Old SandTable project

playTrack.py

@@ -0,0 +1,92 @@
+import sys, time
+import divideCoords, writeSerial, playControl
+
+
+def playTrack(track_name, coords=None):
+    """Play a single .thr file, point by point.
+
+    `coords` is the starting (theta, r). If not given, we ask the device
+    for its current position via writeSerial.getPolar() - the firmware
+    tracks this itself now, so there's no need to keep a copy in the DB
+    anymore (and nothing here writes position to the DB at all).
+
+    Cooperatively checks playControl's command between points, so this can
+    be paused/stopped/skipped from the web UI while it's running. Returns
+    the ending (theta, r).
+    """
+
+    path = "/home/pi/SandTable/media/" + track_name
+
+    if coords is None:
+        coords = writeSerial.getPolar()
+        if coords is None:
+            print("Couldn't read starting position from the device, assuming (0, 0)")
+            coords = [0.0, 0.0]
+        else:
+            coords = list(coords)
+
+    playControl.set_status(playControl.STATUS_PLAYING, current_track=track_name)
+
+    with open(path) as f:
+        for line in f:
+
+            # Cooperative pause: block here (not mid-move) until resumed
+            while playControl.get_command() == playControl.COMMAND_PAUSE:
+                playControl.set_status(playControl.STATUS_PAUSED, current_track=track_name)
+                time.sleep(0.1)
+
+            command = playControl.get_command()
+
+            if command == playControl.COMMAND_STOP:
+                playControl.set_status(playControl.STATUS_IDLE)
+                return coords
+
+            if command == playControl.COMMAND_NEXT:
+                playControl.set_command(playControl.COMMAND_PLAY)  # consume the one-shot skip
+                return coords
+
+            playControl.set_status(playControl.STATUS_PLAYING, current_track=track_name)
+
+            # If line is comment or line does not contain anything then continue to next line
+            if '#' in line or len(line) < 4 or "/" in line:
+                continue
+
+            # Getting theta and rho from the line and changing them to float values
+            th_str, r_str = line.split(' ')
+            th = float(th_str)
+            r = float(r_str)
+
+            if r > 1.0:
+                print("R Too big")
+
+            # If distance between points is too far (0.03 units), interpolate
+            if divideCoords.checkDistance(coords, [th, r], 0.01):
+                split_coords = divideCoords.divideBy(coords, [th, r], 0.03)
+                if split_coords:
+                    for i in split_coords:
+                        if not writeSerial.sendPolarWithRetry(i[0], i[1]):
+                            print(f"Failed to move to intermediate point {i}, aborting track")
+                            return coords
+                        coords = [i[0], i[1]]
+
+            # Writing point to the controller and waiting for the move to
+            # finish (blocks until COMMAND_POLAR's completion ACK arrives)
+            if not writeSerial.sendPolarWithRetry(th, r):
+                print(f"Failed to move to ({th}, {r}), aborting track")
+                return coords
+
+            coords = [th, r]
+
+    # Delay just in case
+    time.sleep(0.1)
+    return coords
+
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        name = sys.argv[1]
+        playControl.init_control_table()
+        playTrack(name)
+        playControl.set_status(playControl.STATUS_IDLE)
+    else:
+        print("Invalid arguments")