implemented reset command.

fixing bugs in statemachine and storyboard.

pizzactrl/hal_serial.py

@@ -58,6 +58,7 @@ class SerialCommands(Enum):
     RECORD = b'C'
 
     REWIND = b'R'
+    RESET = b'X'
 
     DEBUG_SCROLL = b'S'
     DEBUG_SENSORS = b'Z'
@@ -106,6 +107,24 @@ class PizzaHAL:
         """
         return self.lid_switch.is_pressed
 
+    @property
+    def helo1(self) -> bool:
+        """
+        Returns the status of the HELO1 pin
+        """
+        return bool(self.helo1.value)
+
+    @helo1.setter
+    def helo1(self, value: bool):
+        self.helo1.value = 1 if value else 0
+
+    @property
+    def helo2(self) -> bool:
+        """
+        Returns the value of the HELO2 pin (read only)
+        """
+        return bool(self.helo2.value)
+
     def init_connection(self):
         """
         Set HELO1 pin to `High`, wait for HELO2 to be set `High` by microcontroller.
@@ -213,6 +232,9 @@ class PizzaHAL:
         return resp
 
     def flush_serial(self):
+        """
+        Clear the serial connection from unhandled responses.
+        """
         self.serialcon.read_all()
 
 
@@ -240,6 +262,13 @@ def rewind(hal: PizzaHAL, **kwargs):
     hal.send_cmd(SerialCommands.REWIND, ignore_lid=True)
 
 
+def reset(hal: PizzaHAL, **kwargs):
+    """
+    Prepare microcontroller for reset.
+    """
+    hal.send_cmd(SerialCommands.RESET, ignore_lid=True)
+
+
 def turn_off(hal: PizzaHAL, **kwargs):
     """
     Turn off the lights.
@@ -303,15 +332,15 @@ def wait_for_input(hal: PizzaHAL,
     
     resp = resp[1]
     if resp == 1:
-        blue_cb(**kwargs)
+        blue_cb()
     elif resp == 2:
-        red_cb(**kwargs)
+        red_cb()
     elif resp == 4:
-        yellow_cb(**kwargs)
+        yellow_cb()
     elif resp == 8:
-        green_cb(**kwargs)
+        green_cb()
     elif timeout_cb is not None:
-        timeout_cb(**kwargs)
+        timeout_cb()
 
 
 def set_light(hal: PizzaHAL,

pizzactrl/main.py

@@ -1,3 +1,4 @@
+from email.policy import default
 import sys
 
 import click
@@ -11,18 +12,17 @@ logger = logging.getLogger('pizzactrl.main')
 
 
 @click.command()
-@click.option('--move', is_flag=True)
 @click.option('--test', is_flag=True, default=False)
 @click.option('--debug', is_flag=True, default=False)
 @click.option('--loop', is_flag=True, default=False)
-def main(move: bool=False, test: bool=False, debug: bool=False, loop: bool=False):
+def main(test: bool=False, debug: bool=False, loop: bool=False):
     if debug or test:
         logging.basicConfig(level=logging.DEBUG, stream=sys.stdout)
     else:
         logging.basicConfig(level=logging.INFO, stream=sys.stdout)
 
     hal = PizzaHAL()
-    sm = Statemachine(hal, STORYBOARD, move=move, loop=loop, test=test)
+    sm = Statemachine(hal, STORYBOARD, loop=loop, test=test)
     
     sm.test = test
 

pizzactrl/statemachine.py

@@ -5,7 +5,7 @@ from enum import Enum, auto
 
 from pizzactrl import fs_names
 from .storyboard import Language, Storyboard
-from .hal_serial import SerialCommunicationError, CommunicationError, PizzaHAL, wait_for_input, play_sound, turn_off
+from .hal_serial import SerialCommunicationError, CommunicationError, PizzaHAL, wait_for_input, play_sound, turn_off, reset
 
 logger = logging.getLogger(__name__)
 
@@ -32,7 +32,6 @@ class Statemachine:
                  hal: PizzaHAL,
                  story: Storyboard,
                  default_lang=Language.NOT_SET,
-                 move: bool = False,
                  loop: bool = True,
                  test: bool = False):
         self.hal = hal
@@ -41,7 +40,7 @@ class Statemachine:
         self.lang = None
 
         self.story = story
-        self.story.MOVE = move
+        self.story.MOVE = True
 
         self.test = test
         self.loop = loop
@@ -71,8 +70,7 @@ class Statemachine:
                 State.IDLE_END: self._idle_end
              }
             
-        while (self.state is not State.ERROR) and \
+        while (self.state is not State.ERROR) and (self.state is not State.SHUTDOWN):
-                (self.state is not State.SHUTDOWN):
             logger.debug(f'Run(state={self.state})')
             try:
                 choice[self.state]()
@@ -185,22 +183,24 @@ class Statemachine:
         turn_off(self.hal)
         self.story.skip_flag = False
         self.story.rewind()
-
-        if self.loop:
-            self.state = State.IDLE_START
-        else:
         self._next_state()
         
     def _idle_end(self):
         """
-        Initialize shutdown
+        Initialize shutdown or go back to POST if `self.loop=True`
         """
+        reset(self.hal)
+        self.hal.helo1 = False
+
+        if self.loop:
+            self.state = State.POST
+        else:
             self._next_state()
 
     def _shutdown(self):
         """
         Clean up, end execution
         """
-        self.hal.pin_helo1.off()
         del self.hal
         del self.story
+        

pizzactrl/storyboard.py

@@ -25,10 +25,11 @@ class Option(Enum):
     """
     Options can be chosen by the user in WAIT_FOR_INPUT
     """
-    CONTINUE = {'skip_flag': False}     # Continue with chapter. Set `skip_flag=True` to skip all chapters marked with `skip_flag`
+    CONTINUE =  {'skip_flag': None}     # Continue with chapter. Set `skip_flag=True` to skip all chapters marked with `skip_flag`
     REPEAT =    {'rewind': True}        # Repeat chapter from beginning. `rewind=True`: reset scrolls to starting position  
-    GOTO = {'chapter': 0}               # Jump to chapter number
+    GOTO =      {'chapter': 0,
-    QUIT = {'quit': True}               # End playback.
+                 'skip_flag': None}     # Jump to chapter number
+    QUIT = {}                           # End playback. Will cause restart if `statemachine.loop=True`
 
 
 class Select:
@@ -65,10 +66,10 @@ class Activity(Enum):
     RECORD_VIDEO =   {'duration': 60.0, 
                       'filename': ''}
     TAKE_PHOTO =     {'filename': ''}
-    ADVANCE_UP =     {'steps': 46,
+    ADVANCE_UP =     {'steps': 48,
                       'scroll': Scrolls.VERTICAL,
                       'speed': 3}
-    ADVANCE_LEFT =   {'steps': 96,
+    ADVANCE_LEFT =   {'steps': 92,
                       'scroll': Scrolls.HORIZONTAL,
                       'speed': 3}
     LIGHT_FRONT =    {'r': 0,
@@ -211,7 +212,7 @@ class Storyboard:
 
         self.skip_flag = False     # Set `True` to skip chapters marked with skip_flag
 
-        self.MOVE = False          # self.move is reset to this value
+        self.MOVE = True           # self.move is reset to this value
         self._move = self.MOVE
 
         self._lang = Language.NOT_SET
@@ -255,39 +256,40 @@ class Storyboard:
         Return a callback for the appropriate option and parameters.
         Callbacks set the properties of `Statemachine` to determine it's behaviour.
         """
-        # rewind = selection.values.get('rewind', Option.REPEAT.value['rewind'])
+        _rewind = selection.values.get('rewind', None)
-        # next_chapter = selection.values.get('chapter', Option.GOTO.value['chapter'])
+        _next_chapter = selection.values.get('chapter', None)
-        # shutdown = selection.values.get('shutdown', Option.QUIT.value['shutdown'])
         _skip_flag = selection.values.get('skip_flag', None)
-        if _skip_flag is not None:
-            self.skip_flag = _skip_flag
         
-        def _continue(**kwargs):
+        def _continue():
             """
             Continue in the Storyboard. Prepare advancing to the next chapter.
             """
             logger.debug('User selected continue')
             if len(self.story) > (self._index + 1):
                 self.next_chapter = self._index + 1
+                if _skip_flag is not None:
+                    self.skip_flag = _skip_flag
             else:
                 self.next_chapter = None
         
-        def _repeat(rewind: bool=None, **kwargs):
+        def _repeat():
             """
             Repeat the current chapter. Do not rewind if the selection says so.
             """
             logger.debug('User selected repeat')
             self.next_chapter = self._index
-            self.move = rewind
+            self.move = _rewind
         
-        def _goto(chapter: int=None, **kwargs):
+        def _goto():
             """
             Jump to a specified chapter.
             """
-            logger.debug(f'User selected goto {chapter}')
+            logger.debug(f'User selected goto {_next_chapter}')
-            self.next_chapter = chapter
+            self.next_chapter = _next_chapter
+            if _skip_flag is not None:
+                self.skip_flag = _skip_flag
 
-        def _quit(**kwargs):
+        def _quit():
             logger.debug('User selected quit')
             self.next_chapter = None
 
@@ -346,6 +348,8 @@ class Storyboard:
 
         def _move(hal, do_now=True, **kwargs):
             logger.debug(f'Storyboard._move({kwargs})')
+            if not self.move:
+                return
             set_movement(hal, **kwargs)
             if do_now:
                 do_it(hal)
@@ -421,12 +425,12 @@ class Storyboard:
                     steps = ch.rewind()
                     h_steps += steps['h_steps']
                     v_steps += steps['v_steps']
-
             elif diff > 0:
                 """
                 Skip all chapters up to target
                 """
                 for ch in self.story[self._index:self._next_chapter]:
+                    logger.debug(f'Queueing chapter {ch} for skipping')
                     steps = ch.skip()
                     h_steps += steps['h_steps']
                     v_steps += steps['v_steps']
@@ -438,6 +442,7 @@ class Storyboard:
                 h_steps = steps['h_steps']
                 v_steps = steps['v_steps']
 
+            logger.debug(f'storyboard.move={self.move} and h_steps={h_steps}, v_steps={v_steps}.')
             if self.move and ((h_steps != 0) or (v_steps != 0)):
                 set_movement(self.hal, scroll=Scrolls.HORIZONTAL, steps=h_steps, speed=4)
                 set_movement(self.hal, scroll=Scrolls.VERTICAL, steps=v_steps, speed=4)