From f104b5fb888c23007054fc074843cdad15520a37 Mon Sep 17 00:00:00 2001
From: Anton Tetov <anton@tetov.se>
Date: Sun, 12 Jun 2022 12:49:14 +0200
Subject: [PATCH] gripper commands over farmbot added
---
src/client.py | 57 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 57 insertions(+)
diff --git a/src/client.py b/src/client.py
index fbb44f6..22f3460 100755
--- a/src/client.py
+++ b/src/client.py
@@ -13,6 +13,7 @@ MAX_X = 2400
MAX_Y = 1200
MAX_Z = 469 # TODO test this one!
+
def coord(x, y, z):
return {"kind": "coordinate", "args": {"x": x, "y": y, "z": z}} # 返回json 嵌套对象
@@ -24,6 +25,50 @@ def move_request(x, y, z):
"offset": coord(0, 0, 0),
"speed": 100}}]}
+def read_pin_request(pin_number, pin_mode="digital"):
+ modes = {"digital": 0, "analog": 1}
+
+ if pin_mode != "digital":
+ raise NotImplementedError()
+
+ return {"kind": "rpc_request",
+ "args": {"label": ""},
+ "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}
+
+ if pin_mode != "digital":
+ raise NotImplementedError()
+
+ return {"kind": "rpc_request",
+ "args": {"label": ""},
+ "body": [{"kind": "write_pin",
+ "args": {
+ "pin_mode": modes[pin_mode] or (modes["digital"]),
+ "pin_number": pin_number,
+ "pin_value": pin_value
+ }
+ }
+ ]
+ }
+
+def toggle_pin_request(pin_number)
+ return {"kind": "rpc_request",
+ "args": {"label": ""},
+ "body": [{"kind": "toggle_pin",
+ "args": {
+ "pin_number": pin_number,
+ }
+ }
+ ]
+ }
+
def take_photo_request():
return {"kind": "rpc_request",
"args": {"label": ""}, #label空着是为了在blocking_request中填上uuid，唯一识别码
@@ -75,6 +120,18 @@ class FarmbotClient(object):
status_ok = self._blocking_request(take_photo_request())
logging.info("TAKE_PHOTO [%s]", status_ok)
+ def read_pin(self, pin_number, pin_mode="digital"):
+ status_ok = self._blocking_request(read_pin_request(pin_number, pin_mode=pin_mode))
+ logging.info(f"READ PIN (pin_number: {pin_number}) [{status_ok}]")
+
+ def write_pin(self, pin_number, pin_value, pin_mode="digital"):
+ status_ok = self._blocking_request(write_pin_request(pin_number, pin_value, pin_mode=pin_mode))
+ logging.info(f"WRITE PIN (pin_number: {pin_number}, pin_value: {pin_value}) [{status_ok}]")
+
+ def toggle_pin(self, pin_number):
+ status_ok = self._blocking_request(toggle_pin_request(pin_number))
+ logging.info(f"TOGGLE PIN (pin_number: {pin_number}) [{status_ok}]")
+
def _blocking_request(self, request, retries_remaining=3):
if retries_remaining==0:
logging.error("< blocking request [%s] OUT OF RETRIES", request) #尝试3次，然后在日志中记录错误
--
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