uc2rest/TEST/TEST_ESP32_LCD.py

@@ -0,0 +1,52 @@
+#%%
+import uc2rest
+import numpy as np
+import time
+
+port = "unknown"
+port = "/dev/cu.usbmodem101"
+
+ESP32 = uc2rest.UC2Client(serialport=port, baudrate=115200, DEBUG=True, skipFirmwareCheck=False)
+#ESP32.serial.sendMessage('{"task":"/home_act", "home": {"steppers": [{"stepperid":1, "timeout": 20000, "speed": 15000, "direction":1, "endposrelease":3000}]}}')
+
+ESP_PANEL_LCD_H_RES = 800
+ESP_PANEL_LCD_V_RES = 480
+
+
+''' TEST LCD '''
+
+# Create LedMatrix object, pass a reference to your “parent” that has post_json()
+my_lcd = ESP32.lcd
+
+my_lcd.set_timeout(.5)
+
+
+for i in range(ESP_PANEL_LCD_H_RES//2):
+    # Turn off all LEDs
+    my_lcd.set_grating(i, r=255, g=255, b=255, horizontal=True)
+    #time.sleep(0.1)
+
+for i in range(ESP_PANEL_LCD_V_RES//2):
+    # Turn off all LEDs
+    my_lcd.set_grating(i, r=255, g=255, b=255, horizontal=False)
+    #time.sleep(0.1)
+
+
+# blacnk screen
+my_lcd.clear(r=0, g=0, b=0)
+my_lcd.set_color(r=255, g=255, b=255)
+
+# have line moving vertically 
+dThickness = 10
+for i in range(0, ESP_PANEL_LCD_H_RES, dThickness):
+    # 
+    # {"task":"/lcd_act","action":"hline","x":0,"y":10,"len":800,"width":1,"r":255,"g":255,"b":0}
+    # {"task": "/lcd_act", "action": "vline", "x": 0, "y": 54, "len": 480, "width": 1, "r": 255, "g": 255, "b": 255, "qid": 156}
+    my_lcd.hline(0, i, ESP_PANEL_LCD_H_RES, width=dThickness)
+    #time.sleep(0.1)
+my_lcd.clear(r=0, g=0, b=0)    
+for i in range(0, ESP_PANEL_LCD_V_RES, dThickness):
+    # Turn off all LEDs
+    my_lcd.vline(i, 0, ESP_PANEL_LCD_V_RES, width=dThickness)
+    #time.sleep(0.1)
+

uc2rest/TEST/TEST_ESP32_LEDarray.py

@@ -4,33 +4,54 @@
 import time
 
 port = "unknown"
-port = "/dev/cu.SLAB_USBtoUART"
-ESP32 = uc2rest.UC2Client(serialport=port, baudrate=500000, DEBUG=True)
-time.sleep(2)
-#ESP32.serial.sendMessage('{"task":"/home_act", "home": {"steppers": [{"stepperid":1, "timeout": 20000, "speed": 15000, "direction":1, "endposrelease":3000}]}}')
-# display random pattern
-for i in range(10):
-    led_pattern = np.random.randint(0,55, (64,3))
-    ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern, getReturn=True, timeout=4)
-
-# 
-''' ################
-LED 
-################'''
-# test LED
-ESP32.led.send_LEDMatrix_full(intensity=(255, 255, 255))
-ESP32.led.send_LEDMatrix_full(intensity=(0, 0, 0))
-
-# single LED
-for iLED in range(5):
+port = "/dev/cu.usbmodem101"
+ESP32 = uc2rest.UC2Client(serialport=port, baudrate=115200, DEBUG=False, skipFirmwareCheck=True)
+
+''' TEST LED '''
+
+# Create LedMatrix object, pass a reference to your “parent” that has post_json()
+my_led_matrix = ESP32.led
+
+
+
+for i in range(1):
+    # Turn off all LEDs
+    my_led_matrix.send_LEDMatrix_off()
+    time.sleep(0.1)
+    # Fill entire matrix with red
+    my_led_matrix.send_LEDMatrix_full((255,0,0), getReturn=False)
+    time.sleep(0.1)
+
+
+
+# Light only left half in bright white
+mDirections = ["left", "right", "top", "bottom"]
+for iDirection in mDirections:
+    my_led_matrix.send_LEDMatrix_halves(region=iDirection, intensity=(255,255,255), getReturn=False)
+    time.sleep(0.1)
+
+# Draw a ring of radius 3 in purple
+my_led_matrix.send_LEDMatrix_rings(radius=3, intensity=(128,0,128))
+
+# Draw a filled circle of radius 5 in green
+my_led_matrix.send_LEDMatrix_circles(radius=3, intensity=(0,255,0))
+
+
+
+
+for iLED in range(64):
     # timeout = 0 means no timeout => mResult will be rubish!
-    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(255, 255, 255))#, timeout=0.)
-    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(0, 0, 0))#, timeout=0.)
+    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(255, 255, 255), getReturn=0, timeout=0.1)
+    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(0, 0, 0),  getReturn=0, timeout=0.1)
 
 # display random pattern
-for i in range(50):
-    led_pattern = np.random.randint(0,55, (48,3))
-    ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern, getReturn=False)
+for i in range(5):
+    led_pattern = np.random.randint(0,55, (25,3))
+    mResult = ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern,getReturn=0,timeout=0)
+
 
-ESP32.close()
 
+# {"task":"/ledarr_act", "led":{"LEDArrMode":1, "led_array":[{"id":0, "r":255, "g":255, "b":255}]}}
+mResult = ESP32.led.send_LEDMatrix_full(intensity=(255, 255, 255))
+time.sleep(.1)
+mResult = ESP32.led.send_LEDMatrix_full(intensity=(0, 0, 0), getReturn=False)

uc2rest/TEST/TEST_ESP32_Serial.py

@@ -4,9 +4,9 @@
 import time
 
 port = "unknown"
-port = "/dev/cu.SLAB_USBtoUART"
+#port = "/dev/cu.SLAB_USBtoUART"
 #port = "COM3"
-port = "/dev/cu.usbmodem11101"
+port = "/dev/cu.usbmodem101"
 print("start")
 ESP32 = uc2rest.UC2Client(serialport=port, baudrate=115200, DEBUG=True, skipFirmwareCheck=True)
 #ESP32.serial.sendMessage('{"task":"/home_act", "home": {"steppers": [{"stepperid":1, "timeout": 20000, "speed": 15000, "direction":1, "endposrelease":3000}]}}')
@@ -18,12 +18,13 @@
 # Create LedMatrix object, pass a reference to your “parent” that has post_json()
 my_led_matrix = ESP32.led
 
-# Turn off all LEDs
-my_led_matrix.send_LEDMatrix_off()
-
-# Fill entire matrix with red
-my_led_matrix.send_LEDMatrix_full((255,0,0))
-
+for i in range(5):
+    # Turn off all LEDs
+    my_led_matrix.send_LEDMatrix_off()
+    time.sleep(0.1)
+    # Fill entire matrix with red
+    my_led_matrix.send_LEDMatrix_full((255,0,0))
+    time.sleep(0.1)
 # Light only left half in bright white
 my_led_matrix.send_LEDMatrix_halves(region="left", intensity=(255,255,255))
 

uc2rest/UC2Client.py

@@ -8,8 +8,8 @@
 from .mserial import Serial
 from .mserial import SerialManagerWrapper
 from .galvo import Galvo
-from .config import config
 from .ledmatrix import LedMatrix
+from .lcddisplay import LCDDisplay
 from .motor import Motor
 from .gripper import Gripper
 from .home import Home
@@ -26,6 +26,7 @@
 from .cmdrecorder import cmdRecorder
 from .temperature import Temperature
 from .message import Message
+from .can import CAN
 try:
     import requests
 except:
@@ -39,11 +40,11 @@ class UC2Client(object):
 
     is_wifi = False
     is_serial = False
+    BAUDRATE = 115200
 
-    # BAUDRATE = 500000
-    BAUDRATE = 500000
-
-    def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather", baudrate=BAUDRATE, NLeds=64, SerialManager=None, DEBUG=False, logger=None, skipFirmwareCheck=False):
+    def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather", baudrate=BAUDRATE, 
+                 NLeds=64, SerialManager=None, DEBUG=False, logger=None, skipFirmwareCheck=False,
+                 isPyScript=False):
         '''
         This client connects to the UC2-REST microcontroller that can be found here
         https://github.com/openUC2/UC2-REST
@@ -55,13 +56,13 @@ def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather
 
         you can send commands through wifi/http or usb/serial
         '''
-        if logger is None:
+        if True: #logger is None:
             self.logger = Logger()
         else:
             self.logger = logger
 
         # perhaps we are in the browser?
-        self.isPyScript = False
+        self.isPyScript = isPyScript
 
         # initialize communication channel (# connect to wifi or usb)
         if serialport is not None:
@@ -90,27 +91,24 @@ def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather
         # import libraries depending on API version
         self.logger.debug("Using API version 2")        
 
-        #FIXME
-        #self.set_state(debug=False)
-
         # initialize state
         self.state = State(self)
-        if not self.isPyScript: 
-            state = self.state.get_state()
-
-        # initialize config
-        if not self.isPyScript: 
-            self.config = config(self)
 
         # initialize cmdRecorder
         self.cmdRecorder = cmdRecorder(self)
 
         # initialize LED matrix
         self.led = LedMatrix(self, NLeds=NLeds)
 
+        # initialize LCD display
+        self.lcd = LCDDisplay(self)
+
         # initilize motor
         self.motor = Motor(self)
 
+        # initialize CAN
+        self.can = CAN(self)
+
         # initialize gripper
         self.gripper = Gripper(self)
 
@@ -149,13 +147,6 @@ def __init__(self, host=None, port=31950, serialport=None, identity="UC2_Feather
 
         # initialize messaging
         self.message = Message(self)
-
-        # initialize config
-        if False: # not self.isPyScript: 
-            self.config = config(self)
-            try: self.pinConfig = self.config.loadConfigDevice()
-            except: self.pinConfig = None
-
 
         # initialize module controller
         self.modules = Modules(parent=self)

uc2rest/__init__.py

@@ -1,2 +1 @@
-from .config import *
 from .UC2Client import *

uc2rest/can.py

@@ -0,0 +1,33 @@
+class CAN(object):
+    def __init__(self, parent):
+        """
+        CANController handles sending commands to a remote CAN device via the parent post_json interface.
+
+        :param parent: Parent object with post_json(path, payload, getReturn, timeout, nResponses)
+        """
+        self._parent = parent
+
+    def reboot_remote(self, qid=1, can_address=0, isBlocking=False, timeout=2):
+        """
+        Send a reboot signal to the remote CAN device.
+
+        :param qid: Query ID for the CAN command (default: 1)
+        :param isBlocking: If True, wait for response
+        :param timeout: Timeout for the command in seconds
+        :param can_address: Address of the CAN device to reboot (0 is master)
+        :return: Response from the device
+        """
+        path = "/can_act"
+        payload = {
+            "task": path,
+            "restart": int(can_address)
+        }
+        nResponses = 1 if isBlocking else 0
+        # Send the payload to the parent, which handles the actual communication
+        return self._parent.post_json(
+            path,
+            payload,
+            getReturn=isBlocking,
+            timeout=timeout if isBlocking else 0,
+            nResponses=nResponses
+        )