from unihiker import GUI import serial import serial.tools.list_ports import time from pinpong.board import Board, Pin from pinpong.libs.dfrobot_huskylens import Huskylens from pinpong.libs.dfrobot_huskylens import Parameter Board().begin() btn_success_pin = Pin(Pin.P3, Pin.IN) btn_fail_pin = Pin(Pin.P4, Pin.IN) try: p_huskylens = Huskylens() print("HuskyLens Init Success") except: print("HuskyLens Init Failed!") u_gui = GUI() u_gui.draw_text(text="Exp 2: Fast Scan", x=30, y=5, font_size=18, color="#0000FF") status_text = u_gui.draw_text(text="Wait Start", x=20, y=35, font_size=12, color="gray") object_text = u_gui.draw_text(text="--", x=130, y=35, font_size=12, color="black") warning_text = u_gui.draw_text(text="", x=20, y=115, font_size=15, color="red") info_text = u_gui.draw_text(text="READY", x=60, y=70, font_size=35, color="#FF0000") u_gui.draw_text(text="Success(P3)", x=10, y=140, font_size=12, color="green") success_text = u_gui.draw_text(text="0", x=35, y=160, font_size=25, color="green") u_gui.draw_text(text="Fail(P4)", x=140, y=140, font_size=12, color="red") fail_text = u_gui.draw_text(text="0", x=160, y=160, font_size=25, color="red") u_gui.draw_text(text="Total:", x=20, y=190, font_size=15, color="black") cycle_text = u_gui.draw_text(text="0", x=80, y=185, font_size=20, color="blue") ser = None ports = list(serial.tools.list_ports.comports()) port_name = None for p in ports: if "ACM" in p.device or "USB" in p.device: port_name = p.device break if port_name: ser = serial.Serial(port_name, 9600, timeout=0.05) status_text.config(text=f"Conn: {port_name}", color="green") else: status_text.config(text="No Arduino", color="red") cycle_count = 0; success_count = 0; fail_count = 0 last_p3_state = 0; last_p4_state = 0 sys_state = 0 liquid_triggered_this_round = False waiting_for_user_resume = False scan_counters = {1:0, 2:0, 3:0} id4_confirm_counter = 0 def reset_ui_for_scan(): global liquid_triggered_this_round, id4_confirm_counter, scan_counters info_text.config(text="SCANNING...", color="black", font_size=30) object_text.config(text="Looking...", color="gray") status_text.config(text="Mode: Auto Scan", color="blue") warning_text.config(text="") liquid_triggered_this_round = False id4_confirm_counter = 0 scan_counters = {1:0, 2:0, 3:0} def start_robot_action(target_id): global sys_state, id4_confirm_counter name_map = {1:"Paper", 2:"Glass", 3:"Plastic"} obj_name = name_map.get(target_id, "Unknown") object_text.config(text=f"ID:{target_id} {obj_name}", color="blue") info_text.config(text="SENDING...", color="orange", font_size=30) if ser and ser.is_open: ser.reset_input_buffer() ser.write(f"I{target_id}\n".encode()) time.sleep(0.5) ser.write(b'1\n') time.sleep(2.0) info_text.config(text="RUNNING", color="orange", font_size=35) id4_confirm_counter = 0 sys_state = 2 def click_start(): global sys_state if sys_state == 0: sys_state = 1 reset_ui_for_scan() def click_stop(): global sys_state sys_state = 0 if ser: ser.write(b'0\n') info_text.config(text="STOPPED", color="red", font_size=30) status_text.config(text="Idle", color="gray") def click_clear(): global cycle_count, success_count, fail_count cycle_count = 0; success_count = 0; fail_count = 0 cycle_text.config(text="0"); success_text.config(text="0"); fail_text.config(text="0") u_gui.add_button(text="START", x=20, y=230, w=90, h=45, onclick=click_start) u_gui.add_button(text="STOP", x=130, y=230, w=90, h=45, onclick=click_stop) u_gui.add_button(text="Clear", x=75, y=285, w=90, h=30, onclick=click_clear) last_scan_time = time.time() CONFIRM_THRESHOLD = 3 while True: p_huskylens.command_request() current_detected_id = p_huskylens.read_block_center_parameter_direct(Parameter.id, "blocks") if sys_state == 1: if time.time() - last_scan_time > 0.1: if current_detected_id == 1: scan_counters[1] += 1; scan_counters[2] = 0; scan_counters[3] = 0 elif current_detected_id == 2: scan_counters[2] += 1; scan_counters[1] = 0; scan_counters[3] = 0 elif current_detected_id == 3: scan_counters[3] += 1; scan_counters[1] = 0; scan_counters[2] = 0 else: scan_counters = {1:0, 2:0, 3:0} if scan_counters[1] >= CONFIRM_THRESHOLD: start_robot_action(1) elif scan_counters[2] >= CONFIRM_THRESHOLD: start_robot_action(2) elif scan_counters[3] >= CONFIRM_THRESHOLD: start_robot_action(3) last_scan_time = time.time() elif sys_state == 2: if not liquid_triggered_this_round: if current_detected_id == 4: id4_confirm_counter += 1 else: id4_confirm_counter = 0 if id4_confirm_counter >= 3: print("!!! LIQUID CONFIRMED !!!") ser.write(b'L\n') warning_text.config(text="LIQUID DETECTED!", color="red") liquid_triggered_this_round = True id4_confirm_counter = 0 if ser and ser.is_open and ser.in_waiting > 0: try: line = ser.readline().decode().strip() if "STEP:" in line: step = line.split(":")[1] info_text.config(text=f"Step {step}/11", color="#FF0000", font_size=35) elif "WAITING_USER" in line: info_text.config(text="Pause: Press P3", color="purple", font_size=25) waiting_for_user_resume = True elif "CYCLE_DONE" in line: sys_state = 3 waiting_for_user_resume = False cycle_count += 1 cycle_text.config(text=str(cycle_count)) info_text.config(text="Judge P3/P4", color="green", font_size=30) except: pass current_p3 = btn_success_pin.value() current_p4 = btn_fail_pin.value() if current_p3 == 1 and last_p3_state == 0: if sys_state == 2 and waiting_for_user_resume: ser.write(b'1') waiting_for_user_resume = False info_text.config(text="Resuming...", color="orange") elif sys_state == 3: success_count += 1 success_text.config(text=str(success_count)) sys_state = 1 reset_ui_for_scan() time.sleep(1.0) if current_p4 == 1 and last_p4_state == 0: if sys_state == 2 and waiting_for_user_resume: ser.write(b'1') waiting_for_user_resume = False elif sys_state == 3: fail_count += 1 fail_text.config(text=str(fail_count)) sys_state = 1 reset_ui_for_scan() time.sleep(1.0) last_p3_state = current_p3 last_p4_state = current_p4 time.sleep(0.02)