Problem with Huskylens using lms eps 32

[ammarbendjama]

I have a problem with the procedure described on https://github.com/antonvh/PyHuskyLens/tree/master/Projects/ESP32%20Pupremote%20Huskylens.
An error message is displayed : File "pupremote.py", line 349, in call ValueError: Value out of range for int8. How can I solve this problem? Thank you.

[antonvh]

Can you try with the newest versions of pupremote and lpf2 here: https://github.com/antonvh/PUPRemote

[ammarbendjama]

Thank you for your response, I tried with this version with the following program, it does not give me the wrong results of the Huskylens camera detection: (0, 0, 0, 0, 0)?

[ammarbendjama]

the program :

# Copy this file in a new Pybricks program.
# Also copy pupremote.py in a new Pybricks program with exactly that name.

from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pupremote import PUPRemoteHub
from pybricks.tools import wait, StopWatch

p=PUPRemoteHub(Port.A)
p.add_command('hl',from_hub_fmt="b", to_hub_fmt="hhhhB")
p.add_command('msg',"repr","repr")
p.add_command('num',from_hub_fmt="3b",to_hub_fmt="3b")
p.add_command('sdata',from_hub_fmt="16B", to_hub_fmt="16B")
p.add_command('ldata',from_hub_fmt="32B", to_hub_fmt="32B")

INIT = -1
COLOR_DETECT = 4

print(p.call('num',1,2,-45))
print(p.call('num',5,-6,42))
print(p.call('msg',"hello"))

print(p.call('hl',COLOR_DETECT))
print(p.call('hl'))
while 1:
    print(p.call('hl'))

[ammarbendjama]

I use main.py in esp32:

# Copy this file to the LMS-ESP32 with Thonny and name it main.py
# Copy pupremote.py and lpf2.py to the LMS-ESP32 with Thonny
# Connect the LMS-ESP32 to the SPIKE Prime hub though port A
# Run this program on the LMS-ESP32 by rebooting it (ctrl-D in Thonny)


### Setup pupremote code
from pupremote import  PUPRemoteSensor, SPIKE_ULTRASONIC
from time import ticks_ms, sleep_ms
from pyhuskylens import HuskyLens
from machine import SoftI2C, Pin

# Connect huskylens to LMS-ESP32 like this: 
# 5V (red line)
# GND (black line)
# IO2 (blue line)
# IO26 (green line)

# Initialize i2c. Timeout is 2000 microseconds, because PUPremote balks if a
# function hangs much longer.
i2c = SoftI2C(scl=Pin(2), sda=Pin(26), timeout=2000)

hlens = HuskyLens(i2c)

def hl(*argv):
    global hlens
    if argv:
        if not hlens.set_alg(argv[0]):
            # There was a problem setting the mode. Return id -1
            return (0,0,0,0,-1)
            
    else:
        blocks = hlens.get_blocks()
        if blocks:
            return (blocks[0].x,
            blocks[0].y,
            blocks[0].width,
            blocks[0].height,
            blocks[0].ID)
        else:
            # No blocks found, return all zeroes.
            return (0,0,0,0,0)

def msg(*argv):
    if argv!=():
        print(argv)
    sleep_ms(500)
    return str(value)

value=0
def num(*argv):
    global value
    if argv!=():
        print(argv)
    else:
        print("num called without args")
    value += 1
    return -2*value,-2*value,-2*value

sm_data=None
def sdata(*argv):
    global sm_data
    if argv!=():
        print(argv)
        sm_data = argv
    else:
        print("smalldata() called without args")
    return sm_data

# 32 bytes crashes the connection somehow.
lg_data=tuple(range(32))
def ldata(*argv):
    global lg_data
    if argv!=():
        print(argv)
        lg_data = argv
    else:
        print("largedata() called without args")
    
    return lg_data


p=PUPRemoteSensor(sensor_id=SPIKE_ULTRASONIC, power=False)
p.add_command('hl',from_hub_fmt="b", to_hub_fmt="hhhhB")
p.add_command('msg',"repr","repr")
p.add_command('num',from_hub_fmt="3b", to_hub_fmt="3b")
p.add_command('sdata',from_hub_fmt="16b", to_hub_fmt="16b")
p.add_command('ldata',from_hub_fmt="32B", to_hub_fmt="32B")
### End of pupremote setup code

### Main loop
while(True):
    connected=p.process()

[antonvh]

It looks like communications from esp32 to hub work fine. (You can delete all other add.command statements)
You can now create a simple program with thonny and test communication between esp32 and huskylens.

[ammarbendjama]

I did not find the demo_esp32.py file for huskylens

[antonvh]

I don't know what you mean, but I suggest creating a new program from scratch and see if you can connect and write some text to the huskylens.

[ammarbendjama]

I was able to run the program on lms esp32 but when I connect it to the lego spike with the following program:

Copy this file in a new Pybricks program.

Also copy pupremote.py in a new Pybricks program with exactly that name.

from pybricks.parameters import Button, Color, Direction, Port, Side, Stop
from pupremote import PUPRemoteHub
from pybricks.tools import wait, StopWatch

p=PUPRemoteHub(Port.B)
p.add_command('hl',from_hub_fmt="b", to_hub_fmt="hhhhB")
p.add_command('msg',"repr","repr")
p.add_command('num',from_hub_fmt="3b",to_hub_fmt="3b")
p.add_command('sdata',from_hub_fmt="16B", to_hub_fmt="16B")
p.add_command('ldata',from_hub_fmt="32B", to_hub_fmt="32B")

INIT = -1
COLOR_DETECT = 4

print(p.call('num',1,2,-45))
print(p.call('num',5,-6,42))

print(p.call('msg',"hello"))

print(p.call('hl',COLOR_DETECT))
print(p.call('hl'))
while 1:
print(p.call('hl'))

it does not recognize the color of the object?.

[antonvh]

Maybe you didn't learn the color?

[antonvh]

Is this still an open question? Is it a bug in the huskylens library?

[ammarbendjama]

La question est toujours d’actualité !

[antonvh]

Have you tried simplifying the program to isolate the bug? First running the color change only on LMS-ESP32, then the whole chain?