diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 7ae0a2a..cf2ad3b 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -11,13 +11,13 @@ jobs: steps: - uses: actions/checkout@v4 + - name: Install system deps + run: sudo apt-get update && sudo apt-get install -y libudev-dev pkg-config liblgpio-dev + - uses: prefix-dev/setup-pixi@v0.9.4 with: cache: ${{ !env.ACT }} - - name: Install system deps for AHControl (Rust) - run: sudo apt-get update && sudo apt-get install -y libudev-dev pkg-config - - name: Run pre-commit run: pixi run pre-commit run --all-files diff --git a/.gitignore b/.gitignore index 86ec081..451c125 100644 --- a/.gitignore +++ b/.gitignore @@ -13,3 +13,8 @@ target/ Demo/out/ out/ *.code-workspace + +# Log, CSV, and HTML plot files +*.log +*.csv +*.html \ No newline at end of file diff --git a/Demo/Sensors/README.md b/Demo/Sensors/README.md new file mode 100644 index 0000000..1ec6f41 --- /dev/null +++ b/Demo/Sensors/README.md @@ -0,0 +1,147 @@ +# AmazingHand — Sensors + +## Files + +| File | Description | +|---|---| +| `config.toml` | Shared config — GPIO pins, SPI settings, sensor channels, logging and visualisation defaults | +| `ads1256.py` | ADS1256 driver — 24-bit, 8-channel | +| `tactile_sensing.py` | `TactileSensor` wrapper — reads config.toml and drives the ADS1256 | +| `tactile_sensing_post_visualize.py` | Offline Bokeh visualisation of logged CSV data | +| `haptic_coin.py` | `HapticCoin` PWM class for the QYF-740 coin motor | + +--- + +## FSR Tactile Sensing (ADS1256) + +### Hardware + +- **ADC HAT**: [Waveshare High-Precision AD HAT](https://www.waveshare.com/wiki/High-Precision_AD_HAT) + - ADS1256: 24-bit, 8 single-ended channels, SPI +- **Sensors**: FSR (Force Sensitive Resistors) wired in a voltage-divider circuit with a **5.1 kΩ resistor** in series with each FSR to each ADC input channel. + +### FSR Wiring Diagram + +![FSR Wiring Diagram](images/fsr_wiring_diagram.png) + +### SPI Wiring (BCM pin numbers, set in `config.toml`) + +| Signal | BCM | Pi header pin | +|---|---|---| +| MOSI (DIN) | GPIO 10 | Pin 19 | +| MISO (DOUT) | GPIO 9 | Pin 21 | +| SCLK | GPIO 11 | Pin 23 | +| CS | GPIO 22 | Pin 15 | +| RST | GPIO 18 | Pin 12 | +| DRDY | GPIO 17 | Pin 11 | + +Enable SPI on the Pi: +```bash +sudo raspi-config # Interface Options → SPI → Enable +``` + +### Install dependencies + +```bash +pixi install +``` + +To add a single package interactively: + +```bash +pixi add --pypi lgpio +``` + +### Run + +**GUI (default):** +```bash +pixi run python -m Demo.Sensors.tactile_sensing +``` + +**Terminal only (no GUI window):** +```bash +pixi run python -m Demo.Sensors.tactile_sensing --terminal +``` + +See all flags: +```bash +pixi run python -m Demo.Sensors.tactile_sensing --help +``` + +### Offline Visualization + +Run without arguments to automatically load the **latest** `tactile_*.csv` from the log directory configured in `config.toml` (`[logging] log_dir`): + +```bash +pixi run python Demo/Sensors/tactile_sensing_post_visualize.py +``` + +To visualize a **specific file**, pass it with `--file`: + +```bash +pixi run python Demo/Sensors/tactile_sensing_post_visualize.py --file Demo/Sensors/logs/tactile_20260101_120000.csv +``` + +See all flags: + +```bash +pixi run python Demo/Sensors/tactile_sensing_post_visualize.py --help +``` + +CSV schema (long format — one row per channel per sample): + +``` +sensor_time, channel, raw, volts, force_norm +``` + +### Tuning `fsr_r_fixed` + +The `fsr_r_fixed` parameter must match the resistor you place in series with each FSR to form the voltage divider. The build uses **5 100 Ω (5.1 kΩ)**. Larger values increase sensitivity at low force; smaller values increase the measurable force range. + +--- + +## Haptic Coin (QYF-740) + +### Pin conflict warning + +The ADS1256 tactile sensing stack claims the following BCM GPIO pins. **Do not assign the HapticCoin to any of these:** + +| BCM | Use | +|---|---| +| GPIO 8 | SPI0 CE0 (kernel) | +| GPIO 9 | SPI0 MISO | +| GPIO 10 | SPI0 MOSI | +| GPIO 11 | SPI0 SCLK | +| GPIO 17 | ADS1256 DRDY | +| GPIO 18 | ADS1256 RST | +| GPIO 22 | ADS1256 CS | +| GPIO 23 | ADS1256 CS_DAC | + +Safe choices for the PWM output include GPIO 12, 13 (hardware PWM), 24, 25, 26, 27, or 35. + +### Wiring — [RPi 5 pinout](https://vilros.com/pages/raspberry-pi-5-pinout) + +![Raspberry Pi 5 GPIO Pinout](images/rpi5_pinout.jpg) + +| Motor wire | Pi pin | +|---|---| +| GND | Pin 6 | +| VCC | Pin 2 (5 V) | +| PWM | Pin 35 (GPIO 19) | + +### Usage + +```python +from Demo.Sensors.haptic_coin import HapticCoin + +motor = HapticCoin(gpio_pin=19) +motor.vibrate_once(intensity=0.8, duration_s=0.5) +motor.cleanup() +``` + +Run the example test script as a module so relative imports resolve: + +```bash +pixi run python -m Demo.Sensors.haptic_test +``` diff --git a/Demo/Sensors/__init__.py b/Demo/Sensors/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/Demo/Sensors/ads1256.py b/Demo/Sensors/ads1256.py new file mode 100644 index 0000000..4153d38 --- /dev/null +++ b/Demo/Sensors/ads1256.py @@ -0,0 +1,263 @@ +""" +ADS1256 driver — 24-bit, 8-channel ADC (lgpio + spidev, no RPi.GPIO). + +Hardware pin and SPI settings are read from config.toml in the same directory. +""" + +import time +from pathlib import Path + +import lgpio +import spidev + +# --------------------------------------------------------------------------- +# Load hardware settings from config.toml +# --------------------------------------------------------------------------- +import tomllib + +_CONFIG_PATH = Path(__file__).parent / "config.toml" +with _CONFIG_PATH.open("rb") as _f: + _hw = tomllib.load(_f)["hardware"] + +_RST_PIN : int = _hw["rst_pin"] +_CS_PIN : int = _hw["cs_pin"] +_CS_DAC_PIN : int = _hw["cs_dac_pin"] +_DRDY_PIN : int = _hw["drdy_pin"] +_SPI_MAX_SPEED_HZ : int = _hw["spi_max_speed_hz"] +_SPI_MODE : int = _hw["spi_mode"] + +# --------------------------------------------------------------------------- +# Hardware handles +# --------------------------------------------------------------------------- +_SPI = spidev.SpiDev(0, 0) +_h: int | None = None + + +# --------------------------------------------------------------------------- +# Low-level GPIO / SPI helpers +# --------------------------------------------------------------------------- + +def _gpio_write(pin: int, value: int) -> None: + lgpio.gpio_write(_h, pin, value) + + +def _gpio_read(pin: int) -> int: + return lgpio.gpio_read(_h, pin) + + +def _delay_ms(ms: float) -> None: + time.sleep(ms / 1000.0) + + +def _spi_write(data: list[int]) -> None: + _SPI.writebytes(data) + + +def _spi_read(n: int) -> list[int]: + return _SPI.readbytes(n) + + +# --------------------------------------------------------------------------- +# Hardware lifecycle +# --------------------------------------------------------------------------- + +def _hw_init() -> None: + global _h + _h = lgpio.gpiochip_open(4) + lgpio.gpio_claim_output(_h, _RST_PIN) + lgpio.gpio_claim_output(_h, _CS_DAC_PIN) + lgpio.gpio_claim_output(_h, _CS_PIN) + lgpio.gpio_claim_input(_h, _DRDY_PIN) + _SPI.max_speed_hz = _SPI_MAX_SPEED_HZ + _SPI.mode = _SPI_MODE + + +def _hw_exit() -> None: + global _h + _SPI.close() + if _h is not None: + lgpio.gpiochip_close(_h) + _h = None + + +# --------------------------------------------------------------------------- +# ADS1256 register / command constants +# --------------------------------------------------------------------------- + +GAIN = { + "ADS1256_GAIN_1": 0, + "ADS1256_GAIN_2": 1, + "ADS1256_GAIN_4": 2, + "ADS1256_GAIN_8": 3, + "ADS1256_GAIN_16": 4, + "ADS1256_GAIN_32": 5, + "ADS1256_GAIN_64": 6, +} + +DRATE = { + "ADS1256_30000SPS": 0xF0, + "ADS1256_15000SPS": 0xE0, + "ADS1256_7500SPS": 0xD0, + "ADS1256_3750SPS": 0xC0, + "ADS1256_2000SPS": 0xB0, + "ADS1256_1000SPS": 0xA1, + "ADS1256_500SPS": 0x92, + "ADS1256_100SPS": 0x82, + "ADS1256_60SPS": 0x72, + "ADS1256_50SPS": 0x63, + "ADS1256_30SPS": 0x53, + "ADS1256_25SPS": 0x43, + "ADS1256_15SPS": 0x33, + "ADS1256_10SPS": 0x20, + "ADS1256_5SPS": 0x13, + "ADS1256_2d5SPS": 0x03, +} + +REG = { + "REG_STATUS": 0, + "REG_MUX": 1, + "REG_ADCON": 2, + "REG_DRATE": 3, + "REG_IO": 4, + "REG_OFC0": 5, + "REG_OFC1": 6, + "REG_OFC2": 7, + "REG_FSC0": 8, + "REG_FSC1": 9, + "REG_FSC2": 10, +} + +CMD = { + "CMD_WAKEUP": 0x00, + "CMD_RDATA": 0x01, + "CMD_RDATAC": 0x03, + "CMD_SDATAC": 0x0F, + "CMD_RREG": 0x10, + "CMD_WREG": 0x50, + "CMD_SELFCAL": 0xF0, + "CMD_SELFOCAL": 0xF1, + "CMD_SELFGCAL": 0xF2, + "CMD_SYSOCAL": 0xF3, + "CMD_SYSGCAL": 0xF4, + "CMD_SYNC": 0xFC, + "CMD_STANDBY": 0xFD, + "CMD_RESET": 0xFE, +} + +_STATUS_DRDY = 0x04 +ADC_MAX = 0x7FFFFF # 24-bit signed positive full-scale + +# ADS1256 internal Vref = 2.5 V; with PGA=1 full-scale input = ±2×Vref = ±5 V +REF_VOLTAGE = 2.5 + + +# --------------------------------------------------------------------------- +# Driver class +# --------------------------------------------------------------------------- + +class ADS1256: + """Low-level ADS1256 driver.""" + + def __init__(self): + self.rst_pin = _RST_PIN + self.cs_pin = _CS_PIN + self.drdy_pin = _DRDY_PIN + + # --- SPI / GPIO primitives --- + + def _write_cmd(self, cmd: int): + _gpio_write(self.cs_pin, 0) + _spi_write([cmd]) + _gpio_write(self.cs_pin, 1) + + def _write_reg(self, reg: int, data: int): + _gpio_write(self.cs_pin, 0) + _spi_write([CMD["CMD_WREG"] | reg, 0x00, data]) + _gpio_write(self.cs_pin, 1) + + def _read_reg(self, reg: int) -> int: + _gpio_write(self.cs_pin, 0) + _spi_write([CMD["CMD_RREG"] | reg, 0x00]) + data = _spi_read(1) + _gpio_write(self.cs_pin, 1) + return data[0] + + def _wait_drdy(self, timeout: int = 400_000): + for _ in range(timeout): + if _gpio_read(self.drdy_pin) == 0: + return + raise TimeoutError("ADS1256 DRDY timeout — check wiring / power") + + # --- Init helpers --- + + def _reset(self): + _gpio_write(self.rst_pin, 1) + _delay_ms(200) + _gpio_write(self.rst_pin, 0) + _delay_ms(200) + _gpio_write(self.rst_pin, 1) + + def _read_chip_id(self) -> int: + self._wait_drdy() + return self._read_reg(REG["REG_STATUS"]) >> 4 + + def _config_adc(self, gain: int, drate: int): + self._wait_drdy() + buf = [ + (0 << 3) | _STATUS_DRDY | (0 << 1), # STATUS + 0x08, # MUX default + (0 << 5) | (0 << 3) | gain, # ADCON + drate, # DRATE + ] + _gpio_write(self.cs_pin, 0) + _spi_write([CMD["CMD_WREG"] | 0, 0x03]) + _spi_write(buf) + _gpio_write(self.cs_pin, 1) + _delay_ms(1) + + def _set_channel(self, channel: int): + if channel > 7: + raise ValueError(f"ADS1256 single-ended channel must be 0–7, got {channel}") + self._write_reg(REG["REG_MUX"], (channel << 4) | 0x08) + + def _set_diff_channel(self, channel: int): + pairs = [(0, 1), (2, 3), (4, 5), (6, 7)] + if channel >= len(pairs): + raise ValueError(f"ADS1256 differential channel must be 0–3, got {channel}") + pos, neg = pairs[channel] + self._write_reg(REG["REG_MUX"], (pos << 4) | neg) + + def _read_adc_data(self) -> int: + self._wait_drdy() + _gpio_write(self.cs_pin, 0) + _spi_write([CMD["CMD_RDATA"]]) + buf = _spi_read(3) + _gpio_write(self.cs_pin, 1) + raw = ((buf[0] << 16) & 0xFF0000) | ((buf[1] << 8) & 0xFF00) | (buf[2] & 0xFF) + if raw & 0x800000: # two's-complement sign extension + raw -= 0x1000000 + return raw + + # --- Public API --- + + def init(self, gain_key: str = "ADS1256_GAIN_1", + drate_key: str = "ADS1256_30000SPS") -> None: + _hw_init() + self._reset() + chip_id = self._read_chip_id() + if chip_id != 3: + raise RuntimeError(f"ADS1256 chip ID mismatch: got {chip_id}, expected 3") + self._config_adc(GAIN[gain_key], DRATE[drate_key]) + + def get_channel_value(self, channel: int, diff: bool = False) -> int: + """Return signed 24-bit raw count for the given channel.""" + if diff: + self._set_diff_channel(channel) + else: + self._set_channel(channel) + self._write_cmd(CMD["CMD_SYNC"]) + self._write_cmd(CMD["CMD_WAKEUP"]) + return self._read_adc_data() + + def exit(self) -> None: + _hw_exit() diff --git a/Demo/Sensors/config.toml b/Demo/Sensors/config.toml new file mode 100644 index 0000000..fab9677 --- /dev/null +++ b/Demo/Sensors/config.toml @@ -0,0 +1,30 @@ +# AmazingHand — Tactile Sensor Configuration + +[hardware] +# GPIO pin definitions (BCM numbering) — Waveshare HAT +rst_pin = 18 +cs_pin = 22 +cs_dac_pin = 23 +drdy_pin = 17 + +# SPI settings +# Max SPI clock = fCLKIN/4. Default CLKIN=7.68 MHz → ~1.92 MHz. +# 1 MHz is safe across cable lengths. +spi_max_speed_hz = 1_000_000 +spi_mode = 1 # CPOL=0, CPHA=1 (0b01) + +[sensor] +channels = [3, 4, 5, 6, 7] +channel_names = ["thumb", "index", "middle", "ring", "pinky"] +polling_hz = 100.0 +fsr_vcc = 5.0 +fsr_r_fixed = 5100 #ohms +gain_key = "ADS1256_GAIN_1" +drate_key = "ADS1256_30000SPS" + +[logging] +log_dir = "LOGS" + +[visualization] +plot_window_secs = 10.0 +voltage_ymax = 5.5 diff --git a/Demo/Sensors/haptic_coin.py b/Demo/Sensors/haptic_coin.py new file mode 100644 index 0000000..eb78923 --- /dev/null +++ b/Demo/Sensors/haptic_coin.py @@ -0,0 +1,75 @@ +from time import sleep + +from gpiozero import PWMLED +from loguru import logger + + +class HapticCoin: + """ + Controls a haptic coin motor (QYF-740) via PWM on a Raspberry Pi GPIO pin. + """ + + def __init__(self, gpio_pin: int = 19): + if gpio_pin is None: + logger.warning("GPIO pin not specified — HapticCoin will not function") + self.motor = None + return + self.gpio_pin = gpio_pin + self.motor = PWMLED(self.gpio_pin) + logger.info("HapticCoin initialised on GPIO pin {}", gpio_pin) + + def vibrate_once(self, intensity: float = 1.0, duration_s: float = 1.0): + """Vibrate at *intensity* (0.0–1.0) for *duration_s* seconds, then pause equally.""" + if self.motor is None: + return + logger.debug("vibrate_once intensity={} duration={}s", intensity, duration_s) + self.motor.value = intensity + sleep(duration_s) + self.motor.value = 0.0 + sleep(duration_s) + + def modulate_vibration(self, step: int = 5, delay_s: float = 0.05, pause_s: float = 1.0): + """ + Ramp intensity up and down continuously until KeyboardInterrupt. + + :param step: Duty-cycle increment in percent (1–100). + :param delay_s: Delay between steps (s). + :param pause_s: Pause between ramp cycles (s). + """ + if self.motor is None: + return + try: + while True: + logger.debug("Ramping up") + for duty in range(0, 101, step): + self.motor.value = duty / 100.0 + sleep(delay_s) + logger.debug("Ramping down") + for duty in range(100, -1, -step): + self.motor.value = duty / 100.0 + sleep(delay_s) + sleep(pause_s) + except KeyboardInterrupt: + logger.info("modulate_vibration stopped by user") + finally: + self.cleanup() + + def vibration_magnitude(self, intensity: float = 1.0, timing_interval_s: float = 1.0): + """Vibrate continuously at *intensity* until KeyboardInterrupt.""" + if self.motor is None: + return + try: + while True: + self.vibrate_once(intensity, timing_interval_s) + except KeyboardInterrupt: + logger.info("vibration_magnitude stopped by user") + finally: + self.cleanup() + + def cleanup(self): + """Turn off the motor and release GPIO resources.""" + if self.motor is None: + return + self.motor.off() + self.motor.close() + logger.info("HapticCoin GPIO released") diff --git a/Demo/Sensors/haptic_test.py b/Demo/Sensors/haptic_test.py new file mode 100644 index 0000000..57fac1d --- /dev/null +++ b/Demo/Sensors/haptic_test.py @@ -0,0 +1,76 @@ +""" +haptic_test.py — Interactive test script for HapticCoin (QYF-740 motor). + +Run with: + python haptic_test.py [--pin 19] + +Uses Ctrl-C to exit any continuous mode. +""" + +import argparse +import sys +from loguru import logger +from .haptic_coin import HapticCoin + + +def parse_args(): + parser = argparse.ArgumentParser(description="HapticCoin test script") + parser.add_argument("--pin", type=int, default=19, help="GPIO pin (default: 19)") + return parser.parse_args() + + +def print_menu(): + print("\n--- HapticCoin Test Menu ---") + print("1. Single vibration pulse") + print("2. Vibration at custom intensity") + print("3. Continuous vibration (Ctrl-C to stop)") + print("4. Ramp modulation (Ctrl-C to stop)") + print("q. Quit") + print("----------------------------") + + +def main(): + args = parse_args() + haptic = HapticCoin(gpio_pin=args.pin) + + while True: + print_menu() + choice = input("Select option: ").strip().lower() + + if choice == "1": + haptic.vibrate_once(intensity=1.0, duration_s=0.5) + logger.info("Single pulse done") + + elif choice == "2": + try: + intensity = float(input("Intensity (0.0–1.0): ")) + duration = float(input("Duration (seconds): ")) + haptic.vibrate_once(intensity=intensity, duration_s=duration) + except ValueError: + print("Invalid input — enter numeric values.") + + elif choice == "3": + try: + intensity = float(input("Intensity (0.0–1.0): ")) + interval = float(input("On/off interval (seconds): ")) + except ValueError: + print("Invalid input — enter numeric values.") + continue + logger.info("Starting continuous vibration — press Ctrl-C to stop") + haptic.vibration_magnitude(intensity=intensity, timing_interval_s=interval) + + elif choice == "4": + logger.info("Starting ramp modulation — press Ctrl-C to stop") + haptic.modulate_vibration(step=5, delay_s=0.05, pause_s=1.0) + + elif choice == "q": + haptic.cleanup() + logger.info("Exiting") + sys.exit(0) + + else: + print("Unknown option — try again.") + + +if __name__ == "__main__": + main() diff --git a/Demo/Sensors/images/fsr_wiring_diagram.png b/Demo/Sensors/images/fsr_wiring_diagram.png new file mode 100644 index 0000000..48c3b62 Binary files /dev/null and b/Demo/Sensors/images/fsr_wiring_diagram.png differ diff --git a/Demo/Sensors/images/rpi5_pinout.jpg b/Demo/Sensors/images/rpi5_pinout.jpg new file mode 100644 index 0000000..4c2b284 Binary files /dev/null and b/Demo/Sensors/images/rpi5_pinout.jpg differ diff --git a/Demo/Sensors/tactile_sensing.py b/Demo/Sensors/tactile_sensing.py new file mode 100644 index 0000000..23e85a8 --- /dev/null +++ b/Demo/Sensors/tactile_sensing.py @@ -0,0 +1,634 @@ +""" +tactile_sensing.py — Unified FSR tactile sensing interface + real-time logger. + +Includes: + - TactileSensor hardware driver (ADS1256 via ads1256.py) + - DataLogger auto-timestamped CSV output + - Real-time display: PyQtGraph GUI (default) or terminal-only (--terminal) + +Hardware config lives in config.toml; low-level driver lives in ads1256.py. +""" + +import argparse +import csv +import sys +import threading +import time +from collections import deque +from collections.abc import Callable +from dataclasses import dataclass +from datetime import datetime +from pathlib import Path + +from loguru import logger + +import Demo.Sensors.ads1256 as _ads1256_mod +from Demo.Sensors.ads1256 import ADS1256 + +# --------------------------------------------------------------------------- +# Load shared settings from config.toml +# --------------------------------------------------------------------------- +import tomllib + +_CONFIG_PATH = Path(__file__).parent / "config.toml" +with _CONFIG_PATH.open("rb") as _f: + _TOML = tomllib.load(_f) + +_SENSOR_CFG = _TOML["sensor"] +_LOG_CFG = _TOML["logging"] +_VIZ_CFG = _TOML["visualization"] + +# Paths resolved relative to this file's directory (Demo/Sensors/) +_SENSORS_DIR = Path(__file__).parent +_LOG_DIR = _SENSORS_DIR / _LOG_CFG["log_dir"] + + +# --------------------------------------------------------------------------- +# loguru — file + stderr (set up once at import time) +# --------------------------------------------------------------------------- +_LOG_DIR.mkdir(parents=True, exist_ok=True) +_log_file = _LOG_DIR / f"tactile_{datetime.now():%Y%m%d_%H%M%S}.log" +logger.remove() +logger.add( + sys.stderr, level="INFO", colorize=True, + format="{time:HH:mm:ss} | {level: <8} | {message}", +) +logger.add(_log_file, level="DEBUG", rotation="10 MB", + format="{time:YYYY-MM-DD HH:mm:ss.SSS} | {level: <8} | {message}") +logger.info("Log file: {}", _log_file) + + +# --------------------------------------------------------------------------- +# TactileReading +# --------------------------------------------------------------------------- + +@dataclass +class TactileReading: + sensor_time: float # seconds since sensor.start() + raw: dict[str, int] # signed raw ADC counts {name: int} + volts: dict[str, float] # voltage (V) {name: float} + force_norm: dict[str, float] # 0–1 normalised force {name: float} + + def as_rows(self) -> list[dict]: + """One dict per channel — long format for CSV / Bokeh.""" + return [ + { + "sensor_time": round(self.sensor_time, 6), + "channel": name, + "raw": self.raw[name], + "volts": round(self.volts[name], 6), + "force_norm": round(self.force_norm[name], 4), + } + for name in self.raw + ] + + +# --------------------------------------------------------------------------- +# TactileSensor +# --------------------------------------------------------------------------- + +class TactileSensor: + """ + Thread-safe tactile sensor interface for ADS1256. + + Parameters + ---------- + channels : list[int] + ADC input channels (0–7). + channel_names : list[str] | None + Human-readable labels aligned with *channels*. + gain_key : str | None + Key into the driver's GAIN dict. None → config.toml default. + drate_key : str | None + Key into the driver's DRATE dict. None → config.toml default. + ref_voltage : float | None + Override ADC reference voltage (V). None → chip default. + fsr_vcc : float + Supply voltage across the FSR divider (V). + fsr_r_fixed : float + Fixed resistor (Ω) in the FSR voltage-divider. 0 = no force calc. + polling_hz : float + Background polling rate. 0 = manual reads only. + on_reading : callable | None + Callback fn(reading: TactileReading) invoked from the polling thread. + """ + + _DEFAULTS = dict( + channels=_SENSOR_CFG["channels"], + gain_key=_SENSOR_CFG["gain_key"], + drate_key=_SENSOR_CFG["drate_key"], + ref_voltage=_ads1256_mod.REF_VOLTAGE, + adc_max=_ads1256_mod.ADC_MAX, + ) + + def __init__( + self, + channels: list[int] = None, + channel_names: list[str] = None, + gain_key: str = None, + drate_key: str = None, + ref_voltage: float = None, + fsr_vcc: float = _SENSOR_CFG["fsr_vcc"], + fsr_r_fixed: float = _SENSOR_CFG["fsr_r_fixed"], + polling_hz: float = _SENSOR_CFG["polling_hz"], + on_reading: Callable[[TactileReading], None] | None = None, + ): + defaults = self._DEFAULTS + self._channels = list(channels) if channels is not None else list(defaults["channels"]) + self._names = list(channel_names) if channel_names else [f"ch{c}" for c in self._channels] + if len(self._names) != len(self._channels): + raise ValueError("channel_names length must match channels length") + + self._gain_key = gain_key or defaults["gain_key"] + self._drate_key = drate_key or defaults["drate_key"] + self._ref_v = ref_voltage if ref_voltage is not None else defaults["ref_voltage"] + self._adc_max = defaults["adc_max"] + self._vcc = fsr_vcc + self._r_fixed = fsr_r_fixed + self._polling_hz = polling_hz + self._on_reading = on_reading + + self._adc: ADS1256 | None = None + self._lock = threading.Lock() + self._latest: TactileReading | None = None + self._t0: float = 0.0 + self._thread: threading.Thread | None = None + self._running = False + + logger.info( + "TactileSensor | channels={} names={} hz={}", + self._channels, self._names, polling_hz, + ) + + # ------------------------------------------------------------------ + # Public API + # ------------------------------------------------------------------ + + def start(self) -> None: + """Initialise hardware and start the background polling thread.""" + adc = ADS1256() + adc.init(self._gain_key, self._drate_key) + self._adc = adc + self._t0 = time.perf_counter() + + if self._polling_hz > 0: + self._running = True + self._thread = threading.Thread( + target=self._poll_loop, daemon=True, name="TactileSensor-poll" + ) + self._thread.start() + logger.info("ADS1256 ready, polling at {}Hz", self._polling_hz) + + def stop(self) -> None: + """Stop background thread and release hardware resources.""" + self._running = False + if self._thread and self._thread.is_alive(): + self._thread.join(timeout=2.0) + if self._adc is not None: + self._adc.exit() + logger.info("TactileSensor stopped") + + def read(self) -> TactileReading: + """ + Return a reading. If the poller is running, returns the latest cached + sample (zero latency). Otherwise acquires the ADC synchronously. + """ + if self._running and self._latest is not None: + with self._lock: + return self._latest + return self._acquire() + + @property + def latest(self) -> TactileReading | None: + with self._lock: + return self._latest + + @property + def channel_names(self) -> list[str]: + return list(self._names) + + def __enter__(self) -> "TactileSensor": + self.start() + return self + + def __exit__(self, *_) -> None: + self.stop() + + # ------------------------------------------------------------------ + # Internal + # ------------------------------------------------------------------ + + def _acquire(self) -> TactileReading: + if self._adc is None: + raise RuntimeError("Call start() before reading") + raw: dict[str, int] = {} + volts: dict[str, float] = {} + force: dict[str, float] = {} + for ch, name in zip(self._channels, self._names): + counts = self._adc.get_channel_value(ch) + v = counts / self._adc_max * self._ref_v + raw[name] = counts + volts[name] = round(v, 6) + force[name] = self._to_force_norm(v) + return TactileReading( + sensor_time=time.perf_counter() - self._t0, + raw=raw, + volts=volts, + force_norm=force, + ) + + def _to_force_norm(self, v: float) -> float: + """FSR resistor-divider: Vout = Vcc * R_fixed / (R_fsr + R_fixed).""" + if self._r_fixed <= 0 or v <= 0: + return 0.0 + try: + r_fsr = self._r_fixed * (self._vcc / v - 1.0) + if r_fsr <= 0: + return 1.0 + return float(min(1.0, (1.0 / r_fsr) / (1.0 / self._r_fixed))) + except ZeroDivisionError: + return 1.0 + + def _poll_loop(self) -> None: + interval = 1.0 / self._polling_hz + while self._running: + t0 = time.perf_counter() + try: + reading = self._acquire() + with self._lock: + self._latest = reading + if self._on_reading is not None: + self._on_reading(reading) + except Exception as exc: + logger.error("Poll error: {}", exc) + remaining = interval - (time.perf_counter() - t0) + if remaining > 0: + time.sleep(remaining) + + +# --------------------------------------------------------------------------- +# DataLogger +# --------------------------------------------------------------------------- + +class DataLogger: + """Writes one row per channel per sample (long format) for post-viz compatibility.""" + + FIELDNAMES = ["sensor_time", "channel", "raw", "volts", "force_norm"] + + def __init__(self, output_dir: Path): + output_dir.mkdir(parents=True, exist_ok=True) + fname = output_dir / f"tactile_{datetime.now():%Y%m%d_%H%M%S}.csv" + self._file = fname.open("w", newline="", buffering=1) # line-buffered + self._writer = csv.DictWriter(self._file, fieldnames=self.FIELDNAMES) + self._writer.writeheader() + self._row_count = 0 + logger.info("CSV logger opened: {}", fname) + + def write(self, reading: TactileReading) -> None: + if self._file.closed: + return + for row in reading.as_rows(): + self._writer.writerow(row) + self._row_count += len(reading.raw) + + def close(self) -> None: + self._file.flush() + self._file.close() + logger.info("CSV logger closed — {} rows written", self._row_count) + + +# --------------------------------------------------------------------------- +# Terminal display +# --------------------------------------------------------------------------- + +class TerminalDisplay: + """ + Prints live readings to stdout in-place using carriage returns. + No GUI required — runs in the calling thread via a blocking loop. + """ + + def __init__(self, sensor: TactileSensor, csv_logger: DataLogger | None): + self._sensor = sensor + self._csv = csv_logger + self._sample_count = 0 + self._fps_t0 = time.perf_counter() + + def run(self) -> None: + """Block until KeyboardInterrupt, printing one line per reading.""" + names = self._sensor.channel_names + header = " ".join(f"{n:>8}" for n in names) + print(f"\n{'t (s)':>7} {header}") + print("-" * (9 + 11 * len(names))) + + try: + while True: + reading = self._sensor.read() + if reading is None: + time.sleep(0.01) + continue + + cols = " ".join( + f"{reading.volts[n]:5.3f}V/{reading.force_norm[n]:.2f}" + for n in names + ) + print(f"\r{reading.sensor_time:7.2f} {cols}", end="", flush=True) + + if self._csv is not None: + self._csv.write(reading) + + self._sample_count += 1 + elapsed = time.perf_counter() - self._fps_t0 + if elapsed >= 1.0: + rate = self._sample_count / elapsed + print(f" [{rate:.0f} Sa/s]", end="", flush=True) + self._sample_count = 0 + self._fps_t0 = time.perf_counter() + + time.sleep(0.02) # ~50 Hz terminal refresh + + except KeyboardInterrupt: + print() # newline after the last \r line + logger.info("Terminal display stopped by user") + + +# --------------------------------------------------------------------------- +# PyQtGraph GUI +# --------------------------------------------------------------------------- + +def _run_gui(sensor: TactileSensor, csv_logger: DataLogger | None, + polling_hz: float) -> None: + """Import PySide6 / pyqtgraph lazily so terminal mode works without them.""" + try: + from PySide6.QtCore import Qt, QTimer, Signal, QObject + from PySide6.QtGui import QColor, QFont + from PySide6.QtWidgets import ( + QApplication, QGridLayout, QHBoxLayout, + QLabel, QMainWindow, QPushButton, QVBoxLayout, QWidget, + ) + import pyqtgraph as pg + except ImportError as exc: + logger.error("GUI dependencies not available ({}). Use --terminal.", exc) + sys.exit(1) + + PLOT_WINDOW_SECS: float = _VIZ_CFG["plot_window_secs"] + VOLTAGE_YMAX: float = _VIZ_CFG["voltage_ymax"] + COLORS = [ + "#4FC3F7", "#81C784", "#FFB74D", "#F48FB1", + "#CE93D8", "#80DEEA", "#FFCC02", "#FF7043", + "#A5D6A7", "#90CAF9", + ] + + # --- Signal bridge (sensor callback → GUI thread) --- + class _SensorBridge(QObject): + new_reading = Signal(object) + + # --- Per-channel plot widget --- + class ChannelPlot(QWidget): + def __init__(self, name: str, color: str, max_points: int, parent=None): + super().__init__(parent) + self._times: deque[float] = deque(maxlen=max_points) + self._voltages: deque[float] = deque(maxlen=max_points) + + layout = QVBoxLayout(self) + layout.setContentsMargins(0, 0, 0, 0) + layout.setSpacing(2) + + header = QHBoxLayout() + title = QLabel(name) + title.setFont(QFont("Monospace", 9, QFont.Bold)) + title.setStyleSheet(f"color: {color};") + self._volt_label = QLabel("-.-- V") + self._volt_label.setFont(QFont("Monospace", 9)) + self._force_label = QLabel("force: -.-") + self._force_label.setFont(QFont("Monospace", 9)) + header.addWidget(title) + header.addStretch() + header.addWidget(self._volt_label) + header.addWidget(self._force_label) + layout.addLayout(header) + + self._plot_widget = pg.PlotWidget(background="#1e1e1e") + self._plot_widget.setYRange(0, VOLTAGE_YMAX) + self._plot_widget.setMaximumHeight(120) + self._plot_widget.hideAxis("bottom") + self._plot_widget.getAxis("left").setStyle(tickFont=QFont("Monospace", 7)) + self._plot_widget.showGrid(x=False, y=True, alpha=0.2) + self._curve = self._plot_widget.plot(pen=pg.mkPen(color=color, width=1.5)) + layout.addWidget(self._plot_widget) + + self._plot_window = PLOT_WINDOW_SECS + + def update_data(self, t_rel: float, voltage: float, force: float) -> None: + self._times.append(t_rel) + self._voltages.append(voltage) + self._curve.setData(list(self._times), list(self._voltages)) + self._plot_widget.setXRange(t_rel - self._plot_window, t_rel, padding=0) + self._volt_label.setText(f"{voltage:5.3f} V") + self._force_label.setText(f"force: {force:.2f}") + + # --- Main window --- + class TactileGUI(QMainWindow): + def __init__(self): + super().__init__() + names = sensor.channel_names + max_pts = int(PLOT_WINDOW_SECS * polling_hz * 1.2) + self._t0 = time.perf_counter() + + self.setWindowTitle("AmazingHand — Tactile Sensor Monitor") + self.setStyleSheet("background-color: #121212; color: #e0e0e0;") + + central = QWidget() + self.setCentralWidget(central) + root = QVBoxLayout(central) + root.setSpacing(6) + root.setContentsMargins(8, 8, 8, 8) + + # Status bar + status_row = QHBoxLayout() + self._status_label = QLabel("Waiting for data…") + self._status_label.setFont(QFont("Monospace", 8)) + self._rate_label = QLabel("") + self._rate_label.setFont(QFont("Monospace", 8)) + self._csv_label = QLabel(f"CSV: {'ON' if csv_logger else 'OFF'}") + self._csv_label.setFont(QFont("Monospace", 8)) + self._csv_label.setStyleSheet( + "color: #81C784;" if csv_logger else "color: #888;" + ) + stop_btn = QPushButton("Stop") + stop_btn.clicked.connect(self.close) + stop_btn.setFixedWidth(60) + status_row.addWidget(self._status_label) + status_row.addStretch() + status_row.addWidget(self._csv_label) + status_row.addWidget(self._rate_label) + status_row.addWidget(stop_btn) + root.addLayout(status_row) + + # Channel plots (2-column grid) + grid = QGridLayout() + grid.setSpacing(6) + self._channel_plots: dict[str, ChannelPlot] = {} + for i, name in enumerate(names): + color = COLORS[i % len(COLORS)] + cp = ChannelPlot(name, color, max_pts) + self._channel_plots[name] = cp + row, col = divmod(i, 2) + grid.addWidget(cp, row, col) + root.addLayout(grid) + + self.resize(900, max(400, len(names) // 2 * 160 + 60)) + + # Latest reading written by the sensor polling thread; read by the + # GUI refresh timer. Single-object assignment is atomic under the + # GIL so no explicit lock is needed. + self._pending_reading: TactileReading | None = None + + # CSV writes happen in the sensor polling thread (not the GUI + # thread) so heavy I/O never blocks the event loop. + def _sensor_callback(reading: TactileReading) -> None: + if csv_logger is not None: + csv_logger.write(reading) + self._pending_reading = reading + + sensor._on_reading = _sensor_callback # type: ignore[assignment] + + # Refresh plots at ~30 Hz regardless of sensor polling rate. + self._sample_count = 0 + refresh_timer = QTimer(self) + refresh_timer.timeout.connect(self._refresh_plots) + refresh_timer.start(33) # ~30 Hz + + fps_timer = QTimer(self) + fps_timer.timeout.connect(self._update_fps) + fps_timer.start(1000) + + logger.info("GUI window created for channels: {}", names) + + def _refresh_plots(self) -> None: + reading = self._pending_reading + if reading is None: + return + self._pending_reading = None + t_rel = time.perf_counter() - self._t0 + for name, cp in self._channel_plots.items(): + cp.update_data( + t_rel, + reading.volts.get(name, 0.0), + reading.force_norm.get(name, 0.0), + ) + self._sample_count += 1 + self._status_label.setText( + f"t={t_rel:.1f}s sensor_t={reading.sensor_time:.3f}s" + ) + + def _update_fps(self) -> None: + self._rate_label.setText(f"{self._sample_count} Sa/s") + self._sample_count = 0 + + def closeEvent(self, event) -> None: + # Stop the sensor callback so no new readings arrive after close. + sensor._on_reading = None # type: ignore[assignment] + self._pending_reading = None + logger.info("Window closing — stopping sensor") + super().closeEvent(event) + QApplication.instance().quit() + + import os + import signal + os.environ.setdefault("QT_QPA_PLATFORMTHEME", "") + app = QApplication.instance() or QApplication(sys.argv) + app.setStyle("Fusion") + window = TactileGUI() + window.show() + + # Allow Ctrl+C (SIGINT) to quit the Qt event loop. + # Qt blocks Python signal delivery during event processing, so a short + # timer wakes the loop periodically to let Python check for signals. + signal.signal(signal.SIGINT, lambda *_: app.quit()) + _sigint_timer = QTimer() + _sigint_timer.start(200) + _sigint_timer.timeout.connect(lambda: None) + + exit_code = app.exec() + # Cleanup happens here, after the event loop exits, so the GUI thread + # is never blocked during window close. + sensor.stop() + if csv_logger is not None: + csv_logger.close() + logger.info("Application exited with code {}", exit_code) + sys.exit(exit_code) + + +# --------------------------------------------------------------------------- +# CLI entry point +# --------------------------------------------------------------------------- + +def _parse_args() -> argparse.Namespace: + p = argparse.ArgumentParser( + description="Tactile sensor real-time logger — GUI (default) or terminal", + ) + p.add_argument( + "--channels", nargs="+", type=int, + default=_SENSOR_CFG["channels"], + help="ADS1256 channels to read (default from config.toml)", + ) + p.add_argument( + "--names", nargs="+", type=str, default=None, + help="Channel labels — must match --channels count", + ) + p.add_argument( + "--hz", type=float, default=_SENSOR_CFG["polling_hz"], + help="Sensor polling rate in Hz (default from config.toml)", + ) + p.add_argument( + "--csv-dir", type=Path, default=_LOG_DIR, + help="Directory for CSV output (default from config.toml)", + ) + p.add_argument( + "--no-csv", action="store_true", + help="Disable CSV logging", + ) + p.add_argument( + "--terminal", action="store_true", + help="Print readings to terminal only — no GUI window", + ) + return p.parse_args() + + +def main() -> None: + args = _parse_args() + + channel_names = args.names or _SENSOR_CFG["channel_names"] + if len(channel_names) != len(args.channels): + logger.error( + "--names count ({}) must match --channels count ({})", + len(channel_names), len(args.channels), + ) + sys.exit(1) + + sensor = TactileSensor( + channels=args.channels, + channel_names=channel_names, + polling_hz=args.hz, + ) + + csv_logger: DataLogger | None = None + if not args.no_csv: + csv_logger = DataLogger(args.csv_dir) + + sensor.start() + + if args.terminal: + display = TerminalDisplay(sensor, csv_logger) + try: + display.run() + finally: + sensor.stop() + if csv_logger is not None: + csv_logger.close() + else: + _run_gui(sensor, csv_logger, args.hz) + + +if __name__ == "__main__": + main() diff --git a/Demo/Sensors/tactile_sensing_post_visualize.py b/Demo/Sensors/tactile_sensing_post_visualize.py new file mode 100644 index 0000000..26fd177 --- /dev/null +++ b/Demo/Sensors/tactile_sensing_post_visualize.py @@ -0,0 +1,116 @@ +""" +tactile_sensing_post_visualize.py — Bokeh offline visualisation of logged tactile sensor data. + +Expected CSV schema (long format, one row per channel per sample): + sensor_time, channel, raw, volts, force_norm + +The default log directory is read from config.toml ([logging] log_dir), +resolved relative to this file's directory (Demo/Sensors/). +""" + +import argparse +from pathlib import Path + +import pandas as pd +from bokeh.layouts import gridplot +from bokeh.models import TabPanel, Tabs +from bokeh.palettes import Set2_8 +from bokeh.plotting import figure, show + +# --------------------------------------------------------------------------- +# Load config.toml — same file used by tactile_sensing.py +# --------------------------------------------------------------------------- +import tomllib + +_CONFIG_PATH = Path(__file__).parent / "config.toml" +with _CONFIG_PATH.open("rb") as _f: + _TOML = tomllib.load(_f) + +_SENSORS_DIR = Path(__file__).parent +_LOG_DIR = _SENSORS_DIR / _TOML["logging"]["log_dir"] + + +# --------------------------------------------------------------------------- +# Helpers +# --------------------------------------------------------------------------- + +def _find_latest_csv(log_dir: Path) -> Path: + csvs = sorted(log_dir.glob("tactile_*.csv")) + if not csvs: + raise FileNotFoundError(f"No tactile_*.csv files found in {log_dir}") + return csvs[-1] + + +def _customize_plot(fig) -> None: + fig.title.text_font_size = "16px" + fig.title.align = "center" + fig.xaxis.axis_label_text_font_size = "13px" + fig.yaxis.axis_label_text_font_size = "13px" + fig.legend.title = "Channels" + fig.legend.border_line_width = 2 + fig.legend.border_line_color = "black" + fig.legend.location = "top_right" + fig.legend.click_policy = "hide" + + +def build_tabs(data: pd.DataFrame) -> Tabs: + channels = sorted(data["channel"].unique(), key=lambda x: (x.isdigit(), x)) + color_map = {ch: Set2_8[i % len(Set2_8)] for i, ch in enumerate(channels)} + + def _make_fig(title, y_label): + return figure( + title=title, + x_axis_label="Sensor Time (s)", + y_axis_label=y_label, + width=900, height=400, + ) + + fig_volts = _make_fig("FSR Sensor Data — Voltage", "Voltage (V)") + fig_raw = _make_fig("FSR Sensor Data — Raw ADC Counts", "Raw") + fig_force = _make_fig("FSR Sensor Data — Normalised Force", "Force (0–1)") + + for ch in channels: + dfc = data[data["channel"] == ch] + color = color_map[ch] + label = str(ch) + fig_volts.line(dfc["sensor_time"], dfc["volts"], + line_width=2, color=color, legend_label=label) + fig_raw.line(dfc["sensor_time"], dfc["raw"], + line_width=2, color=color, legend_label=label) + fig_force.line(dfc["sensor_time"], dfc["force_norm"], + line_width=2, color=color, legend_label=label) + + for fig in (fig_volts, fig_raw, fig_force): + _customize_plot(fig) + + grid = gridplot([[fig_volts], [fig_raw], [fig_force]]) + return Tabs(tabs=[TabPanel(child=grid, title="FSR (all channels)")]) + + +# --------------------------------------------------------------------------- +# Entry point +# --------------------------------------------------------------------------- + +def main() -> None: + parser = argparse.ArgumentParser( + description="Visualise FSR tactile sensor CSV log", + ) + parser.add_argument( + "--file", type=Path, default=None, + help=f"Path to CSV file (default: latest in {_LOG_DIR})", + ) + args = parser.parse_args() + + file_path = args.file or _find_latest_csv(_LOG_DIR) + print(f"Loading: {file_path}") + + data = pd.read_csv(file_path).dropna().reset_index(drop=True) + data["sensor_time"] = data["sensor_time"] - data["sensor_time"].iloc[0] + data["channel"] = data["channel"].astype(str) + + tabs = build_tabs(data) + show(tabs) + + +if __name__ == "__main__": + main() diff --git a/Demo/__init__.py b/Demo/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/docs/BOM.md b/docs/BOM.md new file mode 100644 index 0000000..afdce86 --- /dev/null +++ b/docs/BOM.md @@ -0,0 +1,24 @@ +# Bill of Materials (BOM) + +## Required Components + +| Component | Link | +|---|---| +| Camera | https://www.amazon.com/dp/B0CLRJZG8D | +| AD/DA Expansion Hat | https://www.amazon.com/dp/B09Q8Y5F7Y | +| Haptic Motors | https://www.amazon.com/dp/B0FX9HW33Z | +| Pressure Sensors (FSR) | https://www.amazon.com/dp/B0FGD267GK | +| Resistor Kit | https://www.amazon.com/dp/B016NXK6QK | + +> **Note:** FSR voltage divider uses a **5.1 kΩ** resistor in series with each pressure sensor. + +--- + +## Nice to Have + +| Component | Link | +|---|---| +| Silicone Flexible Jumper Wires (Nice Quality) | https://www.amazon.com/dp/B0DNPS4RVQ | +| Dual Male Jumper Wires | https://www.amazon.com/dp/B09P52PLK4 | +| Breadboard | https://www.amazon.com/dp/B07DL13RZH | +| Generic Jumper Wires | https://www.amazon.com/dp/B01EV70C78 | diff --git a/docs/DEVELOPMENT.md b/docs/DEVELOPMENT.md index 285e95a..45237f9 100644 --- a/docs/DEVELOPMENT.md +++ b/docs/DEVELOPMENT.md @@ -42,7 +42,26 @@ pixi run test-ahcontrol Windows only (Rust / test-ahcontrol): `pixi.toml` adds `vs2022_win-64` for win-64, which activates the MSVC toolchain (via vcvars64) when you run `pixi shell` or `pixi run`. You must have Visual Studio or Build Tools installed first (see Appendix). If you get a linker error (e.g. "extra operand", "link.exe not found"), install Build Tools per the Appendix, then run `pixi install` to refresh the environment. As a fallback, run `pixi run test-ahcontrol` from "x64 Native Tools Command Prompt for VS" (Start menu). ## Setup (Raspberry Pi) -Planned and upcoming. +Raspberry Pi support is experimental and focuses on the haptic/tactile demos. + +On Raspberry Pi OS (Debian-based), install system GPIO dependencies first: + +```bash +sudo apt-get update +sudo apt-get install liblgpio-dev +``` + +Then create the pixi environment from the repository root: + +```bash +pixi install +``` + +You can now run the haptic/tactile sensor test (from the repo root): + +```bash +pixi run python -m Demo.Sensors.haptic_test +``` ## Run Demos diff --git a/pixi.lock b/pixi.lock index cc64744..d57b645 100644 --- a/pixi.lock +++ b/pixi.lock @@ -10,98 +10,188 @@ environments: packages: linux-64: - conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda - - conda: https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_101.conda + - conda: https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.15.3-hb03c661_0.conda + - 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