Module ReMake.Raspberry_Pi.Pico
Expand source code
import time
import serial
import netifaces
class pico:
"""This class handle the serial communication with the Raspberry Pi Pico via UART.
"""
def __init__(self, dr=0):
"""An interface for the microcontroller.
Args:
dr (int, optional): normal direction for the rotating bed. Defaults to 0.
"""
self.ser = serial.Serial(
port='/dev/ttyS0',
baudrate = 115200,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
bytesize=serial.EIGHTBITS,
timeout=1
)
self.dr = dr
self.drarm = 0
def sendM(self, mes):
"""Tries to send a message over serial and waits for the confirmation.
Args:
mes (str): message to be send
"""
try:
self.ser.write(mes.encode())
time.sleep(0.03)
received_data = self.ser.read() #read serial port
time.sleep(0.03)
data_left = self.ser.inWaiting() #check for remaining byte
received_data += self.ser.read(data_left)
if received_data:
received_data = received_data.decode()
if received_data == 'ok\n':
self.ser.reset_input_buffer()
else:
time.sleep(0.1)
received_data = self.ser.read() #read serial port
time.sleep(0.03)
data_left = self.ser.inWaiting() #check for remaining byte
received_data += self.ser.read(data_left)
if received_data:
received_data = received_data.decode()
if received_data == 'ok\n':
self.ser.reset_input_buffer()
else:
print('Confimation not received, sending again the message')
self.sendM(mes)
except:
print("errror 53")
def sendM_wc(self, mes):
"""Tries to send a message over serial without the need of a confirmation.
Args:
mes (str): message to be send
"""
try:
self.ser.write(mes.encode())
time.sleep(0.03)
except OSError as error :
print(error)
def readM(self):
"""Tries to read the serial buffer and reconstruct the message received.
Returns:
str: message received
"""
try:
received_data = self.ser.read() #read serial port
time.sleep(0.03)
data_left = self.ser.inWaiting() #check for remaining byte
received_data += self.ser.read(data_left)
return received_data.decode("utf-8", "ignore")
except:
print("error 71")
def get_interfaces(self):
"""Get local networking interfaces
Returns:
interface: local interface
"""
interfaces = netifaces.interfaces()
interfaces.remove('lo')
out_interfaces = dict()
for interface in interfaces:
addrs = netifaces.ifaddresses(interface)
out_addrs = dict()
if netifaces.AF_INET in addrs.keys():
out_addrs["ipv4"] = addrs[netifaces.AF_INET]
if netifaces.AF_INET6 in addrs.keys():
out_addrs["ipv6"] = addrs[netifaces.AF_INET6]
out_interfaces[interface] = out_addrs
return out_interfaces
def sendIp(self):
"""Send the local IP to the microcontroller.
"""
ip = self.get_interfaces()['wlan0']['ipv4'][0]['addr']
self.sendM('i'+ip+'\n')
def rotateBed(self, angle):
"""Rotate the bed to a specific angle.
Args:
angle (float): angle to rotate to
"""
mes = 'r' + str(self.dr)+'_'+str(angle) + '\n'
self.sendM(mes)
def rotateBedR(self, angle):
"""Rotate the bed in reverse to a specific angle.
Args:
angle (float): angle to rotate to
"""
if self.dr == 1:
dr = 0
elif self.dr == 0:
dr = 1
mes = 'r' + str(dr)+'_'+str(angle) + '\n'
self.sendM(mes)
def moveArm(self, angle):
"""Rotate the arm to a specific angle.
Args:
angle (float): angle to rotate to
"""
mes = 'z' + str(self.drarm)+'_'+str(angle) + '\n'
self.sendM(mes)
def servo(self, angle):
"""Rotate the servo holding the laser to a specific angle.
Args:
angle (float): angle to rotate to
"""
mes = 'k' + str(angle) + '\n'
self.sendM(mes)
time.sleep(2)
def laserOn(self):
"""Turn on the laser.
"""
mes = 'l0\n'
self.sendM(mes)
def laserOff(self):
"""Turn off the laser.
"""
mes = 'l1\n'
self.sendM(mes)
def ledsOn(self):
"""Turn on the LEDs.
"""
mes = 'e0\n'
self.sendM(mes)
def ledsOff(self):
"""Turn off the LEDs.
"""
mes = 'e1\n'
self.sendM(mes)
def LCDOn(self):
"""Turn on the LCD backlight.
"""
mes = 'x1\n'
self.sendM(mes)
def LCDOff(self):
"""Turn off the LCD backlight.
"""
mes = 'x0\n'
self.sendM(mes)
def getWeigt(self):
"""Read the pressure sensor and get the weigt of the object scanned.
Returns:
float: weight
"""
mes = 'w\n'
self.sendM(mes)
time.sleep(0.2)
a=1 #to be found out
b=0
weight = int(self.readM()) * a + b
return weight
def getLight(self):
"""Read the light sensors.
Returns:
list: the light intensity for each sensor
"""
mes = 'p\n'
self.sendM(mes)
time.sleep(0.2)
rx = self.readM()
while not rx.strip():
rx = self.readM()
time.sleep(0.1)
rcv = rx.split('_')
l0, l1 = int(rcv[0]), int(rcv[1])
return (l0, l1)
def getRes(self):
"""Get the resolution set in by the user.
Returns:
int: selected resolution
"""
mes = 'o\n'
self.sendM(mes)
time.sleep(0.2)
rx = self.readM()
while not rx.strip():
rx = self.readM()
time.sleep(0.1)
res = int(rx)
return res
def getAng(self):
"""Get the numer of samples for the scan set in by the user.
Returns:
int: number of samples
"""
mes = 'y\n'
self.sendM(mes)
time.sleep(0.2)
rx = self.readM()
while not rx.strip():
rx = self.readM()
time.sleep(0.1)
res = int(rx)
return res
def startCal(self):
"""Starts the calibration process.
"""
mes = 'h\n'
self.sendM(mes)
def ck(self):
"""Verify the connection.
"""
mes = 'c\n'
self.sendM(mes)
def doneCal(self):
"""Check if the previous operation is completed.
Returns:
bool: True if the operation is completed, False otherwise
"""
mes = self.readM()
if mes == 'start\n':
return True
return False
def wait(self):
"""Tell the user that the exterior light is too bright.
"""
mes = 'j\n'
self.sendM(mes)
def start(self):
"""Get the input from the user to check if the scan should start.
Returns:
bool: True if the scan should start, False otherwise
"""
mes = 's\n'
self.sendM(mes)
time.sleep(0.1)
mes = self.readM()
if mes == 'start\n':
return True
return False
"""
pico = pico()
pico.ck()
time.sleep(1)
pico.sendIp()
pico.rotateBed(90)
pico.laserOff()
pico.ledsOn()
pico.servo(10)
pico.servo(90)
#pico.LCDOff()
print(pico.getWeigt())
#pico.sendM(mes)
while not pico.start():
#print(pico.readM())
time.sleep(0.5)
print('LES GOOO')
"""Classes
class pico (dr=0)-
This class handle the serial communication with the Raspberry Pi Pico via UART.
An interface for the microcontroller.
Args
dr:int, optional- normal direction for the rotating bed. Defaults to 0.
Expand source code
class pico: """This class handle the serial communication with the Raspberry Pi Pico via UART. """ def __init__(self, dr=0): """An interface for the microcontroller. Args: dr (int, optional): normal direction for the rotating bed. Defaults to 0. """ self.ser = serial.Serial( port='/dev/ttyS0', baudrate = 115200, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, timeout=1 ) self.dr = dr self.drarm = 0 def sendM(self, mes): """Tries to send a message over serial and waits for the confirmation. Args: mes (str): message to be send """ try: self.ser.write(mes.encode()) time.sleep(0.03) received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) if received_data: received_data = received_data.decode() if received_data == 'ok\n': self.ser.reset_input_buffer() else: time.sleep(0.1) received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) if received_data: received_data = received_data.decode() if received_data == 'ok\n': self.ser.reset_input_buffer() else: print('Confimation not received, sending again the message') self.sendM(mes) except: print("errror 53") def sendM_wc(self, mes): """Tries to send a message over serial without the need of a confirmation. Args: mes (str): message to be send """ try: self.ser.write(mes.encode()) time.sleep(0.03) except OSError as error : print(error) def readM(self): """Tries to read the serial buffer and reconstruct the message received. Returns: str: message received """ try: received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) return received_data.decode("utf-8", "ignore") except: print("error 71") def get_interfaces(self): """Get local networking interfaces Returns: interface: local interface """ interfaces = netifaces.interfaces() interfaces.remove('lo') out_interfaces = dict() for interface in interfaces: addrs = netifaces.ifaddresses(interface) out_addrs = dict() if netifaces.AF_INET in addrs.keys(): out_addrs["ipv4"] = addrs[netifaces.AF_INET] if netifaces.AF_INET6 in addrs.keys(): out_addrs["ipv6"] = addrs[netifaces.AF_INET6] out_interfaces[interface] = out_addrs return out_interfaces def sendIp(self): """Send the local IP to the microcontroller. """ ip = self.get_interfaces()['wlan0']['ipv4'][0]['addr'] self.sendM('i'+ip+'\n') def rotateBed(self, angle): """Rotate the bed to a specific angle. Args: angle (float): angle to rotate to """ mes = 'r' + str(self.dr)+'_'+str(angle) + '\n' self.sendM(mes) def rotateBedR(self, angle): """Rotate the bed in reverse to a specific angle. Args: angle (float): angle to rotate to """ if self.dr == 1: dr = 0 elif self.dr == 0: dr = 1 mes = 'r' + str(dr)+'_'+str(angle) + '\n' self.sendM(mes) def moveArm(self, angle): """Rotate the arm to a specific angle. Args: angle (float): angle to rotate to """ mes = 'z' + str(self.drarm)+'_'+str(angle) + '\n' self.sendM(mes) def servo(self, angle): """Rotate the servo holding the laser to a specific angle. Args: angle (float): angle to rotate to """ mes = 'k' + str(angle) + '\n' self.sendM(mes) time.sleep(2) def laserOn(self): """Turn on the laser. """ mes = 'l0\n' self.sendM(mes) def laserOff(self): """Turn off the laser. """ mes = 'l1\n' self.sendM(mes) def ledsOn(self): """Turn on the LEDs. """ mes = 'e0\n' self.sendM(mes) def ledsOff(self): """Turn off the LEDs. """ mes = 'e1\n' self.sendM(mes) def LCDOn(self): """Turn on the LCD backlight. """ mes = 'x1\n' self.sendM(mes) def LCDOff(self): """Turn off the LCD backlight. """ mes = 'x0\n' self.sendM(mes) def getWeigt(self): """Read the pressure sensor and get the weigt of the object scanned. Returns: float: weight """ mes = 'w\n' self.sendM(mes) time.sleep(0.2) a=1 #to be found out b=0 weight = int(self.readM()) * a + b return weight def getLight(self): """Read the light sensors. Returns: list: the light intensity for each sensor """ mes = 'p\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) rcv = rx.split('_') l0, l1 = int(rcv[0]), int(rcv[1]) return (l0, l1) def getRes(self): """Get the resolution set in by the user. Returns: int: selected resolution """ mes = 'o\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) res = int(rx) return res def getAng(self): """Get the numer of samples for the scan set in by the user. Returns: int: number of samples """ mes = 'y\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) res = int(rx) return res def startCal(self): """Starts the calibration process. """ mes = 'h\n' self.sendM(mes) def ck(self): """Verify the connection. """ mes = 'c\n' self.sendM(mes) def doneCal(self): """Check if the previous operation is completed. Returns: bool: True if the operation is completed, False otherwise """ mes = self.readM() if mes == 'start\n': return True return False def wait(self): """Tell the user that the exterior light is too bright. """ mes = 'j\n' self.sendM(mes) def start(self): """Get the input from the user to check if the scan should start. Returns: bool: True if the scan should start, False otherwise """ mes = 's\n' self.sendM(mes) time.sleep(0.1) mes = self.readM() if mes == 'start\n': return True return FalseMethods
def LCDOff(self)-
Turn off the LCD backlight.
Expand source code
def LCDOff(self): """Turn off the LCD backlight. """ mes = 'x0\n' self.sendM(mes) def LCDOn(self)-
Turn on the LCD backlight.
Expand source code
def LCDOn(self): """Turn on the LCD backlight. """ mes = 'x1\n' self.sendM(mes) def ck(self)-
Verify the connection.
Expand source code
def ck(self): """Verify the connection. """ mes = 'c\n' self.sendM(mes) def doneCal(self)-
Check if the previous operation is completed.
Returns
bool- True if the operation is completed, False otherwise
Expand source code
def doneCal(self): """Check if the previous operation is completed. Returns: bool: True if the operation is completed, False otherwise """ mes = self.readM() if mes == 'start\n': return True return False def getAng(self)-
Get the numer of samples for the scan set in by the user.
Returns
int- number of samples
Expand source code
def getAng(self): """Get the numer of samples for the scan set in by the user. Returns: int: number of samples """ mes = 'y\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) res = int(rx) return res def getLight(self)-
Read the light sensors.
Returns
list- the light intensity for each sensor
Expand source code
def getLight(self): """Read the light sensors. Returns: list: the light intensity for each sensor """ mes = 'p\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) rcv = rx.split('_') l0, l1 = int(rcv[0]), int(rcv[1]) return (l0, l1) def getRes(self)-
Get the resolution set in by the user.
Returns
int- selected resolution
Expand source code
def getRes(self): """Get the resolution set in by the user. Returns: int: selected resolution """ mes = 'o\n' self.sendM(mes) time.sleep(0.2) rx = self.readM() while not rx.strip(): rx = self.readM() time.sleep(0.1) res = int(rx) return res def getWeigt(self)-
Read the pressure sensor and get the weigt of the object scanned.
Returns
float- weight
Expand source code
def getWeigt(self): """Read the pressure sensor and get the weigt of the object scanned. Returns: float: weight """ mes = 'w\n' self.sendM(mes) time.sleep(0.2) a=1 #to be found out b=0 weight = int(self.readM()) * a + b return weight def get_interfaces(self)-
Get local networking interfaces
Returns
interface- local interface
Expand source code
def get_interfaces(self): """Get local networking interfaces Returns: interface: local interface """ interfaces = netifaces.interfaces() interfaces.remove('lo') out_interfaces = dict() for interface in interfaces: addrs = netifaces.ifaddresses(interface) out_addrs = dict() if netifaces.AF_INET in addrs.keys(): out_addrs["ipv4"] = addrs[netifaces.AF_INET] if netifaces.AF_INET6 in addrs.keys(): out_addrs["ipv6"] = addrs[netifaces.AF_INET6] out_interfaces[interface] = out_addrs return out_interfaces def laserOff(self)-
Turn off the laser.
Expand source code
def laserOff(self): """Turn off the laser. """ mes = 'l1\n' self.sendM(mes) def laserOn(self)-
Turn on the laser.
Expand source code
def laserOn(self): """Turn on the laser. """ mes = 'l0\n' self.sendM(mes) def ledsOff(self)-
Turn off the LEDs.
Expand source code
def ledsOff(self): """Turn off the LEDs. """ mes = 'e1\n' self.sendM(mes) def ledsOn(self)-
Turn on the LEDs.
Expand source code
def ledsOn(self): """Turn on the LEDs. """ mes = 'e0\n' self.sendM(mes) def moveArm(self, angle)-
Rotate the arm to a specific angle.
Args
angle:float- angle to rotate to
Expand source code
def moveArm(self, angle): """Rotate the arm to a specific angle. Args: angle (float): angle to rotate to """ mes = 'z' + str(self.drarm)+'_'+str(angle) + '\n' self.sendM(mes) def readM(self)-
Tries to read the serial buffer and reconstruct the message received.
Returns
str- message received
Expand source code
def readM(self): """Tries to read the serial buffer and reconstruct the message received. Returns: str: message received """ try: received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) return received_data.decode("utf-8", "ignore") except: print("error 71") def rotateBed(self, angle)-
Rotate the bed to a specific angle.
Args
angle:float- angle to rotate to
Expand source code
def rotateBed(self, angle): """Rotate the bed to a specific angle. Args: angle (float): angle to rotate to """ mes = 'r' + str(self.dr)+'_'+str(angle) + '\n' self.sendM(mes) def rotateBedR(self, angle)-
Rotate the bed in reverse to a specific angle.
Args
angle:float- angle to rotate to
Expand source code
def rotateBedR(self, angle): """Rotate the bed in reverse to a specific angle. Args: angle (float): angle to rotate to """ if self.dr == 1: dr = 0 elif self.dr == 0: dr = 1 mes = 'r' + str(dr)+'_'+str(angle) + '\n' self.sendM(mes) def sendIp(self)-
Send the local IP to the microcontroller.
Expand source code
def sendIp(self): """Send the local IP to the microcontroller. """ ip = self.get_interfaces()['wlan0']['ipv4'][0]['addr'] self.sendM('i'+ip+'\n') def sendM(self, mes)-
Tries to send a message over serial and waits for the confirmation.
Args
mes:str- message to be send
Expand source code
def sendM(self, mes): """Tries to send a message over serial and waits for the confirmation. Args: mes (str): message to be send """ try: self.ser.write(mes.encode()) time.sleep(0.03) received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) if received_data: received_data = received_data.decode() if received_data == 'ok\n': self.ser.reset_input_buffer() else: time.sleep(0.1) received_data = self.ser.read() #read serial port time.sleep(0.03) data_left = self.ser.inWaiting() #check for remaining byte received_data += self.ser.read(data_left) if received_data: received_data = received_data.decode() if received_data == 'ok\n': self.ser.reset_input_buffer() else: print('Confimation not received, sending again the message') self.sendM(mes) except: print("errror 53") def sendM_wc(self, mes)-
Tries to send a message over serial without the need of a confirmation.
Args
mes:str- message to be send
Expand source code
def sendM_wc(self, mes): """Tries to send a message over serial without the need of a confirmation. Args: mes (str): message to be send """ try: self.ser.write(mes.encode()) time.sleep(0.03) except OSError as error : print(error) def servo(self, angle)-
Rotate the servo holding the laser to a specific angle.
Args
angle:float- angle to rotate to
Expand source code
def servo(self, angle): """Rotate the servo holding the laser to a specific angle. Args: angle (float): angle to rotate to """ mes = 'k' + str(angle) + '\n' self.sendM(mes) time.sleep(2) def start(self)-
Get the input from the user to check if the scan should start.
Returns
bool- True if the scan should start, False otherwise
Expand source code
def start(self): """Get the input from the user to check if the scan should start. Returns: bool: True if the scan should start, False otherwise """ mes = 's\n' self.sendM(mes) time.sleep(0.1) mes = self.readM() if mes == 'start\n': return True return False def startCal(self)-
Starts the calibration process.
Expand source code
def startCal(self): """Starts the calibration process. """ mes = 'h\n' self.sendM(mes) def wait(self)-
Tell the user that the exterior light is too bright.
Expand source code
def wait(self): """Tell the user that the exterior light is too bright. """ mes = 'j\n' self.sendM(mes)