Add parcel dimensioner source
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src/dimensioner.py
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257
src/dimensioner.py
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# Copyright 2025 PostalPortal LLC and Netsyms Technologies LLC
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#
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# Redistribution and use in source and binary forms, with or
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# without modification, are permitted provided that
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# the following conditions are met:
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# 1. Redistributions of source code must retain
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# the above copyright notice, this list of conditions
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# and the following disclaimer.
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# 2. Redistributions in binary form must reproduce
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# the above copyright notice, this list of conditions
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# and the following disclaimer in the documentation
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# and/or other materials provided with the distribution.
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# 3. Neither the name of the copyright holder
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# nor the names of its contributors may be used
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# to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
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# CONTRIBUTORS “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES,
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# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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# MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
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# GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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# BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
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# TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
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# WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
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# THE POSSIBILITY OF SUCH DAMAGE.
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#
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# Interface between an ultrasonic rangefinder and USB HID, for dimensioning packages.
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#
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# HID report bytes to PC:
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# 1. Status: 0x01 if fault detected, 0x02 if at zero,
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# 0x03 if distance unstable, 0x04 if OK, 0x05 if reading under zero,
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# 0x06 if outside max sensor range, 0x07 if below minimum range,
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# 0x08 if bad command from host, 0x09 if distance too large to fit in two bytes, 0x00 for other errors.
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# If status is 0x01, 0x06, 0x07, 0x08, 0x09, or 0x00, bytes 2-6 will be 0x00.
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# 2. Units: 0x01 for mm (default on boot), 0x02 for cm, 0x03 for in, 0x04 for feet
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# 3. Sign: 0x00 if measurement positive or zero, 0x01 if negative (under zero)
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# 4. First byte of distance to target
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# 5. Second byte of distance to target
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# 6. Fractional part of distance, .00 to .99 (0x00 to 0x63)
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#
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# Distance bytes allow transmitting distances from 0.00 to 65535.99 (0x0000 0x00 to 0xffff 0x63)
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# Sign byte also allows distances under zero, down to -65535
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# HID report from PC:
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# First byte:
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# 0x00: Request re-zeroing (use currently read distance as the distance to the empty measuring platform)
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# 0x01: Set units to mm
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# 0x02: Set units to cm
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# 0x03: Set units to in
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# 0x04: Set units to ft
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# 0xAC: Set ambient temperature for calibration to the following byte in degrees C (ignored on US-100 sensor)
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from sys import stdin, exit
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import math
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from machine import Pin, time_pulse_us
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from utime import sleep, sleep_us
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import usb.device
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from micropython import const
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from usb.device.hid import HIDInterface
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print("PostalPoint(r) Parcel Dimensioner")
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print("Firmware version 1.0")
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#
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# Hardware configuration
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#
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SENSOR_TYPE = "PING" # "PING" for Parallax PING))) or "US-100" for US-100
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SENSOR_MAX_MM = 3000 # Maximum range sensor supports and is accurate within
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SENSOR_MIN_MM = 40 # Minimum range below which sensor is not accurate
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SENSOR_PIN = 4 # Analog pin for PING sensor
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SENSOR_TX = 4 # Digital pin for US-100
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SENSOR_RX = 5 # Digital pin for US-100
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ZERO_RANGE_MM = 3 # +/- mm away from zero before a non-zero value is transmitted
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SAMPLE_SIZE = 10 # Number of times to sample distance per reading, averaging the results
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#
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# USB configuration
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#
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VID = 0x1209 # USB Vendor ID
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PID = 0xA002 # USB Product ID
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MANU = "PostalPortal LLC" # USB manufacturer string
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PROD = "PostalPoint Parcel Dimensioner" # USB product string
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INTERFACE = "PostalPoint" # Interface string
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class USBHIDInterface(HIDInterface):
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# Very basic synchronous USB keypad HID interface
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def __init__(self):
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super().__init__(
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bytes([
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0x06, 0x69, 0xff, # Usage Page (Vendor Defined)
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0x09, 0x01, # Usage (Vendor Usage 1)
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0x19, 0x01,
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0x29, 0x01,
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0xa1, 0x01, # Collection (Application)
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0x15, 0x00, # Logical Minimum (0)
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0x26, 0xff, 0x00, # Logical Maximum (255)
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0x85, 0x02, # Report ID 2
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0x09, 0x01, # Usage (Vendor Usage 1)
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0x95, 0x01, # Report Count (1 byte)
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0x75, 0x30, # Report Size (48 bits/6 bytes)
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0x81, 0x00, # Input (Data,Ary,Abs)
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0x85, 0x02, # Report ID 2
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0x09, 0x01, # Usage (Vendor Usage 1)
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0x95, 0x01, # Report Count (1 bytes)
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0x75, 0x10, # Report Size (16 bits/2 bytes)
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0x91, 0x01, # Output (Data,Ary,Abs)
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0xc0 # End Collection
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]),
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set_report_buf=bytearray(1),
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protocol=const(0x00),
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interface_str=INTERFACE,
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)
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def on_set_report(self, report_data, _report_id, _report_type):
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if report_data[0] == 0x00:
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# Command to set zero distance
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setZeroDistance()
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elif report_data[0] > 0x00 and report_data[0] < 0x05:
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# Set units to send measurements in
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reportUnits = getUnitsFromByte(report_data[0])
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elif report_data[0] == 0xAC:
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# Set ambient temperature in degrees C
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ambientTempC = report_data[1]
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else:
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# Can't understand command
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send_data(b'\x01\x08\x00\x00\x00\x00\x00')
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def send_data(self, data):
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while self.busy():
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machine.idle()
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self.send_report(data)
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usbinterface = USBHIDInterface()
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usb.device.get().active(False)
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usb.device.get().config(usbinterface, builtin_driver=True, manufacturer_str=MANU, product_str=PROD, id_vendor=VID, id_product=PID)
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usb.device.get().active(True)
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zeroDistance = 100
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reportUnits = "mm"
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ambientTempC = 20
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def setZeroDistance():
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zeroDistance = getAverageDistanceMM()
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def convertMMToUnits(mm, units="in"):
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if units == "mm":
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return mm
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elif units == "cm":
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return mm / 10.0
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elif units == "in":
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return mm / 25.4
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elif units == "ft":
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return convertMMToUnits(mm, "in") / 12.0
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else:
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return 0
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def getDistanceMM():
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if SENSOR_TYPE == "PING":
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pin = Pin(SENSOR_PIN, Pin.OUT)
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pin.value(0)
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sleep_us(5)
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pin.value(1)
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sleep_us(5)
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pin.value(0)
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pin = Pin(SENSOR_PIN, Pin.IN)
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pulseDuration = time_pulse_us(pin, 1, timeout_us=500000) # Timeout after half a second
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if pulseDuration < 0:
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# -1 or -2 means we timed out waiting for the pulse
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return pulseDuration
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pulseDuration = pulseDuration / 2 # Convert round-trip time to one-way time
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speedOfSoundMetersPerSecond = (331.5 + (0.6 * ambientTempC))
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speedOfSoundMMPerUS = speedOfSoundMetersPerSecond / 1000.0
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return pulseDuration * speedOfSoundMMPerUS
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elif SENSOR_TYPE == "US-100":
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pass # TODO
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return 0
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def getAverageDistanceMM(samples = SAMPLE_SIZE):
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i = 0
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total = 0.0
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while i < samples:
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total = total + getDistanceMM()
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sleep_us(250) # PING datasheet says wait a minimum of 200us between measurements
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return total / samples
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def getUnitsAsByte(units):
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if units == "mm":
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return 0x01
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elif units == "cm":
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return 0x02
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elif units == "in":
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return 0x03
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elif units == "ft":
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return 0x04
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else:
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return 0x00
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def getUnitsFromByte(byte):
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if byte == 0x01:
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return "mm"
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elif byte == 0x02:
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return "cm"
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elif byte == 0x03:
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return "in"
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elif byte == 0x04:
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return "ft"
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else:
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return "mm"
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while True:
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sleep(.25)
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dist = getAverageDistanceMM()
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if dist < 0:
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# distance measurement timed out, ultrasonic ping never came back?
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usbinterface.send_data(b'\x01\x01\x00\x00\x00\x00\x00')
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continue
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size = zeroDistance - dist
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sizeInUnits = convertMMToUnits(size, reportUnits)
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reportData = bytearray([])
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if size < SENSOR_MIN_MM:
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# Under minimum accurate range
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usbinterface.send_data(b'\x01\x07\x00\x00\x00\x00\x00')
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continue
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if size > SENSOR_MAX_MM:
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# Above maximum accurate range
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usbinterface.send_data(b'\x01\x06\x00\x00\x00\x00\x00')
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continue
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if abs(sizeInUnits) > 65535:
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# Value too large to fit in available bytes
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usbinterface.send_data(b'\x01\x09\x00\x00\x00\x00\x00')
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continue
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negativeByte = 0x00
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statusByte = 0x04
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if size < 0:
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negativeByte = 0x01
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statusByte = 0x05
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if size < ZERO_RANGE_MM and size > ZERO_RANGE_MM * -1:
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# Within zero range, send zero
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usbinterface.send_data(b'\x01\x02' + bytes([getUnitsAsByte(reportUnits), negativeByte]) + b'\x00\x00\x00')
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continue
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distanceBytes = math.floor(sizeInUnits).to_bytes(2, 'big') + round(sizeInUnits % 1 * 100).to_bytes(1, 'big')
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usbinterface.send_data(b'\x01' + bytes([statusByte, getUnitsAsByte(reportUnits), negativeByte]) + distanceBytes)
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@ -87,8 +87,8 @@ print("Boot complete")
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# VID and PID of the USB device.
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VID = 0xF055 # USB Vendor ID
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PID = 0x9999 # USB Product ID
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VID = 0x1209 # USB Vendor ID
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PID = 0xA001 # USB Product ID
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MANU = "PostalPortal LLC" # USB manufacturer string
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PROD = "PostalPoint Kiosk Controller" # USB product string
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INTERFACE = "PostalPoint" # Interface string
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