Merge pull request #30 from openUC2/mergebranch

Fixing REST API to match latest FW

Author: beniroquai

DOCUMENTATION/DOC_UC2Client.ipynb

@@ -753,7 +753,7 @@
    "name": "python",
    "nbconvert_exporter": "python",
    "pygments_lexer": "ipython3",
-   "version": "3.9.13"
+   "version": "3.9.13 | packaged by conda-forge | (main, May 27 2022, 17:01:00) \n[Clang 13.0.1 ]"
   },
   "vscode": {
    "interpreter": {

uc2rest/TEST/TEST_esp32client_2.py

@@ -12,13 +12,14 @@
 # setting debug output of the serial to true - all message will be printed
 esp32.serial.DEBUG=True
 
-# test Serial
+''' ################
+SERIAL
+################'''
 test_cmd = "{'task': '/motor_get'}"
 esp32.serial.writeSerial(test_cmd)
 cmd_return = esp32.serial.readSerial()
 print(cmd_return)
 
-
 ''' ################
 MODULES
 ################'''
@@ -33,7 +34,6 @@
 print(mModulesDevice)
 
 
-
 ''' ################
 LED 
 ################'''
@@ -50,7 +50,7 @@
 # display random pattern
 for i in range(10):
     led_pattern = np.random.randint(0,55, (25,3))
-    esp32.led.send_LEDMatrix_array(led_pattern=led_pattern)
+    esp32.led.send_LEDMatrix_array(led_pattern=led_pattern,timeout=1)
 
 esp32.led.send_LEDMatrix_single(indexled=0, intensity=(0, 255, 0))
 
@@ -72,8 +72,8 @@
 ################'''
 esp32.analog.set_analog(readanaloginID=1, readanaloginPIN=35, nanaloginavg=1)
 esp32.analog.get_analog(readanaloginID=1)
-analogValueAVG = esp32.analog.read_sensor(sensorID=1, NAvg=100)
-print(analogValueAVG)
+#analogValueAVG = esp32.analog.read_sensor(sensorID=1, NAvg=100)
+#print(analogValueAVG)
 
 
 
@@ -176,7 +176,7 @@
 
 dDist = 1000
 speed = 20000
-nDist = 10
+nDist = 4
 
 # test Motor in scanning mode
 esp32.motor.move_xyzt(steps=(0,0,0,0), speed=speed, is_absolute = True, is_blocking=True)
@@ -198,6 +198,10 @@
     esp32.laser.set_laserpin(laserid=2, laserpin=16)
     esp32.laser.set_laserpin(laserid=3, laserpin=17)
 
+# get laser pins
+esp32.laser.get_laserpins()
+esp32.laser.get_laserpin(laserid=1)
+
 # set laser values
 esp32.laser.set_laser(channel=1, value=1000, despeckleAmplitude=0, despecklePeriod=10, timeout=20, is_blocking = True)
 esp32.laser.set_laser(channel=2, value=1000, despeckleAmplitude=0, despecklePeriod=10, timeout=20, is_blocking = True)
@@ -238,5 +242,3 @@
 esp32.state.setControllerMode(isController=True)
 _busy = esp32.state.isBusy()
 print(_busy)
-
-#

uc2rest/laser.py

@@ -93,5 +93,5 @@ def get_laserpin(self, laserid=1):
             "task": path,
         }
 
-        r = self._parent.post_json(path, payload)
+        r = self._parent.post_json(path, payload,timeout=2)
         return r["LASER"+str(laserid)+"pin"]

uc2rest/ledmatrix.py

@@ -1,7 +1,7 @@
 import numpy as np
 import json
-
-gTimeout = 0.1
+import time 
+gTimeout = 0.5
 class LedMatrix(object):
     def __init__(self, parent, NLeds=64):
         #TOOD: This is for the LED matrix only!
@@ -63,6 +63,7 @@ def send_LEDMatrix_array(self, led_pattern, timeout=gTimeout):
         }
         self._parent.logger.debug("Setting LED Pattern (array) ")
         r = self._parent.post_json(path, payload, getReturn=True, timeout=timeout)
+        
         return r
 
     def send_LEDMatrix_full(self, intensity = (255,255,255),timeout=gTimeout):
@@ -202,7 +203,7 @@ def get_ledpin(self):
         payload = {
             "task": path,
         }
-        r = self._parent.post_json(path, payload, getReturn=True)
+        r = self._parent.post_json(path, payload, getReturn=True, timeout=1)
         return r
 
 

uc2rest/modules.py

@@ -10,7 +10,7 @@ def __init__(self, parent):
                 "home":0,
                 "analogin":0,
                 "pid":0,
-                "laser":0,
+                "laser":1,
                 "dac":0,
                 "analogout":0,
                 "digitalout":0,

uc2rest/motor.py

@@ -328,7 +328,7 @@ def move_stepper(self, steps=(0,0,0,0), speed=(1000,1000,1000,1000), is_absolute
 
         # drive motor
         self.isRunning = True
-        r = self._parent.post_json(path, payload, getReturn=~is_blocking, timeout=1)
+        r = self._parent.post_json(path, payload, getReturn=False, timeout=1)
 
         # wait until job has been done
         time0=time.time()
@@ -348,8 +348,10 @@ def move_stepper(self, steps=(0,0,0,0), speed=(1000,1000,1000,1000), is_absolute
                     try:
                         rMessage = rMessage.split("\r")[0].replace("'", '"')
                         mMessage = json.loads(rMessage)
-                        mNumber = mMessage['motor']
-                        steppersRunning[mNumber] = False
+                        for iElement in mMessage['steppers']: 
+                            if iElement['isDone']:
+                                mNumber = iElement['stepperid']
+                                steppersRunning[mNumber] = False
                     except:
                         pass