implemented reset command.
fixing bugs in statemachine and storyboard.
This commit is contained in:
jpunkt
parent
927204b00a
commit
7ce7b70499
4 changed files with 76 additions and 42 deletions
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@ -58,6 +58,7 @@ class SerialCommands(Enum):
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RECORD = b'C'
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REWIND = b'R'
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RESET = b'X'
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DEBUG_SCROLL = b'S'
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DEBUG_SENSORS = b'Z'
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@ -106,6 +107,24 @@ class PizzaHAL:
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"""
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return self.lid_switch.is_pressed
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@property
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def helo1(self) -> bool:
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"""
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Returns the status of the HELO1 pin
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"""
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return bool(self.helo1.value)
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@helo1.setter
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def helo1(self, value: bool):
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self.helo1.value = 1 if value else 0
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@property
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def helo2(self) -> bool:
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"""
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Returns the value of the HELO2 pin (read only)
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"""
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return bool(self.helo2.value)
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def init_connection(self):
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"""
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Set HELO1 pin to `High`, wait for HELO2 to be set `High` by microcontroller.
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@ -213,6 +232,9 @@ class PizzaHAL:
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return resp
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def flush_serial(self):
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"""
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Clear the serial connection from unhandled responses.
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"""
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self.serialcon.read_all()
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@ -240,6 +262,13 @@ def rewind(hal: PizzaHAL, **kwargs):
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hal.send_cmd(SerialCommands.REWIND, ignore_lid=True)
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def reset(hal: PizzaHAL, **kwargs):
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"""
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Prepare microcontroller for reset.
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"""
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hal.send_cmd(SerialCommands.RESET, ignore_lid=True)
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def turn_off(hal: PizzaHAL, **kwargs):
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"""
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Turn off the lights.
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@ -303,15 +332,15 @@ def wait_for_input(hal: PizzaHAL,
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resp = resp[1]
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if resp == 1:
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blue_cb(**kwargs)
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blue_cb()
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elif resp == 2:
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red_cb(**kwargs)
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red_cb()
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elif resp == 4:
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yellow_cb(**kwargs)
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yellow_cb()
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elif resp == 8:
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green_cb(**kwargs)
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green_cb()
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elif timeout_cb is not None:
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timeout_cb(**kwargs)
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timeout_cb()
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def set_light(hal: PizzaHAL,
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@ -1,3 +1,4 @@
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from email.policy import default
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import sys
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import click
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@ -11,18 +12,17 @@ logger = logging.getLogger('pizzactrl.main')
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@click.command()
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@click.option('--move', is_flag=True)
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@click.option('--test', is_flag=True, default=False)
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@click.option('--debug', is_flag=True, default=False)
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@click.option('--loop', is_flag=True, default=False)
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def main(move: bool=False, test: bool=False, debug: bool=False, loop: bool=False):
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def main(test: bool=False, debug: bool=False, loop: bool=False):
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if debug or test:
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logging.basicConfig(level=logging.DEBUG, stream=sys.stdout)
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else:
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logging.basicConfig(level=logging.INFO, stream=sys.stdout)
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hal = PizzaHAL()
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sm = Statemachine(hal, STORYBOARD, move=move, loop=loop, test=test)
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sm = Statemachine(hal, STORYBOARD, loop=loop, test=test)
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sm.test = test
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@ -5,7 +5,7 @@ from enum import Enum, auto
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from pizzactrl import fs_names
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from .storyboard import Language, Storyboard
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from .hal_serial import SerialCommunicationError, CommunicationError, PizzaHAL, wait_for_input, play_sound, turn_off
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from .hal_serial import SerialCommunicationError, CommunicationError, PizzaHAL, wait_for_input, play_sound, turn_off, reset
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logger = logging.getLogger(__name__)
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@ -32,7 +32,6 @@ class Statemachine:
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hal: PizzaHAL,
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story: Storyboard,
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default_lang=Language.NOT_SET,
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move: bool = False,
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loop: bool = True,
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test: bool = False):
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self.hal = hal
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@ -41,7 +40,7 @@ class Statemachine:
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self.lang = None
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self.story = story
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self.story.MOVE = move
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self.story.MOVE = True
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self.test = test
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self.loop = loop
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@ -71,8 +70,7 @@ class Statemachine:
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State.IDLE_END: self._idle_end
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}
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while (self.state is not State.ERROR) and \
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(self.state is not State.SHUTDOWN):
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while (self.state is not State.ERROR) and (self.state is not State.SHUTDOWN):
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logger.debug(f'Run(state={self.state})')
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try:
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choice[self.state]()
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@ -185,22 +183,24 @@ class Statemachine:
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turn_off(self.hal)
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self.story.skip_flag = False
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self.story.rewind()
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if self.loop:
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self.state = State.IDLE_START
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else:
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self._next_state()
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self._next_state()
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def _idle_end(self):
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"""
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Initialize shutdown
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Initialize shutdown or go back to POST if `self.loop=True`
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"""
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self._next_state()
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reset(self.hal)
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self.hal.helo1 = False
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if self.loop:
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self.state = State.POST
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else:
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self._next_state()
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def _shutdown(self):
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"""
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Clean up, end execution
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"""
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self.hal.pin_helo1.off()
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del self.hal
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del self.story
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@ -25,10 +25,11 @@ class Option(Enum):
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"""
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Options can be chosen by the user in WAIT_FOR_INPUT
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"""
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CONTINUE = {'skip_flag': False} # Continue with chapter. Set `skip_flag=True` to skip all chapters marked with `skip_flag`
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REPEAT = {'rewind': True} # Repeat chapter from beginning. `rewind=True`: reset scrolls to starting position
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GOTO = {'chapter': 0} # Jump to chapter number
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QUIT = {'quit': True} # End playback.
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CONTINUE = {'skip_flag': None} # Continue with chapter. Set `skip_flag=True` to skip all chapters marked with `skip_flag`
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REPEAT = {'rewind': True} # Repeat chapter from beginning. `rewind=True`: reset scrolls to starting position
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GOTO = {'chapter': 0,
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'skip_flag': None} # Jump to chapter number
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QUIT = {} # End playback. Will cause restart if `statemachine.loop=True`
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class Select:
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@ -65,10 +66,10 @@ class Activity(Enum):
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RECORD_VIDEO = {'duration': 60.0,
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'filename': ''}
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TAKE_PHOTO = {'filename': ''}
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ADVANCE_UP = {'steps': 46,
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ADVANCE_UP = {'steps': 48,
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'scroll': Scrolls.VERTICAL,
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'speed': 3}
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ADVANCE_LEFT = {'steps': 96,
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ADVANCE_LEFT = {'steps': 92,
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'scroll': Scrolls.HORIZONTAL,
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'speed': 3}
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LIGHT_FRONT = {'r': 0,
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@ -211,7 +212,7 @@ class Storyboard:
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self.skip_flag = False # Set `True` to skip chapters marked with skip_flag
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self.MOVE = False # self.move is reset to this value
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self.MOVE = True # self.move is reset to this value
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self._move = self.MOVE
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self._lang = Language.NOT_SET
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@ -255,39 +256,40 @@ class Storyboard:
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Return a callback for the appropriate option and parameters.
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Callbacks set the properties of `Statemachine` to determine it's behaviour.
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"""
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# rewind = selection.values.get('rewind', Option.REPEAT.value['rewind'])
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# next_chapter = selection.values.get('chapter', Option.GOTO.value['chapter'])
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# shutdown = selection.values.get('shutdown', Option.QUIT.value['shutdown'])
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_rewind = selection.values.get('rewind', None)
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_next_chapter = selection.values.get('chapter', None)
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_skip_flag = selection.values.get('skip_flag', None)
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if _skip_flag is not None:
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self.skip_flag = _skip_flag
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def _continue(**kwargs):
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def _continue():
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"""
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Continue in the Storyboard. Prepare advancing to the next chapter.
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"""
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logger.debug('User selected continue')
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if len(self.story) > (self._index + 1):
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self.next_chapter = self._index + 1
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if _skip_flag is not None:
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self.skip_flag = _skip_flag
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else:
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self.next_chapter = None
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def _repeat(rewind: bool=None, **kwargs):
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def _repeat():
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"""
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Repeat the current chapter. Do not rewind if the selection says so.
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"""
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logger.debug('User selected repeat')
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self.next_chapter = self._index
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self.move = rewind
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self.move = _rewind
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def _goto(chapter: int=None, **kwargs):
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def _goto():
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"""
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Jump to a specified chapter.
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"""
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logger.debug(f'User selected goto {chapter}')
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self.next_chapter = chapter
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logger.debug(f'User selected goto {_next_chapter}')
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self.next_chapter = _next_chapter
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if _skip_flag is not None:
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self.skip_flag = _skip_flag
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def _quit(**kwargs):
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def _quit():
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logger.debug('User selected quit')
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self.next_chapter = None
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@ -346,6 +348,8 @@ class Storyboard:
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def _move(hal, do_now=True, **kwargs):
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logger.debug(f'Storyboard._move({kwargs})')
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if not self.move:
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return
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set_movement(hal, **kwargs)
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if do_now:
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do_it(hal)
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@ -421,12 +425,12 @@ class Storyboard:
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steps = ch.rewind()
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h_steps += steps['h_steps']
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v_steps += steps['v_steps']
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elif diff > 0:
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"""
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Skip all chapters up to target
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"""
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for ch in self.story[self._index:self._next_chapter]:
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logger.debug(f'Queueing chapter {ch} for skipping')
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steps = ch.skip()
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h_steps += steps['h_steps']
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v_steps += steps['v_steps']
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@ -438,6 +442,7 @@ class Storyboard:
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h_steps = steps['h_steps']
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v_steps = steps['v_steps']
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logger.debug(f'storyboard.move={self.move} and h_steps={h_steps}, v_steps={v_steps}.')
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if self.move and ((h_steps != 0) or (v_steps != 0)):
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set_movement(self.hal, scroll=Scrolls.HORIZONTAL, steps=h_steps, speed=4)
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set_movement(self.hal, scroll=Scrolls.VERTICAL, steps=v_steps, speed=4)
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