update the light library

also replaces smbus by smbus2 to allow for cleaner setups

scripts/planktoscope/imager.py

@@ -327,8 +327,7 @@ class ImagerProcess(multiprocessing.Process):
         # Publish the status "Interrupted" to via MQTT to Node-RED
         self.imager_client.client.publish("status/imager", '{"status":"Interrupted"}')
 
-        # Set the LEDs as Green
+        planktoscope.light.interrupted()
-        planktoscope.light.setRGB(0, 255, 0)
 
         # Change state to Stop
         self.__imager.change(planktoscope.imager_state_machine.Stop)
@@ -542,6 +541,9 @@ class ImagerProcess(multiprocessing.Process):
 
     def __pump_message(self):
         """Sends a message to the pump process"""
+
+        planktoscope.light.pumping()
+
         # Pump during a given volume
         self.imager_client.client.publish(
             "actuator/pump",
@@ -595,22 +597,15 @@ class ImagerProcess(multiprocessing.Process):
                 f"The integrity file already exists in this export path {self.__export_path}"
             )
 
-        # Set the LEDs as Blue
-        planktoscope.light.setRGB(0, 0, 255)
-
         self.__pump_message()
 
         # FIXME We should probably update the global metadata here with the current datetime/position/etc...
 
-        # Set the LEDs as Green
-        planktoscope.light.setRGB(0, 255, 0)
-
         # Change state towards Waiting for pump
         self.__imager.change(planktoscope.imager_state_machine.Waiting)
 
     def __state_capture(self):
-        # Set the LEDs as Cyan
+        planktoscope.light.imaging()
-        planktoscope.light.setRGB(0, 255, 255)
 
         filename = f"{datetime.datetime.now().strftime('%H_%M_%S_%f')}.jpg"
 
@@ -638,13 +633,9 @@ class ImagerProcess(multiprocessing.Process):
             self.__img_done = 0
             # Change state towards stop
             self.__imager.change(planktoscope.imager_state_machine.Stop)
-            # Set the LEDs as Green
+            planktoscope.light.error()
-            planktoscope.light.setRGB(0, 255, 255)
             return
 
-        # Set the LEDs as Green
-        planktoscope.light.setRGB(0, 255, 0)
-
         # Add the checksum of the captured image to the integrity file
         try:
             planktoscope.integrity.append_to_integrity_file(filename_path)
@@ -672,13 +663,10 @@ class ImagerProcess(multiprocessing.Process):
 
             # Change state towards done
             self.__imager.change(planktoscope.imager_state_machine.Stop)
-            # Set the LEDs as Green
+            planktoscope.light.ready()
-            planktoscope.light.setRGB(0, 255, 255)
             return
         else:
             # We have not reached the final stage, let's keep imaging
-            # Set the LEDs as Blue
-            planktoscope.light.setRGB(0, 0, 255)
 
             # subscribe to status/pump
             self.imager_client.client.subscribe("status/pump")
@@ -688,9 +676,6 @@ class ImagerProcess(multiprocessing.Process):
 
             self.__pump_message()
 
-            # Set the LEDs as Green
-            planktoscope.light.setRGB(0, 255, 0)
-
             # Change state towards Waiting for pump
             self.__imager.change(planktoscope.imager_state_machine.Waiting)
 

scripts/planktoscope/light.py

@@ -8,13 +8,14 @@
 # Logger library compatible with multiprocessing
 from loguru import logger
 
-import subprocess  # nosec
 
 # Library to send command over I2C for the light module on the fan
 try:
     import smbus2 as smbus
-except ModuleNotFoundError:
+except ModuleNotFoundError:  # We need this to install the library on machine that do not have the module yet
-    subprocess.Popen("pip3 install smbus2".split(), stdout=subprocess.PIPE)  # nosec
+    import subprocess  # nosec
+
+    subprocess.run("pip3 install smbus2".split())  # nosec
     import smbus2 as smbus
 
 import enum
@@ -57,11 +58,6 @@ class EffectColor(enum.IntEnum):
 ################################################################################
 # LEDs functions
 ################################################################################
-def i2c_update():
-    # Update the I2C Bus in order to really update the LEDs new values
-    subprocess.Popen("i2cdetect -y 1".split(), stdout=subprocess.PIPE)  # nosec
-
-
 def setRGB(R, G, B):
     """Update all LED at the same time"""
     try:
@@ -72,7 +68,6 @@ def setRGB(R, G, B):
             bus.write_byte_data(DEVICE_ADDRESS, Register.red, R & 0xFF)
             bus.write_byte_data(DEVICE_ADDRESS, Register.green, G & 0xFF)
             bus.write_byte_data(DEVICE_ADDRESS, Register.blue, B & 0xFF)
-        # i2c_update()
     except Exception as e:
         logger.exception(f"An Exception has occured in the light library at {e}")
 
@@ -82,7 +77,6 @@ def setRGBOff():
     try:
         with smbus.SMBus(1) as bus:
             bus.write_byte_data(DEVICE_ADDRESS, Register.rgb_off, 0x00)
-        # i2c_update()
     except Exception as e:
         logger.exception(f"An Exception has occured in the light library at {e}")
 
@@ -130,7 +124,6 @@ def ready():
         setRGBColor(bus, EffectColor.Green)
         setRGBSpeed(bus, 1)
         setRGBEffect(bus, Effect.Breathing)
-    # i2c_update()
 
 
 def error():
@@ -138,7 +131,6 @@ def error():
         setRGBColor(bus, EffectColor.Red)
         setRGBSpeed(bus, 3)
         setRGBEffect(bus, Effect.Water)
-    # i2c_update()
 
 
 def interrupted():
@@ -146,7 +138,6 @@ def interrupted():
         setRGBColor(bus, EffectColor.Yellow)
         setRGBSpeed(bus, 3)
         setRGBEffect(bus, Effect.Water)
-    # i2c_update()
 
 
 def pumping():
@@ -154,7 +145,6 @@ def pumping():
         setRGBColor(bus, EffectColor.Blue)
         setRGBSpeed(bus, 3)
         setRGBEffect(bus, Effect.Water)
-    # i2c_update()
 
 
 def focusing():
@@ -162,7 +152,6 @@ def focusing():
         setRGBColor(bus, EffectColor.Purple)
         setRGBSpeed(bus, 3)
         setRGBEffect(bus, Effect.Water)
-    # i2c_update()
 
 
 def imaging():
@@ -170,7 +159,6 @@ def imaging():
         setRGBColor(bus, EffectColor.White)
         setRGBSpeed(bus, 1)
         setRGBEffect(bus, Effect.Breathing)
-    # i2c_update()
 
 
 def segmenting():
@@ -178,7 +166,6 @@ def segmenting():
         setRGBColor(bus, EffectColor.Purple)
         setRGBSpeed(bus, 1)
         setRGBEffect(bus, Effect.Breathing)
-    # i2c_update()
 
 
 # This is called if this script is launched directly

scripts/planktoscope/mqtt.py

@@ -53,7 +53,6 @@
 # We can use collections.deque https://docs.python.org/3/library/collections.html#collections.deque
 import paho.mqtt.client as mqtt
 import json
-import planktoscope.light
 
 # Logger library compatible with multiprocessing
 from loguru import logger
@@ -117,8 +116,6 @@ class MQTT_Client:
         )
         # When connected, run subscribe()
         self.client.subscribe(self.topic)
-        # Turn green the light module
-        planktoscope.light.setRGB(0, 255, 0)
 
     @logger.catch
     # Run this function in order to subscribe to all the topics begining by actuator

scripts/planktoscope/segmenter.py

@@ -60,7 +60,6 @@ class SegmenterProcess(multiprocessing.Process):
         if not os.path.exists(self.__objects_base_path):
             # create the path!
             os.makedirs(self.__objects_base_path)
-        # Morphocut's pipeline will be created at runtime otherwise shit ensues
 
         logger.success("planktoscope.segmenter is initialised and ready to go!")
 
@@ -82,8 +81,7 @@ class SegmenterProcess(multiprocessing.Process):
                 lambda p: os.path.splitext(os.path.basename(p))[0], abs_path
             )
 
-            # Set the LEDs as Green
+            morphocut.Call(planktoscope.light.segmenting())
-            morphocut.Call(planktoscope.light.setRGB, 0, 255, 0)
 
             # Read image
             img = morphocut.image.ImageReader(abs_path)
@@ -143,9 +141,6 @@ class SegmenterProcess(multiprocessing.Process):
                 mask, img_gray, min_area=1000, padding=10, warn_empty=name
             )
 
-            # Set the LEDs as Purple
-            morphocut.Call(planktoscope.light.setRGB, 255, 0, 255)
-
             # For an object, extract a vignette/ROI from the image
             roi_orig = morphocut.image.ExtractROI(img, regionprops, bg_color=255)
 
@@ -212,8 +207,6 @@ class SegmenterProcess(multiprocessing.Process):
                 id_json,
             )
 
-            # Set the LEDs as Green
-            morphocut.Call(planktoscope.light.setRGB, 0, 255, 0)
         logger.info("Morphocut's Pipeline has been created")
 
     @logger.catch
@@ -287,6 +280,7 @@ class SegmenterProcess(multiprocessing.Process):
                     try:
                         self.__pipe.run()
                     except Exception as e:
+                        planktoscope.light.error()
                         logger.exception(f"There was an error in the pipeline {e}")
                     logger.info(f"Pipeline has been run for {path}")
                 else:
@@ -299,14 +293,7 @@ class SegmenterProcess(multiprocessing.Process):
             self.segmenter_client.client.publish(
                 "status/segmenter", '{"status":"Done"}'
             )
-
+            planktoscope.light.ready()
-            # Set the LEDs as White
-            planktoscope.light.setRGB(255, 255, 255)
-
-            # cmd = os.popen("rm -rf /home/pi/PlanktonScope/tmp/*.jpg")
-
-            # Set the LEDs as Green
-            planktoscope.light.setRGB(0, 255, 0)
 
         elif action == "stop":
             logger.info("The segmentation has been interrupted.")
@@ -315,6 +302,7 @@ class SegmenterProcess(multiprocessing.Process):
             self.segmenter_client.client.publish(
                 "status/segmenter", '{"status":"Interrupted"}'
             )
+            planktoscope.light.interrupted()
 
         elif action == "update_config":
             logger.error("We can't update the configuration while we are segmenting.")

scripts/planktoscope/stepper.py

@@ -269,13 +269,11 @@ class StepperProcess(multiprocessing.Process):
                 "status/pump", '{"status":"Interrupted"}'
             )
 
-            # Set the LEDs as Green
+            planktoscope.light.ready()
-            planktoscope.light.setRGB(0, 255, 0)
 
         elif last_message["action"] == "move":
             logger.debug("We have received a move pump command")
-            # Set the LEDs as Blue
+            planktoscope.light.pumping()
-            planktoscope.light.setRGB(0, 0, 255)
 
             if (
                 "direction" not in last_message
@@ -315,13 +313,11 @@ class StepperProcess(multiprocessing.Process):
                 "status/focus", '{"status":"Interrupted"}'
             )
 
-            # Set the LEDs as Green
+            planktoscope.light.ready()
-            planktoscope.light.setRGB(0, 255, 0)
 
         elif last_message["action"] == "move":
             logger.debug("We have received a move focus command")
-            # Set the LEDs as Yellow
+            planktoscope.light.focusing()
-            planktoscope.light.setRGB(255, 255, 0)
 
             if "direction" not in last_message or "distance" not in last_message:
                 logger.error(
@@ -354,7 +350,6 @@ class StepperProcess(multiprocessing.Process):
             # If the command is "pump"
             if command == "pump":
                 self.__message_pump(last_message)
-
             # If the command is "focus"
             elif command == "focus":
                 self.__message_focus(last_message)
@@ -507,15 +502,18 @@ class StepperProcess(multiprocessing.Process):
             # check if a new message has been received
             self.treat_command()
             if self.pump_stepper.move():
+                planktoscope.light.ready()
                 self.actuator_client.client.publish(
                     "status/pump",
                     '{"status":"Done"}',
                 )
             if self.focus_stepper.move():
+                planktoscope.light.ready()
                 self.actuator_client.client.publish(
                     "status/focus",
                     '{"status":"Done"}',
                 )
+            time.sleep(0.0001)
         logger.info("Shutting down the stepper process")
         self.actuator_client.client.publish("status/pump", '{"status":"Dead"}')
         self.actuator_client.client.publish("status/focus", '{"status":"Dead"}')