def __init__(self, draw_gui=False, intrusion=None):
""" Ctor """
object.__init__(self)
self._has_gui = draw_gui
self._gui_size = 0
self._frame_count = 0
self._gui_output = None
# Initialise background (500 x 500)
self._background = [[
Rgb(DEFAULT_BG_R, DEFAULT_BG_G, DEFAULT_BG_B)
for _ in range(0, 500)
] for _ in range(0, 500)]
self._turtles = {}
self._id_counter = 0
self._update_interval = None
rospy.set_param("background_r", DEFAULT_BG_R)
rospy.set_param("background_g", DEFAULT_BG_G)
rospy.set_param("background_b", DEFAULT_BG_B)
rospy.loginfo("Starting turtle frame with parent node %s",
rospy.get_name())
trt_x = random.randrange(0, self.get_width())
trt_y = random.randrange(0, self.get_height())
self._spawn_turtle(trt_x, trt_y)
# Colouring the background
# Window is 500 x 500, starting bottom left at 0,0 and ending top right at 499,499
# Top left: Pastel purple
self._draw_area(Rgb.pastel_purple(), Point(0, 250), Point(249, 499))
# Top right: Pastel yellow
self._draw_area(Rgb.pastel_yellow(), Point(250, 250), Point(499, 499))
# Bottom left: Pastel green
self._draw_area(Rgb.pastel_green(), Point(0, 0), Point(249, 249))
# Bottom right: Pastel blue
self._draw_area(Rgb.pastel_blue(), Point(250, 0), Point(499, 249))
# Intrusion zone (middle): Red
self._draw_red(intrusion)
# Initialise GUI (if requested)
self._redraw()
# Initialise update timer (16 msec)
self._update_interval = rospy.Duration(0.016)
rospy.Timer(self._update_interval, self._update_turtles)
def _get_output_letter(rgb):
""" Produce a letter for the given Rgb. Returns "?" for unknown colours. """
if rgb == Rgb.pastel_purple():
return "p"
elif rgb == Rgb.pastel_yellow():
return "y"
elif rgb == Rgb.pastel_green():
return "g"
elif rgb == Rgb.pastel_blue():
return "b"
elif rgb == Rgb.strong_red():
return " "
return "?"
def rgb_init(num_led=io_conf.get('ws'), pin=None): # default autoinit ws
if pinout.WS_LED_PIN is None:
print("Warning: WS LED not supported on this board")
return
if num_led is None or num_led == 0:
print("Warning: Number of WS LED is 0")
return
from util.rgb import Rgb # setupNeopixel
ws = Rgb(pin, num_led)
return ws
def _draw_red(self, intrusion):
""" Draw a red area in the center based on the intrusion level. """
if intrusion is None:
return
if intrusion not in self.POSSIBLE_INTRUSION_LEVELS:
raise ValueError(
"Given value [{}] for argument \"intrusion\" is invalid".
format(intrusion))
from_point = Point(0, 0)
to_point = Point(0, 0)
colour = Rgb()
assert (len(self.POSSIBLE_INTRUSION_LEVELS) == 3)
# Easy: 40 % strong_red / 316 * 316
if intrusion == self.POSSIBLE_INTRUSION_LEVELS[0]:
from_point = Point(92, 92)
to_point = Point(407, 407)
colour = Rgb.strong_red()
# Medium: 20 % med_red / 224 * 224
elif intrusion == self.POSSIBLE_INTRUSION_LEVELS[1]:
from_point = Point(138, 138)
to_point = Point(361, 361)
colour = Rgb.med_red()
# Hard: 5 % light_red / 112 * 112
elif intrusion == self.POSSIBLE_INTRUSION_LEVELS[2]:
from_point = Point(194, 194)
to_point = Point(305, 305)
colour = Rgb.light_red()
else:
raise NotImplementedError(
"draw_red: Intrusion level not implemented")
# TODO TEMP Currently intruded means ALL is red!
from_point = Point(0, 0)
to_point = Point(499, 499)
self._draw_area(colour, from_point, to_point)
# octopusLAB simple example
# ESP32board with "RGB WS LED"
# run: import examples.rgb_blink
from util.rgb import Rgb
# from util.octopus import led # short way
from util.pinout import set_pinout
pinout = set_pinout() # set board pinout
from util.io_config import get_from_file
io_conf = get_from_file()
ws = Rgb(pinout.WS_LED_PIN, io_conf.get('ws'))
print("---examples/rgb_blink.py---")
# start main loop
while True:
ws.simpleTest()
print("This is simple Micropython example | ESP32 & octopusLAB")
speed = 900
from util.shell.terminal import getUid
uID5 = getUid(short=5)
from time import sleep
from util.pinout import set_pinout
pinout = set_pinout()
from util.rgb import Rgb
ws = Rgb(pinout.PWM3_PIN)
ws.simpleTest()
print("DCmotors init")
from util.dcmotors import Motor, Steering
motor_r = Motor(pinout.MOTOR_1A, pinout.MOTOR_2A, pinout.MOTOR_12EN)
motor_l = Motor(pinout.MOTOR_3A, pinout.MOTOR_4A, pinout.MOTOR_34EN)
steering = Steering(motor_l, motor_r)
from util.led import Led
led = Led(2)
led.blink()
steering.center(speed)
from util.buzzer import Notes
def beep(f=1000, l=50): # noqa: E741
piezzo.beep(f, l)
def tone(f, l=300): # noqa: E741
piezzo.play_tone(f, l)
# else: # piezzo =Buzzer(None)
if io_conf.get('ws'):
print("ws | ",end="")
from util.rgb import Rgb
from util.colors import *
if pinout.WS_LED_PIN is None:
print("Warning: WS LED not supported on this board")
else:
ws = Rgb(pinout.WS_LED_PIN,io_conf.get('ws')) # default rgb init
def rgb_init(num_led=io_conf.get('ws'), pin=None): # default autoinit ws
if pinout.WS_LED_PIN is None:
print("Warning: WS LED not supported on this board")
return
if num_led is None or num_led == 0:
print("Warning: Number of WS LED is 0")
return
from util.rgb import Rgb # setupNeopixel
ws = Rgb(pin, num_led)
return ws
#if io_conf.get('fet'):
# print("fet | ",end="")
# FET = PWM(Pin(pinout.MFET_PIN), freq=500)
# The MIT License (MIT)
# Copyright (c) 2020 Jan Cespivo, Jan Copak
# octopusLAB pubsub example
from time import sleep
from examples.pubsub.ps_init import pubsub
print("start: ps_rgb.py")
from util.rgb import Rgb
rgb = Rgb(15) # robot board default
rgb.color((0, 0, 0))
while True:
rgb.color((128, 0, 0))
pubsub.publish('value', 1)
sleep(1)
rgb.color((0, 128, 0))
pubsub.publish('value', 2)
sleep(1)
rgb.color((0, 0, 128))
pubsub.publish('value', 3)
sleep(1)
config_setkeys = [
"influx_url", "influx_db", "influx_usr", "influx_psw", "timer_interval",
"treshold"
]
errorcount = 0
reconnectcount = 0
powerMode = False
print("octopusLab solar regulator: ", _ver)
# --- init ---
print("--- init --- RAM free: " + str(mem_free()))
pinout = set_pinout()
ws = Rgb(pinout.WS_LED_PIN, 1)
led_button = Button(0, release_value=1)
built_in_led = Pin(2, Pin.OUT)
anB = Analog(36) # Battery
anS = Analog(39) # Solar
re1 = Relay(pinout.PWM1_PIN)
re2 = Relay(pinout.PWM2_PIN)
re1.value(1) # inverse
re2.value(1)
def batt_adc():
valB = anB.get_adc_aver(8)
from util.pinout import set_pinout
from util.octopus import disp7_init
from util.rgb import Rgb
from time import sleep
pinout = set_pinout()
from hcsr04 import HCSR04
d7 = disp7_init()
ws = Rgb(4)
print("ulrasonic distance sensor")
# servo1: 17, servo2: 16, 4 # t16 / e17
# Echo module
echo = HCSR04(trigger_pin=pinout.PWM2_PIN, echo_pin=pinout.PWM1_PIN)
while True:
echo_cm = echo.distance_cm()
d7.show(int(echo_cm))
if echo_cm > 15:
ws.color((32, 0, 0))
print("---treshold---")
else:
ws.color((0, 32, 0))
print(echo_cm)
sleep(0.5)
from time import sleep
from util.led import Led
from util.rgb import Rgb
from util.octopus import disp7_init, printOctopus
from util.pinout import set_pinout
print("this is simple Micropython example | ESP32 & octopusLAB")
printOctopus()
pinout = set_pinout() # set board pinout
from util.io_config import get_from_file
io_conf = get_from_file()
led = Led(2)
led.blink()
ws = Rgb(pinout.WS_LED_PIN,io_conf.get('ws'))
ws.simpleTest()
d7 = disp7_init() # 7segment (8digit) display init
def d7pause(ch = "-", sl = 0.5):
for i in range(8):
d7.show(" "*i + ch)
sleep(sl)
sleep(2)
d7pause(sl=0.1)
ws.rainbow_cycle()
ws.color((0,0,0))