removed RGB,Binary,GS values publisher

- pixel_values publisher takes care of those 3 scripts
The scripts are now moved to the 'trash' folder

msg/BinaryState.msg

@@ -2,4 +2,8 @@
 # (0) turns off the LED
 #
 
-uint8 binary    # single channel
+# uint8 binary    # single channel
+
+uint8 red     # red channel
+uint8 green   # green channel
+uint8 blue    # blue channel

scripts/No_Descartes_Robot_Motion.py

@@ -0,0 +1,165 @@
+#!/usr/bin/env python3
+
+import rospy
+from robot_control import * 
+import copy
+from geometry_msgs.msg import Pose
+
+
+import time
+
+# For Image Manipulation
+import cv2
+import numpy as np
+
+# Custom Scripts
+import image_inputs as input_image
+from pixel_value_publisher import pixel_value_publisher
+
+#Custom Message
+from light_painting.msg import RGBState
+"""
+Script does not use Descartes. Solely ROS MoveIt planner
+- Uses image Processing Class
+- Need to clean up robot motion as well
+"""
+
+
+#------------------------ Global Variables -----------------
+MOTION_BOX_scale = 0.01 # m 
+# import image
+img = input_image.RGB
+
+# Box length (m)
+IMAGE_HEIGHT = np.size(img,0) 
+print('height of image',IMAGE_HEIGHT)
+IMAGE_WIDTH = np.size(img,1)
+print('Width of image',IMAGE_WIDTH)
+
+row = range(IMAGE_HEIGHT) # [0,1,2]
+col = range(IMAGE_WIDTH) # [0,1,2]
+
+# real world box size
+MOTION_BOX_WIDTH =  IMAGE_WIDTH*MOTION_BOX_scale # m
+MOTION_BOX_HEIGHT = IMAGE_HEIGHT*MOTION_BOX_scale # m
+
+
+
+# Starting positions for robot
+z_start = 1 # m
+y_start = -MOTION_BOX_WIDTH/2 # m
+#----------------------------------
+
+def nextRow(wpose):
+    # Purpose: moves robot to next row
+    wpose.position.z -= MOTION_BOX_scale
+    wpose.position.y = y_start # same y-axis starting value
+    waypoints= []
+    waypoints.append(copy.deepcopy(wpose))
+    return waypoints
+
+def nextColumn(wpose):
+    # Purpose: increments to next column
+    wpose.position.y += MOTION_BOX_scale
+    waypoints= []
+    waypoints.append(copy.deepcopy(wpose))
+    return waypoints
+
+def main():
+
+    move_robot = True # set equal to False to not move robot
+
+    # Setup
+    pixel_value = pixel_value_publisher()
+
+    # init node & Publishers
+    pub_rgb_values = rospy.Publisher('/paintbrush',RGBState, queue_size=5)       
+    rospy.init_node('van gogh')
+    rospy.loginfo(">>van gogh node successfully created")
+    rospy.Rate(1)
+
+    # Initialize Robot Model
+    rc= moveManipulator('mh5l')
+    rc.set_vel(0.1)
+    rc.set_accel(0.1)
+
+    # If Move_robot = True, then robot will always start at all-zeros
+    if move_robot:
+        rc.goto_all_zeros() 
+
+    # Based on global variables, robot goes to arbitrary start position
+    # Top Left is origin (similar to image origin in computer graphics)
+    waypoints = []
+    start_pose = rc.move_group.get_current_pose().pose
+    start_pose.position.z = z_start 
+    start_pose.position.y = y_start
+
+    if move_robot:
+        rc.goto_Pose(start_pose)
+
+    # Creating nested for loop to iteratre through all pixels
+    for i in row:
+
+        if i  != 0: # As long as i is not 0, then move to the next row.
+            # i = 0, is the first row --> no need to move to next row
+            # i = 1,2 are the next two rows
+            print('reset to next row')
+            print("Pixel on row {}" .format(i))
+            wpose = rc.move_group.get_current_pose().pose
+            pixel_value.RGB_img(pub_rgb_values)
+            #sendRGB2LED(pub_rgb_values) 
+            waypoints = nextRow(wpose)
+
+        if move_robot:
+            plan, fraction = rc.plan_cartesian_path(waypoints)
+            rc.execute_plan(plan)
+
+
+        for j in col:
+            print("Pixel on row {} and col {}" .format(i,j))
+            r,g,b = img[i,j].astype('uint8')
+            # v = img[i,j].astype('uint8')
+
+
+            if j != 0: 
+                # if not initial column, keep moving horizontally
+                print('Keep moving horizontally')
+                print("Pixel on row {} and col {}" .format(i,j))
+                wpose = rc.move_group.get_current_pose().pose
+                waypoints = nextColumn(wpose)
+
+            # input(f"Cartesian Plan {i}: press <enter>") # uncomment this line if you want robot to run automatically
+            if move_robot:
+                plan, fraction = rc.plan_cartesian_path(waypoints)
+                rc.execute_plan(plan)
+                # sendRGB2LED(pub_rgb_values,r,g,b) # sends publisher handle & r,g,b values to RGB Led Via ROS
+
+            delay =0.5
+            print('Delay (sec):',delay)
+
+            pixel_value.RGB_img(pub_rgb_values,r,g,b)
+            time.sleep(delay) # Delay keeps light on/off for certain amount of time for consistent lumosity
+
+            pixel_value.RGB_img(pub_rgb_values)
+            # by default r,g,b=0 in sendRGB2LED() function, sending just pub handle, turns off RGB
+            time.sleep(0.05) 
+    if move_robot:
+        pixel_value.RGB_img(pub_rgb_values)
+        rc.goto_all_zeros()
+
+
+    try:
+        rospy.spin()
+    except KeyboardInterrupt:
+        print("Shutting down")
+    cv2.destroyAllWindows()
+
+
+if __name__ == '__main__':
+    try:
+        main()
+
+    except rospy.ROSInterruptException:
+        print("program interrupted before completion", file=sys.stderr)
+
+

scripts/RGB_no_descartes_robot_motion.py

@@ -19,9 +19,6 @@
 #Custom Message
 from light_painting.msg import RGBState
 
-# -----------------------------
-# Script uses ROS Publisher to communicate with Arduino.
-# Script uses ROS built in MoveIt Cartesian Motion planner. NOT DESCARTES
 
 #------------------------ Global Variables -----------------
 MOTION_BOX_scale = 0.01 # m 
@@ -111,7 +108,6 @@ def main():
 
         for j in col:
             print("Pixel on row {} and col {}" .format(i,j))
-
             r,g,b = img[i,j].astype('uint8')
             # v = img[i,j].astype('uint8')
 
@@ -131,11 +127,16 @@ def main():
 
             delay =0.5
             print('Delay (sec):',delay)
+
             sendRGB2LED(pub_rgb_values,r,g,b) # sends publisher handle & r,g,b values to RGB Led Via ROS
             time.sleep(delay) # Delay keeps light on/off for certain amount of time for consistent lumosity
+
             sendRGB2LED(pub_rgb_values) 
             # by default r,g,b=0 in sendRGB2LED() function, sending just pub handle, turns off RGB
             time.sleep(0.05) 
+    if move_robot:
+        sendRGB2LED(pub_rgb_values)
+        rc.goto_all_zeros()
     try:
         rospy.spin()
     except KeyboardInterrupt:

scripts/binary_no_descartes_robot_motion.py

@@ -5,26 +5,21 @@
 import copy
 from geometry_msgs.msg import Pose
 
-# # For Arduino Control
-# import time
-# import serial
-# arduino = serial.Serial(port='/dev/ttyACM0',baudrate=9600,timeout=0.1)
+import time
 
 # For Image Manipulation
 import cv2
 import numpy as np
 
 # Custom Scripts
-# import py_to_ino_LIGHT_ON_OFF_test as arduino_led
 import image_inputs as input_image
 from Binary_values_publisher import sendBinary2LED
+from RGB_values_publisher import sendRGB2LED
 
 # ROS Data Types
-from light_painting.msg import BinaryState
+from light_painting.msg import RGBState
+
 
-#--------- Description of Script
-# Script uses Serial Connection to Arduino to 
-# send pixel values of Binary Image
 
 #------------------------ Global Variables -----------------
 
@@ -76,7 +71,7 @@ def main():
     move_robot = True 
 
     # Init Node
-    pub_binary_values = rospy.Publisher('/paintbrush_binary', BinaryState, queue_size=1)
+    pub_binary_values = rospy.Publisher('/paintbrush_binary', RGBState, queue_size=5)
     rospy.init_node('Seurat')
     rospy.loginfo(">>seurat paint node successfully created")   
     rospy.Rate(1)
@@ -105,6 +100,7 @@ def main():
             print('reset to next row')
             print("Pixel on row {}" .format(i))
             wpose = rc.move_group.get_current_pose().pose
+            sendRGB2LED(pub_binary_values)
             waypoints = nextRow(wpose)
 
         if move_robot:
@@ -126,11 +122,14 @@ def main():
             if move_robot:
                 plan, fraction = rc.plan_cartesian_path(waypoints)
                 rc.execute_plan(plan)
-                sendBinary2LED(pub_binary_values,v) # sends publisher handle & binar values to Led Via ROS
-                # time.sleep(0.5) # delay alters lumosity of light
-                sendBinary2LED(pub_binary_values) # by default: v = 0 in sendBinary2LED function (LED is off)
-                # time.sleep(0.5)
-#
+                sendRGB2LED(pub_binary_values,v,v,v) # sends publisher handle & binar values to Led Via ROS
+                time.sleep(0.5) # delay alters lumosity of light
+                sendRGB2LED(pub_binary_values) # by default: v = 0 in sendBinary2LED function (LED is off)
+                time.sleep(0.5)
+    if move_robot:
+        sendRGB2LED(pub_binary_values)
+        rc.goto_all_zeros()
+
 
     try:
         rospy.spin()
@@ -142,41 +141,4 @@ def main():
     try:
         main()
     except rospy.ROSInterruptException:
-        print("program interrupted before completion", file=sys.stderr)
-
-
-
-
-    #     # Turn LED ON/OFF depending upon pixel value
-    #     if img.item(i) == 0: 
-    #         arduino_led.led_OFF()
-    #         time.sleep(0.5)
-    #         # Delay keeps light on/off for certain amount of time for consistent lumosity
-    #     else:
-    #         arduino_led.led_ON() 
-    #         arduino_led.led_OFF() # Turns off after every movement - remove this for continuous LED ON
-    #         time.sleep(0.5)
-
-    #     if i == 0:
-    #         waypoints = []
-    #         print('i=',i)
-    #         print('wpose.position.y=',wpose.position.y)
-    #     elif i % IMAGE_WIDTH == 0: # if i is a multiple of the image width, that means it should move to the next row
-    #         print('Reached end of row, starting next row at index: ',i)
-    #         wpose.position.z -= MOTION_BOX_HEIGHT/IMAGE_HEIGHT
-    #         wpose.position.y = y_start # same y-axis starting value
-    #         waypoints.append(copy.deepcopy(wpose))
-    #         print('i=',i)
-    #         print('wpose.position.y=',wpose.position.y)
-
-    #     else: # else keep incrementally moving horizontally across y-axis
-    #             wpose.position.y += MOTION_BOX_WIDTH/IMAGE_WIDTH # Previously, MOTION_BOX_LENGTH/WIDTH = 3/9=1/3 m big jump
-    #             waypoints.append(copy.deepcopy(wpose))
-    #             print('i=',i)
-    #             print('wpose.position.y=',wpose.position.y)
-
-    #     if move_robot:
-    #         plan, fraction = rc.plan_cartesian_path(waypoints)
-    #         rc.execute_plan(plan)
-
-    # rc.goto_all_zeros()
+        print("program interrupted before completion", file=sys.stderr)

scripts/grayscale_no_descartes_robot_motion.py

@@ -73,8 +73,7 @@ def main():
 
     move_robot = True # set equal to False to not move robot
 
-    # init node & Publishers
-    # pub_GS_values = rospy.Publisher('/paintbrush_grayscale',GrayScale, queue_size=1)       
+    # init node & Publishers      
     pub_GS_values = rospy.Publisher('/paintbrush_color',RGBState, queue_size=1)       
 
     rospy.init_node('grayscale')

scripts/image_inputs.py

@@ -12,7 +12,7 @@
 GRAYSCALE = join(RESOURCES,'grayscale') 
 R_G_B = join(RESOURCES,'RGB') 
 
-#Binary Images:
+########### Binary Images:###################
 white_rim4x3 = 'white_rim_4x3.tif'
 white_rim3x3 = 'white_rim_3x3.tif'
 blockO = 'block-O_10x10.tif'
@@ -22,7 +22,7 @@
 # binary = cv2.imread(join(BINARY,blockO),0)
 # binary = cv2.imread(join(BINARY,aims),0)
 
-#RGB images:
+################### RGB images: #####################
 green_cross = 'green_cross.tif' # 3x3 image
 blockO_rgb = 'block_o_RGB.tif' # 10x10 image
 
@@ -32,7 +32,7 @@
 # BGR = cv2.imread(join(R_G_B,blockO_rgb))
 # RGB = cv2.cvtColor(BGR,cv2.COLOR_BGR2RGB)
 
-# GrayScale
+################# GrayScale Images ##################
 # sweep_10x20 = 'sweep.tif'
 # sweep_3x3 = 'sweep_3x3.tif'
 # sweep_3x5 = 'sweep_3x5.tif'