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