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Clean up repository and add Python formatting

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rsformoso
2026-07-08 23:01:28 +08:00
parent 49a2a5b3bd
commit 200a500289
5 changed files with 37 additions and 376 deletions
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.gitignore
+1
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@@ -0,0 +1 @@
.vscode
pyproject.toml
+2
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@@ -0,0 +1,2 @@
[tool.black]
line-length = 80
rotating-display-controller.ino.old
-170
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@@ -1,170 +0,0 @@
// #include <Arduino.h>
// // --- Hardware Configuration ---
// #define IN1 9
// #define IN2 10
// #define IN3 11
// #define IN4 12
// // The step sequence (standard for 28BYJ-48 motors)
// int stepSequence[8][4] = {
// { 1, 0, 0, 0 },
// { 1, 1, 0, 0 },
// { 0, 1, 0, 0 },
// { 0, 1, 1, 0 },
// { 0, 0, 1, 0 },
// { 0, 0, 1, 1 },
// { 0, 0, 0, 1 },
// { 1, 0, 0, 1 }
// };
// // --- Configuration Constants ---
// const int STEPS_PER_REV = 4096;
// int stepInterval = 1;
// bool autoMode = true;
// // --- State Variables ---
// long targetSteps = 0;
// long currentStepCount = 0;
// unsigned long lastMoveTime = 0; // Timer for movement steps
// int speedScale = 1;
// // --- Auto Mode Specific Variables ---
// unsigned long autoTimer = 0; // Tracks time since last auto-move
// unsigned long autoInterval = 5000; // 5 seconds delay between moves
// int autoState = 0; // 0 = Waiting, 1 = Moving
// int autoStepsToMove = 0; // Calculated steps for 15 degrees
// int autoStepIndex = 0; // Current step index within the move
// void setStep(int a, int b, int c, int d) {
// digitalWrite(IN1, a);
// digitalWrite(IN2, b);
// digitalWrite(IN3, c);
// digitalWrite(IN4, d);
// }
// void setup() {
// pinMode(IN1, OUTPUT);
// pinMode(IN2, OUTPUT);
// pinMode(IN3, OUTPUT);
// pinMode(IN4, OUTPUT);
// Serial.begin(9600);
// while (!Serial) {};
// stepInterval = map(speedScale, 1, 50, 1, 100);
// // Calculate steps for 15 degrees once
// autoStepsToMove = (int)((15.0 / 360.0) * STEPS_PER_REV);
// autoTimer = millis(); // Start the 5s timer immediately
// Serial.println("System Started.");
// Serial.println("Current Mode: AUTO (15 degrees every 5 seconds)");
// Serial.println("Send a number or 's[1-50]' to switch to MANUAL mode.");
// }
// void loop() {
// // --- 1. SERIAL INPUT PROCESSING (HIGHEST PRIORITY) ---
// // If ANY input is received, switch to manual mode IMMEDIATELY.
// if (Serial.available() > 0) {
// String input = Serial.readString();
// input.trim();
// if (input.length() > 0) {
// if (input.startsWith("s")) {
// // Handle Speed change
// int newSpeed = input.substring(1).toInt();
// if (newSpeed >= 1 && newSpeed <= 50) {
// speedScale = newSpeed;
// stepInterval = map(speedScale, 1, 50, 1, 100);
// // If we were moving, stop immediately
// currentStepCount = targetSteps;
// autoStepIndex = autoStepsToMove; // Force auto move to finish logic (or reset)
// Serial.print("Success: Speed set to ");
// Serial.println(speedScale);
// } else {
// Serial.println("Error: Use scale 1-50.");
// }
// } else {
// // Handle Degree change
// float val = input.toFloat();
// if (val != 0) {
// targetSteps = (long)((val / 360.0) * STEPS_PER_REV);
// currentStepCount = 0; // Reset count to start from zero
// lastMoveTime = millis();
// autoMode = false; // SWITCH TO MANUAL MODE
// autoState = 0; // Reset auto state machine
// Serial.print("Switching to Manual Mode. Target: ");
// Serial.print(val);
// Serial.println(" degrees.");
// }
// }
// }
// }
// // --- 2. EXECUTION LOGIC ---
// if (autoMode) {
// /*
// NON-BLOCKING AUTO MODE:
// State Machine:
// 0: Waiting for 5 seconds
// 1: Moving the 15 degrees
// */
// if (autoState == 0) {
// // Check if 5 seconds have passed
// if (millis() - autoTimer >= autoInterval) {
// autoTimer = millis(); // Reset timer
// autoState = 1; // Start moving
// autoStepIndex = 0; // Reset step counter for this move
// lastMoveTime = millis(); // Start the step timer
// }
// }
// else if (autoState == 1) {
// // Move one step if enough time passed
// if (millis() - lastMoveTime >= (unsigned long)stepInterval) {
// lastMoveTime = millis();
// // Calculate sequence index
// int seqIdx = autoStepIndex % 8;
// setStep(stepSequence[seqIdx][0], stepSequence[seqIdx][1],
// stepSequence[seqIdx][2], stepSequence[seqIdx][3]);
// autoStepIndex++;
// // Check if we finished the 15-degree move
// if (autoStepIndex >= autoStepsToMove) {
// autoState = 0; // Back to waiting
// Serial.println("Auto move complete. Waiting 5s...");
// }
// }
// }
// }
// else {
// /*
// MANUAL MODE:
// Non-blocking movement toward target.
// */
// if (currentStepCount != targetSteps) {
// if (millis() - lastMoveTime >= (unsigned long)stepInterval) {
// lastMoveTime = millis();
// // Determine direction
// long direction = (targetSteps > currentStepCount) ? 1 : -1;
// // Calculate sequence index (handling negative modulo correctly)
// int seqIdx = (int)((currentStepCount % 8 + 8) % 8);
// setStep(stepSequence[seqIdx][0],
// stepSequence[seqIdx][1],
// stepSequence[seqIdx][2],
// stepSequence[seqIdx][3]);
// currentStepCount += direction;
// }
// }
// }
// }
run_scan.py
+16 -6
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@@ -52,7 +52,9 @@ def initialize_camera():
Configures the camera's hardware state for photography.
"""
print("[CAMERA] Switching to SHUTTER mode.")
requests.get(f"http://{CAMERA_IP}/switch_cammode.cgi?mode=shutter", timeout=TIMEOUT)
requests.get(
f"http://{CAMERA_IP}/switch_cammode.cgi?mode=shutter", timeout=TIMEOUT
)
time.sleep(0.3)
@@ -72,7 +74,9 @@ def initialize_stand(ser):
time.sleep(0.3)
await_completion(ser, "Mode: MANUAL")
print(f"[STAND] Setting rotation speed to {ROTATION_SPEED_DPS} degrees/second.")
print(
f"[STAND] Setting rotation speed to {ROTATION_SPEED_DPS} degrees/second."
)
ser.write(f"s{ROTATION_SPEED_DPS}\n".encode())
time.sleep(0.3)
await_completion(ser, f"Speed: {ROTATION_SPEED_DPS:.0f}")
@@ -83,10 +87,15 @@ def take_photo():
Triggers the camera's shutter and waits for capture completion.
"""
print("[CAMERA] Activating electronic shutter.")
requests.get(f"http://{CAMERA_IP}/exec_shutter.cgi?type=1st2ndpush", timeout=TIMEOUT)
requests.get(
f"http://{CAMERA_IP}/exec_shutter.cgi?type=1st2ndpush", timeout=TIMEOUT
)
time.sleep(0.3)
requests.get(f"http://{CAMERA_IP}/exec_shutter.cgi?com=2nd1strelease", timeout=TIMEOUT)
requests.get(
f"http://{CAMERA_IP}/exec_shutter.cgi?com=2nd1strelease",
timeout=TIMEOUT,
)
time.sleep(0.3)
@@ -122,7 +131,7 @@ def await_completion(ser, s):
"""
while True:
line_bytes = ser.readline()
line_str = line_bytes.decode('utf-8').strip()
line_str = line_bytes.decode("utf-8").strip()
if not line_str:
raise SerialTimeoutError
@@ -150,7 +159,8 @@ def main():
while current_angle < TOTAL_TARGET_DEGREES:
take_photo()
time.sleep(PHOTO_TO_MOVE_DELAY) # Buffer to account for shutter speed
# Buffer to account for shutter speed
time.sleep(PHOTO_TO_MOVE_DELAY)
rotate_stand(ser)
current_angle += ROTATION_STEP_SIZE
run_scan.py.old
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@@ -1,182 +0,0 @@
import requests
import serial
import time
import sys
import re
# ================= CONFIGURATION =================
CAMERA_IP = "192.168.0.10"
ARDUINO_PORT = "/dev/ttyUSB0"
BAUD_RATE = 9600
# Motion Control
ROTATION_SPEED_DPS = 45.0
ROTATION_STEP_SIZE = 15.0
TOTAL_TARGET_DEGREES = 360.0
# Timing
PHOTO_TO_MOVE_DELAY = 8.0 # Wait after photo before rotation starts
SERIAL_TIMEOUT = 10.0 # Increased timeout for long moves
# ================================================
def emergency_shutdown(error_msg, ser=None):
"""
Failsafe routine: Attempts to switch camera to play mode and exits.
"""
print(f"\n[!] ERROR DETECTED: {error_msg}")
print("Initiating failsafe: Switching camera back to default state...")
try:
requests.get(f"http://{CAMERA_IP}/switch_cammode.cgi?mode=play", timeout=5)
print("Camera switched to play mode.")
except Exception as e:
print(f"Failed to switch camera mode during shutdown: {e}")
if ser:
try:
ser.close()
print("Serial connection closed.")
except:
pass
print("System halted.")
sys.exit(1)
def send_arduino_command(ser, command):
"""
Sends a command to the Arduino.
Does NOT wait for a response here to keep the flow simple,
but the response is consumed in the main loop.
"""
try:
ser.write(f"{command}\n".encode())
# Small delay to ensure Arduino receives command before next action
time.sleep(0.1)
except Exception as e:
raise Exception(f"Failed to send command '{command}': {e}")
def wait_for_move_completion(ser, expected_angle, speed_dps):
"""
Waits until the Arduino reports 'Steps Left: 0'.
Falls back to a calculated timeout if serial parsing fails.
"""
# Calculate expected time for the move as a safety fallback
# angle / speed = seconds. Add 10% buffer.
expected_time = (expected_angle / speed_dps) * 1.2
start_time = time.time()
print(f"Waiting for movement ({expected_angle}°) to complete...")
while True:
if ser.in_waiting > 0:
try:
line = ser.readline().decode('utf-8').strip()
if not line:
continue
# Check for "Steps Left: 0" in the Arduino status output
# Your Arduino prints: " | Steps Left: 0"
if "Steps Left: 0" in line:
print("Movement complete (Steps Left: 0 detected).")
return True
# Optional: Debug print if needed
# print(f"Arduino: {line}")
except Exception as e:
print(f"Warning: Error reading serial: {e}")
# Fallback timeout
elapsed = time.time() - start_time
if elapsed > max(expected_time + 5, 30): # Max 30s or calculated time + 5s
print(f"Timeout reached ({elapsed:.1f}s). Assuming move finished.")
return False
time.sleep(0.1) # Prevent CPU spinning
def main():
ser = None
try:
# 1. Initialize Serial Connection (Persistent)
print("Opening serial port...")
ser = serial.Serial(ARDUINO_PORT, BAUD_RATE, timeout=1)
time.sleep(2) # Wait for Arduino to reset and boot
# Flush any garbage data from boot
ser.reset_input_buffer()
ser.reset_output_buffer()
# 2. Initialize Table Parameters
print("Initializing table parameters...")
send_arduino_command(ser, f"s{ROTATION_SPEED_DPS}")
time.sleep(0.5)
send_arduino_command(ser, "m1") # Set to Manual mode (controlled by script)
time.sleep(0.5)
# 3. Prepare Camera State
print("Switching camera to shutter mode...")
requests.get(f"http://{CAMERA_IP}/switch_cammode.cgi?mode=shutter", timeout=5)
print("System ready.")
current_angle = 0.0
total_steps = int(TOTAL_TARGET_DEGREES / ROTATION_STEP_SIZE)
# Ensure we cover the full circle if 360 is the target
# If 360/15 = 24 steps, we do 24 moves.
# The loop runs while current_angle < TOTAL (0 to 345), then we do one last check?
# Actually, simpler: Loop for exactly the number of steps needed.
steps_taken = 0
while steps_taken <= total_steps:
# A. Capture Image
angle_label = int(current_angle)
print(f"\n--- Step {steps_taken + 1}/{total_steps + 1} ---")
print(f"Capturing image at {angle_label}°...")
try:
# 1. Push Shutter (Start exposure)
req1 = requests.get(f"http://{CAMERA_IP}/exec_shutter.cgi?type=1st2ndpush", timeout=10)
time.sleep(0.1)
# 2. Release Shutter (End exposure) - CRITICAL STEP
# The user specified this command is required to actually take the photo
req2 = requests.get(f"http://{CAMERA_IP}/exec_shutter.cgi?com=2nd1strelease", timeout=10)
if req1.status_code != 200 or req2.status_code != 200:
raise Exception(f"Camera returned status {req1.status_code} / {req2.status_code}")
print("Image captured successfully.")
except Exception as e:
raise Exception(f"Camera shutter sequence failed: {e}")
# If this is the last step, we don't need to move or wait
if steps_taken == total_steps:
print("All steps completed.")
break
# B. Wait for camera processing
print(f"Waiting {PHOTO_TO_MOVE_DELAY}s for camera processing...")
time.sleep(PHOTO_TO_MOVE_DELAY)
# C. Rotate Table
print(f"Rotating {ROTATION_STEP_SIZE}°...")
send_arduino_command(ser, f"a{ROTATION_STEP_SIZE}")
# D. Wait for movement to finish
# We pass the step size and speed to calculate a safe wait time
wait_for_move_completion(ser, ROTATION_STEP_SIZE, ROTATION_SPEED_DPS)
current_angle += ROTATION_STEP_SIZE
steps_taken += 1
print(f"Progress: {int(current_angle)}/{TOTAL_TARGET_DEGREES} degrees.")
print("\n[SUCCESS] Full rotation completed successfully.")
except Exception as e:
emergency_shutdown(str(e), ser)
finally:
if ser and ser.is_open:
ser.close()
if __name__ == "__main__":
main()