Merge remote-tracking branch 'origin/gripper'

src/gripper.py

@@ -2,9 +2,9 @@
 
 TODO: Integrate with FarmbotClient or FarmbotYoloClient
 """
-from client import FarmbotClient
-from creds import device_id
-from creds import token
+from utils.client import FarmbotClient
+from utils.creds import device_id
+from utils.creds import token
 
 GRIPPER_PIN = 12
 GRIPPER_OPEN_STATE = 0

src/main.py

@@ -48,7 +48,6 @@ def remove_overlap(table_coordinate:DataFrame, tolerance=50.00)->DataFrame:
     return table_coordinate              
 
 
-
 def remove_temp(path: Path)-> None:
     '''
     Clean temporary files, i.e., photos, location.txt, annotations

src/move.py

@@ -8,6 +8,7 @@ Note: it is for remote server, can ben replaced by a local script
 from argparse import ArgumentParser
 from logging import getLogger
 from os import path, makedirs, system
+import sys
 from time  import sleep, strftime, time
 #from serial import Serial, PARITY_NONE, STOPBITS_ONE, EIGHTBITS 
 from requests.api import delete
@@ -20,8 +21,8 @@ from datetime import timezone, datetime
 from dateutil.parser import parse
 from requests import get, delete
 
-import creds
-from client import FarmbotClient
+import utils.creds as creds
+from utils.client import FarmbotClient
 
 
 _SWEEEP_HEIGHT = 0
@@ -40,7 +41,7 @@ class Opts:
     
 
 def scan(img_path: Path, location_path: Path, # smaller delta
-         min_x=0, max_x=1300, min_y=0, max_y=1000, delta=1000, offset=0, flag=True) -> List: #里面的数字需要重新测量
+         min_x=0, max_x=1175, min_y=0, max_y=974, delta=300, offset=0, flag=True) -> List: #里面的数字需要重新测量
     '''
     scan the bed at a certain height, first move along x axis, then y, like a zig zag;
     Taking pictures and record the location of the camera that corresponds to the picture
@@ -76,7 +77,8 @@ def scan(img_path: Path, location_path: Path, # smaller delta
     client.move(0, 0, _SWEEEP_HEIGHT) # ensure moving from original 
     for x, y in pts:
         client.move(x, y, _SWEEEP_HEIGHT) # move camera
-        take_photo(img_path)
+        #take_photo(img_path)
+        client.take_photo()
     client.shutdown()
     # write to img/location
     with open(path.join(location_path, "location.txt"), 'w') as f:
@@ -85,14 +87,21 @@ def scan(img_path: Path, location_path: Path, # smaller delta
     return None 
 
 
-def take_photo(img_path: Path):
-    HERE = path.dirname(__file__)
-    IMG_DIR = path.join(HERE, img_path)
+def take_photo():
+    client = FarmbotClient(creds.device_id, creds.token)
+    client.take_photo()
+    # download image
+    system('python ./utils/download.py')
+
+
+# def take_photo(img_path: Path):
+#     HERE = path.dirname(__file__)
+#     IMG_DIR = path.join(HERE, img_path)
 
-    with request.urlopen('http://localhost:8080/?action=snapshot') as photo:
-        filename = datetime.now().strftime("%Y-%m-%dT%H:%M:%S") + ".jpg"
-        with open(path.join(IMG_DIR, filename), mode="wb") as save_file:
-            save_file.write(photo.read())
+#     with request.urlopen('http://localhost:8080/?action=snapshot') as photo:
+#         filename = datetime.now().strftime("%Y-%m-%dT%H:%M:%S") + ".jpg"
+#         with open(path.join(IMG_DIR, filename), mode="wb") as save_file:
+#             save_file.write(photo.read())
 
 
 def simple_move(x: int, y: int, z: int) -> None: 
@@ -145,12 +154,14 @@ if __name__ == '__main__':
         destination_x = int(input('X:'))
         destination_y = int(input('Y:'))
         destination_z = int(input('Z:'))
-        photo = True if input('Take a photo or not?[Y/N]:') == 'Y' else False 
         simple_move_start = time()
-        simple_move(destination_x, destination_y, destination_z, photo)
+        simple_move(destination_x, destination_y, destination_z)
         Logger.info(f'time cost {time()-simple_move_start}')
     elif arguments.mode == 2:
         scan(arguments.photo, arguments.locations, flag=False)
+        #take_photo(arguments.photo)
+    elif arguments.mode == 3:
+        take_photo()
     else:
         Logger.error('Wrong mode number {arguments.mode}')
 

src/client.py → src/utils/client.py

@@ -33,12 +33,12 @@ def read_pin_request(pin_number, pin_mode="digital"):
 
   return {"kind": "rpc_request",
           "args": {"label": ""},
-          "body": [{"kind": "read_pin"
+          "body": [{"kind": "read_pin",
                     "args": {
                       "label": "pin" + str(pin_number),
                       "pin_mode": modes[pin_mode] or (modes["digital"]),
                       "pin_number": pin_number
-                    }
+                    }}]}
 
 def write_pin_request(pin_number, pin_value, pin_mode="digital"):
   modes = {"digital": 0, "analog": 1}
@@ -58,7 +58,7 @@ def write_pin_request(pin_number, pin_value, pin_mode="digital"):
                   ]
           }
 
-def toggle_pin_request(pin_number)
+def toggle_pin_request(pin_number):
   return {"kind": "rpc_request",
           "args": {"label": ""},
           "body": [{"kind": "toggle_pin",