def updateDispensing(self, mixing=True):
ml_left = []
dispenselist = self.dispenselist
self.ser = SerialConnection()
ml_left = self.ser.readLine().split(",")
logging.debug(str(ml_left[0]))
if not "ok" in ml_left[0]:
for ingr in self.dispensing:
logging.debug(ingr.feed.name)
for pumpnumber in list(range(24)):
if ingr.feed.motor_num == pumpnumber:
if "Ready" in ml_left[0]:
ingr.dispensed = 0
else:
logging.debug("pumpnumber ", str(pumpnumber))
if int(ml_left[pumpnumber]) < 0:
ml_left[pumpnumber] = 0
ingr.dispensed = math.ceil(
(dispenselist[pumpnumber] -
int(ml_left[pumpnumber])) / self.stepsforml)
else:
self.ser.close()
del self.ser
hwa = HardwareAction(self.mixit)
hwa.end_dispensing(self.mixit)
self.dispensing[:] = [x for x in self.dispensing if not x.done()]
def __init__(self, master, amount, turns, pumpcount=1):
super(CleanScreen, self).__init__(master)
self.master = master
self.last_disp = 0.0
self.pumpnumber = 0
self.turn = 0
self.amount = amount
self.turns = turns
self.pumpcount = pumpcount
self.stopCleaning = False
self.desc = Text(self, relief=FLAT, wrap=NONE, state=DISABLED)
backbtn = RectButton(self,
text="Abbruch",
command=self.handle_button_back)
self.bgcolor = master.bgcolor
self.configure(bg=self.bgcolor)
self.desc.grid(column=0, row=0, sticky=N + E + W + S)
backbtn.grid(column=0, row=1, padx=10, pady=10, sticky=E + W + S)
self.grid_columnconfigure(0, weight=1)
self.grid_rowconfigure(0, weight=1)
try:
self.ser.readData()
except:
try:
self.ser = SerialConnection()
self.ser.readData()
except:
logging.debug("Verbindung nicht moeglich")
self.next_Pump()
def cancelDispensing(self):
self.ser = SerialConnection()
self.ser.sendData('@')
self.ser.readLine()
self.ser.close()
del self.ser
logging.debug("Ausschenken abgebrochen")
for ingr in self.dispensing:
ingr.stopFeed()
self.dispensing[:] = [x for x in self.dispensing if not x.done()]
def __init__(self, master, recipe, amount):
super(DispensingScreen, self).__init__(master)
self.master = master
self.ser = SerialConnection()
self.recipe = recipe
self.last_disp = 0.0
self.desc = Text(self, relief=FLAT, wrap=NONE, state=DISABLED)
backbtn = RectButton(self, text="Abbruch", command=self.handle_button_back)
self.bgcolor = master.bgcolor
self.configure(bg=self.bgcolor)
self.desc.grid(column=0, row=0, sticky=N+E+W+S)
backbtn.grid(column=0, row=1, padx=10, pady=10, sticky=E+W+S)
self.grid_columnconfigure(0, weight=1)
self.grid_rowconfigure(0, weight=1)
recipe.startDispensing(amount)
self.pid = self.after(UPDATE_MS, self.update_screen)
def startDispensing(self, volume):
stepsforml = self.stepsforml
tot_vol = self.totalVolume()
vol_mult = volume / tot_vol
self.dispensing = []
sercommand = ''
self.dispenselist = [
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
]
logging.info("Dispensing: %s, %d ml" % (self.getName(), volume))
for ingr in self.ingredients:
ingr.milliliters = math.ceil(ingr.milliliters * vol_mult)
self.dispensing.append(DispensingIngredient(ingr, vol_mult))
for ingr in self.dispensing:
thisfeed = SupplyFeed.getByName(ingr.feed.name)
newremaining = thisfeed.feeds[
ingr.feed.name].remaining - ingr.milliliters
thisfeed.feeds[ingr.feed.name].remaining = newremaining
logging.debug("remaining neu fuer " + ingr.feed.name + ": " +
str(thisfeed.feeds[ingr.feed.name].remaining))
logging.info("Zutat " + ingr.feed.name + ": " +
str(ingr.milliliters) + " ml")
for pumpnumber in list(range(24)):
if ingr.feed.motor_num == pumpnumber:
self.dispenselist[pumpnumber] = int(
math.ceil(ingr.milliliters * self.stepsforml))
sercommand = (','.join(map(str, self.dispenselist))) + '\n'
try:
self.ser.readData()
except:
logging.debug("keine bestehende verbindung")
try:
self.ser = SerialConnection()
self.ser.readData()
logging.debug("habe verbindung")
except:
logging.debug("verbindung nicht moeglich")
hwa = HardwareAction(self.mixit)
hwa.do_dispensing(self.mixit)
self.ser.sendData(sercommand)
self.ser.close()
del self.ser
self.updateDispensing(self.mixit)
nav_status_lock = threading.Lock()
command = 6 * [0]
command_lock = threading.Lock()
# global variables
mission_running = True
mission_mode = True
blocking = True
thread1 = None
thread2 = None
obj_detection = ObjectDetection()
# initializing serial connection with AUV_simulator
simulator_com = SerialConnection(port='com1', baud=115200)
simulator_com.start()
# wait for the first not empty message from AUV_simulator
while nav_status == None:
receive_nav_status()
# threads running
start_threads()
# wait for threads termination
wait_for_threads_termination()
# close serial connection with AUV_simulator
simulator_com.close()
control_mode = False
mission_mode = False
#--------------------------------------------------------------------------------#
# inizializing UDP connection with Unity
HOST_IP = 'localhost'
HOST_PORT_UDP = 29000
UDP_IP = 'localhost'
UDP_PORT = 25000
unity_com = CustomUDP(HOST_IP, HOST_PORT_UDP, UDP_IP, UDP_PORT)
unity_com.start()
# inizializing connection with mission_manager
mission_com = SerialConnection(port='com2', baud=115200)
mission_com.start()
# inizializing pygame
pg.init()
# creation GUI screen
pg.display.set_caption('Zeno GUI')
screen = pg.display.set_mode(SCREEN_DIM)
# creation of stylised images of the AUV (top, side and back view)
# note: images are square and image width is equal to dial diameter
image_width = 2 * DIAL_R
image_1 = create_view('images/zeno_top.bmp', image_width) # top view
image_2 = create_view('images/zeno_side.bmp', image_width) # side view
from serial_connection import SerialConnection
import signal
def new_packet(incoming_queue):
packet = incoming_queue.get()
print(packet)
incoming_queue.task_done()
def exit_handler(signal, frame):
print("Exit called")
con.stop()
con = SerialConnection('/dev/pts/2', 19200, new_packet, "ACK\n")
items = ["esimene", "teine", "kolmas", "neljas"]
con.start()
for i in items:
con.write(i)
print("items added to write queue")
# register exit handler
signal.signal(signal.SIGINT, exit_handler)
