def _switch(self, switch):
self.bit = [
142, 142, 142, 142, 142, 142, 142, 142, 142, 142, 142, 136, 128, 0,
0, 0
]
for t in range(5):
if self.system_code[t]:
self.bit[t] = 136
x = 1
for i in range(1, 6):
if self.unit_code & x > 0:
self.bit[4 + i] = 136
x = x << 1
if switch == wiringpi.HIGH:
self.bit[10] = 136
self.bit[11] = 142
bangs = []
for y in range(16):
x = 128
for i in range(1, 9):
b = (self.bit[y] & x > 0) and wiringpi.HIGH or wiringpi.LOW
bangs.append(b)
x = x >> 1
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.pin, wiringpi.OUTPUT)
wiringpi.digitalWrite(self.pin, wiringpi.LOW)
for z in range(self.repeat):
for b in bangs:
wiringpi.digitalWrite(self.pin, b)
time.sleep(self.pulselength / 1000000.)
def run(self):
motionFirstDetectedTime = None
SLEEP_TIME = 0.5
# Set up the GPIO input for motion detection
PIR_PIN = 18
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(PIR_PIN, wiringpi.INPUT)
# Loop through and detect motion
while True:
if wiringpi.digitalRead(PIR_PIN):
if motionFirstDetectedTime is None:
motionFirstDetectedTime = datetime.now()
print('Motion detected at: ' + str(motionFirstDetectedTime))
# Do we need to send out a notification?
now = datetime.now()
if (motionFirstDetectedTime is not None) and (now - motionFirstDetectedTime) > timedelta (minutes = 1):
print('Sending out notification now!')
motiondate = datetime.strftime(motionFirstDetectedTime, '%Y-%m-%d %H:%M:%S')
msg = self.message + ': ' + motiondate
self._send_email(msg)
# reset state
motionFirstDetectedTime = None
time.sleep(SLEEP_TIME)
def emergency_call():
w.wiringPiSetupSys()
w.pinMode(PIN, INPUT)
pub = rospy.Publisher('emergency_flag', Bool, queue_size=10)
rospy.init_node('emergency', anonymous=True)
r = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
# if w.input(PIN) == 1:
# e_flag = True % rospy.get_time()
# rospy.loginfo(e_flag)
# pub.publish(e_flag)
#
# else:
# e_flag = False % rospy.get_time()
# rospy.loginfo(e_flag)
# pub.publish(e_flag)
e_flag = True % rospy.get_time()
rospy.loginfo(e_flag)
pub.publish(e_flag)
wiringPiISR(PIN, INT_EDGE_FALLING, pub_e_flag)
if e_flag:
print('e_flag true')
r.sleep()
def main():
config = configparser.ConfigParser()
config.read(CONF)
device = config['device']['addr']
pin = int(config['device']['pin'])
signal_length = int(config['device']['signal_length'])
wp.wiringPiSetupSys()
wp.pinMode(pin, 1)
wp.digitalWrite(pin, HIGH)
k = 0
while True:
config = configparser.ConfigParser()
config.read(CONF)
if config['calibration']['activate'] == '1':
code = config['power']['code']
code += config['calibration']['code']
sendCommands(code, device, pin, signal_length)
# Reset config to defaults (except power)
config['calibration']['activate'] = '0'
config['calibration']['code'] = '0000'
with open(CONF, 'w') as updated_conf:
config.write(updated_conf)
if k == CHK_DELAY:
device = config['device']['addr']
signal_length = int(config['device']['signal_length'])
pin = int(config['device']['pin'])
k += 1
k %= (CHK_DELAY + 1)
time.sleep(1)
def _switch(self, switch):
self.bit = [142, 142, 142, 142, 142, 142, 142, 142, 142, 142, 142, 136, 128, 0, 0, 0]
for t in range(5):
if self.system_code[t]:
self.bit[t] = 136
x = 1
for i in range(1, 6):
if self.unit_code & x > 0:
self.bit[4 + i] = 136
x = x << 1
if switch == wiringpi.HIGH:
self.bit[10] = 136
self.bit[11] = 142
bangs = []
for y in range(16):
x = 128
for i in range(1, 9):
b = (self.bit[y] & x > 0) and wiringpi.HIGH or wiringpi.LOW
bangs.append(b)
x = x >> 1
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(self.pin, wiringpi.OUTPUT)
wiringpi.digitalWrite(self.pin, wiringpi.LOW)
for z in range(self.repeat):
for b in bangs:
wiringpi.digitalWrite(self.pin, b)
time.sleep(self.pulselength / 1000000.0)
def __init__(self):
gpio.setmode(gpio.BOARD)
gpio.setup(READY_PIN_ID, gpio.IN)
wiringpi.wiringPiSetupSys()
self.i2c = wiringpi.I2C()
self.bus = self.i2c.setup(SHT31_ADDRESS)
time.sleep(0.03)
def gpio_setup(pc):
_gpio_cleanup(pc)
_gpio_export(settings.PCS[pc]['gpio']['power'], 'out')
_gpio_export(settings.PCS[pc]['gpio']['mains_power'], 'out')
_gpio_export(settings.PCS[pc]['gpio']['power_led'], 'in')
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(settings.PCS[pc]['gpio']['power'], 1)
wiringpi.pinMode(settings.PCS[pc]['gpio']['mains_power'], 1)
wiringpi.pinMode(settings.PCS[pc]['gpio']['power_led'], 0)
def configureGPIO():
wiringpi.wiringPiSetupSys()
# gpio export 4 high
# gpio export 17 high
subprocess.call(["gpio", "export", str(HEATER_PIN), "high"])
subprocess.call(["gpio", "export", str(FAN_PIN), "high"])
wiringpi.pinMode(HEATER_PIN, 1) # Output mode
wiringpi.digitalWrite(HEATER_PIN, 1) # Pins are activeHI, so turn off.
wiringpi.pinMode(FAN_PIN, 1) # Output mode
wiringpi.digitalWrite(FAN_PIN, 1) # Pins are activeHI, so turn off.
def __init__(self):
os.system(INIT)
wiringpi.wiringPiSetupSys()
self.io = wiringpi.GPIO(wiringpi.GPIO.WPI_MODE_SYS)
#self.io.pinMode(pwmPin, self.io.PWM_OUTPUT)
#self.io.pinMode(leftSensorPin, self.io.INPUT)
#self.io.pinMode(rightSensorPin, self.io.INPUT)
self.engines = Engines(self)
Ping.start(self)
Web.start(self)
while 1:
time.sleep(10)
def __init__(self, names, ns='~motors'):
self.ns = ns
wp.wiringPiSetupSys()
self.gpio = wp
i2c_id = MotorManager.getPiI2CBusNumber()
rospy.loginfo('Opening i2c bus [ {} ]'.format(i2c_id))
self.bus = smbus.SMBus( i2c_id )
self.motors = {name: Motor(self.bus, self.gpio, ns + '/' + name) for name in names}
self.rc = DynamicReconfigureServer(MotorManagerConfig, self.reconfigureCallback, ns)
rospy.on_shutdown(self.cleanup)
def gpioInitSetup():
wiringpi.wiringPiSetupSys()
subprocess.call(["gpio", "export", str(HEATER_PIN), "high"])
subprocess.call(["gpio", "export", str(FAN_PIN), "high"])
#
# By default, we turn off the heater and the FAN when
# we first startup. No harm done because THERMOD will
# put them back on if that's the state that's config'd
# in STATUS_FILE
#
wiringpi.pinMode(HEATER_PIN, 1) # Output mode
wiringpi.digitalWrite(HEATER_PIN, 1) # Pins are activeHI, so turn off.
wiringpi.pinMode(FAN_PIN, 1) # Output mode
wiringpi.digitalWrite(FAN_PIN, 1) # Pins are activeHI, so turn off.
def build(self):
self.handlingKey = False
self.manager = ScanRoot()
# Set up GPIO pin for foot pedal
os.system("gpio export 21 up")
wiringpi.wiringPiSetupSys()
#wiringpi.pinMode(21, 0)
#wiringpi.pullUpDnControl(21, 2)
self.lastPedal = 0
Clock.schedule_interval(self.update, 0.5)
Clock.schedule_interval(self.checkPedal, 0.05)
Window.bind(on_key_down=self.on_key_down)
Window.bind(on_key_up=self.on_key_up)
return self.manager
def build(self):
self.handlingKey = False
self.manager = ScanRoot()
# Set up GPIO pin for foot pedal
os.system("gpio export 21 up")
wiringpi.wiringPiSetupSys()
#wiringpi.pinMode(21, 0)
#wiringpi.pullUpDnControl(21, 2)
self.lastPedal = 0
Clock.schedule_interval(self.update, 0.5)
Clock.schedule_interval(self.checkPedal, 0.05)
Window.bind(on_key_down=self.on_key_down)
Window.bind(on_key_up=self.on_key_up)
return self.manager
def gpio_init(self):
wp.wiringPiSetupSys()
# Set output for those pins :
wp.pinMode(self.pin_power_left, wp.OUTPUT)
wp.pinMode(self.pin_power_right, wp.OUTPUT)
wp.pinMode(self.pin_direction_left_forward, wp.OUTPUT)
wp.pinMode(self.pin_direction_right_forward, wp.OUTPUT)
wp.pinMode(self.pin_direction_left_rear, wp.OUTPUT)
wp.pinMode(self.pin_direction_right_rear, wp.OUTPUT)
## create the SoftPwm on power pins :
wp.softPwmCreate(self.pin_power_left, 0, self.max_speed)
wp.softPwmCreate(self.pin_power_right, 0, self.max_speed)
## reset everyone :
self.gpio_zero()
def __init__(self,
address=0x3E,
interruptPin=None,
resetPin=None,
oscillatorPin=None):
self.address = address
self.interruptPin = interruptPin
self.resetPin = resetPin
self.oscillatorPin = oscillatorPin
wiringpi.wiringPiSetupSys()
self.i2c = wiringpi.I2C()
self.device = self.i2c.setup(self.address)
data = [0x00, 0x00]
data[0] = self.i2c.readReg8(self.device, self.REGISTERS['CHECK'])
data[1] = self.i2c.readReg8(self.device, self.REGISTERS['CHECK'] + 1)
if data[0] != 0xFF or data[1] != 0x00:
raise Error('SX1509 not detected!')
self.reset(False)
def setup():
# use Gpio pin numbering
# w.wiringPiSetupGpio()
w.wiringPiSetupSys() # use the non-root mode. Needs to export pins via gpio first!
# polarity pins are outputs:
for pin in pins_pol:
w.pinMode(pin, 1) # defined as output
w.digitalWrite(pin,0) # all output off
# PWM pins:
for pin in pins_pwm:
w.softPwmCreate(pin,0,100) #define pin as pwm output
# all magnets turned off
magnet(0,0,0)
magnet(1,0,0)
magnet(2,0,0)
magnet(3,0,0)
def setup():
wp.wiringPiSetupSys()
for pd_pin in pd_pins:
wp.pinMode(pd_pin, wp.GPIO.INPUT)
atexit.register(cleanup)
print('setup completed')
def __init__(self):
rospy.init_node('rpi_gpio', log_level=rospy.DEBUG)
# Pin numbers are the GPIO# value, not the literal pin number.
# Setting direction here is necessary because wiringpi doesn't support setMode() at time of writing.
self.directions = rospy.get_param("~directions", {})
# These states will be set to pins right before the node shuts down.
self.shutdown_states = rospy.get_param("~shutdown_states", {})
# Set default states.
self.states = rospy.get_param("~states", {})
# Cleanup when termniating the node
rospy.on_shutdown(self.shutdown)
# Overall loop rate: should be faster than fastest sensor rate
self.rate = int(rospy.get_param("~rate", 50))
r = rospy.Rate(self.rate)
for pin, direction in self.directions.items():
if not isinstance(pin, int):
del self.directions[pin]
pin = int(pin)
self.directions[pin] = direction
# May give the error:
# bash: echo: write error: Device or resource busy
# if the pin was left exported
assert pin in RPI2_GPIO_PINS, 'Invalid pin: %s' % pin
assert direction in (IN, OUT), 'Invalid direction for pin %s: %s' % (pin, direction)
self.export_pin(pin, direction)
wiringpi.wiringPiSetupSys()
for pin, state in self.states.items():
if not isinstance(pin, int):
del self.states[pin]
pin = int(pin)
self.states[pin] = state
msg = DigitalWrite()
msg.pin = int(pin)
msg.state = state
self._set_pin_handler(msg)
for pin, state in self.shutdown_states.items():
if not isinstance(pin, int):
del self.shutdown_states[pin]
pin = int(pin)
self.shutdown_states[pin] = state
assert pin in RPI2_GPIO_PINS, 'Invalid pin: %s' % pin
assert state in (0, 1), 'Invalid shutdown state for pin %s: %s' % (pin, state)
# Define publishers and services.
#self.get_pin_pub = rospy.Publisher('~get_pin', msgs.DigitalRead)
self.pin_change_pub = rospy.Publisher('~pin_change', msgs.DigitalChange, queue_size=10)
rospy.Service('~set_pin', DigitalWrite, self._set_pin_handler)
# Start polling the sensors and base controller
while not rospy.is_shutdown():
# Publish all sensor values on a single topic for convenience
now = rospy.Time.now()
#TODO: read all readable-pins and publish an event on change
r.sleep()
def __init__(self, wrapper):
GpioInterface.__init__(self, wrapper)
self._pwmfreq = wrapper.PWM_FREQ
# os.popen('gpio export 18 out')
wpi.wiringPiSetupSys() # no sudo
#!/usr/bin/env python
import time
import wiringpi as w
COUNT = 5
PIN = 13
w.wiringPiSetupSys()
w.pinMode(PIN, 1)
for x in xrange(COUNT):
w.digitalWrite(PIN, 1)
time.sleep(1)
w.digitalWrite(PIN, 0)
time.sleep(1)
def init(self):
wiringpi.wiringPiSetupSys()
import asyncio
import datetime
import random
import websockets
import wiringpi
import time
import os
import Adafruit_DHT #for DHT11 sensor
#settingup the wiringPI
wiringpi.wiringPiSetupSys()
#putting 17th gpio to out mode
os.system('gpio export 17 out')
#making the selected pin high as default
wiringpi.pinMode(17, 1)
#for dht11 sensor start
# Set sensor type : Options are DHT11,DHT22 or AM2302
sensor = Adafruit_DHT.DHT11
# Set GPIO sensor is connected to
gpio = 27
#sensor end
async def time(websocket, path):
while True:
#data=await websocket.recv()
# Use read_retry method. This will retry up to 15 times to
def init(self):
wiringpi.wiringPiSetupSys()
import wiringpi as pi
import time
def displayNumber(n):
"自然数nを二進数としてLEDに表示する．"
for j in range(len(pinLed)):
pi.digitalWrite(pinLed[j], n & (1 << j))
pinLed = [2, 3, 4, 5]
pinSw = 26
pi.wiringPiSetupSys()
for pin in pinLed:
pi.pinMode(pin, 1)
pi.pinMode(pinSw, 0)
counter = 1
lastState = False
startTime = time.time()
try:
displayNumber(counter)
while True:
newState = pi.digitalRead(pinSw)
def setup(self):
if not WiringPiSingleton.already_setup:
WiringPiSingleton.already_setup = True
wiringpi.wiringPiSetupSys()
import wiringpi
import time
import os
pinR = 17
pinG = 18
pinB = 22
os.system('gpio export ' + str(pinR) + ' out')
os.system('gpio export ' + str(pinG) + ' out')
os.system('gpio export ' + str(pinB) + ' out')
wiringpi.wiringPiSetupSys()
wiringpi.pinMode(pinR,wiringpi.OUTPUT)
wiringpi.pinMode(pinG,wiringpi.OUTPUT)
wiringpi.pinMode(pinB,wiringpi.OUTPUT)
while True:
time.sleep(0.5)
wiringpi.digitalWrite(pinR,1)
time.sleep(0.5)
wiringpi.digitalWrite(pinG,1)
time.sleep(0.5)
wiringpi.digitalWrite(pinB,1)
time.sleep(0.5)
wiringpi.digitalWrite(pinR,0)
time.sleep(0.5)
wiringpi.digitalWrite(pinG,0)
time.sleep(0.5)
wiringpi.digitalWrite(pinB,0)
#!/usr/bin/python import time import threading import irclib import wiringpi LED_PIN = 3 wiringpi.wiringPiSetupSys() # for unprivileged access to GPIO pins wiringpi.pinMode(LED_PIN, 1) # output def flash_LED(count=5, ontime=100, offtime=200): """Flash the LED count times, one for ontime ms, off for offtime ms""" for i in xrange(count): wiringpi.digitalWrite(LED_PIN, 1) time.sleep(ontime/1000.) wiringpi.digitalWrite(LED_PIN, 0) time.sleep(offtime/1000.) def on_pubmsg(c, e): if [i for i in e.arguments()[0] if i in bot.users.keys()]: th = threading.Timer(0, flash_LED) th.start() def on_action(c, e): if [i for i in e.arguments()[0] if i in bot.users.keys()]: th = threading.Timer(0, flash_LED) th.start()
elif num == 9:
ret = [[1, 1, 1, 1, 1], [1, 0, 0, 0, 1], [1, 0, 0, 0, 1],
[1, 1, 1, 1, 1], [0, 0, 0, 0, 1], [0, 0, 0, 0, 1],
[1, 1, 1, 1, 1]]
else:
ret = [[1, 1, 1, 1, 1], [1, 1, 1, 1, 1], [1, 1, 1, 1, 1],
[1, 1, 1, 1, 1], [1, 1, 1, 1, 1], [1, 1, 1, 1, 1],
[1, 1, 1, 1, 1]]
return ret
pin_X = [21, 16, 13, 11, 5]
pin_Y = [26, 19, 20, 6, 12, 7, 8]
wp.wiringPiSetupSys()
for i in range(len(pin_X)):
wp.pinMode(pin_X[i], wp.GPIO.OUTPUT)
for i in range(len(pin_Y)):
wp.pinMode(pin_Y[i], wp.GPIO.OUTPUT)
for i in range(len(pin_X)):
wp.digitalWrite(pin_X[i], wp.GPIO.OUTPUT)
for i in range(len(pin_Y)):
wp.digitalWrite(pin_Y[i], wp.GPIO.OUTPUT)
count = 0
def __init__(self):
rospy.init_node('rpi_gpio', log_level=rospy.DEBUG)
# Pin numbers are the GPIO# value, not the literal pin number.
# Setting direction here is necessary because wiringpi doesn't support setMode() at time of writing.
self.directions = rospy.get_param("~directions", {})
# These states will be set to pins right before the node shuts down.
self.shutdown_states = rospy.get_param("~shutdown_states", {})
# Set default states.
self.states = rospy.get_param("~states", {})
# Cleanup when termniating the node
rospy.on_shutdown(self.shutdown)
# Overall loop rate: should be faster than fastest sensor rate
self.rate = int(rospy.get_param("~rate", 50))
r = rospy.Rate(self.rate)
for pin, direction in self.directions.items():
if not isinstance(pin, int):
del self.directions[pin]
pin = int(pin)
self.directions[pin] = direction
# May give the error:
# bash: echo: write error: Device or resource busy
# if the pin was left exported
assert pin in RPI2_GPIO_PINS, 'Invalid pin: %s' % pin
assert direction in (IN, OUT), 'Invalid direction for pin %s: %s' % (pin, direction)
self.export_pin(pin, direction)
wiringpi.wiringPiSetupSys()
for pin, state in self.states.items():
if not isinstance(pin, int):
del self.states[pin]
pin = int(pin)
self.states[pin] = state
msg = DigitalWrite()
msg.pin = int(pin)
msg.state = state
self._set_pin_handler(msg)
for pin, state in self.shutdown_states.items():
if not isinstance(pin, int):
del self.shutdown_states[pin]
pin = int(pin)
self.shutdown_states[pin] = state
assert pin in RPI2_GPIO_PINS, 'Invalid pin: %s' % pin
assert state in (0, 1), 'Invalid shutdown state for pin %s: %s' % (pin, state)
# Define publishers and services.
#self.get_pin_pub = rospy.Publisher('~get_pin', msgs.DigitalRead)
self.pin_change_pub = rospy.Publisher('~pin_change', msgs.DigitalChange, queue_size=10)
rospy.Service('~set_pin', DigitalWrite, self._set_pin_handler)
# Start polling the sensors and base controller
while not rospy.is_shutdown():
# Publish all sensor values on a single topic for convenience
now = rospy.Time.now()
#TODO: read all readable-pins and publish an event on change
r.sleep()
