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circuitPyHuskyLib.py
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# HUSKYLENS CircuitPython Library
# 09 JUN 2023
#
# Credit:
# Code base (reference) for Raspberry Pi:
# https://github.com/HuskyLens/HUSKYLENSPython
#
# Code base (reference) for Raspberry Pi Pico (MicroPython):
# https://community.dfrobot.com/makelog-310469.html
#
# You need to include these libraries in your CIRCUITPY/lib folder. You can download it from https://circuitpython.org/libraries
# - adafruit_bus_device
#
# Example:
'''
import board
from circuitPyHuskyLib import HuskyLensLibrary
# UART
huskylens = HuskyLensLibrary("UART", TX=board.GP8, RX=board.GP9)
# I2C
#huskylens = HuskyLensLibrary("I2C", SCL=board.GP9, SDA=board.GP8)
print(huskylens.knock())
'''
import binascii
import busio
import adafruit_bus_device.i2c_device as i2c_device
commandHeaderAndAddress = "55AA11"
algorthimsByteID = {
"ALGORITHM_OBJECT_TRACKING": "0100",
"ALGORITHM_FACE_RECOGNITION": "0000",
"ALGORITHM_OBJECT_RECOGNITION": "0200",
"ALGORITHM_LINE_TRACKING": "0300",
"ALGORITHM_COLOR_RECOGNITION": "0400",
"ALGORITHM_TAG_RECOGNITION": "0500",
"ALGORITHM_OBJECT_CLASSIFICATION": "0600",
}
class Arrow:
def __init__(self, xTail, yTail , xHead , yHead, ID):
self.xTail=xTail
self.yTail=yTail
self.xHead=xHead
self.yHead=yHead
self.ID=ID
self.learned= True if ID > 0 else False
self.type="ARROW"
class Block:
def __init__(self, x, y , width , height, ID):
self.x = x
self.y = y
self.x_topleft = abs(x - width//2)
self.y_topleft = abs(y - height//2)
self.width=width
self.height=height
self.ID=ID
self.learned= True if ID > 0 else False
self.type="BLOCK"
class HuskyLensLibrary:
# Constant Value
SHAPE = (320, 240)
def __init__(self, proto, TX=None, RX=None, SCL=None, SDA=None, baudrate=9600, address=0x32, verbose=True):
self.proto = proto
self.address = address
self.verbose = verbose
if (proto == "UART"):
self.huskylensSer = busio.UART(TX, RX, baudrate=baudrate)
elif (proto == "I2C"):
i2c = busio.I2C(SCL, SDA)
self.huskylensSer = i2c_device.I2CDevice(i2c, address)
else:
raise ValueError('Only support UART or I2C protocol')
self.lastCmdSent = ""
def writeToHuskyLens(self, cmd):
self.lastCmdSent = cmd
if (self.proto == "UART"):
self.huskylensSer.write(cmd)
else:
with self.huskylensSer:
self.huskylensSer.write(cmd)
def calculateChecksum(self, hexStr):
total = 0
for i in range(0, len(hexStr), 2):
total += int(hexStr[i:i+2], 16)
hexStr = hex(total)[-2:]
return hexStr
def cmdToBytes(self, cmd):
return binascii.unhexlify(cmd)
def splitCommandToParts(self, str):
headers = str[0:4]
address = str[4:6]
data_length = int(str[6:8], 16)
command = str[8:10]
if(data_length > 0):
data = str[10:10+data_length*2]
else:
data = []
checkSum = str[2*(6+data_length-1):2*(6+data_length-1)+2]
return [headers, address, data_length, command, data, checkSum]
def getBlockOrArrowCommand(self):
byteString=b''
if (self.proto == "UART"):
byteString = self.huskylensSer.read(5)
byteString += self.huskylensSer.read(int(byteString[3]))
byteString += self.huskylensSer.read(1)
else:
byteString = bytearray(5)
with self.huskylensSer:
self.huskylensSer.readinto(byteString, start=0, end=5)
byteString += bytearray(byteString[3]+1)
with self.huskylensSer:
self.huskylensSer.readinto(byteString, start=5, end=len(byteString))
commandSplit = self.splitCommandToParts(''.join(['%02x' % b for b in byteString]))
isBlock = True if commandSplit[3] == "2a" else False
return (commandSplit[4], isBlock)
def processReturnData(self, numIdLearnFlag=False, frameFlag=False):
inProduction = True
byteString=b''
if (inProduction):
try:
if (self.proto == "UART"):
byteString = self.huskylensSer.read(5)
byteString += self.huskylensSer.read(int(byteString[3]))
byteString += self.huskylensSer.read(1)
else:
byteString = bytearray(5)
with self.huskylensSer:
self.huskylensSer.readinto(byteString, start=0, end=5)
byteString += bytearray(byteString[3]+1)
with self.huskylensSer:
self.huskylensSer.readinto(byteString, start=5, end=len(byteString))
# Convert byteString to hex first before splitCommandToParts
commandSplit = self.splitCommandToParts(''.join(['%02x' % b for b in byteString]))
if(commandSplit[3] == "2e"):
return "Knock Received"
else:
returnData = []
numberOfBlocksOrArrow = int(
commandSplit[4][2:4]+commandSplit[4][0:2], 16)
numberOfIDLearned = int(
commandSplit[4][6:8]+commandSplit[4][4:6], 16)
frameNumber = int(
commandSplit[4][10:12]+commandSplit[4][8:10], 16)
# Return empty list when no object is detected
if not (numberOfBlocksOrArrow):
if self.verbose:
print("No Object detected")
return []
for i in range(numberOfBlocksOrArrow):
tmpObj = self.getBlockOrArrowCommand()
isBlock = tmpObj[1]
returnData.append(tmpObj[0])
finalData = []
tmp = []
for i in returnData:
tmp = []
for q in range(0, len(i), 4):
low = int(i[q:q+2], 16)
high = int(i[q+2:q+4], 16)
if (high > 0):
val = low + 255 + high
else:
val = low
tmp.append(val)
finalData.append(tmp)
ret = self.convert_to_class_object(finalData, isBlock)
if(numIdLearnFlag):
ret.append(numberOfIDLearned)
if(frameFlag):
ret.append(frameNumber)
return ret
except:
print("Read response error, please try again")
return []
def convert_to_class_object(self,data,isBlock):
tmp=[]
for i in data:
if(isBlock):
obj = Block(i[0],i[1],i[2],i[3],i[4])
else:
obj = Arrow(i[0],i[1],i[2],i[3],i[4])
tmp.append(obj)
return tmp
def knock(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002c3c")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def learn(self, id):
cmd = commandHeaderAndAddress
data = "{:04x}".format(id)
part1=data[2:]
part2=data[0:2]
#reverse to correct endiness
data=part1+part2
cmd += "{:02x}".format(len(data)//2)
cmd += "{:02x}".format(0x36)
cmd += data
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def forget(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"003747")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def setCustomName(self, name, id):
localId = "{:02x}".format(id)
nameDataSize = "{:02x}".format(len(name)+1)
name_ = ""
for char in name:
name_ += "{:02x}".format(ord(char))
name_ += "{:02x}".format(0)
data = localId+nameDataSize+name_
dataLength = len(data)//2
cmd = commandHeaderAndAddress
cmd += "{:02x}".format(dataLength)
cmd += "{:02x}".format(0x2f)
cmd += data
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def customText(self, name, x, y):
name_=""
for char in name:
name_ += "{:02x}".format(ord(char))
nameDataSize = "{:02x}".format(len(name))
if (x > 255):
x = "ff"+"{:02x}".format(x%255)
else:
x = "00"+"{:02x}".format(x)
y = "{:02x}".format(y)
data = nameDataSize + x + y + name_
dataLength = "{:02x}".format(len(data)//2)
cmd = commandHeaderAndAddress
cmd += dataLength
cmd += "{:02x}".format(0x34)
cmd += data
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def clearText(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"003545")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def requestAll(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002030")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def saveModelToSDCard(self,idVal):
idVal = "{:04x}".format(idVal)
idVal = idVal[2:]+idVal[0:2]
cmd = commandHeaderAndAddress+"0232"+idVal
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def loadModelFromSDCard(self,idVal):
idVal = "{:04x}".format(idVal)
idVal = idVal[2:]+idVal[0:2]
cmd = commandHeaderAndAddress+"0233"+idVal
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def savePictureToSDCard(self):
if (self.proto == "UART"):
self.huskylensSer.timeout=5
cmd = self.cmdToBytes(commandHeaderAndAddress+"003040")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def saveScreenshotToSDCard(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"003949")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def blocks(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002131")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def arrows(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002232")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def learned(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002333")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def learnedBlocks(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002434")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def learnedArrows(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002535")
self.writeToHuskyLens(cmd)
return self.processReturnData()
def getObjectByID(self, idVal):
idVal = "{:04x}".format(idVal)
idVal = idVal[2:]+idVal[0:2]
cmd = commandHeaderAndAddress+"0226"+idVal
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def getBlocksByID(self, idVal):
idVal = "{:04x}".format(idVal)
idVal = idVal[2:]+idVal[0:2]
cmd = commandHeaderAndAddress+"0227"+idVal
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def getArrowsByID(self, idVal):
idVal = "{:04x}".format(idVal)
idVal = idVal[2:]+idVal[0:2]
cmd = commandHeaderAndAddress+"0228"+idVal
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
def algorithm(self, alg):
if alg in algorthimsByteID:
cmd = commandHeaderAndAddress+"022d"+algorthimsByteID[alg]
cmd += self.calculateChecksum(cmd)
cmd = self.cmdToBytes(cmd)
self.writeToHuskyLens(cmd)
return self.processReturnData()
else:
print("INCORRECT ALGORITHIM NAME")
def count(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002030")
self.writeToHuskyLens(cmd)
return len(self.processReturnData())
def learnedObjCount(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002030")
self.writeToHuskyLens(cmd)
return self.processReturnData(numIdLearnFlag=True)[-1]
def frameNumber(self):
cmd = self.cmdToBytes(commandHeaderAndAddress+"002030")
self.writeToHuskyLens(cmd)
return self.processReturnData(frameFlag=True)[-1]