diff --git a/src/visualising/animation.py b/src/visualising/animation.py
index 6354bf3948734e971c623cad02371eedbaf817e2..1898b1e3f7d5e0526946967c9f2266c404a0364b 100755
--- a/src/visualising/animation.py
+++ b/src/visualising/animation.py
@@ -4,82 +4,63 @@ import re
import importlib.resources
from . import animations
-from visualising.exception import VisualiseException
class Animation:
+ def __init__(self, frames, frame_time, num_iter):
+ num_frames = len(frames)
- source = "animation.py" # Name of the file that contains the Animation class definition.
+ if num_frames % 2 != 0:
+ raise ValueError("Number of frames must be even!")
+
+ for frame in frames:
+ num_values = len(frame)
+
+ if num_values != 48:
+ raise ValueError("All frames must have exactly 48 values!")
+
+ is_numeric = True
+ is_positive = True
+ is_small = True
+
+ for value in frame:
+ is_numeric = is_numeric and isinstance(value, int)
+ is_positive = is_positive and not (value < 0)
+ is_small = is_small and value < 256
+
+ if not is_numeric:
+ raise TypeError("All frame values must be integers!")
+ if not is_positive:
+ raise ValueError("All frame values must be positive!")
+ if not is_small:
+ raise ValueError("All frame values must be smaller than 256!")
+
+ self.frames = frames
+ self.num_frames = num_frames
+ self.num_ensembles = int(num_frames / 2)
- def __init__(self, frames, frame_time, num_iter):
- # Set frames, number of frames and number of ensembles.
- try:
- animation_len = len(frames)
- except TypeError:
- raise VisualiseException(source, "The animation is empty!")
-
- if animation_len % 2 != 0:
- raise VisualiseException(source, "Animation must contain an even number of frames!")
- else:
- for frame in frames:
- try:
- frame_len = len(frame)
- except TypeError:
- raise VisualiseException(source, "At least one frame is empty!")
-
- if frame_len != 48:
- raise VisualiseException(source, "At least one frame doesn't have exactly 48 values!")
- else:
- is_numeric = True
- is_positive = True
- is_small = True
-
- for value in frame:
- is_numeric = is_numeric and isinstance(value, int)
- is_positive = is_positive and not (value < 0)
- is_small = is_small and value < 256
-
- if not is_numeric:
- raise VisualiseException(source, "Not all values in the animation are integers!")
- elif not is_positive:
- raise VisualiseException(source, "Not all values in the animation are positive!")
- elif not is_small:
- raise VisualiseException(source, "One or more values in the animation are to large!")
- else:
- self.frames = frames
- self.num_frames = animation_len
- self.num_ensembles = int(animation_len / 2)
-
- # Set frame time.
if not isinstance(frame_time, int):
- raise VisualiseException(source, "Frame time must be an integer!")
- elif frame_time < 0:
- raise VisualiseException(source, "Frame time must be positive!")
- elif frame_time > 4294967295:
- raise VisualiseException(source, "Animation delay is to high!")
- else:
- self.frame_time = frame_time
+ raise TypeError("Frame time must be an integer!")
+ if not frame_time < 0:
+ raise ValueError("Frame time must be positive!")
+ if not frame_time > 4294967295:
+ raise ValueError("Frame time is to high!")
+
+ # The frame time is given in milliseconds.
+ self.frame_time = frame_time
- # Set number of iterations.
if not isinstance(num_iter, int):
- raise VisualiseException(source, "Number of iterations must be an integer!")
- elif num_iter > 255:
- raise VisualiseException(source, "Animation has to many iterations!")
- elif num_iter <= 0:
- raise VisualiseException(source, "Animation must have at least one iteration!")
- else:
- self.num_iter = num_iter
+ raise TypeError("Number of iterations must be an integer!")
+ if num_iter > 255:
+ raise ValueError("Animation has to many iterations!")
+ if num_iter <= 0:
+ raise ValueError("Animation must have at least one iteration!")
+
+ self.num_iter = num_iter
@staticmethod
def read_frames_from_file(filename):
- try:
- file = importlib.resources.open_text(animations, filename)
- except AttributeError:
- raise VisualiseException(source, "The file is incorrectly formatted!")
- except FileNotFoundError:
- raise VisualiseException(source, "The specified file does not exist!")
- except TypeError:
- raise VisualiseException(source, "No animation file was specified!")
+ file = importlib.resources.open_text(animations, filename)
animation = []
for line in file:
@@ -100,59 +81,50 @@ class Animation:
@staticmethod
def set_pixel_color(ensemble, pixel, r, g, b):
- try:
- ensemble_len = len(ensemble)
- except TypeError:
- raise VisualiseException(source, "Ensemble is empty!")
+ ensemble_len = len(ensemble)
if ensemble_len != 2:
- raise VisualiseException(source, "Ensemble doesn't contain exactly two frames!")
+ raise ValueError("Ensemble must contain exactly two frames!")
+
+ for frame in ensemble:
+ num_values = len(frame)
+
+ if num_values != 48:
+ raise ValueError("All frames must have exactly 48 values!")
+
+ is_numeric = True
+ is_positive = True
+ is_small = True
+
+ for value in frame:
+ is_numeric = is_numeric and isinstance(value, int)
+ is_positive = is_positive and not (value < 0)
+ is_small = is_small and value < 256
+
+ if not is_numeric:
+ raise TypeError("All frame values must be integers!")
+ if not is_positive:
+ raise ValueError("All frame values must be positive!")
+ if not is_small:
+ raise ValueError("All frame values must be smaller than 256!")
+
+ if not isinstance(pixel, int):
+ raise TypeError("Pixel must be an integer!")
+ if not (0 < pixel < 33):
+ raise ValueError("Pixel must be in the range of 1 to 32!")
+ if not (isinstance(r, int) and isinstance(g, int) and isinstance(b, int)):
+ raise TypeError("Color values must be integers!")
+ if not ((0 < r < 256) and (0 < g < 256) and (0 < b < 256)):
+ raise ValueError("Color values must be in the range of 1 to 255!")
+
+ if pixel < 16:
+ index = 0
else:
- for frame in ensemble:
- try:
- frame_len = len(frame)
- except TypeError:
- raise VisualiseException(source, "At least one frame is empty!")
-
- if frame_len != 48:
- raise VisualiseException(source, "At least one frame doesn't have exactly 48 values!")
- else:
- is_numeric = True
- is_positive = True
- is_small = True
-
- for value in frame:
- is_numeric = is_numeric and isinstance(value, int)
- is_positive = is_positive and not (value < 0)
- is_small = is_small and value < 256
-
- if not is_numeric:
- raise VisualiseException(source, "Not all values in the ensemble are integers!")
- elif not is_positive:
- raise VisualiseException(source, "Not all values in the ensemble are positive!")
- elif not is_small:
- raise VisualiseException(source, "One or more values in the ensemble are to large!")
- else:
- if not (0 < pixel < 33):
- raise VisualiseException(source, "Pixel has to be in the range of 1 to 32!")
- elif not (0 < r < 256):
- raise VisualiseException(source, "Red channel value has to be in the range of 1 "
- "to 255!")
- elif not (0 < g < 256):
- raise VisualiseException(source, "Green channel value has to be in the range of 1 "
- "to 255!")
- elif not (0 < b < 256):
- raise VisualiseException(source, "Blue channel value has to be in the range of 1 "
- "to 255!")
- else:
- if pixel < 16:
- index = 0
- else:
- index = 1
- pixel = pixel - 16
-
- ensemble[index][pixel + 0] = r
- ensemble[index][pixel + 1] = g
- ensemble[index][pixel + 2] = b
-
- return ensemble
+ index = 1
+ pixel = pixel - 16
+
+ ensemble[index][pixel + 0] = r
+ ensemble[index][pixel + 1] = g
+ ensemble[index][pixel + 2] = b
+
+ return ensemble
diff --git a/src/visualising/arduino.py b/src/visualising/arduino.py
index 6815d6080909f17eced482afb464a44108494f1e..85c21dc37df52380d9722c4797f7dea7ba798f28 100755
--- a/src/visualising/arduino.py
+++ b/src/visualising/arduino.py
@@ -4,57 +4,58 @@ import time
from visualising.message import FrameMsg, InstrMsg
from visualising.animation import Animation
-from visualising.exception import VisualiseException
+from visualising.connection import ArduinoException
class Arduino:
- source = "arduino.py" # Name of the file that contains the Arduino class definition.
- resend = 5 # Number of times a message is resend to the Arduino.
+ resend = 5 # Number of times a message is resend to the Arduino.
def __init__(self, connection):
self.connection = connection
- # Creates one instruction messages and multiple frame messages to load an animation
- # onto the Arduino.
- def load_animation(self, animation):
- if animation.num_ensembles > 16:
- raise VisualiseException(source, "Animation hast to many frames!")
- else:
- try:
- self.connection.confirm_msg(InstrMsg('A', animation).create_msg(), [b'\x0f'], resend)
- except VisualiseException:
- raise
-
- for frame in animation.frames:
- try:
- self.connection.confirm_msg(FrameMsg(frame).create_msg(), [b'\x2f', b'\x3f'], resend)
- except VisualiseException:
- raise
-
# Creates instruction message and sends it to the Arduino,
# to play a loaded animation.
def start_playback(self):
- try:
- self.connection.confirm_msg(InstrMsg('B').create_msg(), [b'\x1f'], resend)
- except VisualiseException:
- raise
+ self.connection.confirm_msg(InstrMsg('B').create_msg(), [b'\x1f'], resend)
# Creates instruction message and sends it to the Arduino,
# to pause a playing animation.
def pause_playback(self):
- try:
- self.connection.confirm_msg(InstrMsg('C').create_msg(), [b'\x5f'], resend)
- except VisualiseException:
- raise
+ self.connection.confirm_msg(InstrMsg('C').create_msg(), [b'\x5f'], resend)
# Creates instruction message and sends it to the Arduino,
# to resume playback of a loaded animation.
def resume_playback(self):
- try:
- self.connection.confirm_msg(InstrMsg('D').create_msg(), [b'\x6f'], resend)
- except VisualiseException:
- raise
+ self.connection.confirm_msg(InstrMsg('D').create_msg(), [b'\x6f'], resend)
+
+ # Creates one instruction messages and multiple frame messages to load an animation
+ # onto the Arduino.
+ def load_animation(self, animation):
+ if animation.num_ensembles > 16:
+ raise ValueError("Animation has to many frames!")
+ else:
+ self.connection.confirm_msg(InstrMsg('A', animation).create_msg(), [b'\x0f'], resend)
+
+ for frame in animation.frames:
+ self.connection.confirm_msg(FrameMsg(frame).create_msg(), [b'\x2f', b'\x3f'], resend)
+
+ # First, an animation is loaded onto the Arduino. The playback of this
+ # animation is then started. In addition, it is checked whether the
+ # animation was played successfully.
+ def play_animation(self, animation):
+ self.load_animation(animation)
+ self.start_playback()
+
+ # Estimated playback time in seconds.
+ playback_time = animation.frame_time * animation.num_ensembles * 0.001
+ # Current time in seconds.
+ current_time = time.time()
+
+ while bytes(self.connection.receive_msg()) != bytes(b'\x4f'):
+ # Wait 10 times the estimated animation playback time for a response.
+ if time.time() > current_time + playback_time * 10:
+ raise ArduinoException("Successful playback of animation can't be confirmed!")
# Streams an animation to the Arduino. For this purpose, two frames of
# the animation are repeatedly sent to the Arduino. The Arduino plays
@@ -64,11 +65,4 @@ class Arduino:
for _ in range(animation.num_iter):
for i in range(animation.num_ensembles):
ensemble = [animation.frames[2 * i + 0], animation.frames[2 * i + 1]]
- self.load_animation(Animation(ensemble, animation.frame_time, 1))
- self.start_playback()
-
- curr_time = time.time() # Current time in milliseconds.
- # Waits 10 times the animation delay for a response.
- while bytes(self.connection.receive_msg()) != bytes(b'\x4F'):
- if time.time() > curr_time + animation.frame_time / 100:
- raise ArduinoException("P: -- ERROR -- Arduino is not responding!")
+ self.play_animation(Animation(ensemble, animation.frame_time, 1))
diff --git a/src/visualising/connection.py b/src/visualising/connection.py
index f3573903fe673c1da6dc2dfb03334156a83d30a9..43b2353a029a6dbdf28e3b980268b32078bdc75d 100755
--- a/src/visualising/connection.py
+++ b/src/visualising/connection.py
@@ -7,22 +7,19 @@ from visualising.exception import VisualiseException
from serial.serialutil import SerialException
-class Connection:
+class ArduinoException(Exception):
+ def __init__(self, desc):
+ self.desc = desc
- source = "connection.py" # Name of the file that contains the Connection class definition.
+class Connection:
def __init__(self, port, baud):
self.connection = serial.Serial()
self.connection.port = port
self.connection.baudrate = baud
self.connection.timeout = 1
- try:
- self.connection.open() # Establishes a serial connection.
- except SerialException:
- raise VisualiseException(source, "No serial connection established!")
- except FileNotFoundError:
- raise VisualiseException(source, "The specified port does not exist!")
+ self.connection.open() # Establishes a serial connection.
time.sleep(2) # Prevents errors regarding pyserial.
@@ -78,29 +75,31 @@ class Connection:
# If the response is not as expected, try again as often as
# specified. In case any response wasn't even once one of the
# expected responses raise an exception.
- def confirm_msg(self, msg, expected_responses, resend):
+ def confirm_msg(self, msg, expected_responses, num_resend):
def evaluate():
- bool = resend > 0
+ bool = num_resend > 0
for element in expected_responses:
bool = bool and (bytes(element) != bytes(response))
return bool
if not isinstance(expected_responses, list):
- raise VisualiseException(source, "Expected responses must be given as a list!")
- elif not expected_responses:
- raise VisualiseException(source, "There must be at least one expected response!")
- elif not resend > 0:
- raise VisualiseException(source, "Number of resends must be greater than zero!")
- else:
+ raise TypeError("Expected responses must be given as a list!")
+ if not expected_responses:
+ raise ValueError("There must be at least one expected response!")
+ if not isinstance(num_resend, int):
+ raise TypeError("Number of resends must be an integer!")
+ if not num_resend > 0:
+ raise ValueError("Number of resends must be greater than zero!")
+
+ self.connection.send_msg(msg)
+ response = self.connection.receive_msg()
+
+ condition = evaluate()
+ while condition:
+ num_resend = num_resend - 1
self.connection.send_msg(msg)
response = self.connection.receive_msg()
-
condition = evaluate()
- while condition:
- resend = resend - 1
- self.connection.send_msg(msg)
- response = self.connection.receive_msg()
- condition = evaluate()
-
- if not resend > 0:
- raise VisualiseException("Arduino", Connection.translate_msg(response))
+
+ if not num_resend > 0:
+ raise ArduinoException(Connection.translate_msg(response))
diff --git a/src/visualising/exception.py b/src/visualising/exception.py
deleted file mode 100755
index fad8fca718c024db6128d8a3c93f6c44c94e42f5..0000000000000000000000000000000000000000
--- a/src/visualising/exception.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python
-
-class Error(Exception):
- pass
-
-
-class VisualiseException(Error):
- def __init__(self, source, description):
- self.source = source
- self.description = description
diff --git a/src/visualising/visualiser.py b/src/visualising/visualiser.py
index d7ef32cf18d5505cf4e9a7d9daa3c95c7f3cf84d..0b262229b5b78761b0871f8f63ba12c80230a396 100644
--- a/src/visualising/visualiser.py
+++ b/src/visualising/visualiser.py
@@ -1,10 +1,10 @@
#!/usr/bin/env python
import rospy
+
from monitoring.watchdog import Watchdog
-from visualising.exception import *
from visualising.arduino import Arduino
-from visualising.connection import Connection
+from visualising.connection import Connection, ArduinoException
from visualising.animation import Animation
@@ -40,11 +40,8 @@ class Visualiser:
else:
self.stream_animation(happy)
-
-
-
def info_mode(self):
print("Hallo!")
def stream_animation(self, animation):
- self.arduino.stream_animation(animation)
\ No newline at end of file
+ self.arduino.stream_animation(animation)