMMUNITY_BOOST):
oneUnitToMilliLiterFactor = 15
elif (self.addOnHealthAdditive == DAILY_VITAMINS):
oneUnitToMilliLiterFactor = 13.3
elif (self.addOnHealthAdditive == ENERGY_BOOST):
oneUnitToMilliLiterFactor = 13.3
elif (self.addOnFlavor == PINA_COLADA):
oneUnitToMilloiiterFactor = 12
elif (self.addOnFlavor == PINEAPPLE_FLAVOR):
oneUnitToMilliLiterFactor = 19
elif (self.addOnFlavor == ORANGE_FLAVOR):
oneUnitToMilliLiterFactor = 3
else:
self.DebugObject.Dprint("ERROR CODE (0x" +
GLOBAL_CONSTANT_USAGE_ERROR +
") Verfiy that this Tapomatic unit has " +
self.addOnHealthAdditice + " & " +
self.addOneFlavor + " stocked.")
volume = addOnUnits * oneUnitToMilliLeterFactor
return volume
def ConvertVolumeToPumpRunTime(volume, cocoPartNumber):
"""
Since motor models can vary in dispense volume / sec this function adjusts run time
Key argument:
volume -- Interger variable, of desired volume to be dispensed
cocoPartNumber -- String variable, which is internal CocoTaps data in the format (XXX-YYYY-ZZ))
Return value:
seconds - Float variable, that pump should run in order to dispense the correct volume of liquid
"""
thiccBoiFactor = 1 # Set to default value
if (pumpPartNumber == "202-0006-A"):
oneMilloLiterToSecondFactor = 2.2
else:
this.DebugObject.Dprint(
"ERROR CODE (0x" + PUMP_CONFIGURATION_ERROR +
") Verify that you are using the correct pump part nuumber, as defined in Actuator.py and CocoDrink.py"
)
if (self.drinkName == PINA_COLADA):
thiccBoiFactor = 1.75 # This flavoring is extra thick, pump longer to get correct volume
seconds = volume * oneMilloLiterToSecondFactor * thiccBoiFactor
return seconds
def UnitTest():
print("START CocoDrink.py UnitTest()")
TestCocoDrinkObject = CocoDrink(CocoDrink.COCONUT, CocoDrink.NONE, 0,
CocoDrink.DAILY_VITAMINS, 5,
CocoDrink.TAPPED,
CocoDrink.COCOTAPS_LOGO)
print("AddOn flavor ID # is: ",
TestCocoDrinkObject.GetAddOn(CocoDrink.FLAVOR))
print("Flavor LEVEL (in User Interface units) selected was: ",
TestCocoDrinkObject.GetFlavorLevel())
print("AddOn health additive ID # is: ",
TestCocoDrinkObject.GetAddOn(CocoDrink.HEALTH_ADDITIVE))
print("Health additive LEVEL (in Use Interface units) selected was: ",
TestCocoDrinkObject.GetHealthAdditiveLevel())
print("END CocoDrink.py UnitTest()")
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
SIZE_88MM = 88
class LASER:
# Preset LASER power level CONSTANTS (units are Watts)
HIGH_POWER = 10.00
STANDARD_POWER = 5.00
LOW_POWER = 2.50
MAX_POWER_LEVEL = HIGH_POWER
DEFAULT_LASER_CONSTANT = 0.05264472 #TODO Adjust this until LASER branding looks good
# Global class variable
laserConstant = -1
laserConfig = -1
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)
def LoadImage(fileName):
"""
Key arguments:
filename -- PNG file to load into memory
Return value:
bwImg -- Black & White PNG image
"""
return bwImg
def __WarpImage(fileName, coconutSize):
"""
Load a PNG image on the local harddrive into RAM
Wrap a straight / square image so that after LASER branding on coconut its straight again
Key arguments:
fileName -- PNG file to load into memory (TODO max size in ? x ? pixels / ?? MB)
coconutSize -- Horizontal diameter of coconut in millimeters
Return value:
newImage -- A new image that has been warpped to to display correctly after LASER branding
"""
# https://docs.opencv.org/2.4/doc/tutorials/core/mat_the_basic_image_container/mat_the_basic_image_container.html
# https://pythonprogramming.net/loading-images-python-opencv-tutorial/
fileNameLength = len(fileName)
periodIndex = fileNameLength - 3
fileExtension = fileName[periodIndex:]
if (fileExtension.lower() == "png"):
path = "static/images/" + fileName
originalImage = cv2.imread(path)
# Convert to gray scale first to apply better thresholding which will create a better black and white image
grayImg = cv2.cvtColor(originalImage, cv2.COLOR_BGR2GRAY)
# Anything above 127 on a scale from 0 to 255 is WHITE
(thresh, bwImg) = cv2.threshold(grayImg, 127, 255,
cv2.THRESH_BINARY)
else:
self.DebugObject.Dprint(
"Please pass a .png file to the LoadImage() function in LASER.py code"
)
imgWidth = originalImage.size
imgHeight = originalImage.size
for xPixel in range(imgWidth):
print("xPixel = ", xPixel)
for yPixel in range(imgHeight):
print("yPixel = ", yPixel)
print(" of ", imgHeight)
#TODO rgbColor = originalImage.at<Vec3b>(xPixel,yPixel)
# Split image into three part vertically and horizonatlly
### TODO SyntaxError: can't assign to comparison
# warppedImg.at<Vec3b>(xPixel,yPixel) = rgbColor
if (xPixel < (imgWidth / 5)):
xPixel = xPixel + 8 # Skip EIGHT pixels since ends warps more at ends
elif ((imgWidth / 5) <= xPixel and xPixel <
(imgWidth * 2 / 5)):
xPixel = xPixel + 4 # Skip EIGHT pixels since ends wraps more at ends
elif ((imgWidth * 2 / 5) <= xPixel and xPixel <
(imgWidth * 3 / 5)):
xPixel = xPixel + 0 # Skip EIGHT pixels since ends wraps more at ends
elif ((imgWidth * 3 / 5) <= xPixel and xPixel <
(imgWidth * 4 / 5)):
xPixel = xPixel + 4 # Skip EIGHT pixels since ends wraps more at ends
elif ((imgWidth * 4 / 5) <= xPixel and xPixel < (imgWidth)):
xPixel = xPixel + 8 # Skip EIGHT pixels since ends wraps more at ends
def __ConfigureLaserForNewImage(img):
"""
PRIVATE FUNCATION (See __)
Calculate pixel dwell duration based on LASER power level and image size
Key arguments:
img -- PNG file to load into memory
Return value:
pixelBurnDuration -- Time in seconds that LASER should dwell on coconut pixel
"""
numOfPixels = LASER.__GetNumOfPixels(img)
moistureLevel = GetCoconutMoistureLevel()
if (0 < self.powerLevel or self.powerLevel <= LOW_POWER):
laserConstant = DEFAULT_LASER_CONSTANT * 0.5
elif (LOW < self.powerLevel or self.powerLevel < STANDARD_POWER):
laserConstant = DEFAULT_LASER_CONSTANT * 1.0
elif (self.powerLevel >= STANDARD_POWER):
laserConstant = DEFAULT_LASER_CONSTANT * 1.5
else:
self.DebugObject.Lprint(
"ERROR: Invalid power level choosen in ConfigureLaserForNewImage() function"
)
pixelBurnDuration = laserConstant * moistureLevel / 100.0 * numOfPixels / 1000000
return pixelBurnDuration
def StopLaser(self):
"""
Toogle GPIO pin connected to high power relay LOW to turn OFF a LASER
Key arguments:
NONE
Return value:
NOTHING
"""
self.gpioFirePin.off()
#gpiozero.off(self.gpioFirePin)
def BurnImage(self, laserConfig):
"""
Toogle GPIO pin possibly connected to a high power relay HIGH to turn ON a LASER
Puts CPU to sleep so NOT a threadable function yet
Key arguments:
laserConfig -- TODO REMOVE?
Return value:
NOTHING
"""
pixelBurnDuration = self.__ConfigureLaserForNewImage
dutyCycle = self.powerLevel / self.maxPowerLevel
imageBurnComplete = False
frequency = 100 # Desired LASER pulse in Hz
while (not imageBurnComplete):
# laserConstant is a class variable
highTime = 1 / frequency * dutyCycle * laserConstant
sleep(highTime) # Sleep upto 10 ms and keep LASER ON
self.gpioFirePin.on()
sleep(0.010 - highTime) # Sleep 10 ms minus time is HIGH
self.gpioFirePin.off()
imageBurnComplete = MoveLaserStepperMotor(pixelDwellDuration,
frequency)
def MoveLaserStepperMotor(self, frequency, motorID):
"""
Return value:
NOTHING
"""
for pixelNum in range(0, GetNumOfPixels(filename) - 1):
sleep(pixelDwellDuration + 1 / frequency)
#TODO if(pixelNum = )
def SetPowerLevel(self, watts, cocoPartNumber):
"""
Set the power level based on LASER part number being used
Key arguments:
watts -- Power in Watts to set LASER output to
cocoPartNumber -- Internal XXX-YYYYY-Z part number linked to a vendor part number
"""
if (cocoPartNumber == "205-00003-A"):
if (0 > watts or watts > 10):
self.DebugObject.Dprint(
self.DebugObject,
"The 400067260113 LASER must have power level between or equal to 0.1 and 10 Watts"
)
else:
self.powerLevel = watts
else:
self.DebugObject.Dprint(
"This LASER supplier part number is not supported in LASER.py code base"
)
def __GetNumOfPixels(inputImage):
"""
Calculate the total number of (pixels / 1,000,000) that is in an image file
Key argument:
inputImage
Return value:
totalNumOfPixels -- Total number of megapixels (million pixels) in an image
"""
#img = LoadLImage(self.brandingArt #TODO DOES LoadImage RETURN a img variable)
img = cv2.imread(inputImage)
imgWidth = img.width
imgHeight = img.height
totalNumOfPixels = imgWidth * imgHeight
return totalNumOfPixels
def GetCoconutMoistureLevel(self):
"""
Moisture level from 0 to 100 corresponing to % humidity
Key arguments:
NONE
Return value:
moisturePercentage -- An float from 0.0 to 100.0
"""
#TODO Moisture sensor in fridge
print("TODO I2C sensor")
moisturePercentage = 100
return moisturePercentage
def CompileImageAndStoreToEMMC():
"""
Key arguments:
NONE
Return value:
NOTHING
"""
LASER.__WarpImage()
#import numpy as np #TODO REMOVE SINCE IM NOT USE ARRAY ANY MORE
#import cv2 as cv #TODO REMOVE SINCE MAKING SIMPLER IS DUMB!
import cv2
try:
# Allow control of output devices such as LEDs and Relays
from gpiozero import LED, OutputDevice
#from gpiozero import Energenize #TODO REMOVE SINCE TOO SPECIFIC???
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 LASER:
# Preset LASER power level CONSTANTS (units are Watts)
HIGH_POWER = 10.00
STANDARD_POWER = 5.00
LOW_POWER = 2.50
MAX_POWER_LEVEL = HIGH_POWER
DEFAULT_LASER_CONSTANT = 0.05264472 #TODO Adjust this until LASER branding looks good
# Global class variable
laserConstant = -1
laserConfig = -1
