def __init__(self):
""""""
RaspiRobot2.__init__(self)
self.exit = False
self.video = VideoSrc()
RPIO.add_tcp_callback(COM_PORT, self.process)
self.start_timer()
def init_WiRobot(): ########## init_WiRobot_begin # use P1 header pin numbering convention gpio.setmode(gpio.BOARD) # Set up the GPIO channels - one output gpio.setup(fcom, gpio.OUT, initial=gpio.LOW) gpio.setup(bcom, gpio.OUT, initial=gpio.LOW) gpio.setup(rcom, gpio.OUT, initial=gpio.LOW) gpio.setup(lcom, gpio.OUT, initial=gpio.LOW) # TCP socket server callback on port 2323 gpio.add_tcp_callback(2323, socket_callback, threaded_callback=False) # Blocking main epoll loop gpio.wait_for_interrupts()
def init_WiRobot(): ########## init_WiRobot_begin
# use P1 header pin numbering convention
gpio.setmode(gpio.BOARD)
# Set up the GPIO channels - one output
gpio.setup(fcom, gpio.OUT, initial=gpio.LOW)
gpio.setup(bcom, gpio.OUT, initial=gpio.LOW)
gpio.setup(rcom, gpio.OUT, initial=gpio.LOW)
gpio.setup(lcom, gpio.OUT, initial=gpio.LOW)
# TCP socket server callback on port 2323
gpio.add_tcp_callback(2323, socket_callback, threaded_callback=False)
# Blocking main epoll loop
gpio.wait_for_interrupts()
def setup(self):
GPIO.setmode(GPIO.BCM)
for pin in outputs.values():
GPIO.setup(pin, GPIO.OUT)
self._power(False)
self._direction(False)
for (name, pin) in inputs.items():
GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.add_interrupt_callback(pin,
self._delay(0.05,
self._ifhigh(getattr(self,name))),
edge='both',
debounce_timeout_ms=100)
if self.port:
GPIO.add_tcp_callback(self.port, self.command_dispatch)
import RPIO
def socket_callback(socket, val):
print("socket %s: '%s'" % (socket.fileno(), val))
socket.send(val + "\n".encode())
# TCP socket server callback on port 8080
RPIO.add_tcp_callback(8080, socket_callback, threaded_callback=True)
# Blocking main epoll loop
try:
RPIO.wait_for_interrupts()
except KeyboardInterrupt:
RPIO.stop_waiting_for_interrupts()
RPIO.cleanup()
print("\nStopping Server\n")
import RPIO
def gpio_callback(gpio_id, val):
print("gpio %s: %s" % (gpio_id, val))
def socket_callback(socket, val):
print("socket %s: '%s'" % (socket.fileno(), val))
socket.send("echo: %s\n" % val)
# GPIO 中断回调
RPIO.add_interrupt_callback(7, gpio_callback)
RPIO.add_interrupt_callback(9, gpio_callback, pull_up_down=RPIO.PUD_UP)
# 回调服务器端口 8080 TCP socket
RPIO.add_tcp_callback(8080, socket_callback)
# 阻断主 epoll 循环
RPIO.wait_for_interrupts()
def test6_interrupts(self):
logging.info(" ")
logging.info(" ")
logging.info("=== INTERRUPT TESTS ==")
def test_callback(*args):
logging.info("- interrupt callback received: %s", (args))
def stop_interrupts(timeout=3):
time.sleep(timeout)
RPIO.stop_waiting_for_interrupts()
logging.info("- called `stop_waiting_for_interrupts()`")
PORT = 8080
def socket_callback(socket, msg):
logging.info("Socket [%s] msg received: %s", socket.fileno(), msg)
def socket_client(timeout=3):
logging.info("Socket client connecting in 3 seconds...")
time.sleep(timeout)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(("localhost", PORT))
s.sendall("Hello, world".encode('utf-8'))
s.close()
logging.info("Socket client done...")
#
# Interrupt test with socket comm
#
logging.info(" ")
logging.info("Testing interrupts on GPIO-%s and socket comm", GPIO_IN)
RPIO.add_tcp_callback(PORT, socket_callback)
with self.assertRaises(AttributeError):
RPIO.add_tcp_callback(8081, None)
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_DOWN)
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_DOWN, threaded_callback=True)
# Add a number of TCP clients
Thread(target=socket_client).start()
Thread(target=socket_client, args=(4,)).start()
Thread(target=socket_client, args=(4,)).start()
Thread(target=socket_client, args=(4,)).start()
Thread(target=socket_client, args=(4,)).start()
# One stop interrupts thread
Thread(target=stop_interrupts, args=(10,)).start()
logging.info("- waiting 10s for interrupts on GPIO-%s...", GPIO_IN)
RPIO.wait_for_interrupts()
logging.info("-")
RPIO.cleanup()
#
# Auto interrupt shutdown with thread and stop_waiting_for_interrupts
#
logging.info("start second ")
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_OFF)
RPIO.add_interrupt_callback(GPIO_OUT, test_callback, edge='falling', \
pull_up_down=RPIO.PUD_UP, debounce_timeout_ms=100)
logging.info("- waiting 3s for interrupts on gpio %s and %s...", \
GPIO_IN, GPIO_OUT)
Thread(target=stop_interrupts, args=(3,)).start()
RPIO.wait_for_interrupts()
logging.info("-")
RPIO.cleanup()
logging.info("ALL DONE :)")
def test6_interrupts(self):
logging.info(" ")
logging.info(" ")
logging.info("=== INTERRUPT TESTS ==")
def test_callback(*args):
logging.info("- interrupt callback received: %s", (args))
def stop_interrupts(timeout=3):
time.sleep(timeout)
RPIO.stop_waiting_for_interrupts()
logging.info("- called `stop_waiting_for_interrupts()`")
PORT = 8080
def socket_callback(socket, msg):
logging.info("Socket [%s] msg received: %s", socket.fileno(), msg)
def socket_client(timeout=3):
logging.info("Socket client connecting in 3 seconds...")
time.sleep(timeout)
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect(("localhost", PORT))
s.sendall("Hello, world".encode('utf-8'))
s.close()
logging.info("Socket client done...")
#
# Interrupt test with socket comm
#
logging.info(" ")
logging.info("Testing interrupts on GPIO-%s and socket comm", GPIO_IN)
RPIO.add_tcp_callback(PORT, socket_callback)
with self.assertRaises(AttributeError):
RPIO.add_tcp_callback(8081, None)
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_DOWN)
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_DOWN, threaded_callback=True)
# Add a number of TCP clients
Thread(target=socket_client).start()
Thread(target=socket_client, args=(4, )).start()
Thread(target=socket_client, args=(4, )).start()
Thread(target=socket_client, args=(4, )).start()
Thread(target=socket_client, args=(4, )).start()
# One stop interrupts thread
Thread(target=stop_interrupts, args=(10, )).start()
logging.info("- waiting 10s for interrupts on GPIO-%s...", GPIO_IN)
RPIO.wait_for_interrupts()
logging.info("-")
RPIO.cleanup()
#
# Auto interrupt shutdown with thread and stop_waiting_for_interrupts
#
logging.info("start second ")
RPIO.add_interrupt_callback(GPIO_IN, test_callback, edge='both', \
pull_up_down=RPIO.PUD_OFF)
RPIO.add_interrupt_callback(GPIO_OUT, test_callback, edge='falling', \
pull_up_down=RPIO.PUD_UP, debounce_timeout_ms=100)
logging.info("- waiting 3s for interrupts on gpio %s and %s...", \
GPIO_IN, GPIO_OUT)
Thread(target=stop_interrupts, args=(3, )).start()
RPIO.wait_for_interrupts()
logging.info("-")
RPIO.cleanup()
logging.info("ALL DONE :)")
#!/usr/bin/python
from sense_hat import SenseHat
import sys
import RPIO
sense = SenseHat()
sense.set_rotation(180)
red = (128, 0, 0)
def socket_callback(socket,msg):
try:
print msg
sense.show_message(msg, text_colour=red)
except:
print 'Fomato de mensaje erroneo', msg
return
print '[running on DNS=rpileo1 port=8888] \n '
RPIO.add_tcp_callback(8888,socket_callback,threaded_callback = False)
RPIO.wait_for_interrupts()
