if sense:
for j in range(0, cellCountY + 1, 1):
plant_y = plantLength * j + pos_y
moveAbs(plant_x, plant_y, pos_z + plantingRetract)
moveAbs(plant_x, plant_y, pos_z)
moveAbs(plant_x, plant_y, pos_z + plantingRetract)
sense = 0
else:
for j in range(cellCountY, -1, -1):
plant_y = plantLength * j + pos_y
moveAbs(plant_x, plant_y, pos_z + plantingRetract)
moveAbs(plant_x, plant_y, pos_z)
moveAbs(plant_x, plant_y, pos_z + plantingRetract)
sense = 1
#Return seed tool to toolbay.
moveAbs(plant_x, plant_y, seedToolZ)
moveAbs(plant_x, seedToolY, seedToolZ)
moveAbs(seedToolX, seedToolY, seedToolZ)
#Seperate seed tool from arm.
moveAbs(seedToolX, seedToolY, seedToolZ + 60)
#Move to arm storage position.
moveAbs(seedToolX, 300, safeZ)
device.log('success!!', 'success', ['toast'])
if __name__ == '__main__':
farmware_name = 'seeding_path'
#!/usr/bin/env python
'''Hello Farmware Input
A simple Farmware example that tells FarmBot to log a new message including the provided input.
'''
from farmware_tools import get_config_value, device
INPUT_VALUE = get_config_value(farmware_name='Hello Farmware Input',
config_name='input',
value_type=str)
device.log(message='Hello Farmware! Input was: {}'.format(INPUT_VALUE),
message_type='success')
average += i
average /= len(moisture_readings)
device.log('Total Moisture Average: {}'.format(average), 'info')
if average < THRESHOLD:
device.execute(water_tool_retrieve_sequence_id)
device.execute(water_sequence_id)
device.execute(water_tool_return_sequence_id)
PIN_LIGHTS = 7
PIN_SENSOR = 59
PIN_WATER = 8
PKG = 'Water Routine'
input_errors = []
device.log('INIT')
PLANT_TYPES = Qualify.get_csv(PKG, 'plant_types')
#device.log('CSVs Qualified')
SENSOR_Z_DEPTH = Qualify.integer(PKG, 'sensor_z_depth')
Z_TRANSLATE = Qualify.integer(PKG, 'z_translate')
OFFSET_X = Qualify.integer(PKG, 'offset_x')
OFFSET_Y = Qualify.integer(PKG, 'offset_y')
THRESHOLD = Qualify.integer(PKG, 'threshold')
NUM_SITES = Qualify.integer(PKG, 'num_sites')
NUM_SAMPLES = Qualify.integer(PKG, 'num_samples')
#device.log('Integers Qualified')
moisture_tool_retrieve_sequence_id = Qualify.sequence(
PKG, 'tool_moisture_retrieve')
moisture_tool_return_sequence_id = Qualify.sequence(PKG,
'tool_moisture_return')
water_tool_retrieve_sequence_id = Qualify.sequence(PKG, 'tool_water_retrieve')
def set_level(level):
Logger.LOGGER_LEVEL = int(level) if int(level) in [0, 1, 2, 3] else 0
device.log("[{}] LOGGER_LEVEL set to {}".format(
Logger.FARMWARE_NAME, Logger.LOGGER_LEVEL))
def no_data_error():
"""Send an error to the log if there's no data."""
message = '[Plot sensor data] No data available for pin {}.'.format(PIN)
device.log(message, 'error')
# web-app via Logs. When the Farmware sequence is run, a start command
# is sent from the Farmbot's raspberry pi to the Image processing Pi
# via serial signal lines. Data generated on the IPpi is returned the
# same way.
#------------------------------------------------------------------------"""
import os
import json
import time
import serial
import requests
from time import sleep
from farmware_tools import device
device.log(message='Plant Charact.:',
message_type='success',
channels=['toast'])
#def get_token():
# Inputs:
# global EMAIL
# EMAIL = input("FarmBot Email: ")
# global PASSWORD
# PASSWORD = input("WebApp Password: ")
# Get your FarmBot Web App token.
# headers = {'content-type': 'application/json'}
# user = {'user': {'email': EMAIL, 'password': PASSWORD}}
# payload = json.dumps(user)
# response = requests.post('https://my.farmbot.io/api/tokens',headers=headers, data=payload)
# global TOKEN
# TOKEN = response.json()['token']['encoded']
#!/usr/bin/env python
'''
' Single Axis
'''
import os
from farmware_tools import device
from farmware_tools import app
from farmware_tools import get_config_value
# create Celery coordinate node
coord = device.assemble_coordinate(0, 0, 0)
# apply currrent positions to coordinate node
for axis in coord['args']:
coord['args'][axis] = device.get_current_position(axis)
# get the desired axis to modify and set the coordinate node to the desired value
single_axis = get_config_value('Single Axis', 'axis', str).lower()
coord['args'][single_axis] = int(get_config_value('Single Axis', 'pos'))
#log = 'Axis: {}, Coordinate: {}'.format(single_axis, coord)
log = "Moving '%s' axis to %d" % (single_axis.upper(),
coord['args'][single_axis])
device.log(log, 'info', ['toast'])
# perform the move
device.move_absolute(coord, 100, device.assemble_coordinate(0, 0, 0))
#OBTAINING CONSTANT DATA: H**O KERNEL, CALIBRATION PARAMETERS, DESCRIPTORS
dir_path = os.path.dirname(os.path.realpath(__file__))
butt_kernel = np.load(dir_path+'/'+'kernel_butt.npy')
descriptors = np.load(dir_path+'/'+'all_descriptors.npy')
tvec = np.load(dir_path+'/'+'tvec.npy')
rmatrix = np.load(dir_path+'/'+'rmatrix.npy')
intrinsics = np.load(dir_path+'/'+'nintrinsics.npy')
matrix=np.load(dir_path+'/'+'array1.npy')
matrix2=np.load(dir_path+'/'+'array2.npy')
matrix3=np.load(dir_path+'/'+'array3.npy')
matrix4=np.load(dir_path+'/'+'array4.npy')
weeder=(23,551,-399)
device.log(message='descriptors shape= {}'.format(descriptors.shape), message_type='success')
#
#MOVEMENTS
#capture_pos = device.assemble_coordinate(500,400,0)
#device.move_absolute(capture_pos, speed=100, offset=device.assemble_coordinate(0,0,0))
move_absolute((500,400,0),(0,0,0),100)
#OBTAINING THE IMAGE
img=usb_camera_photo()
#img = cv2.imread(dir_path+'/'+'image_orig3.jpeg',1)
#img = cv2.imread(dir_path+'/'+'image_orig3_mod.jpeg',1)
#PREPROCESSING
start = time()
from farmware_tools import device
from farmware_tools import get_config_value
import json
import os
evName = get_config_value(farmware_name='FarmwareEnVar',
config_name='evName',
value_type=str)
evValue = get_config_value(farmware_name='FarmwareEnVar',
config_name='evValue',
value_type=str)
device.log(message="Recieved environment variable name: " + str(evName) +
" environment variable value: " + str(evValue),
message_type="success")
config = {evName: evValue}
configFileName = '/tmp/farmware/config.json'
# If the file exists delete it
if os.path.isfile(configFileName):
os.remove(configFileName)
device.log(message="Config file: " + str(configFileName) +
" existed so deleteing it",
message_type="success")
# Create a new file and load the config
with open(configFileName, 'w') as f:
json.dump(config, f)
filepath = os.path.abspath(f.name)
f.close()
#!/usr/bin/env python '''Hello Farmware A simple Farmware example that tells FarmBot to log a new message. ''' from farmware_tools import device device.log(message='Hello Farmware!', message_type='success')
descriptors = np.load(dir_path + '/' + 'all_descriptors.npy')
tvec = np.load(dir_path + '/' + 'tvec.npy')
rmatrix = np.load(dir_path + '/' + 'rmatrix.npy')
intrinsics = np.load(dir_path + '/' + 'nintrinsics.npy')
matrix = np.load(dir_path + '/' + 'array1.npy')
matrix2 = np.load(dir_path + '/' + 'array2.npy')
matrix3 = np.load(dir_path + '/' + 'array3.npy')
matrix4 = np.load(dir_path + '/' + 'array4.npy')
weeder = (33, 554, -401)
gripper_pin = 4
gripper_down = 0
gripper_up = 1
device.set_pin_io_mode(1, gripper_pin)
device.log(message='descriptors shape= {}'.format(descriptors.shape),
message_type='success')
#
#MOVEMENTS
#capture_pos = device.assemble_coordinate(500,400,0)
#device.move_absolute(capture_pos, speed=100, offset=device.assemble_coordinate(0,0,0))
#move_absolute((500,400,0),(0,0,0),100)
start_totalproc = time()
#OBTAINING THE IMAGE
img = usb_camera_photo()
#img = cv2.imread(dir_path+'/'+'image_orig3.jpeg',1)
#img = cv2.imread(dir_path+'/'+'image_orig3_mod.jpeg',1)
"""
#PREPROCESSING
#!/usr/bin/env python
"""Move Relative Farmware"""
from farmware_tools import device
from farmware_tools import get_config_value
# Load inputs from Farmware page widget specified in manifest file
x_dist = get_config_value('Move Relative', 'rel_x')
y_dist = get_config_value('Move Relative', 'rel_y')
z_dist = get_config_value('Move Relative', 'rel_z')
device.log('starting! ' + str(x_dist), 'success', ['toast'])
device.move_relative(x_dist, y_dist, z_dist, 100)
device.log('ending!', 'success', ['toast'])
if __name__ == '__main__':
farmware_name = 'move_relative'
image[:, :] = (randrange(256), randrange(256), randrange(256))
filename_path = upload_path(image_filename())
# Save the image to file
cv2.imwrite(filename_path, image)
print('Image saved: {}'.format(filename_path))
device.log('Image saved: {}'.format(filename_path), 'debug')
if __name__ == '__main__':
X_SIZE = get_config_value('Fake-Camera', 'x_size')
Y_SIZE = get_config_value('Fake-Camera', 'y_size')
# Verify user inputs
if X_SIZE < 1:
device.log(
'Width must be positive (used {})! Abort fake camera farmware'.
format(X_SIZE), 'error')
sys.exit(1)
elif Y_SIZE < 1:
device.log(
'Height must be positive (used {})! Abort fake camera farmware'.
format(Y_SIZE), 'error')
sys.exit(1)
elif X_SIZE > 4096: # Greater than 4K resolution
device.log(
'Width is too big, it\'s not a good idea (used {})! Abort fake camera farmware'
.format(X_SIZE), 'error')
sys.exit(1)
elif Y_SIZE > 4096: # Greater than 4K resolution
device.log(
'Height is too big, it\'s not a good idea (used {})! Abort fake camera farmware'
def log(message, message_type):
'Send a log message.'
device.log('[take-photo] {}'.format(message), message_type)
#!/usr/bin/env python
'''Hello Farmware
A simple Farmware example that tells FarmBot to log a new message.
'''
from farmware_tools import device
from farmware_tools import app
'''def keepValues(input):
device.log(input)
return input.get("value")'''
device.log(message='Hello world 21', message_type='success')
#res = device.read_pin(59, "Soil sensor", 1)
#device.log(message=str(res), message_type="info")
res2 = app.get("sensor_readings")
#device.log(message=str(res2), message_type="info")
tabValues = []
for input in res2:
tabValues.append(input.get("value"))
#device.log(message=str(input.get("value")), message_type="info")
device.log(message=str(tabValues), message_type="info")
device.log(message='Fin hello farmware', message_type='success')
#!/usr/bin/env python
from farmware_tools import app
from farmware_tools import device
from farmware_tools import env
from farmware_tools import get_config_value
try:
#device.move_absolute(location=device.assemble_coordinate(100, 50, 0), speed=100, offset=device.assemble_coordinate(0, 0, 0))
device.move_absolute(device.assemble_coordinate(100, 100, 0), 100,
device.assemble_coordinate(0, 0, 0))
INPUT_VALUE = get_config_value(farmware_name="Hello Farmware Input",
config_name="input",
value_type=str)
device.log(message="Hello Farmware! Input was: {}".format(INPUT_VALUE),
message_type="success")
except Exception as error:
device.log(repr(error))