From 9f7816ca15ef5ca8403b132f3167f8ff9ccb7b9b Mon Sep 17 00:00:00 2001
From: Neil Gershenfeld <gersh@cba.mit.edu>
Date: Sat, 28 Aug 2021 17:37:11 -0400
Subject: [PATCH] wip
---
Urumbot/Urumbot.py | 211 +++++++++++++++++++++------------------------
1 file changed, 98 insertions(+), 113 deletions(-)
diff --git a/Urumbot/Urumbot.py b/Urumbot/Urumbot.py
index 49a26a5..8d91e36 100644
--- a/Urumbot/Urumbot.py
+++ b/Urumbot/Urumbot.py
@@ -18,10 +18,8 @@ import serial,os,time,multiprocessing,sys
#
# start event process
#
-def StartProcess(arg):
- while (True):
- print(arg['key'])
-def StartProcesses(vars):
+def StartProcess(vars):
+def StartProcesse(vars):
#
# process variables
#
@@ -34,22 +32,22 @@ def StartProcesses(vars):
port0 = port1 = portz = 0
#
try:
- port0 = serial.Serial(vars.port0,baudrate=int(vars.baud),timeout=0) # non-blocking
+ port0 = serial.Serial(port0,baudrate=int(baud),timeout=0) # non-blocking
ConnectButton.config(background='green')
except:
- print('can not open '+vars.port0)
+ print('can not open '+port0)
#
try:
- port1 = serial.Serial(vars.port1,baudrate=int(vars.baud),timeout=0) # non-blocking
+ port1 = serial.Serial(port1,baudrate=int(baud),timeout=0) # non-blocking
ConnectButton.config(background='green')
except:
- print('can not open '+vars.port1)
+ print('can not open '+port1)
#
try:
- portz = serial.Serial(vars.portz,baudrate=int(vars.baud),timeout=0) # non-blocking
+ portz = serial.Serial(portz,baudrate=int(baud),timeout=0) # non-blocking
ConnectButton.config(background='green')
except:
- print('can not open '+vars.portz)
+ print('can not open '+portz)
#
# start event loop
#
@@ -64,29 +62,29 @@ def StartProcesses(vars):
#
if ((portz != 0) and ((t-tservo) >= tpwm)):
tservo = t
- portz.write(vars.Servo.value.to_bytes(2,byteorder='little'))
+ portz.write(Servo.value.to_bytes(2,byteorder='little'))
#
# check for motor 0 event
#
- if ((port0 != 0) and (vars.Count0.value != 0) and ((t-t0) >= vars.Step0.value)):
+ if ((port0 != 0) and (Count0.value != 0) and ((t-t0) >= Step0.value)):
t0 = t
- if (vars.Count0.value > 0):
+ if (Count0.value > 0):
port0.write(forward)
- vars.Count0.value -= 1
- elif (vars.Count0.value < 0):
+ Count0.value -= 1
+ elif (Count0.value < 0):
port0.write(reverse)
- vars.Count0.value += 1
+ Count0.value += 1
#
# check for motor 1 event
#
- if ((port1 != 0) and (vars.Count1.value != 0) and ((t-t1) >= vars.Step1.value)):
+ if ((port1 != 0) and (Count1.value != 0) and ((t-t1) >= Step1.value)):
t1 = t
- if (vars.Count1.value > 0):
+ if (Count1.value > 0):
port1.write(forward)
- vars.Count1.value -= 1
- elif (vars.Count1.value < 0):
+ Count1.value -= 1
+ elif (Count1.value < 0):
port1.write(reverse)
- vars.Count1.value += 1
+ Count1.value += 1
#
# main process
#
@@ -96,75 +94,62 @@ if __name__ == '__main__':
#
multiprocessing.set_start_method('spawn')
#
- # variables class
+ # local variables
#
- class VarsClass:
- #
- # local variables
- #
- points = []
- plotsize = 250
- plotscale = 0
- xmin = ymin = xmax = ymax = 0
- #
- # shared memory variables
- #
- Servo = multiprocessing.Value('H',0,lock=False) # unsigned short, servo duration
- Count0 = multiprocessing.Value('i',0,lock=False) # signed int, motor 0 step count
- Count1 = multiprocessing.Value('i',0,lock=False) # signed int, motor 1 step count
- Step0 = multiprocessing.Value('f',0,lock=False) # float, motor 0 step time
- Step1 = multiprocessing.Value('f',0,lock=False) # float, motor 1 step time
- #
- # UI variables
- #
- port0 = ''
- port1 = ''
- portz = ''
- baud = ''
- vars = VarsClass()
- S = multiprocessing.Value('f',0,lock=False) # float, motor 1 step time
- v = {'key':S}
+ points = []
+ plotsize = 250
+ plotscale = 0
+ xmin = ymin = xmax = ymax = 0
+ #
+ # shared memory variables
+ #
+ Servo = multiprocessing.Value('H',0,lock=False) # unsigned short, servo duration
+ Count0 = multiprocessing.Value('i',0,lock=False) # signed int, motor 0 step count
+ Count1 = multiprocessing.Value('i',0,lock=False) # signed int, motor 1 step count
+ Step0 = multiprocessing.Value('f',0,lock=False) # float, motor 0 step time
+ Step1 = multiprocessing.Value('f',0,lock=False) # float, motor 1 step time
+ vars = {'Servo':Servo,'Count0':Count0,'Count1':Count1,'Step0':Step0,'Step1':Step1}
#
# UI routines
#
def Quit():
- try: vars.process.terminate()
+ try: process.terminate()
except: pass
root.destroy()
sys.exit()
#
def Connect():
try:
- EventProcess = multiprocessing.Process(target=StartProcess,args=(v,))
+ EventProcess = multiprocessing.Process(target=StartProcess,args=(vars,))
EventProcess.start()
- vars.process = EventProcess
+ process = EventProcess
except:
print('can not start event loop')
#
def Jog0CW():
- vars.Step0.value = int(float(StepTimeVar.get())*1000000)
- vars.Step1.value = 0
- vars.Count0.value = int(JogStepsVar.get())
- vars.Count1.value = 0
+ Step0.value = int(float(StepTimeVar.get())*1000000)
+ Step1.value = 0
+ Count0.value = int(JogStepsVar.get())
+ Count1.value = 0
S.value += 1
#
def Jog0CCW():
- vars.Step0.value = int(float(StepTimeVar.get())*1000000)
- vars.Step1.value = 0
- vars.Count0.value = -int(JogStepsVar.get())
- vars.Count1.value = 0
+ Step0.value = int(float(StepTimeVar.get())*1000000)
+ Step1.value = 0
+ Count0.value = -int(JogStepsVar.get())
+ Count1.value = 0
#
def Jog1CW():
- vars.Step0.value = 0
- vars.Step1.value = int(float(StepTimeVar.get())*1000000)
- vars.Count0.value = 0
- vars.Count1.value = int(JogStepsVar.get())
+ Step0.value = 0
+ Step1.value = int(float(StepTimeVar.get())*1000000)
+ Count0.value = 0
+ Count1.value = int(JogStepsVar.get())
#
def Jog1CCW():
- vars.Step0.value = 0
- vars.Step1.value = int(float(StepTimeVar.get())*1000000)
- vars.Count0.value = 0
- vars.Count1.value = -int(JogStepsVar.get())
+ Step0.value = 0
+ Step1.value = int(float(StepTimeVar.get())*1000000)
+ Count0.value = 0
+ Count1.value = -int(JogStepsVar.get())
#
def PolarToCartesian(r0,r1):
x0 = float(X0Var.get())
@@ -196,30 +181,30 @@ if __name__ == '__main__':
MoveTo(xnew,ynew)
#
def UpdatePWM():
- vars.Servo.value = int(PWMVar.get())
+ Servo.value = int(PWMVar.get())
#
def PenUp():
- vars.Servo.value = int(PWMaxVar.get())
+ Servo.value = int(PWMaxVar.get())
time.sleep(float(ServoDelayVar.get()))
#
def PenDown():
- vars.Servo.value = int(PWMinVar.get())
+ Servo.value = int(PWMinVar.get())
time.sleep(float(ServoDelayVar.get()))
#
def LoadFile():
filename = tkinter.filedialog.askopenfile()
file = open(filename.name,'r')
- vars.xmin = vars.ymin = 1e10
- vars.xmax = vars.ymax = -1e10
+ xmin = ymin = 1e10
+ xmax = ymax = -1e10
digits = ['-','0','1','2','3','4','5','6','7','8','9']
arg = ''
num = ''
cmd = ''
mode = ''
point = 0
- vars.points = []
+ points = []
x = y = 0
- Plot.create_rectangle(0,0,vars.plotsize,vars.plotsize,outline='',fill='white')
+ Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
while 1:
chr = file.read(1)
if not chr:
@@ -231,13 +216,13 @@ if __name__ == '__main__':
if (mode == 'PR'):
if (point == 0):
x += float(num)/40.0
- vars.points[-1].append(x)
+ points[-1].append(x)
else:
y += float(num)/40.0
- vars.points[-1].append(y)
+ points[-1].append(y)
point = 1-point
else:
- vars.points[-1].append(float(num)/40.0)
+ points[-1].append(float(num)/40.0)
num = ''
arg = ''
cmd = ''
@@ -246,13 +231,13 @@ if __name__ == '__main__':
if (mode == 'PR'):
if (point == 0):
x += float(num)/40.0
- vars.points[-1].append(x)
+ points[-1].append(x)
else:
y += float(num)/40.0
- vars.points[-1].append(y)
+ points[-1].append(y)
point = 1-point
else:
- vars.points[-1].append(float(num)/40.0)
+ points[-1].append(float(num)/40.0)
num = ''
else:
arg += chr
@@ -265,34 +250,34 @@ if __name__ == '__main__':
elif (arg == 'PU'):
cmd = 'PU'
arg = ''
- vars.points.append(['PU'])
+ points.append(['PU'])
elif (arg == 'PD'):
cmd = 'PD'
arg = ''
- vars.points.append(['PD'])
+ points.append(['PD'])
elif ((chr in digits) and ((cmd == 'PU') or (cmd == 'PD'))):
num += chr
file.close()
- for segment in range(len(vars.points)):
- for point in range(1,len(vars.points[segment]),2):
- x = vars.points[segment][point]
- if (x > vars.xmax): vars.xmax = x
- if (x < vars.xmin): vars.xmin = x
- y = vars.points[segment][point+1]
- if (y > vars.ymax): vars.ymax = y
- if (y < vars.ymin): vars.ymin = y
- FileLimits.config(text=f"{vars.xmax-vars.xmin:.3f} x {vars.ymax-vars.ymin:.3f}")
- if ((vars.xmax-vars.xmin) > (vars.ymax-vars.ymin)):
- vars.plotscale = (vars.plotsize-2)/(vars.xmax-vars.xmin)
+ for segment in range(len(points)):
+ for point in range(1,len(points[segment]),2):
+ x = points[segment][point]
+ if (x > xmax): xmax = x
+ if (x < xmin): xmin = x
+ y = points[segment][point+1]
+ if (y > ymax): ymax = y
+ if (y < ymin): ymin = y
+ FileLimits.config(text=f"{xmax-xmin:.3f} x {ymax-ymin:.3f}")
+ if ((xmax-xmin) > (ymax-ymin)):
+ plotscale = (plotsize-2)/(xmax-xmin)
else:
- vars.plotscale = (vars.plotsize-2)/(vars.ymax-vars.ymin)
+ plotscale = (plotsize-2)/(ymax-ymin)
xold = 0
- yold = vars.plotsize-1
- for segment in range(len(vars.points)):
- type = vars.points[segment][0]
- for point in range(1,len(vars.points[segment]),2):
- xnew = 1+vars.plotscale*(vars.points[segment][point]-vars.xmin)
- ynew = (vars.plotsize-1)-vars.plotscale*(vars.points[segment][point+1]-vars.ymin)
+ yold = plotsize-1
+ for segment in range(len(points)):
+ type = points[segment][0]
+ for point in range(1,len(points[segment]),2):
+ xnew = 1+plotscale*(points[segment][point]-xmin)
+ ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
if (type == 'PU'):
Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
else:
@@ -305,25 +290,25 @@ if __name__ == '__main__':
r1 = float(R1Var.get())
x0,y0 = PolarToCartesian(r0,r1)
xold = 0
- yold = vars.plotsize-1
- Plot.create_rectangle(0,0,vars.plotsize,vars.plotsize,outline='',fill='white')
- for segment in range(len(vars.points)):
- type = vars.points[segment][0]
+ yold = plotsize-1
+ Plot.create_rectangle(0,0,plotsize,plotsize,outline='',fill='white')
+ for segment in range(len(points)):
+ type = points[segment][0]
if (type == 'PU'):
PenUp()
else:
PenDown()
- for point in range(1,len(vars.points[segment]),2):
- xnew = 1+vars.plotscale*(vars.points[segment][point]-vars.xmin)
- ynew = (vars.plotsize-1)-vars.plotscale*(vars.points[segment][point+1]-vars.ymin)
+ for point in range(1,len(points[segment]),2):
+ xnew = 1+plotscale*(points[segment][point]-xmin)
+ ynew = (plotsize-1)-plotscale*(points[segment][point+1]-ymin)
if (type == 'PU'):
Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#FF0000")
else:
Plot.create_line(xold,yold,xnew,ynew,width=1,fill="#000000")
xold = xnew
yold = ynew
- x = x0-vars.points[segment][point]+vars.xmin
- y = y0-vars.points[segment][point+1]+vars.ymin
+ x = x0-points[segment][point]+xmin
+ y = y0-points[segment][point+1]+ymin
MoveTo(x,y)
#
def MoveTo(xnew,ynew):
@@ -341,12 +326,12 @@ if __name__ == '__main__':
Step0.value = fabs(t/count0)
if (count1 != 0):
Step1.value = fabs(t/count1)
- vars.Count0.value,vars.Count1.value = count0,count1
+ Count0.value,Count1.value = count0,count1
R0Var.set(f"{float(R0Var.get())+count0*float(StepSizeVar.get()):.3f}")
R1Var.set(f"{float(R1Var.get())+count1*float(StepSizeVar.get()):.3f}")
root.update()
while (True):
- if ((vars.Count0.value == 0) and (vars.Count1.value == 0)):
+ if ((Count0.value == 0) and (Count1.value == 0)):
return
#
# set up UI
@@ -442,7 +427,7 @@ if __name__ == '__main__':
row += 1
Label(root,text='PWM (us):',bg='white').grid(column=0,row=row,padx=pad)
PWMVar = StringVar(root,'1500')
- vars.Servo.value = int(PWMVar.get())
+ Servo.value = int(PWMVar.get())
Entry(root,textvariable=PWMVar,width=15).grid(column=1,row=row,padx=pad,pady=pad)
Button(root,text='Update',command=UpdatePWM,bg='white').grid(column=2,columnspan=2,row=row,padx=pad,pady=pad)
#
@@ -463,7 +448,7 @@ if __name__ == '__main__':
#
row += 1
Label(root,text='origin',bg='white').grid(column=0,row=row,padx=pad,pady=pad,sticky='se')
- Plot = Canvas(root,width=vars.plotsize,height=vars.plotsize,background='white')
+ Plot = Canvas(root,width=plotsize,height=plotsize,background='white')
Plot.grid(column=1,row=row,columnspan=4,padx=pad,pady=pad,sticky='sw')
#
# start mainloop
--
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