def __init__(self, motor_id, polarity=1):
self.motor_id = motor_id
if polarity < 0:
self.DIRECTION_POLARITY = -1
if self.motor_id:
self.pwm = Pwm(1)
self.pin_a = Gpio(26)
self.pin_b = Gpio(47)
self.encoder = Eqep(2)
else:
self.pwm = Pwm(0)
self.pin_a = Gpio(36)
self.pin_b = Gpio(62)
self.encoder = Eqep(1)
self.pwm.export()
self.pwm.set_period(self.MAX_VOLTAGE_LEVEL * self.___VOLTAGE_FACTOR)
self.pwm.set_duty_cycle(0)
self.pwm.enable()
self.pin_a.export()
self.pin_a.set_direction_out()
self.pin_a.set_low()
self.pin_b.export()
self.pin_b.set_direction_out()
self.pin_b.set_low()
self.set_encoder(0)
self.encoder.enable()
def __init__(self, config):
self.connection = None
self.exchange = None
self.queues = []
self.config = config
self._init_rabbitmq()
self.gpio = Gpio(config)
class Daemon(ConsumerMixin):
def __init__(self, config):
self.connection = None
self.exchange = None
self.queues = []
self.config = config
self._init_rabbitmq()
self.gpio = Gpio(config)
def _init_rabbitmq(self):
"""
connect to rabbitmq and init the queues
"""
self.connection = kombu.Connection(self.config.rabbitmq['broker-url'])
exchange_name = self.config.rabbitmq['exchange-name']
exchange = kombu.Exchange(exchange_name, type="direct")
queue_name = self.config.rabbitmq['queue-name']
logging.getLogger(__name__).info("listen following exchange: {exchange}, queue name: {queue}".
format(exchange=exchange_name, queue=queue_name))
queue = kombu.Queue(queue_name, exchange=exchange, durable=True)
self.queues.append(queue)
def get_consumers(self, Consumer, channel):
return [Consumer(queues=self.queues, callbacks=[self.process_task])]
def handle_data(self, data):
if data.IsInitialized():
self.gpio.manage_lights(data)
else:
logging.getLogger(__name__).warn("protobuff query not initialized")
def process_task(self, body, message):
# logging.getLogger(__name__).debug("Message received")
# Here, add the receipt of protobuf
data_message = stat_pb2.StatRequest()
try:
data_message.ParseFromString(body)
#logging.getLogger(__name__).debug('query received: %s' % str(data_message))
except DecodeError as e:
logging.getLogger(__name__).warn("message is not a valid "
"protobuf task: {}".format(str(e)))
message.ack()
return
try:
self.handle_data(data_message)
message.ack()
except:
logging.getLogger(__name__).exception("error while treating data.")
message.requeue()
time.sleep(10)
def __del__(self):
self.close()
def close(self):
if self.connection and self.connection.connected:
self.connection.release()
self.gpio.finalize()
def __init__(self, arduino_id):
if isinstance(arduino_id, int):
arduino_id = "IO%d" % arduino_id
pin = DIO_MAPPINGS[arduino_id]
pin.select()
Gpio.__init__(self, pin.gpio_linux_id)
def unexport(self):
try:
LOG.info("%s > %s" % (str(self.pwm_linux_id), "/sys/class/pwm/pwmchip0/unexport"))
with open("/sys/class/pwm/pwmchip0/unexport", 'w') as f:
f.write(str(self.pwm_linux_id))
except Exception as e:
LOG.warning("%s" % e)
Gpio.unexport(self)
def __init__(self, port, delay=0.1):
'''
Constructor
@param port: GPIO port number where the LED is connected to
@param delay: Time the LED is on and off. Default 0.1s
'''
self._port = Gpio(port, Gpio.OUT)
self._delay = delay
self._isRunning = False
self._doBlinkThread = None
def export(self):
Gpio.export(self)
# FIXME rli9 error handling is required
# FIxME rli9 only export pwm when pwm() is called
LOG.info("%s > %s" % (str(self.pwm_linux_id), "/sys/class/pwm/pwmchip0/export"))
with open("/sys/class/pwm/pwmchip0/export", 'w') as f:
f.write(str(self.pwm_linux_id))
with open("/sys/class/pwm/pwmchip0/pwm%s/enable" % self.pwm_linux_id, 'w') as f:
f.write("1")
def start(self, items, active=0, ok=None, back=None):
logger.debug('start')
max_width = self.device.width
if isinstance(items, list):
for item in items:
max_width = max(max_width, len(item) * 8 + 1)
self.gpio = Gpio(down=self.down,
up=self.up,
ok=self.__ok,
back=self.__back)
elif isinstance(items, str):
max_width = max(max_width, len(items) * 8 + 1)
self.gpio = Gpio(ok=self.__ok, back=self.__back)
# self.gpio.start()
self.virtual = viewport(self.device,
width=max_width,
height=(len(items) * 8))
self.active = 0
if ok:
self.ok = ok
if back:
self.back = back
with canvas(self.virtual) as draw:
if isinstance(items, list):
for i, item in enumerate(items):
text(draw, (1, i * 8),
item,
fill="white",
font=proportional(LCD_FONT))
if (item == active):
self.active = i
self.items = items
elif isinstance(items, str):
text(draw, (1, 0),
items,
fill="white",
font=proportional(LCD_FONT))
self.items = [items]
self.virtual.set_position((0, self.active * 8))
threading.Thread.start(self)
def start(self, ok=None, back=None):
logger.debug('start')
self.gpio = Gpio(ok=self.__ok, back=self.__back)
# self.gpio.start()
if ok:
self.ok = ok
if back:
self.back = back
threading.Thread.start(self)
def run(self):
try:
self._init_menu()
self.music = Music(self.core, self.config['default_tracks'],
self.config['default_preset'])
self.display = DisplayWithPowerSaving(
self.config['display_min_brightness'],
self.config['display_max_brightness'],
self.config['display_off_time_from'],
self.config['display_off_time_to'])
self.gpio = Gpio(
self.config['buttons_enabled'], self.play_stop_music,
self._on_menu_click, self._on_menu_click_left,
self._on_menu_click_right, self.config['light_sensor_enabled'],
self._on_light_sensor, self.config['relay_enabled'])
self.ir_sender = IrSender(self.config['ir_remote'],
self.gpio.switch_relay)
self.ir_receiver = IrReceiver(
self.config['ir_receiver_enabled'], self.play_stop_music,
self._on_menu_click, self._on_menu_click_left,
self._on_menu_click_right, self.music.decrease_volume,
self.music.increase_volume, self.run_alert,
self._on_change_preset)
self.timer_on = TimerOn(self.play_music)
self.timer_off = TimerOff(self.stop_music)
self.alert = Alert(self.music, self.ir_sender,
self.config['alert_files'])
self.timer_alert = TimerAlert(self.run_alert)
self.time = Time()
self.date = Date([self.timer_on, self.timer_off, self.timer_alert])
self.menu = Menu(self.display, self.MENU, [
self.time, self.date, self.timer_on, self.timer_off,
self.timer_alert
])
while True:
self.menu.run()
if (self.stopped()):
break
else:
sleep(1)
except Exception as inst:
logging.error(inst)
finally:
self.ir_sender.stop()
self.ir_receiver.stop()
self.display.shutdown()
self.gpio.cleanup()
class Wh1602:
def __init__(self):
self.reserve_gpios()
self.rw.set_value(0)
sleep(0.05)
def __del__(self):
pass
def reserve_gpios(self):
self.rs = Gpio(2, "out")
self.rw = Gpio(3, "out")
self.e = Gpio(4, "out")
self.d = [Gpio(17, "out"), Gpio(27, "out"),
Gpio(22, "out"), Gpio(23, "out")]
def lcd_write_nibble(self, val):
for i, p in enumerate(self.d):
p.set_value(0 if (val & 1 << i) == 0 else 1)
self.e.set_value(1)
sleep(0.02)
self.e.set_value(0)
def lcd_write_data(self, data):
self.lcd_write_nibble(data >> 4)
self.lcd_write_nibble(data & 0xF)
def init_lcd(self):
self.rs.set_value(0)
sleep(0.2)
self.lcd_write_nibble(0x03)
sleep(0.05)
self.lcd_write_nibble(0x03)
sleep(0.05)
self.lcd_write_nibble(0x02)
sleep(0.02)
self.lcd_write_data(0x08)
sleep(0.02)
self.lcd_write_data(0x01)
sleep(0.02)
self.lcd_write_data(0x06)
sleep(0.02)
self.lcd_write_data(0x0D)
sleep(0.02)
self.rs.set_value(1)
def lcd_write_string(self, str):
for s in str:
self.lcd_write_data(s)
def __init__(self, config):
self.connection = None
self.exchange = None
self.queues = []
self.config = config
self._init_rabbitmq()
self.gpio = Gpio(config)
def __init__(self, triggerPort, echoPort, nSamples=5):
'''
Constructor
@param triggerPort: Port number of the trigger signal
@param echoPort: Port number of the echo port
@param nSamples: Number of samples to measure the distance
'''
self._nSamples = nSamples
#Configure ports
self._trigger = Gpio(triggerPort, Gpio.OUT)
self._trigger.setValue(Gpio.LOW)
self._echo = Gpio(echoPort, Gpio.IN)
time.sleep(2)
def __init__(self, arduino_id):
if isinstance(arduino_id, int):
arduino_id = "PWM%d" % arduino_id
pin = PWMIO_MAPPINGS[arduino_id]
pin.select()
self.pwm_linux_id = pin.pwm_linux_id
Gpio.__init__(self, pin.gpio_pin.gpio_linux_id)
self.period = 700000
self.pwm_dir_name = "/sys/class/pwm/pwmchip0/pwm%s" % str(self.pwm_linux_id)
LOG.info("%s > %s" % (str(self.period), "%s/period" % self.pwm_dir_name))
with open("%s/period" % self.pwm_dir_name, "w") as f:
f.write(str(self.period))
def __init__(self, config: Config):
self.config = config
self.gpio: GpioStub
if config.debug:
from dummy_gpio import DummyGpio
self.gpio: GpioStub = DummyGpio(config.gpio_out)
else:
from gpio import Gpio
self.gpio: GpioStub = Gpio(config.gpio_out)
class RgbLed:
def __init__(self, red_pin, green_pin, blue_pin):
self._red = Gpio(red_pin)
self._green = Gpio(green_pin)
self._blue = Gpio(blue_pin)
def red(self, value):
self._red.set(value)
def green(self, value):
self._green.set(value)
def blue(self, value):
self._blue.set(value)
def main():
'''
Makes a LED to blink according to the distance meassured
by an ultrasonic sensor.
Finish when user press a toggle key.
'''
blinker = Blinker(27, MAX_DELAY) #P8.17
ultrasonic = Ultrasonic(66, 69) #P8.7, P8.9
key = Gpio(65, Gpio.IN) #P8.18
try:
print("Ready. Press toggle key to start.")
#Wait for key down event
while key.getValue() == Gpio.LOW:
sleep(0.2)
#Wait for key up event
while key.getValue() == Gpio.HIGH:
sleep(0.2)
print("Started. Press toggle key again to finish.")
blinker.start()
while key.getValue() == Gpio.LOW:
dist = ultrasonic.read()
delay = calculateDelay(dist)
blinker.setDelay(delay)
sleep(0.2)
print("Bye!")
finally:
key.cleanup()
blinker.stop()
blinker.cleanup()
ultrasonic.cleanup()
def reserve_gpios(self):
self.rs = Gpio(2, "out")
self.rw = Gpio(3, "out")
self.e = Gpio(4, "out")
self.d = [Gpio(17, "out"), Gpio(27, "out"),
Gpio(22, "out"), Gpio(23, "out")]
class Daemon(ConsumerMixin):
def __init__(self, config):
self.connection = None
self.exchange = None
self.queues = []
self.config = config
self._init_rabbitmq()
self.gpio = Gpio(config)
def _init_rabbitmq(self):
"""
connect to rabbitmq and init the queues
"""
self.connection = kombu.Connection(self.config.rabbitmq['broker-url'])
exchange_name = self.config.rabbitmq['exchange-name']
exchange = kombu.Exchange(exchange_name, type="topic")
queue = kombu.Queue('',
exchange=exchange,
routing_key='v1.journeys',
durable=False,
exclusive=True,
auto_delete=True)
logging.getLogger(__name__).info(
"listen following exchange: {exchange}, queue name: {queue}".
format(exchange=exchange_name, queue=queue.name))
self.queues.append(queue)
def get_consumers(self, Consumer, channel):
return [Consumer(queues=self.queues, callbacks=[self.process_task])]
def handle_data(self, data):
if data.IsInitialized():
self.gpio.manage_lights(data)
else:
logging.getLogger(__name__).warn("protobuff query not initialized")
def process_task(self, body, message):
# logging.getLogger(__name__).debug("Message received")
# Here, add the receipt of protobuf
data_message = stat_pb2.StatRequest()
try:
data_message.ParseFromString(body)
#logging.getLogger(__name__).debug('query received: %s' % str(data_message))
except DecodeError as e:
logging.getLogger(__name__).warn("message is not a valid "
"protobuf task: {}".format(
str(e)))
message.ack()
return
try:
self.handle_data(data_message)
message.ack()
except:
logging.getLogger(__name__).exception("error while treating data.")
message.requeue()
time.sleep(10)
def __del__(self):
self.close()
def close(self):
if self.connection and self.connection.connected:
self.connection.release()
self.gpio.finalize()
def execute(self):
print("executing slowdown command")
Gpio.slowdown()
class Worker(Threader):
core = None
music = None
display = None
gpio = None
ir_sender = None
ir_receiver = None
timer_on = None
timer_off = None
alert = None
timer_alert = None
time = None
date = None
menu = None
response_code = None
def start(self, config, core):
self.config = config
self.core = core
super(Worker, self).start()
def run(self):
try:
self._init_menu()
self.music = Music(self.core, self.config['default_tracks'],
self.config['default_preset'])
self.display = DisplayWithPowerSaving(
self.config['display_min_brightness'],
self.config['display_max_brightness'],
self.config['display_off_time_from'],
self.config['display_off_time_to'])
self.gpio = Gpio(
self.config['buttons_enabled'], self.play_stop_music,
self._on_menu_click, self._on_menu_click_left,
self._on_menu_click_right, self.config['light_sensor_enabled'],
self._on_light_sensor, self.config['relay_enabled'])
self.ir_sender = IrSender(self.config['ir_remote'],
self.gpio.switch_relay)
self.ir_receiver = IrReceiver(
self.config['ir_receiver_enabled'], self.play_stop_music,
self._on_menu_click, self._on_menu_click_left,
self._on_menu_click_right, self.music.decrease_volume,
self.music.increase_volume, self.run_alert,
self._on_change_preset)
self.timer_on = TimerOn(self.play_music)
self.timer_off = TimerOff(self.stop_music)
self.alert = Alert(self.music, self.ir_sender,
self.config['alert_files'])
self.timer_alert = TimerAlert(self.run_alert)
self.time = Time()
self.date = Date([self.timer_on, self.timer_off, self.timer_alert])
self.menu = Menu(self.display, self.MENU, [
self.time, self.date, self.timer_on, self.timer_off,
self.timer_alert
])
while True:
self.menu.run()
if (self.stopped()):
break
else:
sleep(1)
except Exception as inst:
logging.error(inst)
finally:
self.ir_sender.stop()
self.ir_receiver.stop()
self.display.shutdown()
self.gpio.cleanup()
def _init_menu(self):
self.MENU = {
"get_sub_menu":
lambda: [{
"get_sub_menu":
lambda: [
self.MENU_TIMER, self.MENU_PLAY_1, self.MENU_RUN_SH, self.
MENU_VOLUME, self.MENU_STYLE, self.MENU_DEMO, self.
MENU_SYSTEM
]
}]
}
self.MENU_TIMER = {
"get_buffer":
lambda: [
0, Symbols.T1, Symbols.T2, Symbols.I, Symbols.M1, Symbols.M2,
Symbols.E, Symbols.R
],
"get_sub_menu":
lambda: [self.MENU_ALERT, self.MENU_TIMER_OFF, self.MENU_TIMER_ON]
}
self.MENU_ALERT = {
"get_buffer":
lambda: [
0, Symbols.A, Symbols.L, Symbols.E, Symbols.R, Symbols.T1,
Symbols.T2, 0
],
"get_sub_menu":
lambda:
[self.MENU_ALERT_ADD, self.MENU_ALERT_CLEAR, self.MENU_ALERT_RUN]
}
self.MENU_ALERT_ADD = {
"get_buffer":
lambda: [0, 0, 0, Symbols.A, Symbols.D, Symbols.D, 0, 0],
"get_sub_menu":
lambda: [{
"get_buffer":
self.timer_alert.get_draw_menu_buffer,
"click":
lambda:
(self.timer_alert.add_timer(),
self.display.draw(self.timer_alert.get_draw_menu_buffer())),
"click_left":
self.timer_alert.decrease,
"click_right":
self.timer_alert.increase
}]
}
self.MENU_ALERT_CLEAR = {
"get_buffer":
lambda:
[0, 0, Symbols.C, Symbols.L, Symbols.E, Symbols.A, Symbols.R, 0],
"click":
lambda: self.timer_alert.reset(),
"click_animation":
True
}
self.MENU_ALERT_RUN = {
"get_buffer":
lambda: [0, 0, 0, Symbols.R, Symbols.U, Symbols.N, 0, 0],
"click": lambda: self.run_alert(),
"click_animation": True
}
self.MENU_TIMER_OFF = {
"group":
"timer_off",
"get_buffer":
lambda: [0, 0, 0, Symbols.O, Symbols.F, Symbols.F, 0, 0],
"get_sub_menu":
lambda: [{
"get_buffer": self.timer_off.get_draw_buffer,
"click_left": self.timer_off.decrease,
"click_right": self.timer_off.increase
}]
}
self.MENU_TIMER_ON = {
"group":
"timer_on",
"get_buffer":
lambda: [0, 0, 0, Symbols.O, Symbols.N, 0, 0, 0],
"get_sub_menu":
lambda: [{
"get_buffer": self.timer_on.get_draw_buffer,
"click_left": self.timer_on.decrease,
"click_right": self.timer_on.increase
}]
}
self.MENU_PLAY_1 = {
"get_buffer":
lambda: [
0, Symbols.P, Symbols.L, Symbols.A, Symbols.Y, 0, Symbols.
NUMBER[1], 0
],
"click":
lambda: self.play_music(self.music.get_default_tracks())
}
self.MENU_VOLUME = {
"group":
"volume",
"get_buffer":
lambda: [
0, Symbols.U, Symbols.O, Symbols.L, Symbols.U, Symbols.M1,
Symbols.M2, Symbols.E
],
"get_sub_menu":
lambda: [{
"get_buffer": self.music.get_draw_volume,
"click_left": self.music.decrease_volume,
"click_right": self.music.increase_volume
}]
}
self.MENU_STYLE = {
"group":
"style",
"get_buffer":
lambda: [
0, Symbols.S, Symbols.T1, Symbols.T2, Symbols.Y, Symbols.L,
Symbols.E, 0
],
"get_sub_menu":
lambda: list(
map(
lambda x: {
"get_buffer": lambda: x["buffer"],
"on_draw": lambda: self.music.set_preset(x["name"])
}, self.music.get_presets()))
}
self.MENU_RUN_SH = {
"get_buffer":
lambda:
[0, Symbols.R, Symbols.U, Symbols.N, 0, Symbols.S, Symbols.H, 0],
"click":
lambda: self.music.run_sh(),
"click_animation":
True
}
self.MENU_DEMO = {
"get_buffer":
lambda:
[0, 0, Symbols.D, Symbols.E, Symbols.M1, Symbols.M2, Symbols.O, 0],
"click":
lambda: (self.menu.draw_sub_menu_animation(
self.music.get_draw_equalizer_animation()),
self.menu.reset_sub_menu())
}
self.MENU_SYSTEM = {
"get_buffer":
lambda: [
Symbols.S, Symbols.Y, Symbols.S, Symbols.T1, Symbols.T2,
Symbols.E, Symbols.M1, Symbols.M2
],
"get_sub_menu":
lambda: [self.MENU_REBOOT, self.MENU_HALT]
}
self.MENU_REBOOT = {
"get_buffer":
lambda: [
0, Symbols.R, Symbols.E, Symbols.B, Symbols.O, Symbols.O,
Symbols.T1, Symbols.T2
],
"click":
lambda: self.music.reboot(),
"click_animation":
True
}
self.MENU_HALT = {
"get_buffer":
lambda:
[0, 0, Symbols.H, Symbols.A, Symbols.L, Symbols.T1, Symbols.T2, 0],
"click":
lambda: self.music.halt(),
"click_animation":
True
}
def _on_menu_click(self):
self.menu.click()
def _on_menu_click_left(self):
if (self.menu.is_sub_menu_visible()):
self.menu.click_left()
else:
self._decrease_timer()
def _on_menu_click_right(self):
if (self.menu.is_sub_menu_visible()):
self.menu.click_right()
else:
self._increase_timer()
def _on_light_sensor(self, now, is_dark):
if (self.music.is_playing()
and (now.hour >= self.config['light_sensor_time_from']
or now.hour < self.config['light_sensor_time_to'])):
if (is_dark):
if (self.music.get_volume() >
self.config['light_sensor_volume']):
self.music.set_volume(self.config['light_sensor_volume'])
self.music.set_preset(self.config['light_sensor_preset'])
self.timer_off.reset()
self.timer_off.increase()
self.timer_off.increase()
self.timer_off.increase()
self.timer_off.increase()
self.menu.draw_sub_menu_animation(
self.gpio.get_draw_sleep_animation())
else:
self.timer_off.reset()
def _on_change_preset(self, value):
self.music.set_preset(value)
if (value < 0):
self.menu.click_left(self.MENU_STYLE)
else:
self.menu.click_right(self.MENU_STYLE)
def _increase_timer(self):
if (self.music.is_playing()):
self.timer_off.increase()
self.menu.draw_sub_menu(self.MENU_TIMER_OFF)
else:
self.timer_on.increase()
self.menu.draw_sub_menu(self.MENU_TIMER_ON)
def _decrease_timer(self):
if (self.music.is_playing()):
self.timer_off.decrease()
self.menu.draw_sub_menu(self.MENU_TIMER_OFF)
else:
self.timer_on.decrease()
self.menu.draw_sub_menu(self.MENU_TIMER_ON)
def run_alert(self):
self.menu.draw_sub_menu_animation(
self.alert.get_draw_alert_animation())
self.alert.run()
def get_presets(self):
return self.music.get_presets()
def set_preset(self, value):
self.music.set_preset(value)
def get_volume(self):
return self.music.get_volume()
def set_volume(self, volume):
self.music.set_volume(volume)
def get_state(self):
return self.music.get_state()
def play_stop_music(self):
if (self.music.is_playing()):
self.stop_music()
else:
self.play_music()
def play_music(self, tracks=None):
self.music.set_volume(self.config['default_volume'])
self.music.set_preset(self.config['default_preset'])
self.music.play(tracks)
self.on_started()
def pause_music(self):
self.music.pause()
self.on_paused()
def stop_music(self):
self.music.stop()
self.on_stopped()
def on_started(self):
self.menu.draw_sub_menu_animation(
self.music.get_draw_start_animation())
def on_stopped(self):
self.menu.draw_sub_menu_animation(self.music.get_draw_stop_animation())
self.timer_off.reset()
self.ir_sender.power(False)
def on_playing(self):
self.menu.draw_sub_menu_animation(self.music.get_draw_play_animation())
self.timer_on.reset()
if (self.music.is_playing()):
self.ir_sender.power(True)
def on_paused(self):
self.menu.draw_sub_menu_animation(
self.music.get_draw_pause_animation())
def on_seeked(self):
self.menu.draw_sub_menu_animation(self.music.get_draw_seek_animation())
def on_mute(self, mute):
if mute:
self.on_volume_changed(0)
else:
self.on_volume_changed()
def on_volume_changed(self, volume=None):
if (self.menu is not None and self.music is not None
and self.music.is_volume_changed(volume)):
self.menu.draw_sub_menu(self.MENU_VOLUME)
def on_playback_state_changed(self, old_state, new_state):
if (old_state != new_state):
if (self.music.is_playing(new_state)):
self.on_playing()
elif (self.music.is_paused(new_state)):
self.on_paused()
class Ultrasonic(object):
PULSE2CM = 17241.3793 # cm/s
MAX_RANGE = 3500 # cm
OUT_OF_RANGE = 0xffffffff
def __init__(self, triggerPort, echoPort, nSamples=5):
'''
Constructor
@param triggerPort: Port number of the trigger signal
@param echoPort: Port number of the echo port
@param nSamples: Number of samples to measure the distance
'''
self._nSamples = nSamples
#Configure ports
self._trigger = Gpio(triggerPort, Gpio.OUT)
self._trigger.setValue(Gpio.LOW)
self._echo = Gpio(echoPort, Gpio.IN)
time.sleep(2)
def read(self):
'''
Measures distance
@return: Distance as centimeters
'''
MAX_POLL = 1000
i = 0
dist = 0
while i < self._nSamples and dist != Ultrasonic.OUT_OF_RANGE:
self._trigger.setValue(Gpio.HIGH)
time.sleep(0.001)
self._trigger.setValue(Gpio.LOW)
#TODO: use system's poll mechanism or event to wait for GPIO-level change
nPoll = 0
while nPoll < MAX_POLL and self._echo.getValue() == Gpio.LOW:
nPoll += 1
if nPoll == MAX_POLL:
raise ReadGpioException(
"Max poll reached: waiting for echo HIGH")
pulseStart = time.time()
nPoll = 0
while nPoll < MAX_POLL and self._echo.getValue() == Gpio.HIGH:
nPoll += 1
if nPoll == MAX_POLL:
raise ReadGpioException(
"Max poll reached: waiting for echo LOW")
pulseEnd = time.time()
pulseDuration = pulseEnd - pulseStart
distSample = round(pulseDuration * Ultrasonic.PULSE2CM, 0) #cm
if distSample < Ultrasonic.MAX_RANGE:
dist = (dist + distSample) / 2.0 if i != 0 else distSample
else:
dist = Ultrasonic.OUT_OF_RANGE
i += 1
return dist
def cleanup(self):
'''
Frees ressources
'''
self._trigger.cleanup()
self._echo.cleanup()
def __init__(self):
self.gpio = Gpio(self.context)
self.live = TelldusLive(self.context)
self.gpio.initPin('status:red')
self.gpio.initPin('status:green')
self.setNetworkLed()
def execute(self):
print("executing steer command")
Gpio.steer(self.x, self.y)
def __init__(self, linux_id, v):
Gpio.__init__(self, linux_id)
self.v = v
class Motor:
MAX_VOLTAGE_LEVEL = 100
MIN_VOLTAGE_LEVEL = 0
ENCODER_RESOLUTION = 1200
___VOLTAGE_FACTOR = 10000
DIRECTION_POLARITY = 1
def __init__(self, motor_id, polarity=1):
self.motor_id = motor_id
if polarity < 0:
self.DIRECTION_POLARITY = -1
if self.motor_id:
self.pwm = Pwm(1)
self.pin_a = Gpio(26)
self.pin_b = Gpio(47)
self.encoder = Eqep(2)
else:
self.pwm = Pwm(0)
self.pin_a = Gpio(36)
self.pin_b = Gpio(62)
self.encoder = Eqep(1)
self.pwm.export()
self.pwm.set_period(self.MAX_VOLTAGE_LEVEL * self.___VOLTAGE_FACTOR)
self.pwm.set_duty_cycle(0)
self.pwm.enable()
self.pin_a.export()
self.pin_a.set_direction_out()
self.pin_a.set_low()
self.pin_b.export()
self.pin_b.set_direction_out()
self.pin_b.set_low()
self.set_encoder(0)
self.encoder.enable()
def close(self):
self.pwm.set_duty_cycle(0)
self.pwm.disable()
self.pwm.unexport()
self.pin_a.unexport()
self.pin_b.unexport()
self.encoder.disable()
def __set_absolute_v_level(self, new_level):
if new_level > self.MAX_VOLTAGE_LEVEL:
new_level = self.MAX_VOLTAGE_LEVEL
elif new_level < 0:
new_level = self.MIN_VOLTAGE_LEVEL
new_level *= self.___VOLTAGE_FACTOR
self.pwm.set_duty_cycle(new_level)
def __get_absolute_v_level(self):
return int(self.pwm.get_duty_cycle() / self.___VOLTAGE_FACTOR)
def __set_direction(self, direction):
direction *= self.DIRECTION_POLARITY
if direction > 0:
self.pin_a.set_low()
self.pin_b.set_high()
elif direction < 0:
self.pin_a.set_high()
self.pin_b.set_low()
else:
self.pin_a.set_low()
self.pin_b.set_low()
def __get_direction(self):
a = int(self.pin_a.get_value())
b = int(self.pin_b.get_value())
return (b - a) * self.DIRECTION_POLARITY
def set_encoder(self, value):
self.encoder.set_position(value)
def get_encoder(self):
return int(self.encoder.get_position())
def get_radians(self):
return self.get_encoder() * 2 * 3.14159265359 / self.ENCODER_RESOLUTION
def set_voltage(self, level):
self.__set_direction(level)
self.__set_absolute_v_level(int(abs(level)))
def get_voltage(self):
return self.__get_absolute_v_level() * self.__get_direction()
def __init__(self, red_pin, green_pin, blue_pin):
self._red = Gpio(red_pin)
self._green = Gpio(green_pin)
self._blue = Gpio(blue_pin)
def get_gpio(pin):
gpio = Gpio(pin)
return gpio
class Clock(threading.Thread):
def __init__(self):
global level
logger.debug('__init__')
threading.Thread.__init__(self)
if platform.machine().startswith('arm'):
# create matrix device
serial = spi(port=0, device=1, gpio=noop())
self.device = max7219(serial, cascaded=4, block_orientation=-90)
else:
# create emulator device
self.device = pygame(width=32,
height=8,
rotate=0,
mode='RGB',
transform='led_matrix',
scale=2,
frame_rate=60)
self.device.contrast(level)
self.exit = False
def start(self, ok=None, back=None):
logger.debug('start')
self.gpio = Gpio(ok=self.__ok, back=self.__back)
# self.gpio.start()
if ok:
self.ok = ok
if back:
self.back = back
threading.Thread.start(self)
def run(self):
logger.debug('run')
semicolon = False
while True:
clock = time.localtime()
with canvas(self.device) as draw:
text(draw, (3, 0),
time.strftime("%H", clock),
fill="white",
font=proportional(LCD_FONT))
text(draw, (20, 0),
time.strftime("%M", clock),
fill="white",
font=proportional(LCD_FONT))
if semicolon:
text(draw, (15, 0),
":",
fill="white",
font=proportional(LCD_FONT))
semicolon = not semicolon
time.sleep(0.5)
if self.exit:
return
def stop(self):
logger.debug('stop')
self.gpio.stop()
self.exit = True
def __ok(self):
logger.debug('ok')
if self.ok:
self.ok(self)
def __back(self):
logger.debug('back')
if self.back:
self.back(self)
def main(argv):
device_name = None
server_url = None
gpio_number = None
rgb = []
key = None
lock_id = None
logfile = None
mode = 'single_lock'
def help(cmd):
print cmd + '-i <input device> -u <server url> -g <gpio number> -k <secret key> -l <lock number> -o <logfile>'
try:
opts, args = getopt.getopt(argv, "hi:u:b:g:r:k:l:o:m:", [
"input=", "url=", "gpio=", "rgb=", "key=", "lock=", "logfile=",
"mode="
])
except getopt.GetoptError:
help(sys.argv[0])
sys.exit(2)
for opt, arg in opts:
if opt == '-h':
help(sys.argv[0])
sys.exit()
elif opt in ("-i", "--input"):
device_name = arg
elif opt in ("-u", "--url"):
server_url = arg
elif opt in ("-g", "--gpio"):
gpio_number = arg
elif opt in ("-r", "--rgb"):
rgb.extend(arg.split(','))
elif opt in ("-k", "--key"):
key = arg
elif opt in ("-l", "--lock"):
lock_id = arg
elif opt in ("-o", "--logfile"):
logfile = arg
elif opt in ("-m", "--mode"):
mode = arg
if not server_url or not key:
help(sys.argv[0])
sys.exit(2)
if mode != 'single_lock' and mode != 'open_all':
print('unknown mode %s' % mode)
sys.exit(2)
# create lock
if gpio_number:
lock = Lock(lock_id, Gpio(gpio_number))
else:
lock = DummyLock(lock_id)
# create logger
if logfile:
logger = create_file_logger(logfile, lock)
else:
logger = create_stdout_logger(lock)
# create authenticator
logger.info("server url: %s" % server_url)
authenticator = Authenticator(server_url, key)
# create reader
if device_name:
reader = Reader(device_name)
else:
reader = DummyReader()
rgb_led = None
if rgb:
rgb_led = RgbLed(int(rgb[0]), int(rgb[1]), int(rgb[2]))
# read loop
for user_id in reader.read():
if mode == 'single_lock':
if authenticator.auth(lock, user_id):
if rgb_led:
rgb_led.green(1)
lock.open(pulse_time_s=1)
logger.info("%s: valid" % user_id)
if rgb_led:
rgb_led.green(0)
else:
if rgb_led:
rgb_led.red(1)
logger.info("%s: invalid" % user_id)
time.sleep(1)
if rgb_led:
rgb_led.red(0)
elif mode == 'open_all':
state = authenticator.auth(lock, user_id)
if state:
logger.info("%s: valid" % user_id)
if state == 'on':
logger.info("all on")
if rgb_led:
rgb_led.green(1)
rgb_led.red(0)
elif state == 'off':
logger.info("all off")
if rgb_led:
rgb_led.green(0)
rgb_led.red(1)
else:
logger.info("unknown state: %s" % state)
else:
logger.info("%s: invalid" % user_id)
class Display(threading.Thread):
def __init__(self):
global level
logger.debug('__init__')
threading.Thread.__init__(self)
if platform.machine().startswith('arm'):
# create matrix7219 device
serial = spi(port=0, device=1, gpio=noop())
self.device = max7219(serial, cascaded=4, block_orientation=-90)
else:
# create emulator device
self.device = pygame(width=32,
height=8,
rotate=0,
mode='RGB',
transform='led_matrix',
scale=2,
frame_rate=60)
self.device.contrast(level)
def start(self, items, active=0, ok=None, back=None):
logger.debug('start')
max_width = self.device.width
if isinstance(items, list):
for item in items:
max_width = max(max_width, len(item) * 8 + 1)
self.gpio = Gpio(down=self.down,
up=self.up,
ok=self.__ok,
back=self.__back)
elif isinstance(items, str):
max_width = max(max_width, len(items) * 8 + 1)
self.gpio = Gpio(ok=self.__ok, back=self.__back)
# self.gpio.start()
self.virtual = viewport(self.device,
width=max_width,
height=(len(items) * 8))
self.active = 0
if ok:
self.ok = ok
if back:
self.back = back
with canvas(self.virtual) as draw:
if isinstance(items, list):
for i, item in enumerate(items):
text(draw, (1, i * 8),
item,
fill="white",
font=proportional(LCD_FONT))
if (item == active):
self.active = i
self.items = items
elif isinstance(items, str):
text(draw, (1, 0),
items,
fill="white",
font=proportional(LCD_FONT))
self.items = [items]
self.virtual.set_position((0, self.active * 8))
threading.Thread.start(self)
def run(self):
logger.debug('run')
active = self.active
i = 0
while True:
while (active == self.active):
if (i < (textsize(self.items[active],
font=proportional(LCD_FONT))[0] + 3 -
self.device.width)):
self.virtual.set_position((i, active * 8))
i += 1
else:
i = 0
break
time.sleep(0.2)
if (self.active == 255):
return
if (self.active > active):
for j in range(9):
self.virtual.set_position((0, (active * 8) + j))
time.sleep(0.05)
if (self.active < active):
for j in range(9):
self.virtual.set_position((0, (active * 8) - j))
time.sleep(0.05)
active = self.active
i = 0
def stop(self):
logger.debug('stop')
self.gpio.stop()
self.active = 255
def down(self):
logger.debug('down')
if (self.active < (len(self.items) - 1)):
self.active += 1
def up(self):
logger.debug('up')
if (self.active > 0):
self.active -= 1
def __ok(self):
logger.debug('ok')
if self.ok:
self.ok(self, self.items[self.active])
def __back(self):
logger.debug('back')
if self.back:
self.back(self, self.items[self.active])
from gpio import Gpio
from time import sleep
led = Gpio(27, Gpio.OUT) #P8.17
key = Gpio(65, Gpio.IN) #P8.18
try:
light = Gpio.LOW
led.setValue(light)
lastKeyState = Gpio.LOW
print("Ready.\nPress toggle key to change led state or Ctrl+C to exit.")
while True:
keyState = key.getValue()
if lastKeyState != keyState and keyState == Gpio.HIGH:
light = not light
led.setValue(light)
print("Led state changed to {0}.".format("ON" if light else "OFF"))
lastKeyState = keyState
sleep(0.2)
except KeyboardInterrupt:
print("\nBye!")
finally:
def execute(self):
print("executing throttle command")
Gpio.throttle(self.x, self.y)
class Blinker(object):
'''
Makes a LED to blink
'''
def __init__(self, port, delay=0.1):
'''
Constructor
@param port: GPIO port number where the LED is connected to
@param delay: Time the LED is on and off. Default 0.1s
'''
self._port = Gpio(port, Gpio.OUT)
self._delay = delay
self._isRunning = False
self._doBlinkThread = None
def start(self):
'''
Starts the LED to be blinking
'''
if self._doBlinkThread == None or not self._doBlinkThread.isAlive():
self._isRunning = True
self._doBlinkThread = Thread(target=self._doBlink)
self._doBlinkThread.start()
def stop(self):
'''
Stops the LED blinking
'''
self._isRunning = False
if self._doBlinkThread != None and self._doBlinkThread.isAlive():
self._doBlinkThread.join()
def setDelay(self, delay):
'''
Set the time the LED is on and off
@param delay: seconds
'''
self._delay = delay
def _doBlink(self):
'''
Thread action to be the LED blinking
'''
status = True
while self._isRunning:
self._port.setValue(status)
status = not status
time.sleep(self._delay)
self._port.setValue(False)
def cleanup(self):
'''
Frees ressources
'''
self._port.cleanup()
def execute(self):
print("executing reverse command")
Gpio.reverse(self.x, self.y)
def __init__(self, logger):
Logger.log.debug('{} initializing....'.format(__name__))
self.logger = logger
self.config = Config(logger=self.logger)
self.support = Support(config=self.config, logger=self.logger)
self.gpio = Gpio(config=self.config, logger=self.logger)
self.pollperm = Pollperm(logger=self.logger)
self.decoder = Decoder(config=self.config,
logger=self.logger,
gpio=self.gpio)
self.spi = SPI(config=self.config,
logger=self.logger,
decoder=self.decoder,
pollperm=self.pollperm)
self.codegen = Codegen(config=self.config,
logger=self.logger,
gpio=self.gpio,
spi=self.spi)
self.securitylevel = SecurityLevel(logger=self.logger)
self.gui = Mainwindow(self,
codegen=self.codegen,
config=self.config,
logger=self.logger,
support=self.support,
securitylevel=self.securitylevel)
self.switches = Switches(config=self.config,
logger=self.logger,
spi=self.spi,
gui=self.gui)
self.currentsense = CurrentSense(logger=self.logger,
spi=self.spi,
decoder=self.decoder,
gui=self.gui,
config=self.config)
self.pollvalues = Pollvalues(pollperm=self.pollperm,
logger=logger,
config=self.config,
currentsense=self.currentsense,
switches=self.switches,
sense_callback=self.poll_sense_callback,
switch_callback=self.poll_switch_callback)
self.securitywindow = SecurityWindow(logger=self.logger,
securitylevel=self.securitylevel)
self.window = self.gui.window
self.log = self.logger.log
self.knob_values = 0
self.rotary_0_pins = None
self.rotary_1_pins = None
self.rotary_2_pins = None
self.rotary_3_pins = None
self.rotary_0_pin_0_debounce = None
self.rotary_0_pin_1_debounce = None
self.rotary_1_pin_0_debounce = None
self.rotary_1_pin_1_debounce = None
self.rotary_2_pin_0_debounce = None
self.rotary_2_pin_1_debounce = None
self.rotary_3_pin_0_debounce = None
self.rotary_3_pin_1_debounce = None
self.gain0_val = 0
self.gain1_val = 0
self.gain_0_name = None
self.gain_1_name = None
self.gain_0_spi_channel = None
self.gain_1_spi_channel = None
self.gain_0_thresholds = None
self.gain_1_thresholds = None
self.GAIN_0_CS = None
self.GAIN_1_CS = None
self.speed0_val = 0
self.speed1_val = 0
self.speed_0_name = None
self.speed_1_name = None
self.speed_0_shape = None
self.speed_1_shape = None
self.speed_0_spi_channel = None
self.speed_1_spi_channel = None
self.speed_0_thresholds = None
self.speed_1_thresholds = None
self.screen_brightness_max = None
self.screen_brightness_min = None
self.display_brightness = None
self.spi_log_pause = False
self.SPEED_0_CS = None # 6 # SPEED SIMULATION TACH 1
self.SPEED_1_CS = None # 7 # SPEED SIMULATION TACH 2
self.load_from_config()
self.adc_scale = None
self.sense_amp_max_amps = None
self.sense_ad_vin = None # LM4128CQ1MF3.3/NOPB voltage reference
self.sense_ad_max_bits = 0 # AD7940 ADC
self.sense_scaling_factor_mv_amp = None # 110 milivolts per amp
self.sense_ad_max_scaled_value = None
self.speed0 = Speedgen(
pollperm=self.pollperm,
logger=self.logger,
config=self.config,
decoder=self.decoder,
spi=self.spi,
gpio=self.gpio,
name=self.speed_0_name,
shape=self.speed_0_shape,
spi_channel=self.speed_0_spi_channel,
chip_select=self.SPEED_0_CS,
pin_0=self.rotary_0_pins[0],
pin_1=self.rotary_0_pins[1],
pin_0_debounce=self.rotary_0_pin_0_debounce,
pin_1_debounce=self.rotary_0_pin_1_debounce,
thresholds=self.speed_0_thresholds,
callback=self.speed_callback,
commander_speed_move_callback=self.speed_move_callback)
self.speed1 = Speedgen(
pollperm=self.pollperm,
logger=self.logger,
config=self.config,
decoder=self.decoder,
spi=self.spi,
gpio=self.gpio,
name=self.speed_1_name,
shape=self.speed_1_shape,
spi_channel=self.speed_1_spi_channel,
chip_select=self.SPEED_1_CS,
pin_0=self.rotary_1_pins[0],
pin_1=self.rotary_1_pins[1],
pin_0_debounce=self.rotary_1_pin_0_debounce,
pin_1_debounce=self.rotary_1_pin_1_debounce,
thresholds=self.speed_1_thresholds,
callback=self.speed_callback,
commander_speed_move_callback=self.speed_move_callback)
self.gain0 = Gains(
pollperm=self.pollperm,
config=self.config,
logger=self.logger,
decoder=self.decoder,
spi=self.spi,
gpio=self.gpio,
name=self.gain_0_name,
spi_channel=self.gain_0_spi_channel,
chip_select=self.GAIN_0_CS,
pin_0=self.rotary_2_pins[0],
pin_1=self.rotary_2_pins[1],
pin_0_debounce=self.rotary_2_pin_0_debounce,
pin_1_debounce=self.rotary_2_pin_1_debounce,
thresholds=self.gain_0_thresholds,
callback=self.gains_callback,
commander_gain_move_callback=self.gain_move_callback)
self.gain1 = Gains(
pollperm=self.pollperm,
config=self.config,
logger=self.logger,
decoder=self.decoder,
spi=self.spi,
gpio=self.gpio,
name=self.gain_1_name,
spi_channel=self.gain_1_spi_channel,
chip_select=self.GAIN_1_CS,
pin_0=self.rotary_3_pins[0],
pin_1=self.rotary_3_pins[1],
pin_0_debounce=self.rotary_3_pin_0_debounce,
pin_1_debounce=self.rotary_3_pin_1_debounce,
thresholds=self.gain_1_thresholds,
callback=self.gains_callback,
commander_gain_move_callback=self.gain_move_callback)
self.startup_processes()
class Led(Plugin):
implements(ITelldusLiveObserver)
def __init__(self):
self.gpio = Gpio(self.context)
self.live = TelldusLive(self.context)
self.gpio.initPin('status:red')
self.gpio.initPin('status:green')
self.setNetworkLed()
def liveConnected(self):
self.setNetworkLed()
def liveRegistered(self, __msg, __refreshRequired):
self.setNetworkLed()
def liveDisconnected(self):
self.setNetworkLed()
def setNetworkLed(self):
if self.live.isRegistered():
# We check live status first since we might have connection on another network interface
self.gpio.setPin('status:red', 0)
self.gpio.setPin('status:green', 1, brightness=50)
return
if self.live.isConnected():
self.gpio.setPin('status:red', 0)
self.gpio.setPin('status:green', 1, brightness=50, freq=1)
return
if Led.__getIp(Board.networkInterface()) is None:
self.gpio.setPin('status:red', 1, freq=1)
self.gpio.setPin('status:green', 0)
return
self.gpio.setPin('status:red', 1, brightness=50)
self.gpio.setPin('status:green', 0)
@staticmethod
def __getIp(iface):
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sockfd = sock.fileno()
SIOCGIFADDR = 0x8915 # pylint:disable=C0103
ifreq = struct.pack('16sH14s', str(iface), socket.AF_INET, '\x00' * 14)
try:
res = fcntl.ioctl(sockfd, SIOCGIFADDR, ifreq)
except Exception as __error:
return None
ipAddr = struct.unpack('16sH2x4s8x', res)[2]
return socket.inet_ntoa(ipAddr)
#!/usr/bin/python '''Test switch hardware with output to local oled.''' import os import sys # required for sys.exit() import time, datetime, argparse, logging import RPi.GPIO as GPIO from gpio import Gpio from oled import Oled myGpio=Gpio() myOled=Oled(4) myGpio.setup() myOled.writerow(1,'Switch test') a = [17,18,21,22,23,24,25,4] b = [0,0,0,0,0,0,0,0] for i in range(len(a)): GPIO.setup(a[i],GPIO.IN) print a[i]," ", print print 'Next Stop Vol+ Vol- - - - -' time.sleep(1) myOled.writerow(1,str(a[0])+' '+str(a[1])+' '+str(a[2])+' '+str(a[3])+' '+str(a[4])+' '+str(a[5])) myOled.writerow(3,str(a[6])+' '+str(a[7])) while True: for i in range(len(a)): print GPIO.input(a[i])," ", b[i] = GPIO.input(a[i]) print
# Default game parameters
GAME_TOTAL_LINKS = 15
GAME_FIRST_LINK_0 = 10
GAME_FIRST_LINK_1 = 4
GAME_STEP_DELAY = 8
# Diagnostic parameters
DIAG_PATH_SEARCH_SRC = 0
DIAG_PATH_SEARCH_DST = len(ALL_NODE_NAMES) - 1
# Mock parameters
MOCK_FIRST_LINK_MIDDLE_NODE = 2
MOCK_SECOND_LINK_MIDDLE_NODE = 3
# Connectors representing GPIO groupings
NODE_0 = Connectors(Gpio(Gpio.BUS_ADDR_0, Gpio.GPB0), [
Gpio(Gpio.BUS_ADDR_0, Gpio.GPB1),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPB2),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPB3),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPB4)
], DEBUG_MODE)
NODE_1 = Connectors(Gpio(Gpio.BUS_ADDR_0, Gpio.GPB5), [
Gpio(Gpio.BUS_ADDR_0, Gpio.GPB6),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA0),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA1),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA2)
], DEBUG_MODE)
NODE_2 = Connectors(Gpio(Gpio.BUS_ADDR_0, Gpio.GPA7), [
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA6),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA5),
Gpio(Gpio.BUS_ADDR_0, Gpio.GPA4),
def __init__(self):
Pyro.core.ObjBase.__init__(self)
self.adc = Adc() #adc.Adc()
self.pwm = Pwm() #pwm.OmapPwm()
self.gpio = Gpio() #gpio.Gpio()
