From b10656bba3ae98d7c3ba035c55f29bb19411938f Mon Sep 17 00:00:00 2001
From: bav6096 <benedikt.deike@informatik.uni-hamburg.de>
Date: Tue, 7 Dec 2021 02:43:02 +0100
Subject: [PATCH] refactor codebase
---
CMakeLists.txt | 4 +-
scripts/play_animation | 23 ---
scripts/play_animation.py | 27 ++++
scripts/reset_display.py | 18 +++
src/{visualising/animations => }/__init__.py | 0
src/visualising/__init__.py | 1 +
src/visualising/animation.py | 130 ---------------
.../animations/animation_happy.txt | 4 -
src/visualising/arduino.py | 65 --------
src/visualising/communication/__init__.py | 1 +
src/visualising/communication/arduino.py | 74 +++++++++
.../communication/channel/__init__.py | 0
.../communication/channel/connection.py | 70 ++++++++
.../communication/channel/message.py | 83 ++++++++++
.../communication/illustration/__init__.py | 0
.../communication/illustration/animation.py | 23 +++
.../communication/illustration/ensemble.py | 9 ++
.../communication/illustration/frame.py | 27 ++++
.../communication/illustration/pixel.py | 13 ++
src/visualising/connection.py | 102 ------------
src/visualising/countenance.py | 30 ----
src/visualising/expression/__init__.py | 0
src/visualising/expression/expression.py | 0
.../expression/library/__init__.py | 0
.../expression/library/animation_happy.txt | 12 ++
.../library}/animation_ok.txt | 0
.../library}/animation_sad.txt | 0
.../expression/library/expression_angry.txt | 2 +
.../expression/library/expression_clean.txt | 2 +
.../expression/library/expression_happy.txt | 2 +
.../expression/library/expression_ok.txt | 0
.../library/transition_happy_happy.txt | 34 ++++
src/visualising/expression/tool.py | 149 ++++++++++++++++++
src/visualising/message.py | 50 ------
34 files changed, 549 insertions(+), 406 deletions(-)
delete mode 100755 scripts/play_animation
create mode 100755 scripts/play_animation.py
create mode 100644 scripts/reset_display.py
rename src/{visualising/animations => }/__init__.py (100%)
delete mode 100755 src/visualising/animation.py
delete mode 100644 src/visualising/animations/animation_happy.txt
delete mode 100755 src/visualising/arduino.py
create mode 100644 src/visualising/communication/__init__.py
create mode 100755 src/visualising/communication/arduino.py
create mode 100644 src/visualising/communication/channel/__init__.py
create mode 100755 src/visualising/communication/channel/connection.py
create mode 100755 src/visualising/communication/channel/message.py
create mode 100644 src/visualising/communication/illustration/__init__.py
create mode 100755 src/visualising/communication/illustration/animation.py
create mode 100644 src/visualising/communication/illustration/ensemble.py
create mode 100644 src/visualising/communication/illustration/frame.py
create mode 100644 src/visualising/communication/illustration/pixel.py
delete mode 100755 src/visualising/connection.py
delete mode 100755 src/visualising/countenance.py
create mode 100644 src/visualising/expression/__init__.py
create mode 100755 src/visualising/expression/expression.py
create mode 100644 src/visualising/expression/library/__init__.py
create mode 100644 src/visualising/expression/library/animation_happy.txt
rename src/visualising/{animations => expression/library}/animation_ok.txt (100%)
rename src/visualising/{animations => expression/library}/animation_sad.txt (100%)
create mode 100644 src/visualising/expression/library/expression_angry.txt
create mode 100644 src/visualising/expression/library/expression_clean.txt
create mode 100644 src/visualising/expression/library/expression_happy.txt
create mode 100644 src/visualising/expression/library/expression_ok.txt
create mode 100644 src/visualising/expression/library/transition_happy_happy.txt
create mode 100644 src/visualising/expression/tool.py
delete mode 100755 src/visualising/message.py
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4a86b7..4f777fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,8 +49,6 @@ catkin_python_setup()
## Generate messages in the 'msg' folder
add_message_files(
FILES
- State.msg
- States.msg
)
## Generate services in the 'srv' folder
@@ -162,6 +160,8 @@ include_directories(
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
nodes/visualiser
+ scripts/play_animation.py
+ scripts/reset_display.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
diff --git a/scripts/play_animation b/scripts/play_animation
deleted file mode 100755
index af2e9f7..0000000
--- a/scripts/play_animation
+++ /dev/null
@@ -1,23 +0,0 @@
-#!/usr/bin/env python
-
-import argparse
-
-from visualising.arduino import Arduino
-from visualising.animation import Animation
-from visualising.connection import Connection
-
-parser = argparse.ArgumentParser(description="script to test animations")
-parser.add_argument("-f", "--frames", help="frames to be played", required=True)
-parser.add_argument("-t", "--time", type=int, help="time between frames", required=True)
-parser.add_argument("-i", "--iterations", type=int, help="number of iterations", required=True)
-args = vars(parser.parse_args())
-
-animation = args["frames"]
-frame_time = args["time"]
-num_iter = args["iterations"]
-port = "/dev/ttyUSB0"
-baud = 57600
-
-arduino = Arduino(Connection(port, baud))
-arduino.stream_animation(Animation(Animation.read_frames_from_file(animation), frame_time, num_iter))
-
diff --git a/scripts/play_animation.py b/scripts/play_animation.py
new file mode 100755
index 0000000..be6e951
--- /dev/null
+++ b/scripts/play_animation.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+
+import argparse
+
+from visualising.expression.tool import Tool
+from visualising.communication.arduino import Arduino
+from visualising.communication.illustration.animation import Animation
+from visualising.communication.channel.connection import Connection
+
+parser = argparse.ArgumentParser(description="script to play an animation")
+parser.add_argument("-p", "--port", help="port to which the Arduino is connected", type=str, default="/dev/ttyUSB0")
+parser.add_argument("-b", "--baud", help="baud rate of the connection", type=int, default=57600)
+parser.add_argument("-f", "--file", help="file in the library directory to be played", type=str, required=True)
+parser.add_argument("-t", "--time", help="time between ensembles", type=int, default=100)
+parser.add_argument("-i", "--iterations", help="number of iterations", type=int, default=1)
+args = vars(parser.parse_args())
+
+port = args["port"]
+baud = args["baud"]
+file = args["file"]
+time = args["time"]
+iter = args["iterations"]
+
+arduino = Arduino(Connection(port, baud))
+animation = Tool.create_animation(file, time, iter)
+
+arduino.stream_animation(animation)
diff --git a/scripts/reset_display.py b/scripts/reset_display.py
new file mode 100644
index 0000000..c2e86e2
--- /dev/null
+++ b/scripts/reset_display.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+
+import argparse
+
+from visualising.communication.arduino import Arduino
+from visualising.communication.channel.connection import Connection
+
+parser = argparse.ArgumentParser(description="script to reset the NeoPixel rings")
+parser.add_argument("-p", "--port", help="port to which the Arduino is connected", type=str, default="/dev/ttyUSB0")
+parser.add_argument("-b", "--baud", help="baud rate of the connection", type=int, default=57600)
+args = vars(parser.parse_args())
+
+port = args["port"]
+baud = args["baud"]
+
+arduino = Arduino(Connection(port, baud))
+
+arduino.reset_display()
diff --git a/src/visualising/animations/__init__.py b/src/__init__.py
similarity index 100%
rename from src/visualising/animations/__init__.py
rename to src/__init__.py
diff --git a/src/visualising/__init__.py b/src/visualising/__init__.py
index e69de29..8b13789 100644
--- a/src/visualising/__init__.py
+++ b/src/visualising/__init__.py
@@ -0,0 +1 @@
+
diff --git a/src/visualising/animation.py b/src/visualising/animation.py
deleted file mode 100755
index fc698b6..0000000
--- a/src/visualising/animation.py
+++ /dev/null
@@ -1,130 +0,0 @@
-#!/usr/bin/env python
-
-import re
-import importlib.resources
-
-from . import animations
-
-
-class Animation:
- def __init__(self, frames, frame_time=0, num_iter=1):
- num_frames = len(frames)
-
- 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)
-
- if not isinstance(frame_time, int):
- raise TypeError("Frame time must be an integer!")
- if frame_time < 0:
- raise ValueError("Frame time must be positive!")
- if frame_time > 4294967295:
- raise ValueError("Frame time is to high!")
-
- # The frame time is given in milliseconds.
- self.frame_time = frame_time
-
- if not isinstance(num_iter, int):
- 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):
- file = importlib.resources.open_text(animations, filename)
-
- frames = []
- for line in file:
- frame = []
-
- for value in line.split(','):
- frame.append(int(re.search(r'\d+', value).group()))
-
- frames.append(frame)
-
- return frames
-
- @staticmethod
- def create_empty_ensemble():
- frame1 = [0] * 16
- frame2 = [0] * 16
- return [frame1, frame2]
-
- @staticmethod
- def set_pixel_color(ensemble, pixel, r, g, b):
- ensemble_len = len(ensemble)
-
- if ensemble_len != 2:
- 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:
- 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/animations/animation_happy.txt b/src/visualising/animations/animation_happy.txt
deleted file mode 100644
index d7827c7..0000000
--- a/src/visualising/animations/animation_happy.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-0,0,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
-0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
\ No newline at end of file
diff --git a/src/visualising/arduino.py b/src/visualising/arduino.py
deleted file mode 100755
index f1c6ef1..0000000
--- a/src/visualising/arduino.py
+++ /dev/null
@@ -1,65 +0,0 @@
-#!/usr/bin/env python
-
-import time
-
-from visualising.message import FrameMsg, InstrMsg
-from visualising.animation import Animation
-from visualising.connection import ArduinoException
-
-
-class Arduino:
- def __init__(self, connection):
- self.connection = connection
-
- # Creates instruction message and sends it to the Arduino,
- # to play a loaded animation.
- def start_playback(self):
- self.connection.confirm_msg(InstrMsg('B').create_msg(), [b'\x1f'], 5)
-
- # Creates instruction message and sends it to the Arduino,
- # to pause a playing animation.
- def pause_playback(self):
- self.connection.confirm_msg(InstrMsg('C').create_msg(), [b'\x5f'], 5)
-
- # Creates instruction message and sends it to the Arduino,
- # to resume playback of a loaded animation.
- def resume_playback(self):
- self.connection.confirm_msg(InstrMsg('D').create_msg(), [b'\x6f'], 5)
-
- # 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'], 5)
-
- for frame in animation.frames:
- self.connection.confirm_msg(FrameMsg(frame).create_msg(), [b'\x2f', b'\x3f'], 10)
-
- # 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
- # the received frames and then confirms the playback, whereupon new
- # frames are sent.
- def stream_animation(self, animation):
- 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.play_animation(Animation(ensemble, animation.frame_time, 1))
diff --git a/src/visualising/communication/__init__.py b/src/visualising/communication/__init__.py
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/visualising/communication/__init__.py
@@ -0,0 +1 @@
+
diff --git a/src/visualising/communication/arduino.py b/src/visualising/communication/arduino.py
new file mode 100755
index 0000000..f07fa4e
--- /dev/null
+++ b/src/visualising/communication/arduino.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python
+
+import time
+
+from visualising.communication.channel.connection import FrameMsg
+from visualising.communication.channel.connection import InstrMsg
+from visualising.communication.channel.connection import ArduinoMsg
+from visualising.communication.illustration.animation import Animation
+
+
+class Arduino:
+ def __init__(self, connection):
+ self.connection = connection
+
+ # Creates instruction message and sends it to the Arduino,
+ # to play a loaded animation.
+ def start_playback(self):
+ self.connection.confirm_msg(InstrMsg('B'), [ArduinoMsg(b'\x1f')], 5)
+
+ # Creates instruction message and sends it to the Arduino,
+ # to pause a playing animation.
+ def pause_playback(self):
+ self.connection.confirm_msg(InstrMsg('C'), [ArduinoMsg(b'\x5f')], 5)
+
+ # Creates instruction message and sends it to the Arduino,
+ # to resume playback of a loaded animation.
+ def resume_playback(self):
+ self.connection.confirm_msg(InstrMsg('D'), [ArduinoMsg(b'\x6f')], 5)
+
+ # Creates instruction message and sends it to the Arduino,
+ # to clear the NeoPixel rings.
+ def reset_display(self):
+ self.connection.confirm_msg(InstrMsg('E'), [ArduinoMsg(b'\x7f')], 5)
+
+ # Creates one instruction messages and multiple frame messages to load an animation
+ # onto the Arduino.
+ def load_animation(self, animation):
+ if len(animation.ensembles) > 16:
+ raise ValueError("Animation has to many ensembles!")
+
+ self.connection.confirm_msg(InstrMsg('A', animation), [ArduinoMsg(b'\x0f')], 5)
+
+ for ensemble in animation.ensembles:
+ l_frame = ensemble.l_frame
+ r_frame = ensemble.r_frame
+
+ self.connection.confirm_msg(FrameMsg(l_frame), [ArduinoMsg(b'\x2f'), ArduinoMsg(b'\x3f')], 10)
+ self.connection.confirm_msg(FrameMsg(r_frame), [ArduinoMsg(b'\x2f'), ArduinoMsg(b'\x3f')], 10)
+
+ # 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.ensemble_time * len(animation.ensembles) * 0.001
+ # Current time in seconds.
+ curr_time = time.time()
+
+ while not ArduinoMsg(b'\x4f').compare(self.connection.receive_msg()):
+ # Wait 10 times the estimated animation playback time for a response.
+ if time.time() > curr_time + playback_time * 10:
+ raise ArduinoException("Successful playback of animation can't be confirmed!")
+
+ # Streams an entities to the Arduino. For this purpose, two frames_library of
+ # the entities are repeatedly sent to the Arduino. The Arduino plays
+ # the received frames_library and then confirms the playback, whereupon new
+ # frames_library are sent.
+ def stream_animation(self, animation):
+ for _ in range(animation.num_iter):
+ for ensemble in animation.ensembles:
+ self.play_animation(Animation([ensemble], animation.ensemble_time, 1))
diff --git a/src/visualising/communication/channel/__init__.py b/src/visualising/communication/channel/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/communication/channel/connection.py b/src/visualising/communication/channel/connection.py
new file mode 100755
index 0000000..0f76509
--- /dev/null
+++ b/src/visualising/communication/channel/connection.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python
+
+import time
+import serial
+
+from visualising.communication.channel.message import FrameMsg
+from visualising.communication.channel.message import InstrMsg
+from visualising.communication.channel.message import ArduinoMsg
+
+
+class ArduinoException(Exception):
+ def __init__(self, desc):
+ self.desc = desc
+
+
+class Connection:
+ def __init__(self, port, baud):
+ self.connection = serial.Serial()
+ self.connection.port = port
+ self.connection.baudrate = baud
+ self.connection.timeout = 1
+
+ self.connection.open() # Establishes a serial connection.
+
+ time.sleep(2) # Prevents errors regarding pyserial.
+
+ # Send a message to the Arduino.
+ def send_msg(self, msg):
+ for byte in msg.content:
+ self.connection.write(byte)
+
+ self.connection.reset_output_buffer() # Clear serial output buffer.
+
+ # Receive a message from the Arduino.
+ def receive_msg(self):
+ try:
+ # Since the timeout is set to one second, there is a waiting period of
+ # exactly one second to read a byte from the serial buffer. If no byte
+ # is read in this one second period, an exception is thrown.
+ byte = self.connection.read(1)
+ except SerialException: # Arduino has not responded in time.
+ byte = b'\xff'
+
+ self.connection.reset_input_buffer() # Clear serial input buffer.
+
+ return ArduinoMsg(byte)
+
+ # Send a message and confirm that the response is as expected.
+ # 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, responses, resends):
+ def evaluate():
+ bool = resends > 0
+ for exp_resp in responses:
+ bool = bool and not resp.compare(exp_resp)
+ return bool
+
+ if not resends > 0:
+ raise ValueError("Number of resends must be greater than zero!")
+
+ while True:
+ self.send_msg(msg)
+ resp = self.receive_msg()
+ if not evaluate():
+ break
+ resends -= 1
+
+ if not resends > 0:
+ raise ArduinoException(resp.desc)
diff --git a/src/visualising/communication/channel/message.py b/src/visualising/communication/channel/message.py
new file mode 100755
index 0000000..5150bef
--- /dev/null
+++ b/src/visualising/communication/channel/message.py
@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+
+class FrameMsg:
+ # Creates a 50-bit frame message. The first and last bit are intended for authentication
+ # as a frame message. The remaining 48 bits store exactly one frame.
+ def __init__(self, frame):
+ self.content = [bytes('{', 'ascii')]
+
+ for pixel in frame.pixels:
+ r = pixel.r
+ g = pixel.g
+ b = pixel.b
+
+ self.content.append(r.to_bytes(1, byteorder='big'))
+ self.content.append(g.to_bytes(1, byteorder='big'))
+ self.content.append(b.to_bytes(1, byteorder='big'))
+
+ self.content.append(bytes('}', 'ascii'))
+
+
+class InstrMsg:
+ # Creates a 50-bit instruction message. Since only 7 bits at most are required for the
+ # actual message, most of the message consists only of zeros. The first and last bit
+ # are intended for authentication as an instruction message.
+ def __init__(self, instr, animation=None):
+ self.content = [bytes('[', 'ascii'), bytes(instr, 'ascii')]
+
+ if animation is not None:
+ num_frames = len(animation.ensembles) * 2
+ self.content.append(num_frames.to_bytes(1, byteorder='big'))
+
+ ensemble_time_bytes = animation.ensemble_time.to_bytes(4, byteorder='big')
+ self.content.append((ensemble_time_bytes[0]).to_bytes(1, byteorder='big'))
+ self.content.append((ensemble_time_bytes[1]).to_bytes(1, byteorder='big'))
+ self.content.append((ensemble_time_bytes[2]).to_bytes(1, byteorder='big'))
+ self.content.append((ensemble_time_bytes[3]).to_bytes(1, byteorder='big'))
+
+ self.content.append(animation.num_iter.to_bytes(1, byteorder='big'))
+
+ for _ in range(41):
+ self.content.append((0).to_bytes(1, byteorder='big'))
+ else:
+ for _ in range(47):
+ self.content.append((0).to_bytes(1, byteorder='big'))
+
+ self.content.append(bytes(']', 'ascii'))
+
+
+class ArduinoMsg:
+ # Generates an Arduino message, which is composed of a message byte from the Arduino
+ # and a translation of the message byte.
+ def __init__(self, byte):
+ self.content = byte
+
+ translation = {
+ 240: "Animation has to many frame ensembles!", # 0xF0
+ 241: "No entities is loaded!", # 0xF1
+ 242: "Instruction was not recognized!", # 0xF2
+ 243: "No entities message expected!", # 0xF3
+ 244: "Message has wrong format!", # 0xF4
+ 245: "Animation is playing!", # 0xF5
+ 246: "Animation has no iteration!", # 0xF6
+ 247: "Unequal number of frames_library for the left and right NeoPixel ring!", # 0xF7
+ 248: "Animation has no frame ensemble!", # 0xF8
+ 255: "Timeout!", # 0xFF
+ 0: "No response!", # 0x00
+ 15: "Waiting for frames_library to be send!", # 0x0F
+ 31: "Animation playback has been started!", # 0x1F
+ 47: "Frame successfully received!", # 0x2F
+ 63: "Last frame successfully received!", # 0x3F
+ 79: "Animation successfully played!", # 0x4F
+ 95: "Animation playback has been paused!", # 0x5F
+ 111: "Animation playback has been resumed!", # 0x6F
+ 127: "Displays have been cleared!", # 0x7F
+ }
+
+ try:
+ self.desc = translation[int.from_bytes(byte, byteorder='big')]
+ except KeyError:
+ self.desc = "Unknown response!"
+
+ def compare(self, msg):
+ return bytes(self.content) == bytes(msg.content)
diff --git a/src/visualising/communication/illustration/__init__.py b/src/visualising/communication/illustration/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/communication/illustration/animation.py b/src/visualising/communication/illustration/animation.py
new file mode 100755
index 0000000..f6d4ed5
--- /dev/null
+++ b/src/visualising/communication/illustration/animation.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+
+from visualising.communication.illustration.ensemble import Ensemble
+
+
+class Animation:
+ def __init__(self, ensembles, ensemble_time=0, num_iter=1):
+ self.ensembles = ensembles
+
+ if ensemble_time < 0:
+ raise ValueError("Ensemble time must be positive!")
+ if ensemble_time > 4294967295:
+ raise ValueError("Ensemble time is to high!")
+
+ # The ensemble time is given in milliseconds.
+ self.ensemble_time = ensemble_time
+
+ 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
diff --git a/src/visualising/communication/illustration/ensemble.py b/src/visualising/communication/illustration/ensemble.py
new file mode 100644
index 0000000..6a6ca87
--- /dev/null
+++ b/src/visualising/communication/illustration/ensemble.py
@@ -0,0 +1,9 @@
+#!/usr/bin/env python
+
+from visualising.communication.illustration.frame import Frame
+
+
+class Ensemble:
+ def __init__(self, l_frame, r_frame):
+ self.l_frame = l_frame
+ self.r_frame = r_frame
diff --git a/src/visualising/communication/illustration/frame.py b/src/visualising/communication/illustration/frame.py
new file mode 100644
index 0000000..b8aa281
--- /dev/null
+++ b/src/visualising/communication/illustration/frame.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+
+from visualising.communication.illustration.pixel import Pixel
+
+
+class Frame:
+ def __init__(self, pixels):
+ if len(pixels) != 16:
+ raise ValueError("Frames must have exactly 16 pixels!")
+
+ self.pixels = pixels
+
+ def adjust_brightness(self, pixel, factor):
+ if not 0 <= pixel <= 15:
+ raise ValueError("Pixel index must be an integer between 0 and 15!")
+
+ r = min(max(self.frame[pixel].r * factor, 0), 255)
+ g = min(max(self.frame[pixel].g * factor, 0), 255)
+ b = min(max(self.frame[pixel].b * factor, 0), 255)
+
+ self.pixels[pixel] = Pixel(r, g, b)
+
+ def adjust_color(self, pixel, r, g, b):
+ if not 0 <= pixel <= 15:
+ raise ValueError("Pixel index must be an integer between 0 and 15!")
+
+ self.pixels[pixel] = Pixel(r, g, b)
diff --git a/src/visualising/communication/illustration/pixel.py b/src/visualising/communication/illustration/pixel.py
new file mode 100644
index 0000000..8bf68ce
--- /dev/null
+++ b/src/visualising/communication/illustration/pixel.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+class Pixel:
+ def __init__(self, r, g, b):
+ if r < 0 or g < 0 or b < 0:
+ raise ValueError("All pixel color values must be positive!")
+ if r > 255 or g > 255 or b > 255:
+ raise ValueError("All pixel color values must be smaller than 256!")
+
+ self.r = int(r)
+ self.g = int(g)
+ self.b = int(b)
+
diff --git a/src/visualising/connection.py b/src/visualising/connection.py
deleted file mode 100755
index ae62629..0000000
--- a/src/visualising/connection.py
+++ /dev/null
@@ -1,102 +0,0 @@
-#!/usr/bin/env python
-
-import time
-import serial
-
-
-class ArduinoException(Exception):
- def __init__(self, desc):
- self.desc = desc
-
-
-class Connection:
- def __init__(self, port, baud):
- self.connection = serial.Serial()
- self.connection.port = port
- self.connection.baudrate = baud
- self.connection.timeout = 1
-
- self.connection.open() # Establishes a serial connection.
-
- time.sleep(2) # Prevents errors regarding pyserial.
-
- # Send a message to the Arduino.
- def send_msg(self, msg):
- for byte in msg:
- self.connection.write(byte)
- self.connection.reset_output_buffer() # Clear serial output buffer.
-
- # Receive a message from the Arduino.
- def receive_msg(self):
- try:
- # Since the timeout is set to one second, there is a waiting period of
- # exactly one second to read a byte from the serial buffer. If no byte
- # is read in this one second period, an exception is thrown.
- msg = self.connection.read(1)
- except SerialException: # Arduino has not responded in time.
- msg = b'\xff'
-
- self.connection.reset_input_buffer() # Clear serial input buffer.
- return msg
-
- # Translates a 8-bit message from the Arduino.
- @staticmethod
- def translate_msg(msg):
- translation = {
- 240: "Animation has to many frame ensembles!", # 0xF0
- 241: "No animation is loaded!", # 0xF1
- 242: "Instruction was not recognized!", # 0xF2
- 243: "No data message expected!", # 0xF3
- 244: "Message has wrong format!", # 0xF4
- 245: "Animation is playing!", # 0xF5
- 246: "Animation has no iteration!", # 0xF6
- 247: "Unequal number of frames for the left and right NeoPixel ring!", # 0xF7
- 248: "Animation has no frame ensemble!", # 0xF8
- 255: "Timeout!", # 0xFF
- 0: "No response!", # 0x00
- 15: "Waiting for frames to be send!", # 0x0F
- 31: "Animation playback has been started!", # 0x1F
- 47: "Frame successfully received!", # 0x2F
- 63: "Last frame successfully received!", # 0x3F
- 79: "Animation successfully played!", # 0x4F
- 95: "Animation playback has been paused!", # 0x5F
- 111: "Animation playback has been resumed!", # 0x6F
- }
-
- try:
- return translation[int.from_bytes(msg, byteorder='big')]
- except KeyError:
- return "Unknown response!"
-
- # Send a message and confirm that the response is as expected.
- # 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, num_resend):
- def evaluate():
- 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 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.send_msg(msg)
- response = self.receive_msg()
-
- condition = evaluate()
- while condition:
- num_resend = num_resend - 1
- self.send_msg(msg)
- response = self.receive_msg()
- condition = evaluate()
-
- if not num_resend > 0:
- raise ArduinoException(Connection.translate_msg(response))
diff --git a/src/visualising/countenance.py b/src/visualising/countenance.py
deleted file mode 100755
index c26f685..0000000
--- a/src/visualising/countenance.py
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/usr/bin/env python
-
-from visualising.animation import Animation
-
-class Emotion:
- def __init__(self):
- self.frame_buffer = []
-
- self.
-
- self.happy = Animation(Animation.read_frames_from_file("animation_happy.txt"), 100, 1)
- self.ok = Animation(Animation.read_frames_from_file("animation_ok.txt"), 100, 1)
- self.sad = Animation(Animation.read_frames_from_file("animation_sad.txt"), 100, 1)
-
- def transition_start(self, animation):
-
-
- def transition_change(self, animation):
-
- def visualise(self, animation):
-
-
- while not rospy.is_shutdown():
- if self.watchdog.aggregated_domains > 0.7:
- self.stream_animation(sad)
- else:
- if self.watchdog.aggregated_domains > 0.4:
- self.stream_animation(ok)
- else:
- self.stream_animation(happy)
\ No newline at end of file
diff --git a/src/visualising/expression/__init__.py b/src/visualising/expression/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/expression/expression.py b/src/visualising/expression/expression.py
new file mode 100755
index 0000000..e69de29
diff --git a/src/visualising/expression/library/__init__.py b/src/visualising/expression/library/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/expression/library/animation_happy.txt b/src/visualising/expression/library/animation_happy.txt
new file mode 100644
index 0000000..6282148
--- /dev/null
+++ b/src/visualising/expression/library/animation_happy.txt
@@ -0,0 +1,12 @@
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50
+0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50
+0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
diff --git a/src/visualising/animations/animation_ok.txt b/src/visualising/expression/library/animation_ok.txt
similarity index 100%
rename from src/visualising/animations/animation_ok.txt
rename to src/visualising/expression/library/animation_ok.txt
diff --git a/src/visualising/animations/animation_sad.txt b/src/visualising/expression/library/animation_sad.txt
similarity index 100%
rename from src/visualising/animations/animation_sad.txt
rename to src/visualising/expression/library/animation_sad.txt
diff --git a/src/visualising/expression/library/expression_angry.txt b/src/visualising/expression/library/expression_angry.txt
new file mode 100644
index 0000000..bfb8ee5
--- /dev/null
+++ b/src/visualising/expression/library/expression_angry.txt
@@ -0,0 +1,2 @@
+50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0
+50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0,50,50,50,50,50,50,0,0,0,0,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/expression_clean.txt b/src/visualising/expression/library/expression_clean.txt
new file mode 100644
index 0000000..146cef1
--- /dev/null
+++ b/src/visualising/expression/library/expression_clean.txt
@@ -0,0 +1,2 @@
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
\ No newline at end of file
diff --git a/src/visualising/expression/library/expression_happy.txt b/src/visualising/expression/library/expression_happy.txt
new file mode 100644
index 0000000..12b6349
--- /dev/null
+++ b/src/visualising/expression/library/expression_happy.txt
@@ -0,0 +1,2 @@
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
diff --git a/src/visualising/expression/library/expression_ok.txt b/src/visualising/expression/library/expression_ok.txt
new file mode 100644
index 0000000..e69de29
diff --git a/src/visualising/expression/library/transition_happy_happy.txt b/src/visualising/expression/library/transition_happy_happy.txt
new file mode 100644
index 0000000..493d681
--- /dev/null
+++ b/src/visualising/expression/library/transition_happy_happy.txt
@@ -0,0 +1,34 @@
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,0,0,0
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
+50,50,50,50,50,50,50,50,50,50,50,50,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50
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diff --git a/src/visualising/expression/tool.py b/src/visualising/expression/tool.py
new file mode 100644
index 0000000..7f59fa5
--- /dev/null
+++ b/src/visualising/expression/tool.py
@@ -0,0 +1,149 @@
+#!/usr/bin/env python
+
+import re
+import importlib.resources
+
+from visualising.communication.illustration.animation import Animation
+from visualising.communication.illustration.ensemble import Ensemble
+from visualising.communication.illustration.frame import Frame
+from visualising.communication.illustration.pixel import Pixel
+from visualising.expression import library
+
+
+class Tool:
+ def __init__(self):
+ pass
+
+ @staticmethod
+ def read_raw_animation(filename):
+ def read_raw_frame(line):
+ raw_frame = []
+ for value in line.split(","):
+ raw_frame.append(
+ int(re.search(r'\d+', value).group())
+ )
+ return raw_frame
+
+ file = importlib.resources.open_text(library, filename)
+
+ raw_ensembles = []
+ while True:
+ l_line = file.readline()
+ r_line = file.readline()
+
+ if bool(l_line) != bool(r_line):
+ raise ValueError("Animation must have an even number of frames!")
+ if not l_line and not r_line:
+ break
+
+ l_raw_frame = read_raw_frame(l_line)
+ r_raw_frame = read_raw_frame(r_line)
+
+ raw_ensembles.append([l_raw_frame, r_raw_frame])
+
+ return raw_ensembles
+
+ @staticmethod
+ def create_animation(filename, ensemble_time=0, num_iter=1):
+ def create_frame(raw_pixels):
+ if len(raw_pixels) != 48:
+ raise ValueError("Frame must have exactly 48 values!")
+
+ pixels = []
+
+ i = 0
+ while i < 48:
+ r = raw_pixels[i + 0]
+ g = raw_pixels[i + 1]
+ b = raw_pixels[i + 2]
+
+ pixels.append(Pixel(r, g, b))
+ i = i + 3
+
+ return Frame(pixels)
+
+ raw_ensembles = Tool.read_raw_animation(filename)
+
+ ensembles = []
+ for raw_ensemble in raw_ensembles:
+ if len(raw_ensemble) != 2:
+ raise ValueError("Ensemble must have exactly two frames!")
+
+ l_frame = create_frame(raw_ensemble[0])
+ r_frame = create_frame(raw_ensemble[1])
+
+ ensembles.append(Ensemble(l_frame, r_frame))
+
+ return Animation(ensembles, ensemble_time, num_iter)
+
+ @staticmethod
+ def merge_frames(l_frames, r_frames):
+ if len(l_frames) != len(r_frames):
+ raise ValueError("Merging different number of frames_library not allowed!")
+
+ merged_frames = []
+ for l_frame, r_frame in zip(l_frames, r_frames):
+ merged_frames = merged_frames + l_frame
+ merged_frames = merged_frames + r_frame
+
+ return merged_frames
+
+ @staticmethod
+ def concatenate_frames(start, end):
+ return start.extend(end)
+
+ @staticmethod
+ def create_empty_ensemble():
+ frame1 = [0] * 16
+ frame2 = [0] * 16
+ return [frame1, frame2]
+
+ @staticmethod
+ def set_pixel_color(ensemble, pixel, r, g, b):
+ ensemble_len = len(ensemble)
+
+ if ensemble_len != 2:
+ raise ValueError("Ensemble must contain exactly two frames_library!")
+
+ for frame in ensemble:
+ num_values = len(frame)
+
+ if num_values != 48:
+ raise ValueError("All frames_library 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:
+ 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/message.py b/src/visualising/message.py
deleted file mode 100755
index 06ad431..0000000
--- a/src/visualising/message.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python
-
-class FrameMsg:
- def __init__(self, frame):
- self.frame = frame
-
- # Creates a 50-bit data Message. The first and last bit are intended for authentication
- # as a data message. The remaining 48 bits store exactly one animation frame.
- def create_msg(self):
- msg = [bytes('{', 'ascii')]
-
- for color in self.frame:
- msg.append(color.to_bytes(1, byteorder='big'))
-
- msg.append(bytes('}', 'ascii'))
-
- return msg
-
-
-class InstrMsg:
- def __init__(self, instr, animation=None):
- self.instr = instr
- self.animation = animation
-
- # Creates a 50-bit instruction message. Since only 7 bits at most are required for the
- # actual message, most of the message consists only of zeros. The first and last bit
- # are intended for authentication as an instruction message.
- def create_msg(self):
- msg = [bytes('[', 'ascii'), bytes(self.instr, 'ascii')]
-
- if self.animation is not None:
- msg.append(self.animation.num_frames.to_bytes(1, byteorder='big'))
-
- frame_time_bytes = self.animation.frame_time.to_bytes(4, byteorder='big')
- msg.append((frame_time_bytes[0]).to_bytes(1, byteorder='big'))
- msg.append((frame_time_bytes[1]).to_bytes(1, byteorder='big'))
- msg.append((frame_time_bytes[2]).to_bytes(1, byteorder='big'))
- msg.append((frame_time_bytes[3]).to_bytes(1, byteorder='big'))
-
- msg.append(self.animation.num_iter.to_bytes(1, byteorder='big'))
-
- for _ in range(41):
- msg.append((0).to_bytes(1, byteorder='big'))
- else:
- for _ in range(47):
- msg.append((0).to_bytes(1, byteorder='big'))
-
- msg.append(bytes(']', 'ascii'))
-
- return msg
--
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