def __processModeSelectionCommand(self, operation):
new_module = self.actionDict[operation][self.ACTION_OPERATION_ID_INDEX]
if new_module != self.status_dict["current_mode"]:
cmd = [CommandType.INPUT
] + createCommand().setModule("nova").setOperation(
"set_mode").setModeArg(new_module).build()
self.move_commands.append(cmd)
self.status_dict["current_mode"] = new_module
def __writeCoordinates(self, center_x, center_y):
x = int(center_x * NovaConfig.FACE_DETECTION_COORDINATE_CORRECTION_X)
y = int(center_y * NovaConfig.FACE_DETECTION_COORDINATE_CORRECTION_Y)
cmd = createCommand().setModule("track_object").setOperation(
"set_coordinates").setArgs([x, y]).build()
self.serial_comm.writeCommand(cmd)
self.commands_send += 1
def __togglePIDcontrollerOnOff(self, module):
if module in self.pid_index:
asset = self.__determinePIDasset(module)
print(
f"Toggled PID controller {asset} for module {module} auto/manual"
)
cmd = [CommandType.INPUT] + createCommand().setModule(
module).setAsset(asset).setOperation("toggle_auto").build()
self.move_commands.append(cmd)
def __processMoveCommand(self, move, positive_direction):
degrees = NovaConfig.EXTERNAL_INPUT_STEPSIZE_DEGREES if positive_direction else -NovaConfig.EXTERNAL_INPUT_STEPSIZE_DEGREES
asset = self.actionDict[move][self.ACTION_OPERATION_ID_INDEX]
args = [degrees]
cmd = [
CommandType.INPUT
] + createCommand().setModule("external_input").setAsset(
asset).setOperation("set_degree_steps").setArgs(args).build()
self.move_commands.append(cmd)
def __createCommandFromMouseMove(self, mouse_mode, axis, direction,
degrees):
parts_of_id = ['MOUSE', mouse_mode, axis, direction]
mouse_event_id = '_'.join(parts_of_id)
move = self.mouse_index[mouse_event_id]
asset = self.actionDict[move][self.ACTION_OPERATION_ID_INDEX]
args = [degrees]
cmd = [
CommandType.INPUT
] + createCommand().setModule("external_input").setAsset(
asset).setOperation("set_degree_steps").setArgs(args).build()
self.move_commands.append(cmd)
def __calculateMouseWheelMove(self, flags):
if flags < 0:
direction = 'PLUS'
else:
direction = 'MINUS'
degrees = NovaConfig.EXTERNAL_INPUT_STEPSIZE_DEGREES if direction == 'PLUS' else -NovaConfig.EXTERNAL_INPUT_STEPSIZE_DEGREES
move = self.mouse_index['MOUSE_SCROLL_' + direction]
asset = self.actionDict[move][self.ACTION_OPERATION_ID_INDEX]
args = [degrees]
cmd = [
CommandType.INPUT
] + createCommand().setModule("external_input").setAsset(
asset).setOperation("set_degree_steps").setArgs(args).build()
self.move_commands.append(cmd)
def __processTunePIDCommand(self, move):
module = self.status_dict["current_mode"]
if move == NovaMove.TUNE_CYCLE_PID_CONTROLLER_IN_MODULE:
self.__togglePIDcontrollerToTune(module)
elif move == NovaMove.TOGGLE_PID_MANUAL_AUTO:
self.__togglePIDcontrollerOnOff(module)
else: # actual tuning of pid settings (up | down)
asset = self.__determinePIDasset(module)
pid_values = self.__determinePIDvalues(move, module, asset)
args = list(
int(x * 1000) for x in pid_values
) # nova command protocol allows only to send 'int', not 'decimal'
cmd = [CommandType.INPUT
] + createCommand().setModule(module).setAsset(
asset).setOperation("set_tuning").setArgs(args).build()
self.move_commands.append(cmd)