def build(side=None):
pymelLogger.debug('Starting: build()...')
if side == None: raise Exception('Make sure side: %s is valid ' % side)
if side != Names.prefixes['left'] and side != Names.prefixes['right']:
raise Exception('Make sure side: %s is valid ' % side)
# create hand jnt
handJntList = _createHandJnt(side) # [handJnt, handJntName]
handJnt = handJntList[0]
handJntSH = handJntList[1]
# create hand switch
ctrl = handJntSH + '_' + Names.suffixes['switch']
hand_switch_offset = Control.create(name=ctrl,
offsets=1,
shape='cube',
size=[1, 1, 1],
color=_getSideColor(side),
pos=None,
parent=handJnt,
typ='body')
hand_switch_offset.setParent(world=1)
hand_switch = hand_switch_offset.getChildren()[
0] # it will work only with one offset
hideLockAttr(hand_switch, lockHideTRSV)
# add switch attr
pm.addAttr(hand_switch, longName=Names.switchIkFk, k=True, min=0, max=1)
# parentConstraint switch offset to sh handJnt !!!! Make sure it will work
pm.parentConstraint(handJntSH, hand_switch_offset, mo=True)
# build fingers
Finger.build(side=side,
label='Fingers',
control=hand_switch,
parentJnt=handJnt,
curl='Z',
twist='X',
spread='Y',
fkNormal=(1.0, 0.0, 0.0),
radius=0.3)
# group switch and hand
hand_grp = pm.group(hand_switch_offset,
handJnt,
name=handJntSH + '_' + Names.suffixes['group'])
_cleanUp(hand_grp)
pymelLogger.debug('End: build()...')
def build( side=None ):
pymelLogger.debug('Starting: build()...')
if side == None: raise Exception('Make sure side: %s is valid '%side)
if side != Names.prefixes['left'] and side != Names.prefixes['right']:
raise Exception('Make sure side: %s is valid '%side)
# create hand jnt
handJntList = _createHandJnt( side ) # [handJnt, handJntName]
handJnt = handJntList[0]
handJntSH = handJntList[1]
# create hand switch
ctrl = handJntSH + '_' + Names.suffixes['switch']
hand_switch_offset = Control.create( name= ctrl , offsets=1, shape='cube',
size=[1,1,1], color=_getSideColor(side),
pos=None, parent=handJnt, typ='body' )
hand_switch_offset.setParent( world=1 )
hand_switch = hand_switch_offset.getChildren()[0] # it will work only with one offset
hideLockAttr(hand_switch, lockHideTRSV)
# add switch attr
pm.addAttr( hand_switch, longName= Names.switchIkFk, k=True, min=0, max=1 )
# parentConstraint switch offset to sh handJnt !!!! Make sure it will work
pm.parentConstraint(handJntSH, hand_switch_offset, mo=True)
# build fingers
Finger.build( side=side, label='Fingers', control=hand_switch, parentJnt = handJnt,
curl='Z',twist='X',spread='Y', fkNormal=(1.0, 0.0, 0.0), radius=0.3 )
# group switch and hand
hand_grp = pm.group(hand_switch_offset,handJnt,name = handJntSH + '_' + Names.suffixes['group'])
_cleanUp( hand_grp )
pymelLogger.debug('End: build()...')
#-- Abrir el puerto serie. Si hay algun error se termina
#--------------------------------------------------------
try:
s = serial.Serial(serial_name, 115200)
#-- Timeout: 100 ms
s.timeout=0.1;
except serial.SerialException:
#-- Error al abrir el puerto serie
sys.stderr.write("Error opening the port {0}".format(serial_name))
sys.exit(1)
#-- Mostrar el nombre del dispositivo
print "Puerto serie abierto: {0}\n".format(s.name)
#-- Create the servos to use
#s1 = Servo(s, 2)
#s2 = Servo(s, 4)
f1 = Finger(s, 2, up = 68, down = 76)
f2 = Finger(s, 4, up = 65, down = 74)
#-- Put the fingers in the up position
f1.up()
f2.up()
def move_list(data):
move_list = []
curr_move = Move()
curr_frame = Frame()
last_frameid = None
for row in range(0, len(data)):
if (data[row]):
#Each row represents a finger in a frame
curr_finger = Finger(data[row])
#Handle the first entry
if (row == 0):
curr_frame.id = curr_finger.frame
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
else:
#A new frame has begun
if (curr_frame.id != curr_finger.frame):
#Check if the old frame was still or stopped (i.e. fingers lifted off)
#and if so, end the last move and add it to the list of moves.
if (curr_frame.is_still()) or (curr_frame.is_stopped()):
#We don't care about collecting still-frame data so just disregard it
#but end the move accordingly.
#We know the current move has ended so added it to the list of moves
#but only if there are frames in it, this is to mitigate the fact that
#WHENEVER there is a still frame a new Move obj is created, but
#we don't care about these.
if (curr_move.Framelist):
curr_move.endAngle = curr_frame.Fingers[
0].angle #Only looks at one finger
curr_move.endXVel = curr_frame.Fingers[
0].xvel #Only looks at one finger
move_list.append(curr_move)
curr_move = Move()
#The last frame was neither still nor stopped, but we need to add it
#to the current move.
else:
if (not curr_move.Framelist):
curr_move.startAngle = curr_frame.Fingers[
0].angle #Not actually accurate e.g. it only looks at one finger
curr_move.startXVel = curr_frame.Fingers[
0].xvel #Not accurate, see above.
curr_move.Framelist.append(curr_frame)
if (curr_frame.numFingers > curr_move.maxFingers):
curr_move.maxFingers = curr_frame.numFingers
if (curr_frame.numFingers < curr_move.minFingers):
curr_move.minFingers = curr_frame.numFingers
#Update the current frame
curr_frame = Frame()
curr_frame.id = curr_finger.frame
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
#A new frame has not begun but there are more fingers to add to it.
else:
curr_frame.Fingers.append(curr_finger)
curr_frame.numFingers += 1
if (curr_move.Framelist):
curr_move.endAngle = curr_frame.Fingers[
0].angle #Only looks at one finger
curr_move.endXVel = curr_frame.Fingers[
0].xvel #Only looks at one finger
move_list.append(curr_move)
return move_list
#print "Puerto serie: {0}".format(serial_name)
#-- Open the serial port
#--------------------------------------------------------
#-- Abrir el puerto serie. Si hay algun error se termina
#--------------------------------------------------------
try:
s = serial.Serial(serial_name, 115200)
#-- Timeout: 100 ms
s.timeout = 0.1
except serial.SerialException:
#-- Error al abrir el puerto serie
sys.stderr.write("Error opening the port {0}".format(serial_name))
sys.exit(1)
#-- Mostrar el nombre del dispositivo
print "Puerto serie abierto: {0}\n".format(s.name)
#-- Create the servos to use
#s1 = Servo(s, 2)
#s2 = Servo(s, 4)
f1 = Finger(s, 2, up=68, down=76)
f2 = Finger(s, 4, up=65, down=74)
#-- Put the fingers in the up position
f1.up()
f2.up()
def main():
# Add epilog
__epilog = "For suggestions use <" + __email__ + ">"
# Set program name
__program = "FingerPrint"
# Set description
__description = "Olimex finger sensor demo"
parser = argparse.ArgumentParser(description=__description,
epilog=__epilog,
prog=__program)
# Register common arguments
parser.add_argument("-p",
"--port",
action="store",
required=True,
help="Communication port to use")
parser.add_argument("--baudrate",
action="store",
type=int,
default=57600,
help="Set communication speed. Default: 57600")
parser.add_argument("--settings",
action="store_true",
help="Read current sensor settings")
parser.add_argument("-v",
"--verbose",
action="store_true",
help="Enables verbose output")
parser.add_argument("--version",
action="version",
version="%(prog)s 0.1.0",
help="Print program version")
# Models group
models_group = parser.add_argument_group(
"Models", "Arguments for models usage").add_mutually_exclusive_group()
models_group.add_argument("--list-models",
action="store",
type=int,
choices=[0, 1, 2, 3],
help="Print the usage of model pages")
models_group.add_argument("--model-store",
action="store",
type=int,
nargs=2,
metavar=("BUFFER", "PAGE"),
help="Transfer model from buffer# to page#")
models_group.add_argument(
"--model-delete",
action="store",
type=int,
nargs=2,
metavar=("START", "COUNT"),
help="Delete models in the database at START to START+COUNT")
models_group.add_argument("--model-load",
action="store",
type=int,
nargs=2,
metavar=("BUFFER", "PAGE"),
help="Load model at #PAGE into #BUFFER")
models_group.add_argument(
"--model-upload",
action="store",
nargs=2,
metavar=("BUFFER", "FILE"),
help="Transfer the content of #BUFFER to #FILE on the host computer")
models_group.add_argument("--model-download",
action="store",
nargs=2,
metavar=("BUFFER", "FILE"),
help="Transfer the content of #FILE to #BUFFER")
models_group.add_argument("--model-generate",
action="store_true",
help="Generate fingerprint image")
models_group.add_argument(
"--model-chars",
action="store",
type=int,
choices=[1, 2],
metavar="BUFFER",
help=
"Generate characteristics from the image in the ImageBuffer and store it in #BUFFER"
)
models_group.add_argument(
"--model-match",
action="store_true",
help="Compare models in charBuffer1 and charBuffer2 and look for match"
)
models_group.add_argument(
"--model-search",
action="store",
type=int,
nargs=3,
metavar=("BUFFER", "START", "COUNT"),
help="Search the database for match to the model stored in #BUFFER")
models_group.add_argument("--models-count",
action="store_true",
help="Print current models count")
models_group.add_argument(
"--model-register",
action="store_true",
help="Compare CharBuffer1 with CharBuffer2 and creates model")
models_group.add_argument("--empty",
action="store_true",
help="Empty model database")
# Register common argument group
sensor_group = parser.add_argument_group("Sensor", "Sensor configuration")
sensor_group.add_argument(
"--set-baud",
action="store",
type=int,
choices=[
9600, 19200, 28800, 38400, 48000, 57600, 67200, 76800, 86400,
96000, 115200
],
help="Set new speed for the sensor. Range 9600 to 115200")
sensor_group.add_argument("--set-security",
action="store",
type=int,
choices=[1, 2, 3, 4, 5],
help="Set security level.")
sensor_group.add_argument("--set-packet",
action="store",
type=int,
choices=[32, 64, 128, 256],
help="Set the length of data packet in bytes")
sensor_group.add_argument("--password",
action="store",
type=parser_hex,
default=0x00000000,
help="Sensor password. Default: 0x00000000")
sensor_group.add_argument("--address",
action="store",
type=parser_hex,
default=0xFFFFFFFF,
help="Sensor address. Default: 0xffffffff")
# Register argument group
image_group = parser.add_argument_group(
"Fingerprint image",
"Actions with ImageBuffer").add_mutually_exclusive_group()
image_group.add_argument(
"--image-upload",
action="store",
metavar="FILE",
help="Upload fingerprint image from sensor to host PC")
# Parse arguments
args = parser.parse_args()
# Configure logging
if args.verbose:
logging.basicConfig(format="%(message)s", level=logging.DEBUG)
else:
logging.basicConfig(format="%(message)s", level=logging.INFO)
# Start communication with the sensor
sensor = Finger.System(args.port,
baud=args.baudrate,
password=args.password,
address=args.address)
model = Finger.Models(args.port,
baud=args.baudrate,
password=args.password,
address=args.address)
image = Finger.Image(args.port,
baud=args.baudrate,
password=args.password,
address=args.address)
# Check is there is someone
logging.debug("Connecting with sensor")
logging.debug("----------------------")
if sensor.verify_password():
return 1
else:
logging.debug("Response: OK")
# Check if settings flag is set
if args.settings:
logging.debug("\nReading settings")
logging.debug("----------------")
sensor.read_system_params()
return 0
# Check for command
if args.set_baud:
logging.debug("\nSetting baudrate to %d" % args.set_baud)
logging.debug("------------------------------")
if sensor.set_baudrate(args.set_baud):
return 1
else:
logging.debug("Response: OK")
if args.set_security:
logging.debug("\nSetting security to %d" % args.set_security)
logging.debug("------------------------------")
if sensor.set_security(args.set_security):
return 1
else:
logging.debug("Response: OK")
if args.set_packet:
logging.debug("\nSetting packet length to %d" % args.set_packet)
logging.debug("------------------------------")
if sensor.set_packet(args.set_packet):
return 1
else:
logging.debug("Response: OK")
if args.list_models is not None:
model.get_storage_table(args.list_models)
if args.models_count:
model.get_model_count()
if args.model_store is not None:
model.store_model(args.model_store[0], args.model_store[1])
if args.model_delete is not None:
model.delete_model(args.model_delete[0], args.model_delete[1])
if args.model_load is not None:
model.load_model(args.model_load[0], args.model_load[1])
if args.model_upload is not None:
sensor.read_system_params()
model.upload_model(args.model_upload[0], args.model_upload[1])
if args.model_download is not None:
sensor.read_system_params()
model.download_model(args.model_download[0], args.model_download[1])
if args.model_generate:
model.generate_model()
if args.model_chars is not None:
model.generate_characteristics(args.model_chars)
if args.model_match:
model.match_model()
if args.model_search is not None:
model.search_model(args.model_search[0], args.model_search[1],
args.model_search[2])
if args.image_upload is not None:
sensor.read_system_params()
image.upload_image(args.image_upload[0])
if args.empty:
model.empty_database()
