Update rgb sensors

Author: kmikaz51

python/evolutek/lib/indicators/ws2812b.py

@@ -57,12 +57,12 @@ def set_mode(self, mode=LightningMode.Loading):
 
             self.mode = mode
 
-            self.leds.fill(Color.Black.value)
+            self.leds.fill(Color.Black.value.to_tupple())
 
             if self.mode == LightningMode.Loading:
                 self.current_led = self.nb_leds - 1
                 for i in range(NB_LOADING_LED):
-                    self.leds[i] = self.loading_color.value
+                    self.leds[i] = self.loading_color.value.to_tupple()
 
             elif self.mode == LightningMode.Disabled or self.mode == LightningMode.Error:
                 self.state = False
@@ -79,25 +79,25 @@ def run(self):
             with self.lock:
                 if self.mode == LightningMode.Disabled:
                     for i in range(self.nb_leds):
-                        self.leds[i] = Color.Orange.value if self.state ^ i % 2 == 0 else Color.Black.value
+                        self.leds[i] = Color.Orange.value.to_tupple() if self.state ^ i % 2 == 0 else Color.Black.value.to_tupple()
                     self.state = not self.state
 
                 elif self.mode == LightningMode.Error:
-                    self.leds.fill(Color.Red.value if self.state else Color.Black.value)
+                    self.leds.fill(Color.Red.value.to_tupple() if self.state else Color.Black.value.to_tupple())
                     self.state = not self.state
 
                 elif self.mode == LightningMode.Loading:
-                    self.leds[self.current_led] = Color.Black.value
-                    self.leds[(self.current_led + NB_LOADING_LED) % self.nb_leds] = self.loading_color.value
+                    self.leds[self.current_led] = Color.Black.value.to_tupple()
+                    self.leds[(self.current_led + NB_LOADING_LED) % self.nb_leds] = self.loading_color.value.to_tupple()
                     self.current_led = (self.current_led + 1) % self.nb_leds
 
                 elif self.mode == LightningMode.Running:
-                    self.leds.fill(Color.Green.value)
+                    self.leds.fill(Color.Green.value.to_tupple())
 
                 self.leds.show()
 
             sleep(refresh[self.mode])
 
-        self.leds.fill(Color.Black.value)
+        self.leds.fill(Color.Black.value.to_tupple())
         self.leds.show()
         print(f"[{self.name}] Stopped")

python/evolutek/lib/sensors/rgb_sensors.py

@@ -2,27 +2,23 @@
 import adafruit_tcs34725
 import board
 import busio
-import time
-
 from enum import Enum
 from time import sleep
 
 from evolutek.lib.component import Component, ComponentsHolder
-from evolutek.lib.utils.color import Color
+from evolutek.lib.utils.color import RGBColor, Color
 
 TCA = None
-CALIBRATE = 10
-
-# Up -> More perturbations (more false positives)
-# Down -> Better detection (more false negatives)
-SENSITIVITY = 1.25
+CALIBRATION_NB_VALUES = 10
+DELTA_FOR_COLOR = 50
 
 class TCS34725(Component):
 
-    def __init__(self, id, channel):
-        self.calibration = [0, 0, 0]
+    def __init__(self, id, channel, color_to_detect=None):
+        self.calibration = RGBColor(0, 0, 0)
         self.sensor = None
         self.channel = channel
+        self.color_to_detect = color_to_detect
         super().__init__('TCS34725', id)
 
     def _initialize(self):
@@ -38,32 +34,28 @@ def _initialize(self):
         return True
 
     def calibrate(self):
-        for i in range(CALIBRATE):
-            rgb = self.sensor.color_rgb_bytes
-            self.calibration[0] += rgb[0]
-            self.calibration[1] += rgb[1]
-            self.calibration[2] += rgb[2]
+        calibration = []
+        for i in range(CALIBRATION_NB_VALUES):
+            calibration.append(RGBColor.from_tupple(self.sensor.color_rgb_bytes))
             sleep(0.1)
-        self.calibration[0] /= CALIBRATE
-        self.calibration[1] /= CALIBRATE
-        self.calibration[2] /= CALIBRATE
-        # print('Setup: R = %i - G = %i - B = %i' % (self.calibration[0],self.calibration[1],self.calibration[2]))
+        self.calibration = RGBColor.mean(calibration)
+        print(f"[{self.name}] Sensor {self.id} calibrated with {self.calibration}")
 
     def read(self):
-        if not self.is_initialized:
-            print('[%s] %s %d not initialized' % (self.name, self.name, self.id))
-            return None
+        rgb = RGBColor.from_tupple(self.sensor.color_rgb_bytes)
+        rgb -= self.calibration
+        color = Color.get_closest_color(rgb, self.color_to_detect if self.color_to_detect is not None else Color.__members__)
 
-        rgb = self.sensor.color_rgb_bytes
-        values = [rgb[0] - self.calibration[0], rgb[1] - self.calibration[1], rgb[2] - self.calibration[2]]
-        index = values.index(max(values))
+        if color == Color.Unknown:
+            print(f"[{self.name}] Sensor {self.id} didn't see any color")
 
-        if rgb[index] < self.calibration[index] * SENSITIVITY:
-            return Color.Unknown
+        dist = rgb.compute_dist(color.value)
+        if dist >= DELTA_FOR_COLOR:
+            print(f"[{self.name}] Sensor {self.id} detect a bad color (dist={dist})")
+    
 
-        res = [Color.Red, Color.Green, Color.Blue][index]
-        if res == Color.Blue: return Color.Green
-        return res
+        print(f"[{self.name}] Sensor {self.id} detect color with {color.value} with dist {dist}")
+        return color
 
     def __str__(self):
         s = "----------\n"

python/evolutek/lib/utils/color.py

@@ -1,18 +1,101 @@
 from enum import Enum
+from math import sqrt
+
+class RGBColor:
+
+    def __init__(self, r, g, b):
+        self.r = r
+        self.g = g
+        self.b = b
+
+    @staticmethod
+    def from_tupple(t):
+        return RGBColor(r, g, b)
+
+    def to_tupple(self):
+        return (self.r, self.g, self.b)
+
+    def __str__(self) -> str:
+        return  f"(R, G, B): ({self.r}, {self.g}, {self.b})"
+
+    def __eq__(self, color) -> bool:
+        return (
+            self.r == color.r and
+            self.g == color.g and
+            self.b == color.b
+        )
+
+    def __add__(self, color):
+        return RGBColor(
+            self.r + color.r,
+            self.g + color.g,
+            self.b + color.b
+        )
+
+    def __sub__(self, color):
+        return RGBColor(
+            self.r - color.r,
+            self.g - color.g,
+            self.b - color.b
+        )
+
+    def __div__(self, div: int):
+        return RGBColor(
+            self.r / div,
+            self.g / div,
+            self.b / div
+        )
+
+    def __mul__(self, coef: float):
+        if coef < 0.0 or coef > 1.0:
+            return Color.Black.value
+
+        return RGBColor(self.r * coef, self.g * coef, self.b * coef)
+
+    @staticmethod
+    def mean(colors):
+        result = RGBColor(0, 0, 0)
+        for color in colors:
+            result += color
+        return result / len(colors)
+    
+    def compute_dist(self, color):
+        tmp = self.__sub__(color)
+        return sqrt(
+            tmp.r ** 2 + tmp.g **2 + tmp.b **2
+        )
 
 class Color(Enum):
-    Black = (0, 0, 0)
-    Blue = (0, 0, 255)
-    Green = (0, 255, 0)
-    Orange = (255, 50, 0)
-    Red = (255, 0, 0)
-    Yellow = (255, 255, 0)
-    Purple = (115, 25, 115)
-    Unknown = (-1, -1, -1)
+    Black =     RGBColor(0, 0, 0)
+    Blue =      RGBColor(0, 0, 255)
+    Green =     RGBColor(0, 255, 0)
+    Orange =    RGBColor(255, 50, 0)
+    Red =       RGBColor(255, 0, 0)
+    Yellow =    RGBColor(255, 255, 0)
+    Purple =    RGBColor(115, 25, 115)
+    Unknown =   RGBColor(-1, -1, -1)
 
     @staticmethod
     def get_by_name(name):
         try:
             return Color.__members__[name.capitalize()]
         except:
             return Color.Unknown
+        
+    @staticmethod
+    def get_by_rgb(rgb_color):
+        for color in Color.__members__:
+            if rgb_color == color.value:
+                return color
+        return Color.Unknown
+    
+    @staticmethod
+    def get_closest_color(rgb_color, colors):
+        closest = Color.Unknow
+        min_dist = rgb_color.compute_dist(Color.Unknow.value)
+        for color in colors:
+            dist = rgb_color.compute_dist(color.value)
+            if dist < min_dist:
+                min_dist = dist
+                closest = color
+        return closest

python/evolutek/tests/sensors/test_rgb_sensors.py

@@ -2,7 +2,7 @@
 
 from evolutek.lib.sensors.rgb_sensors import RGBSensors
 
-rgb_sensors = RGBSensors([1, 2, 3, 4])
+rgb_sensors = RGBSensors([1])
 print(rgb_sensors.is_initialized())
 print(rgb_sensors)