updates

firmware/pi_vision/smoke_test_link.py

@@ -0,0 +1,42 @@
+"""Briefly drive both eyes through the existing shared UART gaze link."""
+
+from __future__ import annotations
+
+import argparse
+import time
+
+from gaze_link import GazeLink, open_pi_uart
+
+
+def send_state(link: GazeLink, x: int, y: int, valid: bool, duration: float) -> None:
+    deadline = time.monotonic() + duration
+    while time.monotonic() < deadline:
+        link.send(x, y, valid)
+        time.sleep(0.1)  # The eye receiver returns to idle after 750 ms without a frame.
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--device", default="/dev/serial0", help="Pi GPIO UART device")
+    args = parser.parse_args()
+
+    link = open_pi_uart(args.device)
+    try:
+        for label, x, valid in (
+            ("left/red", 200, True),
+            ("center/red", 500, True),
+            ("right/red", 800, True),
+            ("idle/blue", 500, False),
+        ):
+            print(label, flush=True)
+            send_state(link, x, 500, valid, 2.0)
+    finally:
+        # Leave the eyes blue even if the test is interrupted.
+        for _ in range(3):
+            link.send(500, 500, False)
+            time.sleep(0.1)
+        link.stream.close()
+
+
+if __name__ == "__main__":
+    main()