def main() -> None:
# Setup GPIO
MOTOR1_PINS = [11, 13]
MOTOR2_PINS = [16, 15]
GPIO.setmode(GPIO.BOARD)
GPIO.setup(MOTOR1_PINS, GPIO.OUT)
GPIO.setup(MOTOR2_PINS, GPIO.OUT)
# -------
logger.setLevel('INFO')
scraper: Scraper = Scraper(DBStorage())
controller: Controller = Controller()
sensors: List[ISensor] = []
sentries: List[ISentry] = []
horizontal_sensor: HorizontalCapacitanceSensor = HorizontalCapacitanceSensor(
)
vertical_sensor: VerticalCapacitanceSensor = VerticalCapacitanceSensor()
# TODO: add LCD display?
# register all sensors
sensors.append(PIM486())
sensors.append(ArduinoSerialInterface())
# register all sentries
sentries.append(HumiditySentry())
sentries.append(LightSentry())
sentries.append(WaterSentry())
sentries.append(TemperatureSentry())
# spawn two threads and run one for any external events (user input etc)
# run main loop
scraper_runner: threading.Thread = threading.Thread(target=scraper.run,
name="Scraper")
controller_runner: threading.Thread = threading.Thread(
target=controller.run, name="Controller")
try:
scraper_runner.start()
controller_runner.start()
while True:
for s in sensors:
s.poll() # poll for data for most of the sensors
time.sleep(0.5)
# poll the sensors periodically, serve IRQ's from some most important - pindas etc
except KeyboardInterrupt:
scraper.is_done = True
controller.is_done = True
scraper_runner.join()
controller_runner.join()
# deinit all sensors
for s in sensors:
s.close()
# GPIO CLEANUP
GPIO.cleanup()
logInfo("Exiting")
def poll(self): # some sensors are poll'able
raw_temp = self.bme280.get_temperature()
raw_humidity = self.bme280.get_humidity()
raw_press = self.bme280.get_pressure()
logInfo(f"PIM486 got temp {raw_temp}")
data = SensorData("pim486", "bme280", "temperature", datetime.now(),
raw_temp)
pub.sendMessage('sensor_read', args=data)
pub.sendMessage('temperature_out', raw_temp)
def poll(self):
# Turns on the sensor (if not already on) and returns a reading
if not automationhat.output[self.output_pin_no]:
automationhat.output[self.output_pin_no].write(True)
raw_data = True if automationhat.analog[analog_input_pin_no].read(
) < CapacitanceSensor.threshold_voltage else False
logInfo(f"{self.name} PINDA got reading {raw_data}")
data = SensorData("capacitance_sensor", "horizontal", "distance",
datetime.now(), raw_data)
pub.sendMessage("sensor_read", args=data)
def poll(self):
self.arduino_serial.write((bytes(ArduinoSerialInterface.get_msg, 'ascii')))
sleep(0.05) # Wait for arduino to process and send data
raw_data = self.arduino_serial.readline()#[:-2] # Cut out endline char
#data = str(data, encoding='ascii')
if raw_data:
logInfo(f"Arduino sent data over serial: {raw_data}")
split = raw_data.split(' ')
sensor_name = split[0]
for i in range(1, len(split) - 1, 2):
data = SensorData("Arduino", sensor_name, split[i], datetime.now(), split[i + 1])
pub.sendMessage("sensor_read", args=data)
# nasty else for sentry data signalling
if split[i] == "water":
pub.sendMessage("water_level", split[i + 1])
elif split[i] == "humidity_near":
pub.sendMessage("humidity_near", split[i + 1])
elif split[i] == "humidity_far":
pub.sendMessage("humidity_far", split[i + 1])
def sensor_read_cb(self, args: SensorData = None):
logInfo(f"Obtained the reading! DATA: {args}")
self.message_queue.append(args) # TODO: thread safe list
def write_single(self, record: SensorData) -> bool:
logInfo("Saving a single record data to DB")
pass
def write_all(self, records: List[SensorData]) -> bool:
logInfo("Saving data to DB")
formatted = self.format_data(records)
self.write_api.write(bucket=self.bucket_name, record=formatted)
def write_all(self, record) -> bool:
logInfo("Saving data to file")
def motion_status_listener(self, args, rest=None):
# Motor messages: FORWARD, BACKWARD, STOP
# Position Status: INSIDE, OUTSIDE
# Message format: [MOTOR_STATUS, POSITION_STATUS]
logInfo(f"Controller received motion_status message {args}")
motor_status, position_status = args
if motor_status == "STOP":
GPIO.output(MOTOR1_PINS[0], MOTOR1_STATIONARY[0])
GPIO.output(MOTOR1_PINS[1], MOTOR1_STATIONARY[1])
GPIO.output(MOTOR2_PINS[0], MOTOR2_STATIONARY[0])
GPIO.output(MOTOR2_PINS[1], MOTOR2_STATIONARY[1])
return
if position_status == "INSIDE" and motor_status == "BACKWARD":
logWarning(
f"Controller received motion_status message {args}, but position_status is {position_status}\
and motor_status is {motor_status}")
return
if position_status == "OUTSIDE" and motor_status == "FORWARD":
logWarning(
f"Controller received motion_status message {args}, but position_status is {position_status}\
and motor_status is {motor_status}")
return
# MOTORS WILL RUN
# Case 1: POSITION INSIDE, MOTOR FORWARD
if position_status == "INSIDE" and motor_status == "FORWARD":
logInfo(
f"Controller received motion_status message {args}, Begin moving outside!"
)
pinda_val = vertical_sensor.poll()
if not pinda_val:
logError(
f"Controller received motion_status message {args}, vertical capacitance sensor not triggered before motion began!"
)
return
while pinda_val:
pinda_val = vertical_sensor.poll()
GPIO.output(MOTOR1_PINS[0], MOTOR1_FORWARD[0])
GPIO.output(MOTOR1_PINS[1], MOTOR1_FORWARD[1])
GPIO.output(MOTOR2_PINS[0], MOTOR2_FORWARD[0])
GPIO.output(MOTOR2_PINS[1], MOTOR2_FORWARD[1])
GPIO.output(MOTOR1_PINS[0], MOTOR1_STATIONARY[0])
GPIO.output(MOTOR1_PINS[1], MOTOR1_STATIONARY[1])
GPIO.output(MOTOR2_PINS[0], MOTOR2_STATIONARY[0])
GPIO.output(MOTOR2_PINS[1], MOTOR2_STATIONARY[1])
vertical_sensor.close()
logInfo(
f"Controller received motion_status message {args}, Envidrawer is outside!"
)
# Case 2: POSITION OUTSIDE, MOTOR BACKWARD
if position_status == "OUTSIDE" and motor_status == "BACKWARD":
logInfo(
f"Controller received motion_status message {args}, Begin moving inside!"
)
pinda_val = horizontal_sensor.poll()
if pinda_val:
logError(
f"Controller received motion_status message {args}, horizontal capacitance sensor triggered before motion began!"
)
return
while pinda_val:
pinda_val = horizontal_sensor.poll()
GPIO.output(MOTOR1_PINS[0], MOTOR1_BACKWARD[0])
GPIO.output(MOTOR1_PINS[1], MOTOR1_BACKWARD[1])
GPIO.output(MOTOR2_PINS[0], MOTOR2_BACKWARD[0])
GPIO.output(MOTOR2_PINS[1], MOTOR2_BACKWARD[1])
GPIO.output(MOTOR1_PINS[0], MOTOR1_STATIONARY[0])
GPIO.output(MOTOR1_PINS[1], MOTOR1_STATIONARY[1])
GPIO.output(MOTOR2_PINS[0], MOTOR2_STATIONARY[0])
GPIO.output(MOTOR2_PINS[1], MOTOR2_STATIONARY[1])
horizontal_sensor.close()
logInfo(
f"Controller received motion_status message {args}, Envidrawer is inside!"
)
def dummy_listener(self, args, rest=None):
logInfo(f"Controller Received message {args}")