Dacta Control Lab Software

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Edited June 27 by Gunners TekZone

[BrickTronic]

2 hours ago, Bliss said:

...

But as far as I remember, the serial/Infrared link between the PC and the RCX was only to send a program to the CPU inside the RCX (and to update/upload the firmware). 
...

Hello,

When you check the Firmware-Command-Overview that is part of the SDK (can be downloaded on Philos' Page) then for each command there is stated if this Command is "Direct", or "Program" or both.
So most commands can be used inside a to RCX downloaded Program or to be executed imediate after IR-Reception. Therefore a "Reply" is usually specified, that in a Program-Execution is not needed.

Jo

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Edited June 27 by Gunners TekZone

[Toastie]

2 hours ago, Gunners TekZone said:

I believe the RCX can follow both internal and remote commands at same time. 

 

Sure it does! My entire train layout relies on that. For example, two trains have RCX' as controller on the engine or one of the carriages. I have a video on YT (https://www.youtube.com/watch?v=wTP6WtcnQbg). I can change PID parameter settings on the fly, when the trains are running, via messaging. There are a couple of tasks running on the RCX, one is for IR message handling (OK, I changed that to RF, but the protocol is exactly the same), one is for the PID speed control (there is a rotation sensor on the engine or carriage) and one is the main control program. This is done in NQC = LEGO byte codes. Without PID, they run on original LEGO firmware, with PID to work properly, the RobotC firmware is required. These are all currently available on the net.

Best,
Thorsten

 

 

[Bliss]

8 hours ago, Gunners TekZone said:

Hello.

I am attempting to convert a MQTT script I have for use on my BuildHat (a LEGO Powered Up adapter for the Raspberry Pi) to the Interface-B (using its inputs/outputs instead of the BuildHat ones)... Because why not :D

I have all the required modules already installed on my PC (and Python 3.10.4)... And tested good using Thonny.

However, I instantly ran into import issues...

Lego1: Opening Serial Port COM1...
Lego1: Serial Port COM1 Opened.
Lego1: Sending initialization messsage on COM1...
Lego1: Reading initialization answer from COM1...
Lego1: Running on COM1
No module named 'random'

I also require paho.mqtt ... but as random should already be part of the base Python, and still not loading, I suspect there is more going on. 

Seems that the Lego script B program does not embed this module.  (I'msearching if it is even possible to embed some python modules in the exe...)

But from what I found out, In the publish folder of Lego Script B, where the exe is also located, there is a lib sub folder with a bunch of .py modules...
So, you could do this:

import sys
sys.path.append(".\lib")
import random
print(random.random())

 

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone
spelling & grammar, when I catch it. And total rewrites when needed :)

[Bliss]

4 hours ago, Gunners TekZone said:

What version of Python is your script running?  Or is there another explanation of this future feature is not defined:annotations message?

Actually, I'm using IronPython and I'm not sure what version of official Python it is using.

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Edited June 27 by Gunners TekZone

[Bliss]

I made a big change in the LegoScriptB program and the previous Examples will not work anymore.

Please, use the examples provided in the README file.

New version LegoScriptB

Before:

Lego1.SetOn[3] = True  
if Lego1.InOn == True:

Now:

Lego1.Out[3].On = True
if Lego1.Inp[1].On:

This allow us to do the following:
MotorA = Lego1.Out[out.A]
Touch1 = Lego1.Inp[1]
Example:

import time
Lego1.ComPort="COM14"
Lego1.StartLego()
time.sleep(1)

MotorA = Lego1.Out[out.A]
Touch1 = Lego1.Inp[1]

MotorA.Pow = 7
MotorA.Dir = False

while not cancellationToken.IsCancellationRequested:
	MotorA.On = Touch1.On
	time.sleep(0.020)

 

I also added a method in the outputs calle OnFor(Delay) Delay = 0-255 tenth of second.  Lego1.Out[1].OnFor(20) will activate Output A of Lego1 for 2 seconds then deactivate it.
It will not block the program flow, if you want to block, use after time.sleep(2) to wait 2 sec.

 

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone

[Bliss]

12 minutes ago, Gunners TekZone said:

Um... unless I am getting too tired... this latest version no longer allows...

It still work for me.

Is random.py in "C:\\Users\Gunner\AppData\Local\Programs\Python\Python313\Lib\site-packages"?

Should C:\\ be C:\ ?

For me random.py is in ...AppData\Local\Programs\Python\Python313\Lib\.

 

Edited January 6, 2025 by Bliss

[Bliss]

I made a small correction in LegoScriptB because there was a small glitch in the OnFor method...

LegoScriptB Link 

For reference, here is LegoDemoB Link

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone

[Bliss]

6 minutes ago, Gunners TekZone said:

It was working with your prior version... I chose that path because all other modules I might use, like paho.mqtt, is also there for when working with other Python editors.

This should work no?

import sys
sys.path.append("C:\\Users\Gunner\AppData\Local\Programs\Python\Python313\Lib\site-packages")
sys.path.append("C:\\Users\Gunner\AppData\Local\Programs\Python\Python313\Lib")
import random
import paho.mqtt

OR MAYBE JUST:

import sys
sys.path.append("C:\\Users\Gunner\AppData\Local\Programs\Python\Python313\Lib")
import random
import paho.mqtt

 

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone

[Bliss]

5 hours ago, Gunners TekZone said:

... So I will go back to the semi-autonomous train port, from TC LOGO to python code... No fancy stuff there, that I can't understand without hours of Googling... Hah!

Here is an attempt to make a script for the first part of your train program (9V train part) .

In that script, You have to change the com port, CN_Auto_Speed (I set it to 7), and the LightSp = 550 (Light Setpoint).

The light setpoint is very different than you program which is Light < 70.  Also, this appears to be reverse than the Value I programmed for the inputs.
I suspect that ControlLab software/TC Logo is using a special calculation for the Light sensor.
Me, I just take the raw 10 bits value...

So might be a good Idea to use the LegoDemoB program to test the your Light8 and Light7 value when a train block the sensor and the value when it clrears the sensor.  Then adjust the LightSp variable accordingly.

So, in "while not C() and Light8.Val < LightSp :" ,  when Sensor is clear (sees the light), value is around 480 (For me), and the code is looping, and when Sensor is blocked, it gives a value over 620.  So the loop will end when Sensor has a value > LightSp (550)

import time
Lego1.ComPort="COM14"
Lego1.StartLego()
time.sleep(1)

C=lambda:cancellationToken.IsCancellationRequested

LampB = Lego1.Out[out.B]
SoundC = Lego1.Out[out.C]
MotorD = Lego1.Out[out.D]
LampF = Lego1.Out[out.F]
MotorH = Lego1.Out[out.H]

Touch4 = Lego1.Inp[4]
Light7 = Lego1.Inp[7]
Light8 = Lego1.Inp[8]

LampB.Dir=True
LampB.On=True
MotorD.Dir=True
MotorD.OnFor(20)
time.sleep(2)
SoundC.Dir=True
SoundC.OnFor(20)
time.sleep(2)

CN_Auto_Speed=7
LightSp = 550 # Light Setpoint

while not C():
	MotorH.Dir = True
	MotorH.Pow = CN_Auto_Speed
	MotorH.On = True
	while not C() and not Touch4.On:
		pass
	MotorH.On = False
	LampF.On = True
	time.sleep(1)
	SoundC.Dir=False
	SoundC.On=True
	MotorH.Dir = False
	MotorH.On = True
	# backup until trigger light sensor
	while not C() and Light8.Val < LightSp :
		pass
	MotorH.On = False
	LampF.On = False
	SoundC.On=False
	MotorD.Dir=False
	MotorD.OnFor(20)
	time.sleep(2)
	break

LampB.On=False

 

5 hours ago, Gunners TekZone said:

That is the correct path and did work on your prior version (as per your solution to the original "No module named 'random'" issue).

Maybe it is because you tried first the code 

import sys
sys.path.append(".\lib")

And it worked .

Then you change the path but the last one (.\lib) was still in memory (Once the parh is appended, i suspect it remains in the session even if you modify the script or clear the script textbox windows and run the script again with a new path append.

But shuting down the LegoSriptB program completly must reset the memory... and when you run it again, or a new version, it will not find the random.py if you only append the ...site-packages folder because random.py does not exist in this folder.

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone

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Edited June 27 by Gunners TekZone

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Edited June 27 by Gunners TekZone

[Bliss]

11 hours ago, Gunners TekZone said:

And... Off to sleep... It has been a long many hours learning me some Python... Partial results are better than nothing I guess.

Anyway, I think you're right, IronPython integration to C# is probably very minimum...

But since you aready have Python 3.X on your PC, you could do the other way around...

Use Lego directly into python...

You could use the Dacta Python program that you found here:  https://www.shamlian.net/projects/dacta/index.html
I did not personnaly had time to look at it.  But I'm guessing it might work very well.

OR

You could use my Lego DLL directly in Python but there are few step to achieve this.
I did some test and I will describe the steps I followed.
I'm still very newbie at Python.
I compiled the Lego Interface B program as a Class Library (DLL).  Only the part that manages the Interface B, No IronPython.  At first it did not work.  To make it work, I had to compile it using .Net Framework 4.7...

1. You have to intall Python Net from the CLI (Command Line Interface, I just opened a Dos Command Window)
You type in the command line:

pip install pythonnet

and press enter.  Make sure it has installed properly.

2. Download my LegoClassB: Link to my LegoClassB

3. In python IDLE Shell or Python CLI, enter the command:  

import clr

If pythonnet installed correctly there should be NO Error.

4.  Now enter the following:  (Please note the small "r" at the beginning of the path to tell to use raw string or you may get a problem because of the use of "\")
LegoClassB is the name of the DLL without the extension DLL... 

clr.AddReference(r"C:\...\LegoClassB\bin\Release\LegoClassB")

If things goes well, Python will respond with:  <System.Reflection.RuntimeAssembly object at 0x000001BEF230C9C0>

5. Enter the following:

from LegoClassB import LegoInterfaceB

if there are no Errors, then you are in business.

6.  Enter the following one at a time to declare the Lego1 Interface and configure the com port, start and try (Do the same for Lego2, Lego3, Lego4, Lego999 lol, but first lets make it work with Lego1)

Lego1 = LegoInterfaceB()
Lego1.ComPort="COM1"
Lego1.StartLego()
print(Lego1.IsRunning)
Lego1.Out[1].On=True

Let me know how it goes.

 

I think that you should have more luck with having MQTT to run with Lego box at the same time...
But still, there might be some surprises...

Edited January 6, 2025 by Bliss

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Edited June 27 by Gunners TekZone

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Edited June 27 by Gunners TekZone

[Bliss]

32 minutes ago, Gunners TekZone said:

But you are far ahead of myself :)  ... I will definitely see what I can do with your DLL (DLL, class, module??  See I don't even understand the proper terminology, Hah!)

The lego Interface B code (Communication, Reading continuously and Decoding of Inputs and writing commands) is all done in what they call a C# Class which you can explore de code by opening the LegoInterfaceB.cs with notepad or Notepad++.

LegoInterfaceB.cs is located in the complete zip package directly in the root folder (Ex. LegoClassB folder)

When we compile a class it becomes a DLL (Library) and even in the LegoSciptB and LegoDemoB, there is a LegoInterfaceB.DLL but I tried to import it in Python and didn't work...  I had to compile with a different .Net...

 

 

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Edited June 27 by Gunners TekZone
I deleted a bunch of rambling, as this isn't a "Help with Python" topic

[Guest]

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Edited June 27 by Gunners TekZone