bzboard.py

'''
This is a minimal implementation of the bz_board python interface.
For some reason the full fledge implementation done by Kevin
was giving some problems we couldn't solve, so we are
doing this minimal implementation instead.

If you want better functionality, error handling,... check the other one

'''



import serial, time, json, os
from datetime import datetime
from random import randint, choice



class BZBoard:


    def __init__(self, port): # creates objects to pass through function for each self

        self.ser = serial.Serial(port, 9600, timeout=120)
        time.sleep(2) # serial docs recommend a wait just after connection
        self.ser.flush(); self.ser.flushInput(); self.ser.flushOutput();

        self.motors = { # [adafruit_shield, motor]
            "A1":[0,1],"A2":[0,2],"A3":[0,4],"A4":[0,3],"A5":[1,1],
            "B1":[1,2],"B2":[1,4],"B3":[1,3],"B4":[2,1],"B5":[2,2],
            "C1":[2,4],"C2":[2,3],"C3":[3,1],"C4":[3,2],"C5":[3,4],
            "D1":[3,3],"D2":[4,1],"D3":[4,2],"D4":[4,4],"D5":[4,3],
            "E1":[5,1],"E2":[5,2],"E3":[5,4],"E4":[5,3],"E5":[7,1]
            }
        # inactive but not off stirers for mixing

        # this matrix stores if the motors are enabled (1) or disabled (0)
        # before writting to serial we check this to not sent writes not needed
        self.matrix = { 
            "A1":0,"A2":0,"A3":0,"A4":0,"A5":0,
            "B1":0,"B2":0,"B3":0,"B4":0,"B5":0,
            "C1":0,"C2":0,"C3":0,"C4":0,"C5":0,
            "D1":0,"D2":0,"D3":0,"D4":0,"D5":0,
            "E1":0,"E2":0,"E3":0,"E4":0,"E5":0
            }
    

    def __del__(self):

        self.disable_all()
        self.ser.close()
        del self.ser


    def close(self):

        self.disable_all()
        self.ser.close()
        del self.ser


    def pattern_from_file(self, patternfile):

        with open(patternfile) as f:
            return json.load(f)


    def activate_motor(self, motor_code, direction=0, speed=100):
        ''' code as in A1 or C2 as marked in the actual board. See the dict motors'''

        shield, motor = self.motors[motor_code] # get shield and motor 
        
        # because sometimes we can send here a speed 0 to disable it
        # the following if will be longer than expected
        if self.matrix[motor_code] < 1 and speed > 0: # we need to activate it
            # The following line is a dirty trick. Some of the motors need to be
            # kickstarted at a higher speed
            command = "A%d M%d D%d S255\n" % (shield, motor, direction)
            # and then we send the desired speed
            command += "A%d M%d D%d S%d\n" % ( shield, motor, direction, speed )
            self.matrix[motor_code] = 1 # mark it as enabled
            self.ser.write(command.encode()) # encode helps program run 

        elif self.matrix[motor_code] < 1 and speed == 0: # we keep it disabled (it's off with 0 speed)
            pass

        elif self.matrix[motor_code] > 0 and speed > 0: # just update speed
            command = "A%d M%d D%d S%d\n" % ( shield, motor, direction, speed )
            self.ser.write(command.encode())

        elif self.matrix[motor_code] > 0 and speed == 0: # we disable it (on with no speed)
            self.disable_motor(motor_code)

        else:
            print("something bad happened when updating a motor") # broken


    def activate_all(self, direction=0, speed=100):

        for key in self.motors.keys(): # set to min stiring speed 
            self.activate_motor(key, direction, speed)
            self.ser.flush() #flush variables


    def activate_pattern(self, pattern, speed=None):

        for i in pattern:
            _, _, speed = self.motors[i] 

            if pattern[i] == 1:
                self.activate_motor(i, speed*2) # x5 before
            else:
                self.activate_motor(i, speed*0) # x1 before if motor is off speed off

    
    def activate_rand_all(self, filename):
        '''Activate a random pattern - each motor at a random speed - and append
        this random configuration to the end of the file filename'''

        # random 5*5 speed
        rand_speed = { 
                    "A1":randint(-10,10),"A2":randint(-10,10),"A3":randint(-10,10),"A4":randint(-10,10),"A5":randint(-10,10),
                    "B1":randint(-10,10),"B2":randint(-10,10),"B3":randint(-10,10),"B4":randint(-10,10),"B5":randint(-10,10),
                    "C1":randint(-10,10),"C2":randint(-10,10),"C3":randint(-10,10),"C4":randint(-10,10),"C5":randint(-10,10),
                    "D1":randint(-10,10),"D2":randint(-10,10),"D3":randint(-10,10),"D4":randint(-10,10),"D5":randint(-10,10),
                    "E1":randint(-10,10),"E2":randint(-10,10),"E3":randint(-10,10),"E4":randint(-10,10),"E5":randint(-10,10)
                    }

        # enable the motors with the random speeds
        for i in self.motors.keys():
            speed = rand_speed[i]
            
            if speed > 0:
                direction = 1
            else:
                direction = 0
            
            speed = abs(speed)*25
            
            self.activate_motor(i, direction, speed)

        self.save_pattern_in_json(rand_speed, filename)
        return rand_speed


    def repeat_rand(self, filename, inspeeds):
        ''' Repeats a random experiment and saves it into the corresponding
        json file'''
        
        for i in self.motors.keys():
            speed = inspeeds[i]
            
            if speed > 0:
                direction = 1
            else:
                direction = 0
            
            speed = abs(speed)*25
            
            self.activate_motor(i, direction, speed)

        self.save_pattern_in_json(inspeeds, filename)
        return inspeeds


    def activate_rand_multiple(self, filename):
        '''Activates only 1 motor at a random speed - and append
        this random configuration to the end of the file filename'''

        # first generate dict as before with all 0s
        speeds = { 
                    "A1":0,"A2":0,"A3":0,"A4":0,"A5":0,
                    "B1":0,"B2":0,"B3":0,"B4":0,"B5":0,
                    "C1":0,"C2":0,"C3":0,"C4":0,"C5":0,
                    "D1":0,"D2":0,"D3":0,"D4":0,"D5":0,
                    "E1":0,"E2":0,"E3":0,"E4":0,"E5":0
                    }

        num_oscilators = randint(1,26)
        for i in range(num_oscilators):
            random_motor = choice("ABCDE")+choice("12345") # choice is from random
            speed = randint(-10,10)

            # store the speed and activate the motor
            speeds[random_motor] = speed


        for motor in self.motors.keys():
            speed = speeds[motor]
        
            if speed > 0:
                direction = 1
            else:
                direction = 0
            
            speed = abs(speed)*25
            self.activate_motor(motor, direction, speed)

        self.save_pattern_in_json(speeds, filename)
        return speeds
  

    def activate_rand_column(self, filename):
        '''activates a random column at a random speed. All the motors in that
        column will be at the same speed'''

        # first generate a dict as before with all 0s
        speeds = { 
                    "A1":2,"A2":2,"A3":2,"A4":2,"A5":2,
                    "B1":2,"B2":2,"B3":2,"B4":2,"B5":2,
                    "C1":2,"C2":2,"C3":2,"C4":2,"C5":2,
                    "D1":2,"D2":2,"D3":2,"D4":2,"D5":2,
                    "E1":2,"E2":2,"E3":2,"E4":2,"E5":2
                    }

        random_column = choice("ABCDE")
        #speed = randint(-10,10)
        speed = choice([-8,8])

        # store the new speed in all the motors of the column generated
        for row in range(1,6):
            motor = random_column+str(row)
            speeds[motor] = speed

        for motor in self.motors.keys():
            speed = speeds[motor]
        
            if speed > 0:
                direction = 1
            else:
                direction = 0
            
            speed = abs(speed)*25
            self.activate_motor(motor, direction, speed)

        self.save_pattern_in_json(speeds, filename)
        return speeds

    def save_pattern_in_json(self, pattern, filename):
        '''given a dict with all the motors keys and their speeds, and a filename
        it will append this pattern into that filename with a timestamp
        This function was created for the RNN experiments'''
    
        
        # we will use time as keys in the dict
        exp_time = datetime.now().strftime('%Y-%m-%d_%H:%M:%S')
        filename = filename +'.json'
        # new data entry for the dict
        new_dict = { exp_time : pattern}
        
        # if the file does not exist, meaning its the first experiment
        if os.path.isfile(filename) is False:
            data = new_dict
        
        else:
            # load the previous json to update with new data
            with open(filename) as f:
                data = json.load(f)
                data.update(new_dict)

        # update the json
        with open(filename, 'w') as f:
            json.dump(data, f)


    def disable_motor(self, motor_code):

        shield, motor = self.motors[motor_code]
        command = "A%d M%d D0 S0\n" % ( shield, motor )

        if self.matrix[motor_code] > 0: # so it was enabled
            self.ser.write(command.encode())
            self.matrix[motor_code] = 0 # mark it disabled


    def disable_all(self):

        for key in self.motors.keys():
            self.disable_motor(key)



if __name__ == "__main__":

    b = BZBoard("/dev/ttyACM1")