def __init__(self, serialDev):
self.logger = logging.getLogger('BleuettePi')
self.serial = Serial()
self.serial.connect(serialDev)
self.mcp = MCP230XX(self.MCP_ADDRESS, 16)
self.Servo = Servo.Servo(self.serial, fakemode=Config.FAKE_MODE)
self.Servo.init()
Servo.Servo_Trim.values = Data.Instance().get(['servo', 'trims'])
Servo.Servo_Limit.values = Data.Instance().get(['servo', 'limits'])
self.Analog = Analog(self.serial)
self.Compass = BleuettePi_Compass()
self.Accelerometer = BleuettePi_Accelerometer()
self.GroundSensor = BleuettePi_GroundSensor(self.mcp)
# Init mode
GPIO.setmode(GPIO.BOARD)
GPIO.setup(self.INTA, GPIO.IN)
GPIO.setup(self.INTB, GPIO.IN)
GPIO.setup(self.INTC, GPIO.IN)
GPIO.setup(self.INTD, GPIO.IN)
GPIO.add_event_detect(self.INTA,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTB,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTC,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
GPIO.add_event_detect(self.INTD,
GPIO.RISING,
callback=self.interrupt,
bouncetime=300)
self.mcp.config(self.RESET_PIN, MCP230XX.OUTPUT)
#self.mcp.pullup(self.RESET_PIN, True)
self.mcp.output(self.RESET_PIN, 1)
def on_message(self, message):
global logger
logger.info("Message : %s" % message)
data = json.loads(message)
CMD_SET = 'set'
CMD_DRIVE = 'drive'
CMD_CONFIG = 'config'
CMD_CONTROL = 'control'
CMD_SEQUENCE = 'sequence'
CMD_SERVO = 'servo'
try:
if data['cmd'] == CMD_SET:
if data['type'] == 'livemode':
if data['status']:
B.Sequencer.Servo.setCallback(self.livemode)
else:
B.Sequencer.Servo.removeCallback()
elif data['type'] == 'loglevel':
if data['which'] == 'js':
_logger = jsHandler
#Data.Instance().set(['log', 'js'], data['level'])
else:
_logger = rainbowHandler
#Data.Instance().set(['log', 'default'], data['level'])
print(data)
#Data.Instance().save()
if data['level'] == 'debug':
_logger.setLevel(logging.DEBUG)
elif data['level'] == 'info':
_logger.setLevel(logging.INFO)
elif data['level'] == 'warning':
_logger.setLevel(logging.WARNING)
elif data['level'] == 'error':
_logger.setLevel(logging.ERROR)
elif data['level'] == 'warning':
_logger.setLevel(logging.CRITICAL)
#print logger.getEffectiveLevel()
elif data['cmd'] == CMD_DRIVE:
if data['status'] == 'begin':
if data['direction'] == 'forward':
B.Drive.forward()
elif data['direction'] == 'reverse':
B.Drive.reverse()
elif data['direction'] == 'left':
B.Drive.left()
elif data['direction'] == 'right':
B.Drive.right()
elif data['status'] == 'end':
B.Drive.end()
elif data['cmd'] == CMD_CONFIG:
pass
elif data['cmd'] == CMD_CONTROL:
if data['action'] == 'reset':
B.BPi.reset()
elif data['cmd'] == CMD_SEQUENCE:
if data['name'] == 'middle':
B.Sequencer.forward(Sequences['middle'], 1)
elif data['name'] == 'pushup':
B.Sequencer.forward(Sequences['pushup'], 1)
elif data['name'] == 'standby':
B.Sequencer.forward(Sequences['standby'], 1)
elif data['name'] == 'release':
B.Sequencer.forward(Sequences['release'], 1)
elif data['cmd'] == CMD_SERVO:
if data['action'] == 'init':
B.Sequencer.Servo.init()
elif data['action'] == 'pause':
B.Sequencer.Servo.pause()
elif data['action'] == 'resume':
B.Sequencer.Servo.resume()
elif data['action'] == 'save':
Data.Instance().set(['servo', 'trims'],
Servo.Servo_Trim.values)
Data.Instance().set(['servo', 'limits'],
Servo.Servo_Limit.values)
Data.Instance().save()
elif data['action'] == 'trim':
with B.Sequencer.ServoSeq:
Servo.Servo_Trim.values[data['servo']] = data['value']
elif data['action'] == 'limit':
with B.Sequencer.ServoSeq:
Servo.Servo_Limit.values[data['servo']] = [
data['min'], data['max']
]
elif data['action'] == 'position':
with B.Sequencer.ServoSeq:
B.Sequencer.ServoSeq.setPosition(
data['servo'], data['value'])
elif data['action'] == 'speed':
global speed
speed = data['value']
elif data['action'] == 'get':
config = {
'type': CMD_SERVO,
'data': {
'trims': Data.Instance().get(['servo', 'trims']),
'limits': Data.Instance().get(['servo', 'limits'])
}
}
self.write(json.dumps(config))
else:
logger.warning("Message : %s" % message)
except Exception, e:
logger.critical("Exception ! " + str(e))
