import asyncio import json import threading from threading import Thread import numpy as np import pydash as _ from si_prefix import si_format, si_parse from dropbot import SerialProxy from micropede.client import MicropedeClient , dump_stack from micropede.async import MicropedeAsync SCHEMA = { "type": "object", "properties": { "voltage": { "type": "number", "default": 100, "per_step": True }, "frequency": { "type": "number", "default": 10000, "per_step": False }, "__hv_output_enabled__": { "type": "boolean", "default": False }, "__hv_output_selected__": { "type": "boolean", "default": True }, "__channel_count__": { "type": "integer", "default": 0 }, "__capacitance_update_interval_ms__": { "type": "integer", "default": 0, "minimum": 0 }, "__target_capacitance__": { "type": "number", "default": 0 } } } def setup_serial_proxy(self): class Y(object): pass Y.control_board = None Y.ready_event = threading.Event() Y.err = False def start_thread(x): try: x.control_board = SerialProxy() except Exception as e: x.err = e x.ready_event.set() t = Thread(target=start_thread, args=(Y,)) t.start() Y.ready_event.wait() if (Y.err): raise(Y.err) self.control_board = Y.control_board APPNAME = "microdrop" class DropBot(MicropedeClient): def __init__(self, *args, **kwargs): super().__init__(*args, **kwargs) async def update_board_info(self): info = {} _.assign(info, json.loads(self.control_board.config.to_json())) _.assign(info, json.loads(self.control_board.state.to_json())) _.assign(info, json.loads(self.control_board.properties.to_json())) _.assign(info, {"uuid": str(self.control_board.uuid)}) await self.set_state('info', info) def listen(self): setup_serial_proxy(self) self.control_board.hv_output_enabled = True self.control_board.hv_output_selected = True self.on_put_msg("frequency", self.put_frequency) self.on_put_msg("voltage", self.put_voltage) self.on_trigger_msg("connect-dropbot", self.connect_dropbot) self.on_trigger_msg("measure-capacitance", self.measure_capacitance) self.on_trigger_msg("measure-voltage", self.measure_voltage) self.on_trigger_msg("put-voltage-frequency", self.put_voltage_frequency) self.on_state_msg("electrodes-model", "active-electrodes", self.turn_on_electrodes) self.on_state_msg("electrodes-model", "voltage", self.change_voltage) self.on_state_msg("electrodes-model", "frequency", self.change_frequency) self.on_state_msg("dropbot-ui-plugin", "{key}", self.modify_status) self.wait_for(self.update_board_info()) async def change_voltage(self, voltage, params): try: print("CHANGING :) VOLTAGE!!!") # Convert payload from si_unit string to number print("CALLING PSI PARSE:", voltage); voltage = si_parse(_.replace(voltage, "V", "")) print("ITS NOW: ", voltage) await self.put_voltage({"voltage": voltage}, {}) await self.update_board_info() except Exception as e: print("Error setting voltage") print(e) async def change_frequency(self, frequency, params): try: print("FREQ", frequency) frequency = si_parse(_.replace(frequency, "Hz", "")) await self.put_frequency({"frequency": frequency}, params) await self.update_board_info() except Exception as e: print("Error setting frequency") print(e) async def put_voltage_frequency(self, payload, params): self.control_board.voltage = float(payload["voltage"]) self.control_board.frequency = float(payload["frequency"]) await self.update_board_info() async def turn_on_electrodes(self, payload, params): # Get the three object from device-model microdrop = MicropedeAsync(APPNAME,port=self.port,loop=self.loop) three_object = await microdrop.get_state('device-model', 'three-object') active_electrodes = payload def active_filter(obj): return _.includes(active_electrodes, obj["id"]) active_objects = _.filter_(three_object, active_filter) channels = _.map_(_.map_(active_objects, "channel"), int) max_channels = self.control_board.number_of_channels channel_states = np.zeros(max_channels, dtype=int) channel_states[channels] = 1 self.control_board.set_state_of_channels(channel_states) print(self.control_board.state_of_channels) await self.update_board_info() async def measure_voltage(self, payload, params): try: if (not self.control_board): raise("Control board not set") voltage = self.control_board.measure_voltage() self.notify_sender(payload, voltage, "measure-voltage") except Exception as e: self.notify_sender(payload, dump_stack(self.name, e), "measure-voltage", "failed") async def measure_capacitance(self, payload, params): try: if (not self.control_board): raise("Control board not set") capacitance = self.control_board.measure_capacitance() self.notify_sender(payload, capacitance, "measure-capacitance") except Exception as e: self.notify_sender(payload, dump_stack(self.name, e), "measure-capacitance", "failed") async def connect_dropbot(self, payload, params): try: setup_serial_proxy(self) await self.update_board_info() self.notify_sender(payload, "connected!", "connect-dropbot") except Exception as e: print("ERROR::", e) self.notify_sender(payload, dump_stack(self.name, e), "connect-dropbot", "failed") async def put_frequency(self, payload, params): """ Set the switching frequency of the active fluxels""" try: self.validate_schema(payload) self.control_board.frequency = float(payload["frequency"]) await self.update_board_info() self.notify_sender(payload, self.control_board.frequency, "frequency") except Exception as e: print(e) self.notify_sender(payload, dump_stack(self.client.name, e), "frequency", "failed") async def put_voltage(self, payload, params): """ Set the on voltage for fluxels""" try: print("PUT VOLTAGE CALLED!") self.validate_schema(payload) self.control_board.voltage = float(payload["voltage"]) print("SETTING STATE OF VOLTAGE TO:", payload["voltage"]) print("SETTING STATE!!") await self.update_board_info() print("SET SUCCESSFUL") self.notify_sender(payload, self.control_board.voltage, "voltage") except Exception as e: print(e) self.notify_sender(payload, dump_stack(self.client.name, e), "voltage", "failed") print("Running dropbot plugin") dropbot = DropBot("microdrop", host="localhost", port=1884, name="dropbot")