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fix old interface program load
1 parent a769bb4 commit 75d83ef

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12 files changed

+35
-294
lines changed

12 files changed

+35
-294
lines changed

‎MPU6050.py

Lines changed: 0 additions & 264 deletions
This file was deleted.

‎cnn_models/models.json

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
{"base_low_fast": {"image_width": 224, "output_layer": "final_result", "status": 100, "image_height": 224}, "object_detect": {"image_width": 224, "output_layer": "final_result", "status": 1.0, "image_height": 224}, "test_model_1": {"image_width": "160", "output_layer": "final_result", "status": 0, "image_height": "160"}, "base_high_slow": {"image_width": 224, "output_layer": "final_result", "status": 1.0, "image_height": 224}}
1+
{"base_high_slow": {"output_layer": "final_result", "image_width": 224, "status": 1.0, "image_height": 224}, "base_low_fast": {"output_layer": "final_result", "image_width": 224, "status": 100, "image_height": 224}, "test_model_2": {"output_layer": "final_result", "image_width": "160", "image_height": "160", "status": 0}, "object_detect": {"output_layer": "final_result", "image_width": 224, "status": 1.0, "image_height": 224}}

‎cnn_train.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -107,7 +107,7 @@ def _get_hparams(train_epochs=1, learning_rate=0.005):
107107
return lib.HParams(
108108
train_epochs=train_epochs,
109109
do_fine_tuning=False,
110-
batch_size=1,
110+
batch_size=2,
111111
learning_rate=learning_rate,
112112
momentum=0.9)
113113

‎coderbot.py

Lines changed: 10 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -36,15 +36,17 @@ class GPIO_CODERBOT_V_4():
3636

3737
PIN_PUSHBUTTON = 11
3838
# servo
39-
PIN_SERVO_3 = 9
40-
PIN_SERVO_4 = 10
39+
PIN_SERVO_1 = 9
40+
PIN_SERVO_2 = 10
4141
# sonar
4242
PIN_SONAR_1_TRIGGER = 18
4343
PIN_SONAR_1_ECHO = 7
4444
PIN_SONAR_2_TRIGGER = 18
4545
PIN_SONAR_2_ECHO = 8
4646
PIN_SONAR_3_TRIGGER = 18
4747
PIN_SONAR_3_ECHO = 23
48+
PIN_SONAR_4_TRIGGER = 18
49+
PIN_SONAR_4_ECHO = None
4850

4951
# encoder
5052
PIN_ENCODER_LEFT_A = 14
@@ -62,8 +64,8 @@ class GPIO_CODERBOT_V_5():
6264

6365
PIN_PUSHBUTTON = 16 #11
6466
# servo
65-
PIN_SERVO_3 = 7 #9
66-
PIN_SERVO_4 = 1 #10
67+
PIN_SERVO_1 = 19 #9
68+
PIN_SERVO_2 = 26 #10
6769
# sonar
6870
PIN_SONAR_1_TRIGGER = 5 #18
6971
PIN_SONAR_1_ECHO = 27 #7
@@ -97,7 +99,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
9799
logging.info("MPU not available")
98100
self.GPIOS = GPIO_CODERBOT_V_4()
99101

100-
self._pin_out = [self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD, self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD, self.GPIOS.PIN_SERVO_3, self.GPIOS.PIN_SERVO_4]
102+
self._pin_out = [self.GPIOS.PIN_LEFT_FORWARD, self.GPIOS.PIN_RIGHT_FORWARD, self.GPIOS.PIN_LEFT_BACKWARD, self.GPIOS.PIN_RIGHT_BACKWARD, self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
101103
self.pi = pigpio.pi('localhost')
102104
self.pi.set_mode(self.GPIOS.PIN_PUSHBUTTON, pigpio.INPUT)
103105
self._cb = dict()
@@ -128,7 +130,7 @@ def __init__(self, motor_trim_factor=1.0, encoder=True):
128130
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_2_TRIGGER, self.GPIOS.PIN_SONAR_2_ECHO),
129131
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_3_TRIGGER, self.GPIOS.PIN_SONAR_3_ECHO),
130132
sonar.Sonar(self.pi, self.GPIOS.PIN_SONAR_4_TRIGGER, self.GPIOS.PIN_SONAR_4_ECHO)]
131-
133+
self._servos = [self.GPIOS.PIN_SERVO_1, self.GPIOS.PIN_SERVO_2]
132134

133135
#self.stop()
134136
self._is_moving = False
@@ -179,11 +181,8 @@ def left(self, speed=100, elapse=0):
179181
def right(self, speed=100, elapse=0):
180182
self.turn(speed=speed, elapse=elapse)
181183

182-
def servo3(self, angle):
183-
self._servo_control(PIN_SERVO_3, angle)
184-
185-
def servo4(self, angle):
186-
self._servo_control(PIN_SERVO_4, angle)
184+
def servo(self, servo, angle):
185+
self._servo_control(self._servos[servo], angle)
187186

188187
def get_sonar_distance(self, sonar_id=0):
189188
return self.sonar[sonar_id].get_distance()

‎data/program_test_find_code.json

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "name": "test_find_code", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "default": false}

‎data/program_test_sound_hear.json

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1 @@
1+
{"code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "name": "test_sound_hear", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\")2O+]tEdTK$;uD.}l/kK\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"f7Xkck7ozSgc,zERJ,b+\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"Z*oM`qtNg%T83=+}0Zk9\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\" id=\"%[email protected]@c?v\"><value name=\"LEVEL\"><block type=\"math_number\" id=\"P`S3@4)WDXf-W^3|on-`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"wLrg5$uxQ9=yiKvrHxiR\"><field name=\"NUM\">1</field></block></value></block></value></block></statement></block></xml>", "default": false}

‎data/programs.json

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1 @@
1-
{"_default": {"1": {"name": "demo_obstacle_avoidance", "filename": "./data/defaults/programs/program_demo_obstacle_avoidance.json", "default": "True"}, "2": {"name": "demo_line_follower", "filename": "./data/defaults/programs/program_demo_line_follower.json", "default": "True"}, "3": {"name": "test_find_code", "filename": "./data/defaults/programs/program_test_find_code.json", "default": "True"}, "4": {"name": "demo_color_seeker", "filename": "./data/defaults/programs/program_demo_color_seeker.json", "default": "True"}, "5": {"name": "test_cnn_classifier", "filename": "./data/defaults/programs/program_test_cnn_classifier.json", "default": "True"}, "6": {"name": "demo_sound_clap_control", "filename": "./data/defaults/programs/program_demo_sound_clap_control.json", "default": "True"}, "7": {"name": "test_sound_hear", "filename": "./data/defaults/programs/program_test_sound_hear.json", "default": "True"}, "8": {"name": "test_find_path_ahead", "filename": "./data/defaults/programs/program_test_find_path_ahead.json", "default": "True"}, "9": {"name": "test_find_face", "filename": "./data/defaults/programs/program_test_find_face.json", "default": "True"}, "10": {"name": "demo_ar_tags", "filename": "./data/defaults/programs/program_demo_ar_tags.json", "default": "True"}, "11": {"name": "test_img_average", "filename": "./data/defaults/programs/program_test_img_average.json", "default": "True"}, "12": {"name": "test_find_color", "filename": "./data/defaults/programs/program_test_find_color.json", "default": "True"}, "13": {"name": "test_sound_rec", "filename": "./data/defaults/programs/program_test_sound_rec.json", "default": "True"}}}
1+
{"_default": {"1": {"name": "demo_obstacle_avoidance", "filename": "./data/defaults/programs/program_demo_obstacle_avoidance.json", "default": "True"}, "2": {"name": "demo_line_follower", "filename": "./data/defaults/programs/program_demo_line_follower.json", "default": "True"}, "3": {"filename": "./data/program_test_find_code.json", "name": "test_find_code", "code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_cam().find_qr_code())\n", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\"0Mx[mSKoV~Gk1qbv5Wrn\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"q8(wB97}Y)d71cgy$yo#\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"0fGi]QOF@I*b$5x^?f#A\"><value name=\"TEXT\"><block type=\"coderbot_adv_findQRCode\" id=\"zG.;=ZyX~k=YR$T(6JF*\"></block></value></block></statement></block></xml>", "default": false}, "4": {"name": "demo_color_seeker", "filename": "./data/defaults/programs/program_demo_color_seeker.json", "default": "True"}, "5": {"name": "test_cnn_classifier", "filename": "./data/defaults/programs/program_test_cnn_classifier.json", "default": "True"}, "6": {"name": "demo_sound_clap_control", "filename": "./data/defaults/programs/program_demo_sound_clap_control.json", "default": "True"}, "7": {"code": "while True:\n get_prog_eng().check_end()\n get_cam().set_text(get_audio().hear(level=100, elapse=1))\n", "filename": "./data/program_test_sound_hear.json", "name": "test_sound_hear", "dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><variables></variables><block type=\"controls_whileUntil\" id=\")2O+]tEdTK$;uD.}l/kK\" x=\"-68\" y=\"108\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\" id=\"f7Xkck7ozSgc,zERJ,b+\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\" id=\"Z*oM`qtNg%T83=+}0Zk9\"><value name=\"TEXT\"><block type=\"coderbot_audio_hear\" id=\"%[email protected]@c?v\"><value name=\"LEVEL\"><block type=\"math_number\" id=\"P`S3@4)WDXf-W^3|on-`\"><field name=\"NUM\">100</field></block></value><value name=\"ELAPSE\"><block type=\"math_number\" id=\"wLrg5$uxQ9=yiKvrHxiR\"><field name=\"NUM\">1</field></block></value></block></value></block></statement></block></xml>", "default": false}, "8": {"name": "test_find_path_ahead", "filename": "./data/defaults/programs/program_test_find_path_ahead.json", "default": "True"}, "9": {"name": "test_find_face", "filename": "./data/defaults/programs/program_test_find_face.json", "default": "True"}, "10": {"name": "demo_ar_tags", "filename": "./data/defaults/programs/program_demo_ar_tags.json", "default": "True"}, "11": {"name": "test_img_average", "filename": "./data/defaults/programs/program_test_img_average.json", "default": "True"}, "12": {"name": "test_find_color", "filename": "./data/defaults/programs/program_test_find_color.json", "default": "True"}, "13": {"name": "test_sound_rec", "filename": "./data/defaults/programs/program_test_sound_rec.json", "default": "True"}}}

‎main.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -336,7 +336,7 @@ def handle_program_load():
336336
logging.debug("program_load")
337337
name = request.args.get('name')
338338
app.prog = app.prog_engine.load(name)
339-
return jsonify(app.prog.as_json())
339+
return jsonify(app.prog.as_dict())
340340

341341
@app.route("/program/save", methods=["POST"])
342342
def handle_program_save():

‎photos/0.txt

Whitespace-only changes.

‎requirements_stub.txt

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,7 @@ MarkupSafe==1.0
2525
numpy==1.17.4
2626
opencv-contrib-python==3.4.3.18
2727
pigpio==1.44
28-
Pillow==6.2.0
28+
Pillow==7.0.0
2929
protobuf==3.6.1
3030
Pypubsub==4.0.0
3131
pytz==2018.4

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