Merge pull request #48 from openUC2/masater_merge

Masater merge

uc2rest/TEST/TEST_ESP32_Wifi.py

@@ -2,7 +2,7 @@
 import numpy as np
 import time
 
-host = "192.168.2.210"
+host = "192.168.137.60"
 port = 80
 
 ESP32 = uc2rest.UC2Client(host=host, port=port, DEBUG=True)

uc2rest/TEST/TEST_Omniscope_Wifi.py

@@ -0,0 +1,174 @@
+import uc2rest
+import numpy as np
+import time
+
+host = "192.168.137.60"
+port = 80
+
+ESP32 = uc2rest.UC2Client(host=host, port=port, DEBUG=True)
+
+# check if we are connected 
+# see if it's the right device
+mState = ESP32.state.get_state()
+print(mState)
+
+
+''' ################
+LED 
+################'''
+# test LED
+mResult = ESP32.led.send_LEDMatrix_full(intensity=(25, 25, 25))
+mResult = ESP32.led.send_LEDMatrix_full(intensity=(0,0,0))
+
+
+ESP32.motor.move_x(steps=10000, speed=10000, is_blocking=True)
+ESP32.motor.move_y(steps=1000, speed=1000, is_blocking=True, is_enabled=False)
+ESP32.motor.move_z(steps=1000, speed=1000, is_blocking=True)
+ESP32.motor.move_y(steps=1000, speed=1000, is_blocking=True, is_enabled=False)
+
+lkjalksdjf
+
+# single LED
+for iLED in range(5):
+    # timeout = 0 means no timeout => mResult will be rubish!
+    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(255, 255, 255), timeout=0.)
+    mResult = ESP32.led.send_LEDMatrix_single(indexled=iLED, intensity=(0, 0, 0), timeout=0.)
+    assert mResult["success"] == 1, "Failed sending LED command"
+
+# display random pattern
+for i in range(5):
+    led_pattern = np.random.randint(0,55, (25,3))
+    mResult = ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern,timeout=0)
+    assert mResult["success"] == 1, "Failed sending LED command"
+
+
+#%% left
+if(0):
+    led_pattern = np.zeros((25,3))
+    list_left = (0,1,2,3,4,5,9,10,11,12,13,14,15,16,17)
+    list_right = (0,5,6,7,8,9,18,19,20,21,22,23,24)
+    led_pattern[list_left,0] = 255
+    led_pattern[list_right,1] = 255
+    ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern, timeout=1)
+    time.sleep(1)
+    ESP32.led.send_LEDMatrix_array(led_pattern=led_pattern*0, timeout=1)
+
+#%%
+#%%
+''' ################
+MOTOR
+################'''
+ESP32.motor.move_x(steps=10000, speed=10000, is_blocking=True)
+
+# mResult = ESP32.motor.move_x(steps=0, is_enabled=False)
+mResult = ESP32.motor.set_motor_enable(enable=1)
+mResult = ESP32.motor.set_motor_enable(enable=0)
+assert mResult["success"] == 1, "Failed sending motor command"
+
+# test Motor
+mResult = ESP32.motor.set_position(axis=0, position=1000)
+assert mResult["success"] == 1, "Failed sending motor command"
+
+position1 = ESP32.motor.get_position(timeout=1)
+assert position1[0]==1000, "Failed getting motor position"
+print(position1)
+
+ESP32.motor.move_x(steps=10000, speed=10000, is_blocking=True)
+ESP32.motor.move_y(steps=1000, speed=1000, is_blocking=True, is_enabled=False)
+ESP32.motor.move_z(steps=1000, speed=1000, is_blocking=True)
+ESP32.motor.move_y(steps=1000, speed=1000, is_blocking=True, is_enabled=False)
+ESP32.motor.move_t(steps=1000, speed=1000)
+ESP32.motor.move_xyzt(steps=(0,1000,100,0), speed=10000, is_blocking=True)
+ESP32.motor.move_xyzt(steps=(0,0,0,0), speed=10000, is_absolute=True, is_blocking=True)
+ESP32.motor.move_forever(speed=(0,100,0,0), is_stop=False)
+ESP32.motor.move_forever(speed=(0,100,0,0), is_stop=False)
+time.sleep(1)
+ESP32.motor.move_forever(speed=(0,0,0,0), is_stop=True)
+
+position2 = ESP32.motor.get_position(timeout=1)
+print(position2)
+
+dDist = 1000
+speed = 20000
+nDist = 4
+
+# test Motor in scanning mode
+ESP32.motor.move_xyzt(steps=(0,0,0,0), speed=speed, is_absolute = True, is_blocking=True)
+
+for ix in range(nDist):
+    for iy in range(nDist):
+        if ix%2==0:
+            iy=nDist-iy
+        ESP32.motor.move_xyzt(steps=(0,ix*dDist,iy*dDist,0), speed=speed, is_absolute = True, is_blocking=True)
+ESP32.motor.move_xyzt(steps=(0,nDist*dDist,nDist*dDist,0), speed=speed, is_absolute = True, is_blocking=True)
+ESP32.motor.move_xyzt(steps=(0,0,0,0), speed=speed, is_absolute = True, is_blocking=True)
+
+#%%
+
+''' ################
+analog
+################'''
+ESP32.analog.set_analog(readanaloginID=1, readanaloginPIN=35, nanaloginavg=1)
+ESP32.analog.get_analog(readanaloginID=1)
+#analogValueAVG = ESP32.analog.read_sensor(sensorID=1, NAvg=100)
+#print(analogValueAVG)
+
+#%%
+''' ################
+HOME
+################'''
+ESP32.home.home_x(speed =15000, direction = -1, endposrelease = 3000, timeout=20, isBlocking=True)
+ESP32.home.home_y(speed =15000, direction = 1, endposrelease = 3000, timeout=20, isBlocking=True)
+
+''' ################
+LASER 
+################'''
+# set laser pins 
+if ESP32.APIVersion == 2:
+    ESP32.laser.set_laserpin(laserid=1, laserpin=15)
+    ESP32.laser.set_laserpin(laserid=2, laserpin=16)
+    ESP32.laser.set_laserpin(laserid=3, laserpin=17)
+
+# get laser pins
+ESP32.laser.get_laserpins()
+ESP32.laser.get_laserpin(laserid=1)
+
+# set laser values
+ESP32.laser.set_laser(channel=1, value=1000, despeckleAmplitude=0, despecklePeriod=10, timeout=20, is_blocking = True)
+ESP32.laser.set_laser(channel=2, value=1000, despeckleAmplitude=0, despecklePeriod=10, timeout=20, is_blocking = True)
+ESP32.laser.set_laser(channel=3, value=1000, despeckleAmplitude=0, despecklePeriod=10, timeout=20, is_blocking = True)
+
+
+
+
+''' ################
+Wifi
+################'''
+# wifi
+if ESP32.APIVersion == 2:
+    ESP32.wifi.scanWifi()
+
+
+''' ################
+Config Manager 
+################'''
+if ESP32.APIVersion == 2:
+    configfile = ESP32.config.loadConfigDevice(timeout=1)
+    print(configfile)
+    configfile["motorconfig"][0]["dir"]=17 # change parameter
+    ESP32.config.setConfigDevice(configfile)
+
+''' ################
+State
+################'''
+# test state
+_state = ESP32.state.get_state()
+print(_state)
+ESP32.state.set_state(debug=False)
+_mode = ESP32.state.isControllerMode()
+print(_mode)
+ESP32.state.espRestart()
+time.sleep(5)
+ESP32.state.setControllerMode(isController=True)
+_busy = ESP32.state.isBusy()
+print(_busy)

uc2rest/UC2Client.py

@@ -168,7 +168,7 @@ def post_json(self, path, payload, getReturn=True, timeout=1):
         if self.is_wifi:
             # FIXME: this is not working
             url = f"http://{self.host}:{self.port}{path}"
-            r = requests.post(url, json=payload, headers=self.headers)
+            r = requests.post(url, json=payload, headers=self.headers,  timeout=timeout)
             returnMessage = r.json()
             returnMessage["success"] = r.status_code==200
             return returnMessage
@@ -182,7 +182,7 @@ def get_json(self, path, getReturn=False, timeout=1):
         if self.is_wifi:
             # FIXME: this is not working
             url = f"http://{self.host}:{self.port}{path}"
-            r = requests.get(url, headers=self.headers)
+            r = requests.get(url, headers=self.headers, timeout=timeout)
             return r.json()
         elif self.is_serial or self.isPyScript:
             return self.serial.get_json(path)