From 3e57afece9a84d99cc35812d96e5c84fc8aa37fd Mon Sep 17 00:00:00 2001
From: ft-Demo <fischertechnik-team@fischer.de>
Date: Tue, 8 Nov 2022 10:12:04 +0000
Subject: [PATCH] commit by robo pro coding
---
lib/NodeRED.blockly | 91 ++++++++++++++++++++++++++++++++++-----------
lib/NodeRED.py | 13 +++++--
lib/SLD.blockly | 77 +++++++++++++++++++++++++++-----------
lib/SLD.py | 50 +++++++++++++++----------
4 files changed, 166 insertions(+), 65 deletions(-)
diff --git a/lib/NodeRED.blockly b/lib/NodeRED.blockly
index 502da58..4bc0991 100644
--- a/lib/NodeRED.blockly
+++ b/lib/NodeRED.blockly
@@ -11,9 +11,9 @@
<variable id="#ZVIt[,H@%Ms3XJhPF7y">gtyp_Setup_i_Pos_Selection</variable>
<variable id="zOwa}}!Kwpb%%^EeOYAT">payload</variable>
<variable id="gE_}aCN*#~^yOmZlqKv9">gtyp_Setup_x_Color_Sensor_Calibration</variable>
- <variable id="cTcpwCvGLYg4_[qJf{CM">state_positioning</variable>
<variable id=")XfA{xXx7sN)MA=qSY=H">gtyp_Setup_i_Color_Sensor_Selection</variable>
<variable id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</variable>
+ <variable id="cTcpwCvGLYg4_[qJf{CM">state_positioning</variable>
<variable id="aQ:d%c!ilWYQz|GZ5N0~">gtyp_Setup_w_Threshold_White_Red</variable>
<variable id="A{`)A3~(6e.5r^y~X;S1">gtyp_Setup_w_Threshold_Red_Blue</variable>
<variable id="1R^uniMizt=l7#?^bm$c">gtyp_Setup_di_Pos_Rotate</variable>
@@ -120,10 +120,10 @@
<block type="variables_set" id=";b,Xj$#gxX+raC)3wD6k">
<field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
<value name="VALUE">
- <block type="import_function_return" id="%TX;`Di-?u.+9)/@Nv{#">
- <mutation parentId="$]uSxm9]*Qu3iZl~w~MW"/>
- <field name="name">readColorValue</field>
- <data>$]uSxm9]*Qu3iZl~w~MW</data>
+ <block type="import_function_return" id="XuyjM1.@;#HA+@mFrv/e">
+ <mutation parentId="DG!Qx,-mV.+.OJkbzR!G"/>
+ <field name="name">get_detectedColor</field>
+ <data>DG!Qx,-mV.+.OJkbzR!G</data>
</block>
</value>
<next>
@@ -1123,6 +1123,13 @@
<field name="BOOL">FALSE</field>
</shadow>
</value>
+ <next>
+ <block type="import_function_noreturn" id="X}$nC/,(jef7FiXlsu~W">
+ <mutation parentId="g=6%Ka9Y1qYH|_c:bu9]"/>
+ <field name="name">startSLD</field>
+ <data>g=6%Ka9Y1qYH|_c:bu9]</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1199,6 +1206,13 @@
<field name="BOOL">FALSE</field>
</shadow>
</value>
+ <next>
+ <block type="import_function_noreturn" id="u1)G_=d%!+QY7JCi149-">
+ <mutation parentId="g=6%Ka9Y1qYH|_c:bu9]"/>
+ <field name="name">startSLD</field>
+ <data>g=6%Ka9Y1qYH|_c:bu9]</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1275,6 +1289,13 @@
<field name="BOOL">FALSE</field>
</shadow>
</value>
+ <next>
+ <block type="import_function_noreturn" id="}MYfC9)%|HWIiwZveWkf">
+ <mutation parentId="g=6%Ka9Y1qYH|_c:bu9]"/>
+ <field name="name">startSLD</field>
+ <data>g=6%Ka9Y1qYH|_c:bu9]</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1707,6 +1728,13 @@
</next>
</block>
</statement>
+ <next>
+ <block type="import_function_noreturn" id="[XY^fpiM9?lE|wqa=(Xv">
+ <mutation parentId="[VeFt!3!rIfU$B.I(^(^"/>
+ <field name="name">stopSLD</field>
+ <data>[VeFt!3!rIfU$B.I(^(^</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1818,6 +1846,13 @@
<field name="NUM">0</field>
</block>
</value>
+ <next>
+ <block type="import_function_noreturn" id="i-1D#zm];#0H7ww9m4Yg">
+ <mutation parentId="[VeFt!3!rIfU$B.I(^(^"/>
+ <field name="name">stopSLD</field>
+ <data>[VeFt!3!rIfU$B.I(^(^</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1938,6 +1973,13 @@
</value>
</block>
</value>
+ <next>
+ <block type="import_function_noreturn" id="ti#5)tatK*KSfQ?~f~AW">
+ <mutation parentId="[VeFt!3!rIfU$B.I(^(^"/>
+ <field name="name">stopSLD</field>
+ <data>[VeFt!3!rIfU$B.I(^(^</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -2075,37 +2117,44 @@
</block>
</value>
<next>
- <block type="variables_set" id="9x5:lZLpAx9wmr9(j=_s">
- <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ <block type="variables_set" id="S2G]dx)f~jgzuW0k^kNp">
+ <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
<value name="VALUE">
- <block type="math_number" id="gz]b+,C1~FgTaNK~=r,5">
+ <block type="math_number" id="C=d/[ap2uVxKy:e^MI:Z">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="S2G]dx)f~jgzuW0k^kNp">
- <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
+ <block type="variables_set" id="9x5:lZLpAx9wmr9(j=_s">
+ <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
<value name="VALUE">
- <block type="math_number" id="C=d/[ap2uVxKy:e^MI:Z">
+ <block type="math_number" id="gz]b+,C1~FgTaNK~=r,5">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="K8LkNm#7hFX|dJ!z6$7i">
- <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
+ <block type="variables_set" id="=~039uS6s1=!E3E6zijO">
+ <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
<value name="VALUE">
- <block type="math_number" id="ke^5kEWYDF/S$ln@)=%_">
+ <block type="math_number" id="s(Z7II`Fld+4)J.OPb9T">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="=~039uS6s1=!E3E6zijO">
- <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
+ <block type="variables_set" id="K8LkNm#7hFX|dJ!z6$7i">
+ <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
<value name="VALUE">
- <block type="math_number" id="s(Z7II`Fld+4)J.OPb9T">
+ <block type="math_number" id="ke^5kEWYDF/S$ln@)=%_">
<field name="NUM">0</field>
</block>
</value>
+ <next>
+ <block type="import_function_noreturn" id="IJy_!,2i)(ygN%+GHla}">
+ <mutation parentId="[VeFt!3!rIfU$B.I(^(^"/>
+ <field name="name">stopSLD</field>
+ <data>[VeFt!3!rIfU$B.I(^(^</data>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -2598,7 +2647,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="$jNNx1Oeez9#x~eQYP}z" x="0" y="7551">
+ <block type="procedures_defnoreturn" id="$jNNx1Oeez9#x~eQYP}z" x="0" y="7747">
<field name="NAME">initMQTTLocal</field>
<statement name="STACK">
<block type="variables_set" id="_C*fQdBXqrGb1uUWi?_1">
@@ -2694,7 +2743,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="R4vMowGJ0I?IYs_!-IwU" x="0" y="8063">
+ <block type="procedures_defnoreturn" id="R4vMowGJ0I?IYs_!-IwU" x="0" y="8259">
<field name="NAME">thread_MQTTLocal</field>
<statement name="STACK">
<block type="util_python" id="IiRVsU4_~OPjE]@(VC;/" inline="true">
@@ -2710,7 +2759,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="8u`{W^33E#gAnZ}n#.-h" x="0" y="8323">
+ <block type="procedures_defnoreturn" id="8u`{W^33E#gAnZ}n#.-h" x="0" y="8519">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="_4Lef8L=}Do}$CNf.$X3"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid=".~Cx#%[dpU*oKQFZ*1}G"/>
@@ -2948,7 +2997,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="a]0!I}Zd7AawL:mU%,P1" x="0" y="9117">
+ <block type="procedures_defnoreturn" id="a]0!I}Zd7AawL:mU%,P1" x="0" y="9313">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="`n4M@;+Y^Ab44Gi.YYy-"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid="]gLOm[vhCT0;N+Cp[1?5"/>
diff --git a/lib/NodeRED.py b/lib/NodeRED.py
index 97f2c17..84f8994 100644
--- a/lib/NodeRED.py
+++ b/lib/NodeRED.py
@@ -56,7 +56,7 @@ def thread_updateColorValue():
client.publish(topic='gtyp_Setup/w_Actual_ColorValue', payload=gtyp_Setup_w_Actual_ColorValue, qos=2, retain=False)
elif gtyp_Setup_i_Color_Sensor_Selection == 2:
logging.debug('2')
- gtyp_Setup_w_Actual_ColorValue = readColorValue()
+ gtyp_Setup_w_Actual_ColorValue = get_detectedColor()
client.publish(topic='gtyp_Setup/w_Actual_ColorValue', payload=gtyp_Setup_w_Actual_ColorValue, qos=2, retain=False)
time.sleep(1)
@@ -147,14 +147,17 @@ def processReceivedMessage(topic, m_decode):
logging.debug('blue')
set_calibvalue_blue(gtyp_Setup_w_Actual_ColorValue)
client.publish(topic='gtyp_Setup/w_Calib_ColorValue_Blue', payload=(get_calibvalue_list())[2], qos=2, retain=False)
+ startSLD()
elif topic == 'gtyp_Setup/x_Set_Calib_Value_Color_Red':
logging.debug('red')
set_calibvalue_red(gtyp_Setup_w_Actual_ColorValue)
client.publish(topic='gtyp_Setup/w_Calib_ColorValue_Red', payload=(get_calibvalue_list())[1], qos=2, retain=False)
+ startSLD()
elif topic == 'gtyp_Setup/x_Set_Calib_Value_Color_White':
logging.debug('white')
set_calibvalue_white(gtyp_Setup_w_Actual_ColorValue)
client.publish(topic='gtyp_Setup/w_Calib_ColorValue_White', payload=(get_calibvalue_list())[0], qos=2, retain=False)
+ startSLD()
elif topic == 'gtyp_Setup/x_Calculate_Value_Color':
logging.debug('calculate')
calculate_thresh()
@@ -178,6 +181,7 @@ def processReceivedMessage(topic, m_decode):
client.publish(topic='gtyp_SLD/w_Threshold_Red_Blue', payload=gtyp_SLD_w_Threshold_Red_Blue, qos=2, retain=False)
else:
pass
+ stopSLD()
elif topic == 'gtyp_Setup/x_Color_Sensor_Calibration':
logging.debug('calibrate color sensor')
gtyp_Setup_x_Color_Sensor_Calibration = m_decode
@@ -189,6 +193,7 @@ def processReceivedMessage(topic, m_decode):
set_lights_mode(0)
display.set_attr("txt_status_indicator.active", str(False).lower())
gtyp_Setup_w_Actual_ColorValue = 0
+ stopSLD()
elif topic == 'gtyp_Setup/i_Color_Sensor_Selection':
logging.debug('sensor selection')
gtyp_Setup_i_Color_Sensor_Selection = int(m_decode, 10)
@@ -197,6 +202,7 @@ def processReceivedMessage(topic, m_decode):
gtyp_Setup_w_Actual_ColorValue = readDPSColorValue()
gtyp_SSC_w_Threshold_Red_Blue = (get_calib_data_DPS())[0]
gtyp_SSC_w_Threshold_White_Red = (get_calib_data_DPS())[1]
+ stopSLD()
elif gtyp_Setup_i_Color_Sensor_Selection == 2:
logging.debug('2')
gtyp_Setup_w_Actual_ColorValue = readColorValue()
@@ -209,10 +215,11 @@ def processReceivedMessage(topic, m_decode):
set_calibvalue_white(0)
set_calibvalue_red(0)
set_calibvalue_blue(0)
- gtyp_SSC_w_Threshold_Red_Blue = 0
gtyp_SSC_w_Threshold_White_Red = 0
- gtyp_SLD_w_Threshold_Red_Blue = 0
+ gtyp_SSC_w_Threshold_Red_Blue = 0
gtyp_SLD_w_Threshold_White_Red = 0
+ gtyp_SLD_w_Threshold_Red_Blue = 0
+ stopSLD()
client.publish(topic='gtyp_Setup/w_Actual_ColorValue', payload=gtyp_Setup_w_Actual_ColorValue, qos=2, retain=False)
client.publish(topic='gtyp_Setup/w_Calib_ColorValue_White', payload=(get_calibvalue_list())[0], qos=2, retain=False)
client.publish(topic='gtyp_Setup/w_Calib_ColorValue_Red', payload=(get_calibvalue_list())[1], qos=2, retain=False)
diff --git a/lib/SLD.blockly b/lib/SLD.blockly
index d67a47a..882679f 100644
--- a/lib/SLD.blockly
+++ b/lib/SLD.blockly
@@ -4,9 +4,10 @@
<variable id="x?rbx}Z!7+Jx9E.L=:pX">_code</variable>
<variable id="Hq*BSR/(QEo9c0kQRW{y">_active</variable>
<variable id="1X|m)*QO^oo}EfHf=nBO">speed</variable>
+ <variable id="ey.@ye[RiHweS+e|GIKG">started</variable>
<variable id="78bW9521)(I[oMydfNIz">state_code</variable>
<variable id="[V))lfBm^j7t@3LJVWGf">state_active</variable>
- <variable id="ey.@ye[RiHweS+e|GIKG">started</variable>
+ <variable id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</variable>
<variable id="?hGLg[3H[9:g]?:4%%_%">calibvalue_white</variable>
<variable id="?]F?rtn:F#wq@5Ag|9yE">thresh_white_red_defaults</variable>
<variable id="Krv1?O$_~Yha=/]3-u{i">thresh_red_blue_defaults</variable>
@@ -15,7 +16,6 @@
<variable id="yo`fPT*$(K2EHr+p;E@^">calibvalue_red</variable>
<variable id="g%%DHmT#UX~.YdQn3gcf">_ts_state</variable>
<variable id="u~VUTh^5;XCqV.t^iE,B">calibvalue_blue</variable>
- <variable id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</variable>
<variable id="?Hi+81vv*K@yZim!8fD_">lastColorValue</variable>
<variable id="_?QtuoxDM2ZJ#rQLHhaQ">counter</variable>
<variable id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</variable>
@@ -36,7 +36,28 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="210">
+ <block type="procedures_defnoreturn" id="[VeFt!3!rIfU$B.I(^(^" x="0" y="210">
+ <field name="NAME">stopSLD</field>
+ <statement name="STACK">
+ <block type="variables_set" id="7LOa@K(:,jIDi3D_cppv">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
+ <value name="VALUE">
+ <block type="logic_boolean" id=";urBD?;LnP-Pr0.C1}|+">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defreturn" id="DG!Qx,-mV.+.OJkbzR!G" x="0" y="319">
+ <field name="NAME">get_detectedColor</field>
+ <value name="RETURN">
+ <block type="variables_get" id=")O%dQpuFd{FuGTm%_AM(">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ </block>
+ <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="438">
<field name="NAME">thread_SLD</field>
<statement name="STACK">
<block type="util_python" id="or=tulIX]{S?#ofKV+]h" inline="true">
@@ -171,8 +192,22 @@
<block type="controls_whileUntil" id="Y3)fnloS|8,DEOQG{n2-">
<field name="MODE">UNTIL</field>
<value name="BOOL">
- <block type="procedures_callreturn" id="mewh8q@GplOPE!2od1f?">
- <mutation name="isEjectionTriggered"/>
+ <block type="logic_operation" id="b86)=u[1_Vvq({h(zY2d" inline="false">
+ <field name="OP">OR</field>
+ <value name="A">
+ <block type="procedures_callreturn" id="mewh8q@GplOPE!2od1f?">
+ <mutation name="isEjectionTriggered"/>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_negate" id="v99bx#LrCQ/9GaTKrUb0">
+ <value name="BOOL">
+ <block type="variables_get" id="sh96A,Bv1[6MB0!88(!o">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
</value>
<statement name="DO">
@@ -629,7 +664,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2237">
+ <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2493">
<field name="NAME">get_calib_data_SLD_defaults</field>
<statement name="STACK">
<block type="util_python" id="cO!#.ICg79WkS?A?cG[j" inline="true">
@@ -652,7 +687,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2398">
+ <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2654">
<field name="NAME">get_calib_data_SLD</field>
<statement name="STACK">
<block type="util_python" id="t;Zg(`vb3R)aQZ])LhpC" inline="true">
@@ -675,7 +710,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2559">
+ <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2815">
<mutation>
<arg name="_data" varid="$E/GDp,,dwQrGbs7N*=C" argid="^}Z*XZLpIfstV5L7ggN|"/>
</mutation>
@@ -731,7 +766,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="2778">
+ <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="3034">
<mutation>
<arg name="_code" varid="x?rbx}Z!7+Jx9E.L=:pX" argid=",ZCb|vi(m3g0A4u*(!{`"/>
<arg name="_active" varid="Hq*BSR/(QEo9c0kQRW{y" argid="mqa@Al(.5xeP*B]Jl`8%"/>
@@ -814,7 +849,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3123">
+ <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3379">
<field name="NAME">get_state_code_SLD</field>
<statement name="STACK">
<block type="util_python" id="(HOmJd*Bw@nwPNCHY0mu" inline="true">
@@ -827,7 +862,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3256">
+ <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3512">
<field name="NAME">get_state_active_SLD</field>
<statement name="STACK">
<block type="util_python" id="Ht%%JB`?HUum}h9K*t-9" inline="true">
@@ -840,7 +875,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3389">
+ <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3645">
<mutation>
<arg name="speed" varid="1X|m)*QO^oo}EfHf=nBO" argid="pePpK@*+w{Ry]Ltz(Z95"/>
</mutation>
@@ -866,7 +901,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3560">
+ <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3816">
<field name="NAME">ejectWhite</field>
<statement name="STACK">
<block type="util_python" id="L9].u`N0?,H+tU)=o?Me" inline="true">
@@ -942,7 +977,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="3927">
+ <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="4183">
<field name="NAME">ejectRed</field>
<statement name="STACK">
<block type="util_python" id="?:UCrMJUl%q(jYcN8(IE" inline="true">
@@ -1018,7 +1053,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4294">
+ <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4550">
<field name="NAME">ejectBlue</field>
<statement name="STACK">
<block type="util_python" id="n-s%L0Ie7qkf@WU-[H8o" inline="true">
@@ -1094,7 +1129,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4661">
+ <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4917">
<field name="NAME">isColorSensorTriggered</field>
<statement name="STACK">
<block type="util_python" id="23n|f!bBfO#m?@_HlHB}" inline="true">
@@ -1108,7 +1143,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="4794">
+ <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="5050">
<field name="NAME">isEjectionTriggered</field>
<statement name="STACK">
<block type="util_python" id="wrT1c1;%@kF-Riy28O;." inline="true">
@@ -1122,7 +1157,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="4927">
+ <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="5183">
<field name="NAME">isWhite</field>
<statement name="STACK">
<block type="util_python" id="h?(Tr@S1VYchJ5e6())[" inline="true">
@@ -1136,7 +1171,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5060">
+ <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5316">
<field name="NAME">isRed</field>
<statement name="STACK">
<block type="util_python" id="fN{]~9g]|*Kx,bpmy_i$" inline="true">
@@ -1150,7 +1185,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5193">
+ <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5449">
<field name="NAME">isBlue</field>
<statement name="STACK">
<block type="util_python" id="U(Y(8WN=vCJzgw~oLdbs" inline="true">
@@ -1164,7 +1199,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5326">
+ <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5582">
<field name="NAME">readColorValue</field>
<statement name="STACK">
<block type="util_python" id="JSm|]EZ0cs6:5)g-C23(" inline="true">
diff --git a/lib/SLD.py b/lib/SLD.py
index 917b934..71ea40b 100644
--- a/lib/SLD.py
+++ b/lib/SLD.py
@@ -11,6 +11,7 @@ _code = None
_active = None
speed = None
started = None
+detectedColorValue = None
state_code = None
state_active = None
calibvalue_white = None
@@ -21,19 +22,28 @@ thresh_red_blue = None
calibvalue_red = None
_ts_state = None
calibvalue_blue = None
-detectedColorValue = None
lastColorValue = None
counter = None
lastStateCounterSwitch = None
def startSLD():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
started = True
+def stopSLD():
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
+ started = False
+
+
+def get_detectedColor():
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
+ return detectedColorValue
+
+
def thread_SLD():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
calibvalue_white = 0
calibvalue_red = 0
@@ -50,7 +60,7 @@ def thread_SLD():
_set_state_SLD(2, 1)
detectedColorValue = 3000
setConvBeltSpeedSLD(512)
- while not isEjectionTriggered():
+ while not (isEjectionTriggered() or not started):
lastColorValue = readColorValue()
if lastColorValue < detectedColorValue:
detectedColorValue = lastColorValue
@@ -93,26 +103,26 @@ def thread_SLD():
def get_calib_data_SLD_defaults():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
return [thresh_white_red_defaults, thresh_red_blue_defaults]
def get_calib_data_SLD():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
return [thresh_white_red, thresh_red_blue]
def set_calib_data_SLD(_data):
- global _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, _data)
thresh_white_red = _data[0]
thresh_red_blue = _data[1]
def _set_state_SLD(_code, _active):
- global _data, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
if state_code != _code or state_active != _active:
_ts_state = 0
@@ -121,26 +131,26 @@ def _set_state_SLD(_code, _active):
def get_state_code_SLD():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return state_code
def get_state_active_SLD():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return state_active
def setConvBeltSpeedSLD(speed):
- global _data, _code, _active, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, 'speed: %d', speed)
TXT_SLD_E5_M1_encodermotor.set_speed(int(speed), Motor.CW)
TXT_SLD_E5_M1_encodermotor.start()
def ejectWhite():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O5_magnetic_valve.on()
time.sleep(0.5)
@@ -154,7 +164,7 @@ def ejectWhite():
def ejectRed():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O6_magnetic_valve.on()
time.sleep(0.5)
@@ -168,7 +178,7 @@ def ejectRed():
def ejectBlue():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O7_magnetic_valve.on()
time.sleep(0.5)
@@ -182,37 +192,37 @@ def ejectBlue():
def isColorSensorTriggered():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I1_photo_transistor.is_dark()
def isEjectionTriggered():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I3_photo_transistor.is_dark()
def isWhite():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I6_photo_transistor.is_dark()
def isRed():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I7_photo_transistor.is_dark()
def isBlue():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I8_photo_transistor.is_dark()
def readColorValue():
- global _data, _code, _active, speed, started, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, detectedColorValue, lastColorValue, counter, lastStateCounterSwitch
+ global _data, _code, _active, speed, started, detectedColorValue, state_code, state_active, calibvalue_white, thresh_white_red_defaults, thresh_red_blue_defaults, thresh_white_red, thresh_red_blue, calibvalue_red, _ts_state, calibvalue_blue, lastColorValue, counter, lastStateCounterSwitch
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I2_color_sensor.get_voltage()
--
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