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Handle laser timeouts #3

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merged 1 commit into from
Jan 7, 2024
+18 −8
Merged

Handle laser timeouts #3

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26 changes: 18 additions & 8 deletions firmware/measure.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
# noinspection PyProtectedMember
from mag_cal import MagneticAnomalyError, DipAnomalyError, GravityAnomalyError, NotCalibrated

LASER_TIMEOUT = 4.5

try:
# noinspection PyUnresolvedReferences
from typing import Dict
Expand All @@ -21,6 +23,7 @@

ERROR_MESSAGES: Dict[type, str] = {
LaserError: "Laser\nRead\nFailed",
asyncio.TimeoutError: "Laser\nRead\nTimeout",
MagneticAnomalyError: "Magnetic\nAnomaly:\nIron nearby?",
DipAnomalyError: "Magnetic\nAnomaly:\nIron nearby?",
NotCalibrated: "Calibration\nneeded\nHold B 3s",
Expand All @@ -44,7 +47,11 @@ async def measure(devices: hardware.Hardware, cfg: config.Config, disp: display.
logger.debug("turning on laser light")
await devices.laser.set_buzzer(False)
while True:
await devices.laser.set_laser(True)
try:
await devices.laser.set_laser(True)
except LaserError:
# possibly received a timeout last time around
pass
btn, click = await devices.both_buttons.wait(a=[Button.SINGLE, Button.LONG],
b=Button.SINGLE)
check_mem("button pressed")
Expand All @@ -66,7 +73,8 @@ async def get_raw_measurement(devices: hardware.Hardware, disp: display.Display,
try:
disp.oled.sleep()
if with_laser:
distance = await asyncio.wait_for(devices.laser.measure(), 3.0) / 1000
devices.laser.async_reader.s.read() # clear the buffer
distance = await asyncio.wait_for(devices.laser.measure(), LASER_TIMEOUT) / 1000
else:
distance = None
logger.debug(f"Raw Distance: {distance}m")
Expand Down Expand Up @@ -99,12 +107,14 @@ async def take_reading(devices: hardware.Hardware,
for key in ERROR_MESSAGES.keys():
if isinstance(exc, key):
disp.show_big_info(ERROR_MESSAGES[key])
logger.info(exc)
for i in range(5):
await devices.laser.set_laser(False)
await asyncio.sleep(0.1)
await devices.laser.set_laser(True)
await asyncio.sleep(0.1)
logger.info(f"Measurement error: {repr(exc)}")
if not isinstance(exc, asyncio.TimeoutError):
# don't wibble the laser if it's timed out, it'll just get more confused
for i in range(5):
await devices.laser.set_laser(False)
await asyncio.sleep(0.1)
await devices.laser.set_laser(True)
await asyncio.sleep(0.1)
devices.beep_sad()
return False
else:
Expand Down
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