diff --git a/FactoryCalib.blockly b/FactoryCalib.blockly
index de50bce5e1e41735ba2aec40ee7e522ee0efdc7b..45ae0cf3be34a99c19cce6a1a490d5f8f7f65df0 100644
--- a/FactoryCalib.blockly
+++ b/FactoryCalib.blockly
@@ -1,11 +1,11 @@
<xml xmlns="https://developers.google.com/blockly/xml" version="14">
- <block type="start_block" id="5r8Hf)nzFKt,AzMq]4)P" deletable="false" x="-197" y="33">
+ <block type="start_block" id="5r8Hf)nzFKt,AzMq]4)P" deletable="false" x="0" y="0">
<statement name="statement">
<block type="display_set_label_text" id=":7]Mx6b@!j4P*7jD}iz[">
<field name="instance_name">txt_label_version</field>
<value name="value">
<shadow type="text" id="T9nyAyJIRL7l_Nn(S-rd">
- <field name="TEXT">Version 2022/11/07</field>
+ <field name="TEXT">Version 2022/11/08</field>
</shadow>
</value>
<next>
@@ -47,24 +47,24 @@
<field name="name">init_SSC_PTU</field>
<data>!*d[^#5M)?7Uxe|zk^K}</data>
<next>
- <block type="import_function_noreturn" id="r*GLs}=Xdp(e$+6w?};6">
- <mutation parentId="$jNNx1Oeez9#x~eQYP}z"/>
- <field name="name">initMQTTLocal</field>
- <data>$jNNx1Oeez9#x~eQYP}z</data>
+ <block type="import_function_noreturn" id="Ej2ZS8_`0nx#j=Ld4er.">
+ <mutation parentId="*A(OQEg?]~%+S(TjuNW:"/>
+ <field name="name">loadFileFactoryCalib</field>
+ <data>*A(OQEg?]~%+S(TjuNW:</data>
<next>
- <block type="util_thread" id="($:VkQ#3?EHT|;iZ9W9u">
- <field name="dropdown_event">R4vMowGJ0I?IYs_!-IwU</field>
+ <block type="import_function_noreturn" id="r*GLs}=Xdp(e$+6w?};6">
+ <mutation parentId="$jNNx1Oeez9#x~eQYP}z"/>
+ <field name="name">initMQTTLocal</field>
+ <data>$jNNx1Oeez9#x~eQYP}z</data>
<next>
- <block type="util_thread" id="8L?y2Z0!5om5((y`Hug6">
- <field name="dropdown_event">]$}!d~iPi$faCfYn-,02</field>
+ <block type="util_thread" id="($:VkQ#3?EHT|;iZ9W9u">
+ <field name="dropdown_event">R4vMowGJ0I?IYs_!-IwU</field>
<next>
- <block type="util_thread" id="siHp)M|Kla=_B|-564Z;">
+ <block type="util_thread" id="etqX=L0t.x_7Gv^0b5U,">
<field name="dropdown_event">2)S|Q)oZ/N[cbwDZy~z}</field>
<next>
- <block type="import_function_noreturn" id="}gpVySQp9RlQ0;T=H|T?">
- <mutation parentId="*A(OQEg?]~%+S(TjuNW:"/>
- <field name="name">loadFileFactoryCalib</field>
- <data>*A(OQEg?]~%+S(TjuNW:</data>
+ <block type="util_thread" id="{yc__LanX27NtUTm3P*)">
+ <field name="dropdown_event">]$}!d~iPi$faCfYn-,02</field>
<next>
<block type="loop_endless" id="^hpJo7DFR.KJ9Xs2RAx,"/>
</next>
diff --git a/FactoryCalib.py b/FactoryCalib.py
index 4de245b08c6e396bc6fa973efaad4942bd92ecdc..2edbfbc21957427400a24eebe6af653d6b64570f 100644
--- a/FactoryCalib.py
+++ b/FactoryCalib.py
@@ -24,7 +24,7 @@ from lib.VGR_Axes1Ref import *
from lib.VGR_NodeRED import *
-display.set_attr("txt_label_version.text", str('Version 2022/11/07'))
+display.set_attr("txt_label_version.text", str('Version 2022/11/08'))
initlib_log(5)
threading.Thread(target=thread_lights, daemon=True).start()
initlib_Axes1Ref()
@@ -32,10 +32,10 @@ initlib_Axes2Ref()
init_VGR()
init_HBW()
init_SSC_PTU()
+loadFileFactoryCalib()
initMQTTLocal()
threading.Thread(target=thread_MQTTLocal, daemon=True).start()
-threading.Thread(target=thread_SLD, daemon=True).start()
threading.Thread(target=thread_DPS, daemon=True).start()
-loadFileFactoryCalib()
+threading.Thread(target=thread_SLD, daemon=True).start()
while True:
pass
diff --git a/lib/NodeRED.blockly b/lib/NodeRED.blockly
index 9ee9d23e86bf3b172b146cf10ebb856e04165029..d7c5dc4e067713c6823c5b5dd5e588bd149c7560 100644
--- a/lib/NodeRED.blockly
+++ b/lib/NodeRED.blockly
@@ -18,9 +18,9 @@
<variable id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</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="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</variable>
<variable id="1R^uniMizt=l7#?^bm$c">gtyp_Setup_di_Pos_Rotate</variable>
<variable id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</variable>
+ <variable id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</variable>
<variable id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</variable>
<variable id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</variable>
<variable id="mvCEZ!N=009NymF/qM7c">gtyp_Setup_di_Pos_Vertical</variable>
@@ -41,10 +41,10 @@
<field name="Hbe2WDx-@,*Wg@:(`|^.">m_decode</field>
<statement name="STACK">
<block type="util_python" id="G*Cyx6_G`O1FJ;t;|hrQ" inline="true">
- <field name="value">logging.log(logging.TRACE, '%s %s', topic, m_decode)</field>
+ <field name="value">logging.log(logging.TRACE0, '%s %s', topic, m_decode)</field>
<next>
<block type="controls_if" id=":Pd7[hKJ5a7hsE}Cfr($">
- <mutation elseif="13" else="1"/>
+ <mutation elseif="14" else="1"/>
<value name="IF0">
<block type="logic_compare" id="68yi{8vrr(As?~twnx3:">
<field name="OP">EQ</field>
@@ -1260,6 +1260,340 @@
<field name="BOOL">FALSE</field>
</shadow>
</value>
+ <next>
+ <block type="controls_if" id="c7sHjnceoH.mo|,.i)!i">
+ <mutation elseif="1" else="1"/>
+ <value name="IF0">
+ <block type="logic_compare" id="FkOwcEo2?}OUrCaO!`V4">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="q5rjy+:qAR[VhkC$-lb*">
+ <field name="VAR" id=")XfA{xXx7sN)MA=qSY=H">gtyp_Setup_i_Color_Sensor_Selection</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="_[^Ljw9w5Akdky*gn86H">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="util_python" id="soiv=1GYGk1x%q@maBVQ" inline="true">
+ <field name="value">logging.debug('1')</field>
+ <next>
+ <block type="import_function_noreturn" id="M[HH9m7FQXc%HGGy.8WI" inline="true">
+ <mutation parentId="3Qf0~|~$oG8z5tP{6Km;"/>
+ <field name="name">set_calib_data_SLD</field>
+ <data>3Qf0~|~$oG8z5tP{6Km;</data>
+ <value name="_data">
+ <block type="import_function_return" id="(5oQM![;])v/u0pcD6MD">
+ <mutation parentId="b|1;0mU=wNNO2Ry{f6,Z"/>
+ <field name="name">get_calib_data_SLD</field>
+ <data>b|1;0mU=wNNO2Ry{f6,Z</data>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="WAf,+!7J@v2-:Q$D}WRy">
+ <field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
+ <value name="VALUE">
+ <block type="math_convert" id="2A;=5MiWV;K=vSUi=Py|">
+ <mutation option="TO_INT"/>
+ <field name="OP">TO_INT</field>
+ <field name="BASE">10</field>
+ <value name="NUM">
+ <block type="import_function_return" id="lBF}3ws,,6TpfF}C;_a%">
+ <mutation parentId="$]uSxm9]*Qu3iZl~w~MW"/>
+ <field name="name">readColorValue</field>
+ <data>$]uSxm9]*Qu3iZl~w~MW</data>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="A;mMGOnf}=G4)(mUTBXB">
+ <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
+ <value name="VALUE">
+ <block type="lists_getIndex" id="l8(^@0LFn@VRt!9bbB@y">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="[.lX-%{ZA`0XE/8@wh;6">
+ <mutation parentId="b|1;0mU=wNNO2Ry{f6,Z"/>
+ <field name="name">get_calib_data_SLD</field>
+ <data>b|1;0mU=wNNO2Ry{f6,Z</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="#RosQS*Pqqky0x=BGHqe">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="V$q[G}}_EqKbXxUdXZ?y">
+ <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
+ <value name="VALUE">
+ <block type="lists_getIndex" id="-dw.:I!+I-1Z}iqg+9wq">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="BynbVL(FDhK[^6E+Y]|%">
+ <mutation parentId="b|1;0mU=wNNO2Ry{f6,Z"/>
+ <field name="name">get_calib_data_SLD</field>
+ <data>b|1;0mU=wNNO2Ry{f6,Z</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="xKD0g;L20Gs#1K{x-1;t">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="6fC(-bBrwzAL(!f*ENq9">
+ <value name="name">
+ <block type="variables_get" id="!8D6PQ)C0:iovvEj~?6f">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id="h2D6M*w}QakoV=9S]vcz">
+ <field name="TEXT">gtyp_SLD/w_Threshold_White_Red</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="10DmxbPw;Kh6~X?xC^@=">
+ <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="f=LX{[z|sxhgBKhzMc7@">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="CZ4g*FL?4Mk=lj62[*yr">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="StL0d;=/[ck2._O_Id.(">
+ <value name="name">
+ <block type="variables_get" id="N]59T`b2jIc;_qGW2?hE">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id="9W@f;@ZG8JRhbU#pQb%V">
+ <field name="TEXT">gtyp_SLD/w_Threshold_Red_Blue</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id=".$OApgnU$;Ks5QCN7=.?">
+ <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="P@?U|z5SZY6k/NQSSaLr">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id=",B[1dxL!]ME%M)JCM)@^">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="import_function_noreturn" id="c{=w9)lmtKb$uKpfh|f1">
+ <mutation parentId="g=6%Ka9Y1qYH|_c:bu9]"/>
+ <field name="name">startSLD</field>
+ <data>g=6%Ka9Y1qYH|_c:bu9]</data>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_compare" id="l6F{zxuH,.$dsdXP%x/d">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="b`/+Km:.+3G=FF=mC~aL">
+ <field name="VAR" id=")XfA{xXx7sN)MA=qSY=H">gtyp_Setup_i_Color_Sensor_Selection</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="2-p5g+`e%-5K5h,)ge-g">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="util_python" id="x0s]$+:+=z@PJ!naMKFJ" inline="true">
+ <field name="value">logging.debug('2')</field>
+ <next>
+ <block type="import_function_noreturn" id="mYNNZg)WPJlr:~$ufsec" inline="true">
+ <mutation parentId=":J%zX-c=Y4mZAR)aLyUn"/>
+ <field name="name">set_calib_data_DPS</field>
+ <data>:J%zX-c=Y4mZAR)aLyUn</data>
+ <value name="_data">
+ <block type="import_function_return" id="@;JC1=}]#34K48sx$z:f">
+ <mutation parentId="Q9p7dhe-|x*[t`L^}||B"/>
+ <field name="name">get_calib_data_DPS</field>
+ <data>Q9p7dhe-|x*[t`L^}||B</data>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="]U{J=*zkyz1_tdI~ahab">
+ <field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
+ <value name="VALUE">
+ <block type="math_convert" id="KxHe9y`eYq8M.q;u3Qf9">
+ <mutation option="TO_INT"/>
+ <field name="OP">TO_INT</field>
+ <field name="BASE">10</field>
+ <value name="NUM">
+ <block type="import_function_return" id="@L.Vk]qUp2Qx=/=#/mf;">
+ <mutation parentId="![`j=,+%Mnlx`Drv~HID"/>
+ <field name="name">readDPSColorValue</field>
+ <data>![`j=,+%Mnlx`Drv~HID</data>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="#qTi4fJvDN/gHpGR,QZL">
+ <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ <value name="VALUE">
+ <block type="lists_getIndex" id="XHjGd8WI?lk^D`I(D#b=">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="sY?[vd+tT0Nu7cz+s-nI">
+ <mutation parentId="Q9p7dhe-|x*[t`L^}||B"/>
+ <field name="name">get_calib_data_DPS</field>
+ <data>Q9p7dhe-|x*[t`L^}||B</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="0*d]I4B_:$fDgz,^vuWz">
+ <field name="NUM">1</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="D:=f2wh[w8ZBWyd[g(7}">
+ <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
+ <value name="VALUE">
+ <block type="lists_getIndex" id="wdG`|Kmg=qcF]7y]s%/Y">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="nkoTt5*j.7AKXq.ht:mP">
+ <mutation parentId="Q9p7dhe-|x*[t`L^}||B"/>
+ <field name="name">get_calib_data_DPS</field>
+ <data>Q9p7dhe-|x*[t`L^}||B</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="{2;D6h`S7C3wQ-4YG}9K">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="q*l)lLvQ+gq071=B?@^C">
+ <value name="name">
+ <block type="variables_get" id="F,Y)cUZYs0lOI-L0=p.l">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id=")`awz#27RX.sH,6*)B6)">
+ <field name="TEXT">gtyp_SSC/w_Threshold_White_Red</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="SGGyieKA!!R@(D$b/RSW">
+ <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="8{srU/E?AVvW$Dd[(}l]">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="vXK,eAojF*2ouQ1Jd#tp">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="E#Pgwk-H%6WI!+Zg@xS)">
+ <value name="name">
+ <block type="variables_get" id="R3n.;F-Yx`_%3T(IqW~h">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id="E`^{fo{,)eHSu{:O/6.V">
+ <field name="TEXT">gtyp_SSC/w_Threshold_Red_Blue</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="jQ}sKf~Op2Pr:-kx:TM#">
+ <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="J#pZ^?|%;:t7Amwb9W(W">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="_dEw,Az-T1[gzI?|=7f*">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1434,9 +1768,10 @@
<block type="variables_set" id="BPg6vOMOI?;C`6A+QJsT">
<field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
<value name="VALUE">
- <block type="math_round" id="5Z4z]JtJXR~%c^j)XFcq">
- <field name="OP">ROUND</field>
- <field name="DECIMALS">0</field>
+ <block type="math_convert" id="$0(^:}~o#8BHH)}4$Y!`">
+ <mutation option="TO_INT"/>
+ <field name="OP">TO_INT</field>
+ <field name="BASE">10</field>
<value name="NUM">
<block type="import_function_return" id="oJ7BxBI@76/r%%ru?)v}">
<mutation parentId="$]uSxm9]*Qu3iZl~w~MW"/>
@@ -1520,10 +1855,17 @@
<block type="variables_set" id="9*`+]6N]2vvRh5r{)qUZ">
<field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
<value name="VALUE">
- <block type="import_function_return" id="dcG_(9Wi^pI2:{/h0uN?">
- <mutation parentId="![`j=,+%Mnlx`Drv~HID"/>
- <field name="name">readDPSColorValue</field>
- <data>![`j=,+%Mnlx`Drv~HID</data>
+ <block type="math_convert" id="m#f}yT6yg[=rg4z7l}r!">
+ <mutation option="TO_INT"/>
+ <field name="OP">TO_INT</field>
+ <field name="BASE">10</field>
+ <value name="NUM">
+ <block type="import_function_return" id="dcG_(9Wi^pI2:{/h0uN?">
+ <mutation parentId="![`j=,+%Mnlx`Drv~HID"/>
+ <field name="name">readDPSColorValue</field>
+ <data>![`j=,+%Mnlx`Drv~HID</data>
+ </block>
+ </value>
</block>
</value>
<next>
@@ -1582,45 +1924,81 @@
<block type="util_python" id="rWWm)}Q.WvYJz$62-AC:" inline="true">
<field name="value">logging.debug('none')</field>
<next>
- <block type="variables_set" id="9x5:lZLpAx9wmr9(j=_s">
- <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ <block type="variables_set" id="g)-8V^Z,Zx{V:R_f]i_.">
+ <field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</field>
<value name="VALUE">
- <block type="math_number" id="gz]b+,C1~FgTaNK~=r,5">
+ <block type="math_number" id="Gof8u):q_v1H]SGYCc7y">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="S2G]dx)f~jgzuW0k^kNp">
- <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
- <value name="VALUE">
- <block type="math_number" id="C=d/[ap2uVxKy:e^MI:Z">
+ <block type="import_function_noreturn" id="pP}9%Bs)9]$fD$H/@=As" inline="true">
+ <mutation parentId="VSmATTY?.L[C{f,=c#1:"/>
+ <field name="name">set_calibvalue_white</field>
+ <data>VSmATTY?.L[C{f,=c#1:</data>
+ <value name="v">
+ <block type="math_number" id="tb{pe]#KLCojOWWR,]P4">
<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>
- <value name="VALUE">
- <block type="math_number" id="ke^5kEWYDF/S$ln@)=%_">
+ <block type="import_function_noreturn" id="T[KPPJTp(uGcU!,C^YIz" inline="true">
+ <mutation parentId="(h]YqJ@0g{:(ai*WF@?!"/>
+ <field name="name">set_calibvalue_red</field>
+ <data>(h]YqJ@0g{:(ai*WF@?!</data>
+ <value name="v">
+ <block type="math_number" id="4`yo3W2#s*iwoL6aXidC">
<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>
- <value name="VALUE">
- <block type="math_number" id="s(Z7II`Fld+4)J.OPb9T">
+ <block type="import_function_noreturn" id="hUp?s=y@zf/dV9Kdg3fJ" inline="true">
+ <mutation parentId="VSmATTY?.L[C{f,=c#1:"/>
+ <field name="name">set_calibvalue_white</field>
+ <data>VSmATTY?.L[C{f,=c#1:</data>
+ <value name="v">
+ <block type="math_number" id="D]m:m}L4P~4,ZKK%6,4b">
<field name="NUM">0</field>
</block>
</value>
<next>
- <block type="variables_set" id="g)-8V^Z,Zx{V:R_f]i_.">
- <field name="VAR" id=")(=M[8QEW5[mGL@9Axsu">gtyp_Setup_w_Actual_ColorValue</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="Gof8u):q_v1H]SGYCc7y">
+ <block type="math_number" id="gz]b+,C1~FgTaNK~=r,5">
<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>
+ <value name="VALUE">
+ <block type="math_number" id="C=d/[ap2uVxKy:e^MI:Z">
+ <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>
+ <value name="VALUE">
+ <block type="math_number" id="ke^5kEWYDF/S$ln@)=%_">
+ <field name="NUM">0</field>
+ </block>
+ </value>
+ <next>
+ <block type="variables_set" id="=~039uS6s1=!E3E6zijO">
+ <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
+ <value name="VALUE">
+ <block type="math_number" id="s(Z7II`Fld+4)J.OPb9T">
+ <field name="NUM">0</field>
+ </block>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1662,117 +2040,249 @@
</shadow>
</value>
<next>
- <block type="mqtt_publish" id="Tr6*L5MmGUw.AvHyamY1">
+ <block type="mqtt_publish" id="C0H}e^9yo]hxUOeBc2*#">
<value name="name">
- <block type="variables_get" id="WCtWefm``a=@t.FvV6Ac">
+ <block type="variables_get" id="p0X8sj!EoEpI#(j?rjDK">
<field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
</block>
</value>
<value name="topic">
- <shadow type="text" id="F]G-gNlf!`e_U_qdumeE">
- <field name="TEXT">gtyp_SLD/w_Threshold_White_Red</field>
+ <shadow type="text" id="z:c)5vp$ci1uAFGaHp9@">
+ <field name="TEXT">gtyp_Setup/w_Calib_ColorValue_White</field>
</shadow>
</value>
<value name="value">
<shadow type="logic_null"/>
- <block type="variables_get" id="CA*7dY|3*S+0`O#yh$UV">
- <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
+ <block type="lists_getIndex" id="l.X3$reE0r0jh;[~pmK?">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="p!Jl7zNx)|e~9Fftb3Aq">
+ <mutation parentId="cYBcy|]-F?s-:oG+Ch0Q"/>
+ <field name="name">get_calibvalue_list</field>
+ <data>cYBcy|]-F?s-:oG+Ch0Q</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id=")W:^5ed^eR@S*e*lYCoR">
+ <field name="NUM">1</field>
+ </block>
+ </value>
</block>
</value>
<value name="qos">
- <shadow type="math_number" id="V-RWpnm?!B]u{GqNJAg$">
+ <shadow type="math_number" id="pJrgZ-rCs|Ad-4CQ5p)|">
<field name="NUM">2</field>
</shadow>
</value>
<value name="retain">
- <shadow type="logic_boolean" id="=RK^F}d7d^E_mU*W(1}S">
+ <shadow type="logic_boolean" id="M0DD;M,Hob1i8$@!sGQ^">
<field name="BOOL">FALSE</field>
</shadow>
</value>
<next>
- <block type="mqtt_publish" id="E=2htASUa2V7[.Oh1Z~g">
+ <block type="mqtt_publish" id="6(}h+sRHy(m_(J]gH)GR">
<value name="name">
- <block type="variables_get" id="E=].S3E:1;mEJj~=9fb+">
+ <block type="variables_get" id="xY;/XLdNbXQ3;tu*QM56">
<field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
</block>
</value>
<value name="topic">
- <shadow type="text" id="1=udhKnD|L.;~2$e^_#_">
- <field name="TEXT">gtyp_SLD/w_Threshold_Red_Blue</field>
+ <shadow type="text" id="rnI=(fq~]rAZ*GJ^Nsbe">
+ <field name="TEXT">gtyp_Setup/w_Calib_ColorValue_Red</field>
</shadow>
</value>
<value name="value">
<shadow type="logic_null"/>
- <block type="variables_get" id="~}pnCIq5Q%wF4(fA0fsq">
- <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
+ <block type="lists_getIndex" id="B[0R|c2aW8}-ekM%I*R+">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="n5}84DJyLkX[AcIKKqOG">
+ <mutation parentId="cYBcy|]-F?s-:oG+Ch0Q"/>
+ <field name="name">get_calibvalue_list</field>
+ <data>cYBcy|]-F?s-:oG+Ch0Q</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="^0d1L4TeD^3v$Qkg(`G!">
+ <field name="NUM">2</field>
+ </block>
+ </value>
</block>
</value>
<value name="qos">
- <shadow type="math_number" id="E4b)TY}~jy~SgWRG28:A">
+ <shadow type="math_number" id="jwypWoaA/Ms?!x#.s`W}">
<field name="NUM">2</field>
</shadow>
</value>
<value name="retain">
- <shadow type="logic_boolean" id="pQnV]dxl4;W):A3rbTA4">
+ <shadow type="logic_boolean" id="Lkx1trZNK~vbYT|gFqYX">
<field name="BOOL">FALSE</field>
</shadow>
</value>
<next>
- <block type="mqtt_publish" id="]+EFhfc|)bE:M?s~.ngZ">
+ <block type="mqtt_publish" id="1MYf1lFc}Jj5_67cwb(U">
<value name="name">
- <block type="variables_get" id="/rhX}@]}|@N.dEfulb@p">
+ <block type="variables_get" id="3HZ3;JzBOh~iIC0^5miG">
<field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
</block>
</value>
<value name="topic">
- <shadow type="text" id=";//4DTrS)DM6*idO;]QU">
- <field name="TEXT">gtyp_SSC/w_Threshold_White_Red</field>
+ <shadow type="text" id="o2M46gBb@/`+9y).JjYt">
+ <field name="TEXT">gtyp_Setup/w_Calib_ColorValue_Blue</field>
</shadow>
</value>
<value name="value">
<shadow type="logic_null"/>
- <block type="variables_get" id="PJ+D)]FK6=D!^WDu/Z|5">
- <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
+ <block type="lists_getIndex" id="@LQUgWD|$gN;t$G[,s=T">
+ <mutation statement="false" at="true"/>
+ <field name="MODE">GET</field>
+ <field name="WHERE">FROM_START</field>
+ <value name="VALUE">
+ <block type="import_function_return" id="KGR)MXzy7LpO6Dhskvr;">
+ <mutation parentId="cYBcy|]-F?s-:oG+Ch0Q"/>
+ <field name="name">get_calibvalue_list</field>
+ <data>cYBcy|]-F?s-:oG+Ch0Q</data>
+ </block>
+ </value>
+ <value name="AT">
+ <block type="math_number" id="g_4bY$Uhq@X1lktX(%Nl">
+ <field name="NUM">3</field>
+ </block>
+ </value>
</block>
</value>
<value name="qos">
- <shadow type="math_number" id="XROfsH:uPwEr;=?ZA2BH">
+ <shadow type="math_number" id="uZqL9;3W0@^a@,kryyS{">
<field name="NUM">2</field>
</shadow>
</value>
<value name="retain">
- <shadow type="logic_boolean" id="60}wRHbBKjeDf|]~O*k`">
+ <shadow type="logic_boolean" id="sF:XBpP20BdY^@UwskAj">
<field name="BOOL">FALSE</field>
</shadow>
</value>
<next>
- <block type="mqtt_publish" id="FME^shM?U!h!^!cby}W+">
+ <block type="mqtt_publish" id="Tr6*L5MmGUw.AvHyamY1">
<value name="name">
- <block type="variables_get" id="SWRJBMR,KRCD#rU;5]k_">
+ <block type="variables_get" id="WCtWefm``a=@t.FvV6Ac">
<field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
</block>
</value>
<value name="topic">
- <shadow type="text" id="7H2q)ld@nos)0D@g-ST{">
- <field name="TEXT">gtyp_SSC/w_Threshold_Red_Blue</field>
+ <shadow type="text" id="F]G-gNlf!`e_U_qdumeE">
+ <field name="TEXT">gtyp_SLD/w_Threshold_White_Red</field>
</shadow>
</value>
<value name="value">
<shadow type="logic_null"/>
- <block type="variables_get" id="M30M^ylqg=LNn8:gZP/N">
- <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ <block type="variables_get" id="CA*7dY|3*S+0`O#yh$UV">
+ <field name="VAR" id="x43W3)orCB:l1qw2dLN`">gtyp_SLD_w_Threshold_White_Red</field>
</block>
</value>
<value name="qos">
- <shadow type="math_number" id="SsA_tZ`x^1+}(_zKjKRu">
+ <shadow type="math_number" id="V-RWpnm?!B]u{GqNJAg$">
<field name="NUM">2</field>
</shadow>
</value>
<value name="retain">
- <shadow type="logic_boolean" id="!*}`Y.znZ+z.oXK--9c-">
+ <shadow type="logic_boolean" id="=RK^F}d7d^E_mU*W(1}S">
<field name="BOOL">FALSE</field>
</shadow>
</value>
+ <next>
+ <block type="mqtt_publish" id="E=2htASUa2V7[.Oh1Z~g">
+ <value name="name">
+ <block type="variables_get" id="E=].S3E:1;mEJj~=9fb+">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id="1=udhKnD|L.;~2$e^_#_">
+ <field name="TEXT">gtyp_SLD/w_Threshold_Red_Blue</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="~}pnCIq5Q%wF4(fA0fsq">
+ <field name="VAR" id="z}xxgCaN^$Fn.vEFUV}F">gtyp_SLD_w_Threshold_Red_Blue</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="E4b)TY}~jy~SgWRG28:A">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="pQnV]dxl4;W):A3rbTA4">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="]+EFhfc|)bE:M?s~.ngZ">
+ <value name="name">
+ <block type="variables_get" id="/rhX}@]}|@N.dEfulb@p">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id=";//4DTrS)DM6*idO;]QU">
+ <field name="TEXT">gtyp_SSC/w_Threshold_White_Red</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="PJ+D)]FK6=D!^WDu/Z|5">
+ <field name="VAR" id="-XOZ;@M!{qgTA%xgUef-">gtyp_SSC_w_Threshold_White_Red</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="XROfsH:uPwEr;=?ZA2BH">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="60}wRHbBKjeDf|]~O*k`">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ <next>
+ <block type="mqtt_publish" id="FME^shM?U!h!^!cby}W+">
+ <value name="name">
+ <block type="variables_get" id="SWRJBMR,KRCD#rU;5]k_">
+ <field name="VAR" id="d2.J:01W*;j`8R0B1!GX">client</field>
+ </block>
+ </value>
+ <value name="topic">
+ <shadow type="text" id="7H2q)ld@nos)0D@g-ST{">
+ <field name="TEXT">gtyp_SSC/w_Threshold_Red_Blue</field>
+ </shadow>
+ </value>
+ <value name="value">
+ <shadow type="logic_null"/>
+ <block type="variables_get" id="M30M^ylqg=LNn8:gZP/N">
+ <field name="VAR" id="TZ7zEdrg=Q,vG9XutiCF">gtyp_SSC_w_Threshold_Red_Blue</field>
+ </block>
+ </value>
+ <value name="qos">
+ <shadow type="math_number" id="SsA_tZ`x^1+}(_zKjKRu">
+ <field name="NUM">2</field>
+ </shadow>
+ </value>
+ <value name="retain">
+ <shadow type="logic_boolean" id="!*}`Y.znZ+z.oXK--9c-">
+ <field name="BOOL">FALSE</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
</block>
</next>
</block>
@@ -1829,6 +2339,26 @@
<field name="value">logging.debug('set')</field>
</block>
</statement>
+ <value name="IF14">
+ <block type="logic_compare" id="}DyHn{d4Dl`b)k`G^W1b">
+ <field name="OP">EQ</field>
+ <value name="A">
+ <block type="variables_get" id="v(%}vA4qP{Nx`4{T`a~]">
+ <field name="VAR" id="J0n.(S2c_J^ul.Ya```o">topic</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="text" id="n(9:|J#;6mfidf4p[#SP">
+ <field name="TEXT">TXTGUINotification</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO14">
+ <block type="util_python" id="?ZarOgz$fO:y^4.NXQFp" inline="true">
+ <field name="value">pass&#10;#ignore GUI topics</field>
+ </block>
+ </statement>
<statement name="ELSE">
<block type="util_python" id="fo^~-S;M`X:Li[AK5|qW" inline="true">
<field name="value">logging.debug('else')</field>
@@ -1955,7 +2485,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="$jNNx1Oeez9#x~eQYP}z" x="0" y="6063">
+ <block type="procedures_defnoreturn" id="$jNNx1Oeez9#x~eQYP}z" x="0" y="7118">
<field name="NAME">initMQTTLocal</field>
<statement name="STACK">
<block type="variables_set" id="_C*fQdBXqrGb1uUWi?_1">
@@ -2051,7 +2581,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="R4vMowGJ0I?IYs_!-IwU" x="0" y="6638">
+ <block type="procedures_defnoreturn" id="R4vMowGJ0I?IYs_!-IwU" x="0" y="7693">
<field name="NAME">thread_MQTTLocal</field>
<statement name="STACK">
<block type="util_python" id="IiRVsU4_~OPjE]@(VC;/" inline="true">
@@ -2067,7 +2597,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="8u`{W^33E#gAnZ}n#.-h" x="0" y="6898">
+ <block type="procedures_defnoreturn" id="8u`{W^33E#gAnZ}n#.-h" x="0" y="7953">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="_4Lef8L=}Do}$CNf.$X3"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid=".~Cx#%[dpU*oKQFZ*1}G"/>
@@ -2280,7 +2810,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="_OzPkP~3{!(`00$xIV+e" x="0" y="7688">
+ <block type="procedures_defnoreturn" id="_OzPkP~3{!(`00$xIV+e" x="0" y="8743">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="_4Lef8L=}Do}$CNf.$X3"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid=".~Cx#%[dpU*oKQFZ*1}G"/>
@@ -2296,7 +2826,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="W9;^Y=ye_P7SI[QLip%+" x="0" y="7908">
+ <block type="procedures_defnoreturn" id="W9;^Y=ye_P7SI[QLip%+" x="0" y="8963">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="_4Lef8L=}Do}$CNf.$X3"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid=".~Cx#%[dpU*oKQFZ*1}G"/>
@@ -2312,7 +2842,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="}B,U]C!V!/l^kl:ZS,ly" x="0" y="8107">
+ <block type="procedures_defnoreturn" id="}B,U]C!V!/l^kl:ZS,ly" x="0" y="9162">
<mutation>
<arg name="client" varid="d2.J:01W*;j`8R0B1!GX" argid="_4Lef8L=}Do}$CNf.$X3"/>
<arg name="userdata" varid="3^jP4hL~~1UKs+hYG]M=" argid=".~Cx#%[dpU*oKQFZ*1}G"/>
@@ -2330,7 +2860,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="a]0!I}Zd7AawL:mU%,P1" x="0" y="8334">
+ <block type="procedures_defnoreturn" id="a]0!I}Zd7AawL:mU%,P1" x="0" y="9389">
<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 8106b12145940a7f53bcefc4398ee9639b8d8d63..6b42e7fa513d39fb7d6a5d6a40e506035712e044 100644
--- a/lib/NodeRED.py
+++ b/lib/NodeRED.py
@@ -1,6 +1,5 @@
import json
import logging
-import math
import paho.mqtt.client as mqtt
from datetime import datetime
@@ -37,11 +36,11 @@ gtyp_Setup_i_Color_Sensor_Selection = None
gtyp_Setup_w_Actual_ColorValue = None
gtyp_Setup_w_Threshold_White_Red = None
gtyp_Setup_w_Threshold_Red_Blue = None
-gtyp_SSC_w_Threshold_Red_Blue = None
gtyp_Setup_di_Pos_Rotate = None
gtyp_SLD_w_Threshold_Red_Blue = None
-gtyp_SSC_w_Threshold_White_Red = None
+gtyp_SSC_w_Threshold_Red_Blue = None
gtyp_SLD_w_Threshold_White_Red = None
+gtyp_SSC_w_Threshold_White_Red = None
gtyp_Setup_di_Pos_Vertical = None
ts = None
controller_name = None
@@ -49,8 +48,8 @@ gtyp_Setup_di_Pos_Horizontal = None
def processReceivedMessage(topic, m_decode):
- global client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
- logging.log(logging.TRACE, '%s %s', topic, m_decode)
+ global client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ logging.log(logging.TRACE0, '%s %s', topic, m_decode)
if topic == 'gtyp_Setup/x_Set_Pos_Activ':
logging.debug('activate')
gtyp_Setup_x_Set_Pos_Activ = m_decode
@@ -149,6 +148,25 @@ def processReceivedMessage(topic, m_decode):
gtyp_Setup_w_Threshold_Red_Blue = (get_thresh_list())[1]
client.publish(topic='gtyp_Setup/w_Threshold_White_Red', payload=gtyp_Setup_w_Threshold_White_Red, qos=2, retain=False)
client.publish(topic='gtyp_Setup/w_Threshold_Red_Blue', payload=gtyp_Setup_w_Threshold_Red_Blue, qos=2, retain=False)
+ if gtyp_Setup_i_Color_Sensor_Selection == 1:
+ logging.debug('1')
+ set_calib_data_SLD(get_calib_data_SLD())
+ gtyp_Setup_w_Actual_ColorValue = int(readColorValue(), 10)
+ gtyp_SLD_w_Threshold_Red_Blue = (get_calib_data_SLD())[0]
+ gtyp_SLD_w_Threshold_White_Red = (get_calib_data_SLD())[1]
+ client.publish(topic='gtyp_SLD/w_Threshold_White_Red', payload=gtyp_SLD_w_Threshold_White_Red, qos=2, retain=False)
+ client.publish(topic='gtyp_SLD/w_Threshold_Red_Blue', payload=gtyp_SLD_w_Threshold_Red_Blue, qos=2, retain=False)
+ startSLD()
+ elif gtyp_Setup_i_Color_Sensor_Selection == 2:
+ logging.debug('2')
+ set_calib_data_DPS(get_calib_data_DPS())
+ gtyp_Setup_w_Actual_ColorValue = int(readDPSColorValue(), 10)
+ gtyp_SSC_w_Threshold_Red_Blue = (get_calib_data_DPS())[0]
+ gtyp_SSC_w_Threshold_White_Red = (get_calib_data_DPS())[1]
+ client.publish(topic='gtyp_SSC/w_Threshold_White_Red', payload=gtyp_SSC_w_Threshold_White_Red, qos=2, retain=False)
+ client.publish(topic='gtyp_SSC/w_Threshold_Red_Blue', payload=gtyp_SSC_w_Threshold_Red_Blue, qos=2, retain=False)
+ else:
+ pass
elif topic == 'gtyp_Setup/x_Color_Sensor_Calibration':
logging.debug('calibrate color sensor')
gtyp_Setup_x_Color_Sensor_Calibration = m_decode
@@ -164,22 +182,28 @@ def processReceivedMessage(topic, m_decode):
gtyp_Setup_i_Color_Sensor_Selection = int(m_decode, 10)
if gtyp_Setup_i_Color_Sensor_Selection == 1:
logging.debug('1')
- gtyp_Setup_w_Actual_ColorValue = round(readColorValue())
+ gtyp_Setup_w_Actual_ColorValue = int(readColorValue(), 10)
gtyp_SLD_w_Threshold_Red_Blue = (get_calib_data_SLD())[0]
gtyp_SLD_w_Threshold_White_Red = (get_calib_data_SLD())[1]
elif gtyp_Setup_i_Color_Sensor_Selection == 2:
logging.debug('2')
- gtyp_Setup_w_Actual_ColorValue = readDPSColorValue()
+ gtyp_Setup_w_Actual_ColorValue = int(readDPSColorValue(), 10)
gtyp_SSC_w_Threshold_Red_Blue = (get_calib_data_DPS())[0]
gtyp_SSC_w_Threshold_White_Red = (get_calib_data_DPS())[1]
else:
logging.debug('none')
+ gtyp_Setup_w_Actual_ColorValue = 0
+ set_calibvalue_white(0)
+ set_calibvalue_red(0)
+ set_calibvalue_white(0)
gtyp_SSC_w_Threshold_Red_Blue = 0
gtyp_SSC_w_Threshold_White_Red = 0
gtyp_SLD_w_Threshold_Red_Blue = 0
gtyp_SLD_w_Threshold_White_Red = 0
- gtyp_Setup_w_Actual_ColorValue = 0
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)
+ client.publish(topic='gtyp_Setup/w_Calib_ColorValue_Blue', payload=(get_calibvalue_list())[2], qos=2, retain=False)
client.publish(topic='gtyp_SLD/w_Threshold_White_Red', payload=gtyp_SLD_w_Threshold_White_Red, qos=2, retain=False)
client.publish(topic='gtyp_SLD/w_Threshold_Red_Blue', payload=gtyp_SLD_w_Threshold_Red_Blue, qos=2, retain=False)
client.publish(topic='gtyp_SSC/w_Threshold_White_Red', payload=gtyp_SSC_w_Threshold_White_Red, qos=2, retain=False)
@@ -188,6 +212,9 @@ def processReceivedMessage(topic, m_decode):
logging.debug('calibrate push out')
elif topic == 'gtyp_Setup/x_Set_CounterValues':
logging.debug('set')
+ elif topic == 'TXTGUINotification':
+ pass
+ #ignore GUI topics
else:
logging.debug('else')
if not (apply_SetupPosition_VGR(topic, int(m_decode, 10))):
@@ -201,7 +228,7 @@ def processReceivedMessage(topic, m_decode):
def initMQTTLocal():
- global topic, m_decode, client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
gtyp_Setup_x_Set_Pos_Activ = 0
gtyp_Setup_i_Pos_Selection = 0
gtyp_Setup_x_Color_Sensor_Calibration = 0
@@ -222,7 +249,7 @@ def initMQTTLocal():
def thread_MQTTLocal():
- global topic, m_decode, client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, client, userdata, flags, rc, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
logging.debug('-')
#client.loop_forever()
client.loop_start()
@@ -231,7 +258,7 @@ def thread_MQTTLocal():
def on_connect(client, userdata, flags, rc):
- global topic, m_decode, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
print("Connection returned result: "+mqtt.connack_string(rc))
client.subscribe("#")
#client.subscribe("$SYS/#")
@@ -248,23 +275,23 @@ def on_connect(client, userdata, flags, rc):
def on_disconnect(client, userdata, rc):
- global topic, m_decode, flags, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, flags, mid, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
if rc != 0:
print("Unexpected disconnection.")
def on_publish(client, userdata, mid):
- global topic, m_decode, flags, rc, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, flags, rc, granted_qos, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
#print("on_publish")
def on_subscribe(client, userdata, mid, granted_qos):
- global topic, m_decode, flags, rc, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, flags, rc, msg, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
print("on_subscribe")
def on_message(client, userdata, msg):
- global topic, m_decode, flags, rc, mid, granted_qos, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_White_Red, gtyp_SLD_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
+ global topic, m_decode, flags, rc, mid, granted_qos, gtyp_Setup_x_Set_Pos_Activ, gtyp_Setup_i_Pos_Selection, payload, gtyp_Setup_x_Color_Sensor_Calibration, state_positioning, gtyp_Setup_i_Color_Sensor_Selection, gtyp_Setup_w_Actual_ColorValue, gtyp_Setup_w_Threshold_White_Red, gtyp_Setup_w_Threshold_Red_Blue, gtyp_Setup_di_Pos_Rotate, gtyp_SLD_w_Threshold_Red_Blue, gtyp_SSC_w_Threshold_Red_Blue, gtyp_SLD_w_Threshold_White_Red, gtyp_SSC_w_Threshold_White_Red, gtyp_Setup_di_Pos_Vertical, ts, controller_name, gtyp_Setup_di_Pos_Horizontal
print("Received message '" + str(msg.payload) + "' on topic '"
+ msg.topic + "' with QoS " + str(msg.qos))
diff --git a/lib/SLD.blockly b/lib/SLD.blockly
index ef0e83d0eab1f7bb13c54557d4fdfe9eb92254da..d67a47a54d4f7ad4a08a27b330f680cca738c1c9 100644
--- a/lib/SLD.blockly
+++ b/lib/SLD.blockly
@@ -6,6 +6,7 @@
<variable id="1X|m)*QO^oo}EfHf=nBO">speed</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="?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>
@@ -22,7 +23,20 @@
<block type="util_python_imports" id=".e$$DS-W;QA]vq3]8xZ(" x="0" y="0">
<field name="value">import logging</field>
</block>
- <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="101">
+ <block type="procedures_defnoreturn" id="g=6%Ka9Y1qYH|_c:bu9]" x="0" y="101">
+ <field name="NAME">startSLD</field>
+ <statement name="STACK">
+ <block type="variables_set" id="-.GkGb!x[Oe6-:E#s|fT">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
+ <value name="VALUE">
+ <block type="logic_boolean" id="N=zgn;4ci4-EO=n5:RW-">
+ <field name="BOOL">TRUE</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ <block type="procedures_defnoreturn" id="]$}!d~iPi$faCfYn-,02" x="0" y="210">
<field name="NAME">thread_SLD</field>
<statement name="STACK">
<block type="util_python" id="or=tulIX]{S?#ofKV+]h" inline="true">
@@ -100,444 +114,473 @@
</block>
</value>
<next>
- <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
- <statement name="DO">
- <block type="util_python" id="9:U=/@,Hc3J70C9Na;o," inline="true">
- <field name="value">logging.log(logging.DEBUG, 'start')</field>
- <next>
- <block type="procedures_callnoreturn" id="p,0#!:*0*c~lmV%gtaQ`" inline="true">
- <mutation name="_set_state_SLD">
- <arg name="_code"/>
- <arg name="_active"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="L%*,:(HtlgK(_/a7WcP(">
- <field name="NUM">2</field>
- </block>
- </value>
- <value name="ARG1">
- <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
- <field name="NUM">1</field>
+ <block type="variables_set" id="qfACgepBJ)Hpg)-U%/+)">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
+ <value name="VALUE">
+ <block type="logic_boolean" id="1%y]9zHav|=dwFmHLl^W">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
+ <next>
+ <block type="loop_endless" id="??ZH|RLC1U|c~MVe9I${">
+ <statement name="DO">
+ <block type="controls_if" id="9VM2@@QI`l2,@ERs#d$Z">
+ <value name="IF0">
+ <block type="variables_get" id="BBJojQPff-aLn+TzcB9v">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
</block>
</value>
- <next>
- <block type="variables_set" id="4Z?[|d:[z0zGF-MAuDV[">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- <value name="VALUE">
- <block type="math_number" id="7dq9UhKYcF?CH.:+!OrJ">
- <field name="NUM">3000</field>
- </block>
- </value>
+ <statement name="DO0">
+ <block type="util_python" id="9:U=/@,Hc3J70C9Na;o," inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'start')</field>
<next>
- <block type="procedures_callnoreturn" id="3lR3C/Xv:^zlf/_JBvY^" inline="true">
- <mutation name="setConvBeltSpeedSLD">
- <arg name="speed"/>
+ <block type="procedures_callnoreturn" id="p,0#!:*0*c~lmV%gtaQ`" inline="true">
+ <mutation name="_set_state_SLD">
+ <arg name="_code"/>
+ <arg name="_active"/>
</mutation>
<value name="ARG0">
- <block type="math_number" id="l5c-VK(61=0/J@T38dRO">
- <field name="NUM">512</field>
+ <block type="math_number" id="L%*,:(HtlgK(_/a7WcP(">
+ <field name="NUM">2</field>
+ </block>
+ </value>
+ <value name="ARG1">
+ <block type="math_number" id="g8Lk_tA34OsX@!]LiC73">
+ <field name="NUM">1</field>
</block>
</value>
<next>
- <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="variables_set" id="4Z?[|d:[z0zGF-MAuDV[">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ <value name="VALUE">
+ <block type="math_number" id="7dq9UhKYcF?CH.:+!OrJ">
+ <field name="NUM">3000</field>
</block>
</value>
- <statement name="DO">
- <block type="variables_set" id="[sz4{]_4m6cHGqtK{PO+">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
- <value name="VALUE">
- <block type="procedures_callreturn" id="UcL=Uv7S99ju,3n:Y0-7">
- <mutation name="readColorValue"/>
+ <next>
+ <block type="procedures_callnoreturn" id="3lR3C/Xv:^zlf/_JBvY^" inline="true">
+ <mutation name="setConvBeltSpeedSLD">
+ <arg name="speed"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="l5c-VK(61=0/J@T38dRO">
+ <field name="NUM">512</field>
</block>
</value>
<next>
- <block type="controls_if" id="qyW_y}R$-,jF[q1v?Q/p">
- <value name="IF0">
- <block type="logic_compare" id="jW1YS6O$PmDf{zaOQ]oc">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="D#aHaqrz_p7^q/~LW7Y]">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="0Aj9O:QXUr$yIykb^nIN">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
+ <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>
</value>
- <statement name="DO0">
- <block type="variables_set" id="vpyrCX)b0b8(5Q)/CE$7">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ <statement name="DO">
+ <block type="variables_set" id="[sz4{]_4m6cHGqtK{PO+">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
<value name="VALUE">
- <block type="variables_get" id="#9q1($D*Zqbur;(szG#u">
- <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ <block type="procedures_callreturn" id="UcL=Uv7S99ju,3n:Y0-7">
+ <mutation name="readColorValue"/>
</block>
</value>
+ <next>
+ <block type="controls_if" id="qyW_y}R$-,jF[q1v?Q/p">
+ <value name="IF0">
+ <block type="logic_compare" id="jW1YS6O$PmDf{zaOQ]oc">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="D#aHaqrz_p7^q/~LW7Y]">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="0Aj9O:QXUr$yIykb^nIN">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="variables_set" id="vpyrCX)b0b8(5Q)/CE$7">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ <value name="VALUE">
+ <block type="variables_get" id="#9q1($D*Zqbur;(szG#u">
+ <field name="VAR" id="?Hi+81vv*K@yZim!8fD_">lastColorValue</field>
+ </block>
+ </value>
+ </block>
+ </statement>
+ </block>
+ </next>
</block>
</statement>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="procedures_callnoreturn" id="dBj`=^uA2PbPQQR)%wCI" inline="true">
- <mutation name="setConvBeltSpeedSLD">
- <arg name="speed"/>
- </mutation>
- <value name="ARG0">
- <block type="math_number" id="@vOXIdm1`/*0?9GK?%k!">
- <field name="NUM">0</field>
- </block>
- </value>
- <next>
- <block type="util_python" id="RTDnf9zEhD_)dv}a{N1h" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
<next>
- <block type="output_compressor_toggle_state" id="fWq}q)%ocS`?nbbfG?zH">
- <field name="instance_name">TXT_SLD_E5_O8_compressor</field>
- <field name="property_name">on</field>
+ <block type="variables_set" id=":31NfxPPR[nrT/Rj+u(~">
+ <field name="VAR" id="ey.@ye[RiHweS+e|GIKG">started</field>
+ <value name="VALUE">
+ <block type="logic_boolean" id="adN9XE$j.3!9TmgN3wKu">
+ <field name="BOOL">FALSE</field>
+ </block>
+ </value>
<next>
- <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'check counter')</field>
+ <block type="procedures_callnoreturn" id="dBj`=^uA2PbPQQR)%wCI" inline="true">
+ <mutation name="setConvBeltSpeedSLD">
+ <arg name="speed"/>
+ </mutation>
+ <value name="ARG0">
+ <block type="math_number" id="@vOXIdm1`/*0?9GK?%k!">
+ <field name="NUM">0</field>
+ </block>
+ </value>
<next>
- <block type="variables_set" id="}a!#}^wyf8QJuRLL;bQq">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- <value name="VALUE">
- <block type="math_number" id="DLeT,8FCW_Fi(rjPFKZt">
- <field name="NUM">0</field>
- </block>
- </value>
+ <block type="util_python" id="RTDnf9zEhD_)dv}a{N1h" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
<next>
- <block type="variables_set" id="^Ku:~)-Palwl:g+NfSj1">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- <value name="VALUE">
- <block type="input_mini_switch_get_state" id="Lu/Xqez`AYH(xvU~bo1E">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
- </block>
- </value>
+ <block type="output_compressor_toggle_state" id="fWq}q)%ocS`?nbbfG?zH">
+ <field name="instance_name">TXT_SLD_E5_O8_compressor</field>
+ <field name="property_name">on</field>
<next>
- <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <field name="direction">Motor.CW</field>
- <value name="speed">
- <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
- <field name="MOTOR_NUM">350</field>
- </shadow>
- </value>
+ <block type="util_python" id="r;?8M|)NMD`GAg2sSWt8" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'check counter')</field>
<next>
- <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
- <field name="MODE">WHILE</field>
- <value name="BOOL">
- <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
- <field name="OP">LTE</field>
- <value name="A">
- <block type="variables_get" id="Lis}jL`_`*I$?F^O?ch`">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="]n/~EGON9=EwXNd2=M%h">
- <field name="NUM">29</field>
- </block>
- </value>
+ <block type="variables_set" id="}a!#}^wyf8QJuRLL;bQq">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ <value name="VALUE">
+ <block type="math_number" id="DLeT,8FCW_Fi(rjPFKZt">
+ <field name="NUM">0</field>
</block>
</value>
- <statement name="DO">
- <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
- <value name="IF0">
- <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
- <field name="OP">NEQ</field>
- <value name="A">
- <block type="input_mini_switch_get_state" id="$}YI${saB#:;*lq})+P0">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id=")8]F+QO3=p.Lob:_kihY">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- </block>
- </value>
+ <next>
+ <block type="variables_set" id="^Ku:~)-Palwl:g+NfSj1">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <value name="VALUE">
+ <block type="input_mini_switch_get_state" id="Lu/Xqez`AYH(xvU~bo1E">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
</block>
</value>
- <statement name="DO0">
- <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- <value name="DELTA">
- <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
- <field name="NUM">1</field>
+ <next>
+ <block type="motor_set_speed" id="zkY?|Osg#~$*`Qr8u{uI">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <field name="direction">Motor.CW</field>
+ <value name="speed">
+ <shadow type="motor_number" id="Q~bzD*aUU/rsfp6dM,{(">
+ <field name="MOTOR_NUM">350</field>
</shadow>
</value>
<next>
- <block type="variables_set" id="rVUY6WB`cem}FiG?5U@9">
- <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
- <value name="VALUE">
- <block type="input_mini_switch_get_state" id="+JLI~]-]6:`p6F,0AM|F">
- <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
- </block>
- </value>
- <next>
- <block type="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
- <next>
- <block type="util_wait_for" id=",}}{@hG+U_SU9=r~_TSW">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="xklDFBfugxb-GyKkoR,I">
- <field name="NUM">1</field>
- </shadow>
- </value>
- </block>
- </next>
- </block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- <next>
- <block type="controls_if" id="%=@sT#xE/CAW7pi?{e*#">
- <mutation elseif="2" else="1"/>
- <value name="IF0">
- <block type="logic_operation" id="|!dZm[p;Jkup*BTe]pPN" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="#xRgpUtg^E]oMU@V4T`i">
- <field name="OP">GTE</field>
+ <block type="controls_whileUntil" id="O{q6_~I-KmQ}1i}%hVj?">
+ <field name="MODE">WHILE</field>
+ <value name="BOOL">
+ <block type="logic_compare" id="sU?{Uav{P@vD5{Sj-kgZ">
+ <field name="OP">LTE</field>
<value name="A">
- <block type="variables_get" id="==O{i~i|bE.5}Xrx_JZP">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="::1,wC7M::ixYbwq9eI3">
- <field name="NUM">200</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="`):_GRc/Y8vqapW5*3kX">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="w0^1{9aXCbvFy,k__.v;">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="`;J,uh@c|r^lW(jy6W]8">
- <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="controls_if" id="C,DeIZKYXXMwTy-|VKDb">
- <value name="IF0">
- <block type="logic_compare" id="4@i%+GywVT/eXFM[n:mG">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="E[R=0N3LxmxRCnf0_oI7">
+ <block type="variables_get" id="Lis}jL`_`*I$?F^O?ch`">
<field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
</block>
</value>
<value name="B">
- <block type="math_number" id="t1Wzji0hz}Rv$,y%b7~Z">
- <field name="NUM">5</field>
+ <block type="math_number" id="]n/~EGON9=EwXNd2=M%h">
+ <field name="NUM">29</field>
</block>
</value>
</block>
</value>
- <statement name="DO0">
- <block type="motor_stop" id="@Nxv_JCs.5z7;K$Jf8cx">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <next>
- <block type="util_python" id="P)rdQ)El,Oq~@1ue6H(e" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
- <next>
- <block type="procedures_callnoreturn" id="g?crz6vB(IpG*dzi*tN*">
- <mutation name="ejectWhite"/>
- <next>
- <block type="controls_flow_statements" id="~WR8i~(H:4XI5UrbxdRZ">
- <field name="FLOW">BREAK</field>
- </block>
- </next>
+ <statement name="DO">
+ <block type="controls_if" id="`@W^kruj%p|@CI0L{q:#">
+ <value name="IF0">
+ <block type="logic_compare" id="@ae3R,Z*1Xk2HQpYmMbZ">
+ <field name="OP">NEQ</field>
+ <value name="A">
+ <block type="input_mini_switch_get_state" id="$}YI${saB#:;*lq})+P0">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
</block>
- </next>
- </block>
- </next>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF1">
- <block type="logic_operation" id="iNsa5o!.e;YIzvbW_wTv" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="e0]4]%Y_?NoA%%G(m6,~">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="i-{^l%mMu/gl?A`U1oS;">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="8{U:mxgMB(6G-QF,%ZYC">
- <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="up.FB6`Io11NLrrLVsDs">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="8C:-+Nfc|+%LT?1P1WK}">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="y}:.yn}a^s|p6aL-*.E*">
- <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </value>
+ <value name="B">
+ <block type="variables_get" id=")8]F+QO3=p.Lob:_kihY">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ </block>
+ </value>
</block>
</value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO1">
- <block type="controls_if" id="?{-a%bv#)`n#kx%q|]Cz">
- <value name="IF0">
- <block type="logic_compare" id="i1pvi)$d3Oys^]PI7+X:">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="=vx{)D5sb}T$+=K9*l7L">
+ <statement name="DO0">
+ <block type="math_change" id="+!G?mN+l_~T`F7?;!kqp">
<field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="$m1Gf69JGF5p?/Ui~a@c">
- <field name="NUM">14</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="motor_stop" id="x,Hw0K?Oo{A`!:]XO,GN">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
- <next>
- <block type="util_python" id="KjmL^-U4EG5T*#B,q3v1" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <value name="DELTA">
+ <shadow type="math_number" id="Dv~%6T9k^}Hf]%eDBbw?">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
<next>
- <block type="procedures_callnoreturn" id="cL]:Qu_iLYtB@^AS:fC2">
- <mutation name="ejectRed"/>
+ <block type="variables_set" id="rVUY6WB`cem}FiG?5U@9">
+ <field name="VAR" id="Cb}mUgnt@Vc|BuR6[;{s">lastStateCounterSwitch</field>
+ <value name="VALUE">
+ <block type="input_mini_switch_get_state" id="+JLI~]-]6:`p6F,0AM|F">
+ <field name="instance_name">TXT_SLD_E5_C1_mini_switch</field>
+ </block>
+ </value>
<next>
- <block type="controls_flow_statements" id=".~.zxr`^*Gcw^7BX`TG6">
- <field name="FLOW">BREAK</field>
+ <block type="util_python" id="s;3oKGuf4t~q|)i-o.p3" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'counter: %d', counter)</field>
+ <next>
+ <block type="util_wait_for" id=",}}{@hG+U_SU9=r~_TSW">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="xklDFBfugxb-GyKkoR,I">
+ <field name="NUM">1</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
</next>
</block>
</next>
</block>
- </next>
- </block>
- </statement>
- </block>
- </statement>
- <value name="IF2">
- <block type="logic_operation" id="Elsy}a$4e*xBUg`8eL:f" inline="false">
- <field name="OP">AND</field>
- <value name="A">
- <block type="logic_compare" id="s9|uTTT_y0LPHxIx@b]R">
- <field name="OP">GTE</field>
- <value name="A">
- <block type="variables_get" id="QQ%r_Nd368,qw}$0/KFm">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="variables_get" id="y)s`tKA^Cy++r-gsGqFD">
- <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
- </block>
- </value>
- </block>
- </value>
- <value name="B">
- <block type="logic_compare" id="8h].$besY~Tc]TBp*UPQ">
- <field name="OP">LT</field>
- <value name="A">
- <block type="variables_get" id="/^cTiAWo7z7rq.pu,t#J">
- <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="va`hEl#rZ9[sPG`(COsp">
- <field name="NUM">2000</field>
- </block>
- </value>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO2">
- <block type="controls_if" id="@IT7YzVF(Zh;X*C-T*xs">
- <value name="IF0">
- <block type="logic_compare" id="Fa3_6txQs*L35z]0FIpl">
- <field name="OP">GT</field>
- <value name="A">
- <block type="variables_get" id="l1ANb09JI#!q!R8=AKLD">
- <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
- </block>
- </value>
- <value name="B">
- <block type="math_number" id="y~:??=(1r/zsX?WM=mub">
- <field name="NUM">25</field>
- </block>
- </value>
- </block>
- </value>
- <statement name="DO0">
- <block type="motor_stop" id="Vp2M3gw;YRD~2SPd:ijZ">
- <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ </statement>
<next>
- <block type="util_python" id="306U;Vh=uzU#3HX6D.aR" inline="true">
- <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
- <next>
- <block type="procedures_callnoreturn" id="ThSO,:]IQ-1.G_c;8$4`">
- <mutation name="ejectBlue"/>
- <next>
- <block type="controls_flow_statements" id="*4m_zPA@WtM_dmS!6lO.">
- <field name="FLOW">BREAK</field>
+ <block type="controls_if" id="%=@sT#xE/CAW7pi?{e*#">
+ <mutation elseif="2" else="1"/>
+ <value name="IF0">
+ <block type="logic_operation" id="|!dZm[p;Jkup*BTe]pPN" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="#xRgpUtg^E]oMU@V4T`i">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="==O{i~i|bE.5}Xrx_JZP">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="::1,wC7M::ixYbwq9eI3">
+ <field name="NUM">200</field>
+ </block>
+ </value>
</block>
- </next>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="`):_GRc/Y8vqapW5*3kX">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="w0^1{9aXCbvFy,k__.v;">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="`;J,uh@c|r^lW(jy6W]8">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ </block>
+ </value>
+ </block>
+ </value>
</block>
- </next>
+ </value>
+ <statement name="DO0">
+ <block type="controls_if" id="C,DeIZKYXXMwTy-|VKDb">
+ <value name="IF0">
+ <block type="logic_compare" id="4@i%+GywVT/eXFM[n:mG">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="E[R=0N3LxmxRCnf0_oI7">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="t1Wzji0hz}Rv$,y%b7~Z">
+ <field name="NUM">5</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="@Nxv_JCs.5z7;K$Jf8cx">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="P)rdQ)El,Oq~@1ue6H(e" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="g?crz6vB(IpG*dzi*tN*">
+ <mutation name="ejectWhite"/>
+ <next>
+ <block type="controls_flow_statements" id="~WR8i~(H:4XI5UrbxdRZ">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF1">
+ <block type="logic_operation" id="iNsa5o!.e;YIzvbW_wTv" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="e0]4]%Y_?NoA%%G(m6,~">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="i-{^l%mMu/gl?A`U1oS;">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="8{U:mxgMB(6G-QF,%ZYC">
+ <field name="VAR" id="P?9)xi9bG(6)T87+%iT!">thresh_white_red</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="up.FB6`Io11NLrrLVsDs">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="8C:-+Nfc|+%LT?1P1WK}">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="y}:.yn}a^s|p6aL-*.E*">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO1">
+ <block type="controls_if" id="?{-a%bv#)`n#kx%q|]Cz">
+ <value name="IF0">
+ <block type="logic_compare" id="i1pvi)$d3Oys^]PI7+X:">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="=vx{)D5sb}T$+=K9*l7L">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="$m1Gf69JGF5p?/Ui~a@c">
+ <field name="NUM">14</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="x,Hw0K?Oo{A`!:]XO,GN">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="KjmL^-U4EG5T*#B,q3v1" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="cL]:Qu_iLYtB@^AS:fC2">
+ <mutation name="ejectRed"/>
+ <next>
+ <block type="controls_flow_statements" id=".~.zxr`^*Gcw^7BX`TG6">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
+ <value name="IF2">
+ <block type="logic_operation" id="Elsy}a$4e*xBUg`8eL:f" inline="false">
+ <field name="OP">AND</field>
+ <value name="A">
+ <block type="logic_compare" id="s9|uTTT_y0LPHxIx@b]R">
+ <field name="OP">GTE</field>
+ <value name="A">
+ <block type="variables_get" id="QQ%r_Nd368,qw}$0/KFm">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="variables_get" id="y)s`tKA^Cy++r-gsGqFD">
+ <field name="VAR" id="c5f:;cPsd?218L=sb[nF">thresh_red_blue</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <value name="B">
+ <block type="logic_compare" id="8h].$besY~Tc]TBp*UPQ">
+ <field name="OP">LT</field>
+ <value name="A">
+ <block type="variables_get" id="/^cTiAWo7z7rq.pu,t#J">
+ <field name="VAR" id="caAu/l+mpfP^b1#tA{Kr">detectedColorValue</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="va`hEl#rZ9[sPG`(COsp">
+ <field name="NUM">2000</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO2">
+ <block type="controls_if" id="@IT7YzVF(Zh;X*C-T*xs">
+ <value name="IF0">
+ <block type="logic_compare" id="Fa3_6txQs*L35z]0FIpl">
+ <field name="OP">GT</field>
+ <value name="A">
+ <block type="variables_get" id="l1ANb09JI#!q!R8=AKLD">
+ <field name="VAR" id="_?QtuoxDM2ZJ#rQLHhaQ">counter</field>
+ </block>
+ </value>
+ <value name="B">
+ <block type="math_number" id="y~:??=(1r/zsX?WM=mub">
+ <field name="NUM">25</field>
+ </block>
+ </value>
+ </block>
+ </value>
+ <statement name="DO0">
+ <block type="motor_stop" id="Vp2M3gw;YRD~2SPd:ijZ">
+ <field name="instance_name">TXT_SLD_E5_M1_encodermotor</field>
+ <next>
+ <block type="util_python" id="306U;Vh=uzU#3HX6D.aR" inline="true">
+ <field name="value">logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)</field>
+ <next>
+ <block type="procedures_callnoreturn" id="ThSO,:]IQ-1.G_c;8$4`">
+ <mutation name="ejectBlue"/>
+ <next>
+ <block type="controls_flow_statements" id="*4m_zPA@WtM_dmS!6lO.">
+ <field name="FLOW">BREAK</field>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </next>
+ </block>
+ </statement>
+ </block>
+ </statement>
</block>
</next>
</block>
</statement>
+ <next>
+ <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
+ <field name="format">ms</field>
+ <value name="value">
+ <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
+ <field name="NUM">500</field>
+ </shadow>
+ </value>
+ </block>
+ </next>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
- </statement>
- <next>
- <block type="util_wait_for" id="x6/]Zl3-?BK17)M_Y;7O">
- <field name="format">ms</field>
- <value name="value">
- <shadow type="math_number" id="Y|(QX~;eqSh42`H}AOb[">
- <field name="NUM">500</field>
- </shadow>
- </value>
- </block>
</next>
</block>
</next>
@@ -560,11 +603,11 @@
</block>
</next>
</block>
- </next>
+ </statement>
</block>
- </next>
+ </statement>
</block>
- </statement>
+ </next>
</block>
</next>
</block>
@@ -586,7 +629,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2030">
+ <block type="procedures_defreturn" id="x=/1p3KO=Q%QK7t2K5l%" x="0" y="2237">
<field name="NAME">get_calib_data_SLD_defaults</field>
<statement name="STACK">
<block type="util_python" id="cO!#.ICg79WkS?A?cG[j" inline="true">
@@ -609,7 +652,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2191">
+ <block type="procedures_defreturn" id="b|1;0mU=wNNO2Ry{f6,Z" x="0" y="2398">
<field name="NAME">get_calib_data_SLD</field>
<statement name="STACK">
<block type="util_python" id="t;Zg(`vb3R)aQZ])LhpC" inline="true">
@@ -632,7 +675,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2352">
+ <block type="procedures_defnoreturn" id="3Qf0~|~$oG8z5tP{6Km;" x="0" y="2559">
<mutation>
<arg name="_data" varid="$E/GDp,,dwQrGbs7N*=C" argid="^}Z*XZLpIfstV5L7ggN|"/>
</mutation>
@@ -688,7 +731,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="2571">
+ <block type="procedures_defnoreturn" id="gsD|}/@_.f.D_8KfM;**" x="0" y="2778">
<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%"/>
@@ -771,7 +814,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="2916">
+ <block type="procedures_defreturn" id="eO[xQ[akMe*EVjm,{7m0" x="0" y="3123">
<field name="NAME">get_state_code_SLD</field>
<statement name="STACK">
<block type="util_python" id="(HOmJd*Bw@nwPNCHY0mu" inline="true">
@@ -784,7 +827,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3049">
+ <block type="procedures_defreturn" id="wpN6M:c*2cKgK+MM+G.W" x="0" y="3256">
<field name="NAME">get_state_active_SLD</field>
<statement name="STACK">
<block type="util_python" id="Ht%%JB`?HUum}h9K*t-9" inline="true">
@@ -797,7 +840,7 @@
</block>
</value>
</block>
- <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3182">
+ <block type="procedures_defnoreturn" id="%z2U,T)U0wd2S}!Lot[s" x="0" y="3389">
<mutation>
<arg name="speed" varid="1X|m)*QO^oo}EfHf=nBO" argid="pePpK@*+w{Ry]Ltz(Z95"/>
</mutation>
@@ -823,7 +866,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3353">
+ <block type="procedures_defnoreturn" id="IKFw+yZgK[}QgIvIQk]A" x="0" y="3560">
<field name="NAME">ejectWhite</field>
<statement name="STACK">
<block type="util_python" id="L9].u`N0?,H+tU)=o?Me" inline="true">
@@ -899,7 +942,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="3720">
+ <block type="procedures_defnoreturn" id="M^8-tj!Sv{KHcQSAS;$K" x="0" y="3927">
<field name="NAME">ejectRed</field>
<statement name="STACK">
<block type="util_python" id="?:UCrMJUl%q(jYcN8(IE" inline="true">
@@ -975,7 +1018,7 @@
</block>
</statement>
</block>
- <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4087">
+ <block type="procedures_defnoreturn" id="YLSy9_KOy{GM#LBmqJ8x" x="0" y="4294">
<field name="NAME">ejectBlue</field>
<statement name="STACK">
<block type="util_python" id="n-s%L0Ie7qkf@WU-[H8o" inline="true">
@@ -1051,7 +1094,7 @@
</block>
</statement>
</block>
- <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4454">
+ <block type="procedures_defreturn" id="0.,m:~DVx{zBe-|XxpG-" x="0" y="4661">
<field name="NAME">isColorSensorTriggered</field>
<statement name="STACK">
<block type="util_python" id="23n|f!bBfO#m?@_HlHB}" inline="true">
@@ -1065,7 +1108,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="4587">
+ <block type="procedures_defreturn" id="}*yI=aY}$^7875;e4Wo_" x="0" y="4794">
<field name="NAME">isEjectionTriggered</field>
<statement name="STACK">
<block type="util_python" id="wrT1c1;%@kF-Riy28O;." inline="true">
@@ -1079,7 +1122,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="4720">
+ <block type="procedures_defreturn" id="Fys9OK!K-FNH-W0o}@h," x="0" y="4927">
<field name="NAME">isWhite</field>
<statement name="STACK">
<block type="util_python" id="h?(Tr@S1VYchJ5e6())[" inline="true">
@@ -1093,7 +1136,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="4853">
+ <block type="procedures_defreturn" id="iE@eN47vK?la`*X4EQ-8" x="0" y="5060">
<field name="NAME">isRed</field>
<statement name="STACK">
<block type="util_python" id="fN{]~9g]|*Kx,bpmy_i$" inline="true">
@@ -1107,7 +1150,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="4986">
+ <block type="procedures_defreturn" id="w|KTmb#01-L]2ZG4mz)b" x="0" y="5193">
<field name="NAME">isBlue</field>
<statement name="STACK">
<block type="util_python" id="U(Y(8WN=vCJzgw~oLdbs" inline="true">
@@ -1121,7 +1164,7 @@
</block>
</value>
</block>
- <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5119">
+ <block type="procedures_defreturn" id="$]uSxm9]*Qu3iZl~w~MW" x="0" y="5326">
<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 262e9207633cf4487890937a64c49367dc1a496a..917b934518d2961ed13b4999b6dca5cc92c206de 100644
--- a/lib/SLD.py
+++ b/lib/SLD.py
@@ -10,6 +10,7 @@ _data = None
_code = None
_active = None
speed = None
+started = None
state_code = None
state_active = None
calibvalue_white = None
@@ -26,8 +27,13 @@ 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
+ started = True
+
+
def thread_SLD():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE, '-')
calibvalue_white = 0
calibvalue_red = 0
@@ -37,73 +43,76 @@ def thread_SLD():
thresh_red_blue_defaults = 1600
thresh_red_blue = thresh_red_blue_defaults
_set_state_SLD(1, 0)
+ started = False
while True:
- logging.log(logging.DEBUG, 'start')
- _set_state_SLD(2, 1)
- detectedColorValue = 3000
- setConvBeltSpeedSLD(512)
- while not isEjectionTriggered():
- lastColorValue = readColorValue()
- if lastColorValue < detectedColorValue:
- detectedColorValue = lastColorValue
- setConvBeltSpeedSLD(0)
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- TXT_SLD_E5_O8_compressor.on()
- logging.log(logging.DEBUG, 'check counter')
- counter = 0
- lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
- TXT_SLD_E5_M1_encodermotor.set_speed(int(350), Motor.CW)
- TXT_SLD_E5_M1_encodermotor.start()
- while counter <= 29:
- if (TXT_SLD_E5_C1_mini_switch.get_state()) != lastStateCounterSwitch:
- counter = (counter if isinstance(counter, Number) else 0) + 1
- lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
- logging.log(logging.DEBUG, 'counter: %d', counter)
- time.sleep(0.001)
- if detectedColorValue >= 200 and detectedColorValue < thresh_white_red:
- if counter > 5:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectWhite()
- break
- elif detectedColorValue >= thresh_white_red and detectedColorValue < thresh_red_blue:
- if counter > 14:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectRed()
- break
- elif detectedColorValue >= thresh_red_blue and detectedColorValue < 2000:
- if counter > 25:
- TXT_SLD_E5_M1_encodermotor.stop()
- logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
- ejectBlue()
- break
- else:
- pass
- time.sleep(0.5)
+ if started:
+ logging.log(logging.DEBUG, 'start')
+ _set_state_SLD(2, 1)
+ detectedColorValue = 3000
+ setConvBeltSpeedSLD(512)
+ while not isEjectionTriggered():
+ lastColorValue = readColorValue()
+ if lastColorValue < detectedColorValue:
+ detectedColorValue = lastColorValue
+ started = False
+ setConvBeltSpeedSLD(0)
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ TXT_SLD_E5_O8_compressor.on()
+ logging.log(logging.DEBUG, 'check counter')
+ counter = 0
+ lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
+ TXT_SLD_E5_M1_encodermotor.set_speed(int(350), Motor.CW)
+ TXT_SLD_E5_M1_encodermotor.start()
+ while counter <= 29:
+ if (TXT_SLD_E5_C1_mini_switch.get_state()) != lastStateCounterSwitch:
+ counter = (counter if isinstance(counter, Number) else 0) + 1
+ lastStateCounterSwitch = TXT_SLD_E5_C1_mini_switch.get_state()
+ logging.log(logging.DEBUG, 'counter: %d', counter)
+ time.sleep(0.001)
+ if detectedColorValue >= 200 and detectedColorValue < thresh_white_red:
+ if counter > 5:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectWhite()
+ break
+ elif detectedColorValue >= thresh_white_red and detectedColorValue < thresh_red_blue:
+ if counter > 14:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectRed()
+ break
+ elif detectedColorValue >= thresh_red_blue and detectedColorValue < 2000:
+ if counter > 25:
+ TXT_SLD_E5_M1_encodermotor.stop()
+ logging.log(logging.DEBUG, 'detectedColorValue: %d', detectedColorValue)
+ ejectBlue()
+ break
+ else:
+ pass
+ time.sleep(0.5)
def get_calib_data_SLD_defaults():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE, '-')
return [thresh_white_red_defaults, thresh_red_blue_defaults]
def get_calib_data_SLD():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE, '-')
return [thresh_white_red, thresh_red_blue]
def set_calib_data_SLD(_data):
- global _code, _active, speed, 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, 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
logging.log(logging.TRACE, _data)
thresh_white_red = _data[0]
thresh_red_blue = _data[1]
def _set_state_SLD(_code, _active):
- global _data, speed, 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, 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
logging.log(logging.TRACE0, '-')
if state_code != _code or state_active != _active:
_ts_state = 0
@@ -112,26 +121,26 @@ def _set_state_SLD(_code, _active):
def get_state_code_SLD():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return state_code
def get_state_active_SLD():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return state_active
def setConvBeltSpeedSLD(speed):
- global _data, _code, _active, 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, 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
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, 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, 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O5_magnetic_valve.on()
time.sleep(0.5)
@@ -145,7 +154,7 @@ def ejectWhite():
def ejectRed():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O6_magnetic_valve.on()
time.sleep(0.5)
@@ -159,7 +168,7 @@ def ejectRed():
def ejectBlue():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE, '-')
TXT_SLD_E5_O7_magnetic_valve.on()
time.sleep(0.5)
@@ -173,37 +182,37 @@ def ejectBlue():
def isColorSensorTriggered():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I1_photo_transistor.is_dark()
def isEjectionTriggered():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I3_photo_transistor.is_dark()
def isWhite():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I6_photo_transistor.is_dark()
def isRed():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I7_photo_transistor.is_dark()
def isBlue():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I8_photo_transistor.is_dark()
def readColorValue():
- global _data, _code, _active, speed, 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, 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
logging.log(logging.TRACE0, '-')
return TXT_SLD_E5_I2_color_sensor.get_voltage()