def main():
try:
# read YAML configuration
_loader = ConfigLoader(Level.INFO)
filename = 'config.yaml'
_config = _loader.configure(filename)
_message_factory = MessageFactory(Level.INFO)
_queue = MessageQueue(_message_factory, Level.INFO)
_ifs = IntegratedFrontSensor(_config, _queue, _message_factory,
Level.INFO)
_indicator = Indicator(Level.INFO)
# _indicator.set_heading(180)
# add indicator as message consumer
_queue.add_consumer(_indicator)
_ifs.enable()
while True:
time.sleep(1.0)
except KeyboardInterrupt:
print(Fore.RED + 'Ctrl-C caught; exiting...' + Style.RESET_ALL)
except Exception as e:
print(Fore.RED + Style.BRIGHT +
'error starting ifs: {}\n{}'.format(e, traceback.format_exc()) +
Style.RESET_ALL)
finally:
if _ifs is not None:
_ifs.close()
class ROS(AbstractTask):
'''
Extends AbstractTask as a Finite State Machine (FSM) basis of a Robot
Operating System (ROS) or behaviour-based system (BBS), including
spawning the various tasks and an Arbitrator as separate threads,
inter-communicating over a common message queue.
This establishes a message queue, an Arbitrator and a Controller, as
well as an optional RESTful flask-based web service.
The message queue receives Event-containing messages, which are passed
on to the Arbitrator, whose job it is to determine the highest priority
action to execute for that task cycle.
Example usage:
try:
_ros = ROS()
_ros.start()
except Exception:
_ros.close()
There is also a rosd linux daemon, which can be used to start, enable
and disable ros (actually via its Arbitrator).
'''
# ..........................................................................
def __init__(self):
'''
This initialises the ROS and calls the YAML configurer.
'''
self._queue = MessageQueue(Level.INFO)
self._mutex = threading.Lock()
super().__init__("ros", self._queue, None, None, self._mutex)
self._log.info('initialising...')
self._active = False
self._closing = False
self._disable_leds = False
# self._switch = None
self._motors = None
self._arbitrator = None
self._controller = None
self._gamepad = None
self._features = []
# self._flask_wrapper = None
# read YAML configuration
_loader = ConfigLoader(Level.INFO)
filename = 'config.yaml'
self._config = _loader.configure(filename)
self._gamepad_enabled = self._config['ros'].get('gamepad').get(
'enabled')
self._log.info('initialised.')
self._configure()
# ..........................................................................
def _configure(self):
'''
Configures ROS based on both KR01 standard hardware as well as
optional features, the latter based on devices showing up (by
address) on the I²C bus. Optional devices are only enabled at
startup time via registration of their feature availability.
'''
scanner = I2CScanner(Level.WARN)
self._addresses = scanner.getAddresses()
hexAddresses = scanner.getHexAddresses()
self._addrDict = dict(
list(map(lambda x, y: (x, y), self._addresses, hexAddresses)))
for i in range(len(self._addresses)):
self._log.debug(
Fore.BLACK + Style.DIM +
'found device at address: {}'.format(hexAddresses[i]) +
Style.RESET_ALL)
self._log.info('configure default features...')
# standard devices ...........................................
self._log.info('configuring integrated front sensors...')
self._ifs = IntegratedFrontSensor(self._config, self._queue,
Level.INFO)
self._log.info('configure ht0740 switch...')
self._switch = Switch(Level.INFO)
# since we're using the HT0740 Switch, turn it on to enable sensors that rely upon its power
# self._switch.enable()
self._switch.on()
self._log.info('configuring button...')
self._button = Button(self._config, self.get_message_queue(),
self._mutex)
self._log.info('configure battery check...')
_battery_check = BatteryCheck(self._config, self.get_message_queue(),
Level.INFO)
self.add_feature(_battery_check)
self._log.info('configure CPU temperature check...')
_temperature_check = Temperature(self._config, self._queue, Level.INFO)
self.add_feature(_temperature_check)
ultraborg_available = (0x36 in self._addresses)
if ultraborg_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- UltraBorg available at 0x36.' +
Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no UltraBorg available at 0x36.' +
Style.RESET_ALL)
self._set_feature_available('ultraborg', ultraborg_available)
thunderborg_available = (0x15 in self._addresses)
if thunderborg_available: # then configure motors
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- ThunderBorg available at 0x15' +
Style.RESET_ALL)
_motor_configurer = MotorConfigurer(self, self._config, Level.INFO)
self._motors = _motor_configurer.configure()
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no ThunderBorg available at 0x15.' +
Style.RESET_ALL)
self._set_feature_available('thunderborg', thunderborg_available)
# optional devices ...........................................
# the 5x5 RGB Matrix is at 0x74 for port, 0x77 for starboard
rgbmatrix5x5_stbd_available = (0x74 in self._addresses)
if rgbmatrix5x5_stbd_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- RGB Matrix available at 0x74.' +
Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no RGB Matrix available at 0x74.' +
Style.RESET_ALL)
self._set_feature_available('rgbmatrix5x5_stbd',
rgbmatrix5x5_stbd_available)
rgbmatrix5x5_port_available = (0x77 in self._addresses)
if rgbmatrix5x5_port_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- RGB Matrix available at 0x77.' +
Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no RGB Matrix available at 0x77.' +
Style.RESET_ALL)
self._set_feature_available('rgbmatrix5x5_port',
rgbmatrix5x5_port_available)
if rgbmatrix5x5_stbd_available or rgbmatrix5x5_port_available:
self._log.info('configure rgbmatrix...')
self._rgbmatrix = RgbMatrix(Level.INFO)
self.add_feature(self._rgbmatrix) # FIXME this is added twice
# ............................................
# the 11x7 LED matrix is at 0x75 for starboard, 0x77 for port. The latter
# conflicts with the RGB LED matrix, so both cannot be used simultaneously.
matrix11x7_stbd_available = (0x75 in self._addresses)
if matrix11x7_stbd_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- 11x7 Matrix LEDs available at 0x75.' +
Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no 11x7 Matrix LEDs available at 0x75.' +
Style.RESET_ALL)
self._set_feature_available('matrix11x7_stbd',
matrix11x7_stbd_available)
# device availability ........................................
bno055_available = (0x28 in self._addresses)
if bno055_available:
self._log.info('configuring BNO055 9DoF sensor...')
self._bno055 = BNO055(self._config, self.get_message_queue(),
Level.INFO)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'no BNO055 orientation sensor available at 0x28.' +
Style.RESET_ALL)
self._set_feature_available('bno055', bno055_available)
# NOTE: the default address for the ICM20948 is 0x68, but this conflicts with the PiJuice
icm20948_available = (0x69 in self._addresses)
if icm20948_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'ICM20948 available at 0x69.' + Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'no ICM20948 available at 0x69.' + Style.RESET_ALL)
self._set_feature_available('icm20948', icm20948_available)
lsm303d_available = (0x1D in self._addresses)
if lsm303d_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'LSM303D available at 0x1D.' + Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'no LSM303D available at 0x1D.' + Style.RESET_ALL)
self._set_feature_available('lsm303d', lsm303d_available)
vl53l1x_available = (0x29 in self._addresses)
if vl53l1x_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'VL53L1X available at 0x29.' + Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'no VL53L1X available at 0x29.' + Style.RESET_ALL)
self._set_feature_available('vl53l1x', vl53l1x_available)
as7262_available = (0x49 in self._addresses)
if as7262_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'-- AS7262 Spectrometer available at 0x49.' +
Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'-- no AS7262 Spectrometer available at 0x49.' +
Style.RESET_ALL)
self._set_feature_available('as7262', as7262_available)
pijuice_available = (0x68 in self._addresses)
if pijuice_available:
self._log.debug(Fore.CYAN + Style.BRIGHT +
'PiJuice hat available at 0x68.' + Style.RESET_ALL)
else:
self._log.debug(Fore.RED + Style.BRIGHT +
'no PiJuice hat available at 0x68.' +
Style.RESET_ALL)
self._set_feature_available('pijuice', pijuice_available)
self._log.info('configured.')
# ..........................................................................
def summation():
'''
Displays unaccounted I2C addresses. This is currently non-functional,
as we don't remove a device from the list when its address is found.
'''
self._log.info(Fore.YELLOW + '-- unaccounted for self._addresses:')
for i in range(len(self._addresses)):
hexAddr = self._addrDict.get(self._addresses[i])
self._log.info(Fore.YELLOW + Style.BRIGHT +
'-- address: {}'.format(hexAddr) + Style.RESET_ALL)
# ..........................................................................
def _set_feature_available(self, name, value):
'''
Sets a feature's availability to the boolean value.
'''
self._log.debug(Fore.BLUE + Style.BRIGHT +
'-- set feature available. name: \'{}\' value: \'{}\'.'
.format(name, value))
self.set_property('features', name, value)
# ..........................................................................
def get_message_queue(self):
return self._queue
# ..........................................................................
def get_controller(self):
return self._controller
# ..........................................................................
def get_configuration(self):
return self._config
# ..........................................................................
def get_property(self, section, property_name):
'''
Return the value of the named property of the application
configuration, provided its section and property name.
'''
return self._config[section].get(property_name)
# ..........................................................................
def set_property(self, section, property_name, property_value):
'''
Set the value of the named property of the application
configuration, provided its section, property name and value.
'''
self._log.debug(
Fore.GREEN +
'set config on section \'{}\' for property key: \'{}\' to value: {}.'
.format(section, property_name, property_value))
if section == 'ros':
self._config[section].update(property_name=property_value)
else:
_ros = self._config['ros']
_ros[section].update(property_name=property_value)
# ..........................................................................
def _set_pi_leds(self, enable):
'''
Enables or disables the Raspberry Pi's board LEDs.
'''
sudo_name = self.get_property('pi', 'sudo_name')
led_0_path = self._config['pi'].get('led_0_path')
led_1_path = self._config['pi'].get('led_1_path')
if enable:
self._log.info('re-enabling LEDs...')
os.system('echo 1 | {} tee {}'.format(sudo_name, led_0_path))
os.system('echo 1 | {} tee {}'.format(sudo_name, led_1_path))
else:
self._log.debug('disabling LEDs...')
os.system('echo 0 | {} tee {}'.format(sudo_name, led_0_path))
os.system('echo 0 | {} tee {}'.format(sudo_name, led_1_path))
# ..........................................................................
def _connect_gamepad(self):
if not self._gamepad_enabled:
self._log.info('gamepad disabled.')
return
if self._gamepad is None:
self._log.info('creating gamepad...')
try:
self._gamepad = Gamepad(self._config, self._queue, Level.INFO)
except GamepadConnectException as e:
self._log.error('unable to connect to gamepad: {}'.format(e))
self._gamepad = None
self._gamepad_enabled = False
self._log.info('gamepad unavailable.')
return
if self._gamepad is not None:
self._log.info('enabling gamepad...')
self._gamepad.enable()
_count = 0
while not self._gamepad.has_connection():
_count += 1
if _count == 1:
self._log.info('connecting to gamepad...')
else:
self._log.info(
'gamepad not connected; re-trying... [{:d}]'.format(
_count))
self._gamepad.connect()
time.sleep(0.5)
if self._gamepad.has_connection() or _count > 5:
break
# ..........................................................................
def has_connected_gamepad(self):
return self._gamepad is not None and self._gamepad.has_connection()
# ..........................................................................
def get_arbitrator(self):
return self._arbitrator
# ..........................................................................
def add_feature(self, feature):
'''
Add the feature to the list of features. Features must have
an enable() method.
'''
self._features.append(feature)
self._log.info('added feature {}.'.format(feature.name()))
# ..........................................................................
def _callback_shutdown(self):
_enable_self_shutdown = self._config['ros'].get('enable_self_shutdown')
if _enable_self_shutdown:
self._log.critical('callback: shutting down os...')
self.close()
sys.exit(0)
else:
self._log.critical('self-shutdown disabled.')
# ..........................................................................
def run(self):
'''
This first disables the Pi's status LEDs, establishes the
message queue arbitrator, the controller, enables the set
of features, then starts the main OS loop.
'''
super(AbstractTask, self).run()
loop_count = 0
# display banner!
_banner = '\n' \
'ros\n' \
'ros █▒▒▒▒▒▒▒ █▒▒▒▒▒▒ █▒▒▒▒▒▒ █▒▒ \n' \
+ 'ros █▒▒ █▒▒ █▒▒ █▒▒ █▒▒ █▒▒ \n' \
+ 'ros █▒▒▒▒▒▒ █▒▒ █▒▒ █▒▒▒▒▒▒ █▒▒ \n' \
+ 'ros █▒▒ █▒▒ █▒▒ █▒▒ █▒▒ \n' \
+ 'ros █▒▒ █▒▒ █▒▒▒▒▒▒ █▒▒▒▒▒▒ █▒▒ \n' \
+ 'ros\n'
self._log.info(_banner)
self._disable_leds = self._config['pi'].get('disable_leds')
if self._disable_leds:
# disable Pi LEDs since they may be distracting
self._set_pi_leds(False)
self._log.info('enabling features...')
for feature in self._features:
self._log.info('enabling feature {}...'.format(feature.name()))
feature.enable()
# __enable_player = self._config['ros'].get('enable_player')
# if __enable_player:
# self._log.info('configuring sound player...')
# self._player = Player(Level.INFO)
# else:
# self._player = None
# i2c_slave_address = config['ros'].get('i2c_master').get('device_id') # i2c hex address of I2C slave device
vl53l1x_available = True # self.get_property('features', 'vl53l1x')
ultraborg_available = True # self.get_property('features', 'ultraborg')
if vl53l1x_available and ultraborg_available:
self._log.critical('starting scanner tool...')
self._lidar = Lidar(self._config, Level.INFO)
self._lidar.enable()
else:
self._log.critical(
'lidar scanner tool does not have necessary dependencies.')
# wait to stabilise features?
# configure the Controller and Arbitrator
self._log.info('configuring controller...')
self._controller = Controller(self._config, self._ifs, self._motors,
self._callback_shutdown, Level.INFO)
self._log.info('configuring arbitrator...')
self._arbitrator = Arbitrator(self._config, self._queue,
self._controller, Level.WARN)
_flask_enabled = self._config['flask'].get('enabled')
if _flask_enabled:
self._log.info('starting flask web server...')
self.configure_web_server()
else:
self._log.info(
'not starting flask web server (suppressed from command line).'
)
# bluetooth gamepad controller
if self._gamepad_enabled:
self._connect_gamepad()
self._log.warning('Press Ctrl-C to exit.')
_wait_for_button_press = self._config['ros'].get(
'wait_for_button_press')
self._controller.set_standby(_wait_for_button_press)
# begin main loop ..............................
self._log.info('starting button thread...')
self._button.start()
# self._log.info('enabling bno055 sensor...')
# self._bno055.enable()
# self._bumpers.enable()
self._indicator = Indicator(Level.INFO)
# add indicator as message consumer
self._queue.add_consumer(self._indicator)
self._log.info(Fore.MAGENTA + 'enabling integrated front sensor...')
self._ifs.enable()
# self._log.info('starting info thread...')
# self._info.start()
# self._log.info('starting blinky thread...')
# self._rgbmatrix.enable(DisplayType.RANDOM)
# enable arbitrator tasks (normal functioning of robot)
main_loop_delay_ms = self._config['ros'].get('main_loop_delay_ms')
self._log.info(
'begin main os loop with {:d}ms delay.'.format(main_loop_delay_ms))
_loop_delay_sec = main_loop_delay_ms / 1000
_main_loop_count = 0
self._arbitrator.start()
self._active = True
while self._active:
# The sensors and the flask service sends messages to the message queue,
# which forwards those messages on to the arbitrator, which chooses the
# highest priority message to send on to the controller. So the timing
# of this loop is inconsequential; it exists solely as a keep-alive.
_main_loop_count += 1
self._log.debug(Fore.BLACK + Style.DIM +
'[{:d}] main loop...'.format(_main_loop_count))
time.sleep(_loop_delay_sec)
# end application loop .........................
if not self._closing:
self._log.warning('closing following loop...')
self.close()
# end main ...................................
# ..........................................................................
def configure_web_server(self):
'''
Start flask web server.
'''
try:
self._mutex.acquire()
self._log.info('starting web service...')
self._flask_wrapper = FlaskWrapperService(self._queue,
self._controller)
self._flask_wrapper.start()
except KeyboardInterrupt:
self._log.error('caught Ctrl-C interrupt.')
finally:
self._mutex.release()
time.sleep(1)
self._log.info(Fore.BLUE + 'web service started.' +
Style.RESET_ALL)
# ..........................................................................
def emergency_stop(self):
'''
Stop immediately, something has hit the top feelers.
'''
self._motors.stop()
self._log.info(Fore.RED + Style.BRIGHT +
'emergency stop: contact on upper feelers.')
# ..........................................................................
def send_message(self, message):
'''
Send the Message into the MessageQueue.
'''
self._queue.add(message)
# ..........................................................................
def enable(self):
super(AbstractTask, self).enable()
# ..........................................................................
def disable(self):
super(AbstractTask, self).disable()
# ..........................................................................
def close(self):
'''
This sets the ROS back to normal following a session.
'''
if self._closing:
# this also gets called by the arbitrator so we ignore that
self._log.info('already closing.')
return
else:
self._active = False
self._closing = True
self._log.info(Style.BRIGHT + 'closing...')
if self._gamepad:
self._gamepad.close()
if self._motors:
self._motors.close()
if self._ifs:
self._ifs.close()
# close features
for feature in self._features:
self._log.info('closing feature {}...'.format(feature.name()))
feature.close()
self._log.info('finished closing features.')
if self._arbitrator:
self._arbitrator.disable()
self._arbitrator.close()
# self._arbitrator.join(timeout=1.0)
if self._controller:
self._controller.disable()
# if self._flask_wrapper is not None:
# self._flask_wrapper.close()
super().close()
# self._info.close()
# self._rgbmatrix.close()
# if self._switch:
# self._switch.close()
# super(AbstractTask, self).close()
if self._disable_leds:
# restore LEDs
self._set_pi_leds(True)
# GPIO.cleanup()
# self._log.info('joining main thread...')
# self.join(timeout=0.5)
self._log.info('os closed.')
sys.stderr = DevNull()
sys.exit(0)
class GamepadDemo():
def __init__(self, level):
super().__init__()
_loader = ConfigLoader(Level.INFO)
filename = 'config.yaml'
_config = _loader.configure(filename)
self._log = Logger("gamepad-demo", level)
self._log.header('gamepad-demo', 'Configuring Gamepad...', None)
self._config = _config['ros'].get('gamepad_demo')
self._enable_ifs = self._config.get('enable_ifs')
self._enable_compass = self._config.get('enable_compass')
self._enable_indicator = self._config.get('enable_indicator')
self._message_factory = MessageFactory(level)
self._motors = Motors(_config, None, Level.INFO)
# self._motor_controller = SimpleMotorController(self._motors, Level.INFO)
self._pid_motor_ctrl = PIDMotorController(_config, self._motors,
Level.INFO)
# i2c scanner, let's us know if certain devices are available
_i2c_scanner = I2CScanner(Level.WARN)
_addresses = _i2c_scanner.getAddresses()
ltr559_available = (0x23 in _addresses)
'''
Availability of displays:
The 5x5 RGB Matrix is at 0x74 for port, 0x77 for starboard.
The 11x7 LED matrix is at 0x75 for starboard, 0x77 for port. The latter
conflicts with the RGB LED matrix, so both cannot be used simultaneously.
We check for either the 0x74 address to see if RGB Matrix displays are
used, OR for 0x75 to assume a pair of 11x7 Matrix displays are being used.
'''
# rgbmatrix5x5_stbd_available = ( 0x74 in _addresses ) # not used yet
# matrix11x7_stbd_available = ( 0x75 in _addresses ) # used as camera lighting
matrix11x7_stbd_available = False
# self._blob = BlobSensor(_config, self._motors, Level.INFO)
self._blob = None
self._lux = Lux(Level.INFO) if ltr559_available else None
self._video = None
# self._video = Video(_config, self._lux, matrix11x7_stbd_available, Level.INFO)
# in this application the gamepad controller is the message queue
self._queue = MessageQueue(self._message_factory, Level.INFO)
self._clock = Clock(_config, self._queue, self._message_factory,
Level.INFO)
# attempt to find the gamepad
self._gamepad = Gamepad(_config, self._queue, self._message_factory,
Level.INFO)
# if self._enable_indicator:
# self._indicator = Indicator(Level.INFO)
# if self._enable_compass:
# self._compass = Compass(_config, self._queue, self._indicator, Level.INFO)
# self._video.set_compass(self._compass)
self._log.info('starting battery check thread...')
self._battery_check = BatteryCheck(_config, self._queue,
self._message_factory, Level.INFO)
if self._enable_ifs:
self._log.info('integrated front sensor enabled.')
self._ifs = IntegratedFrontSensor(_config, self._queue,
self._message_factory,
Level.INFO)
# add indicator as message consumer
if self._enable_indicator:
self._queue.add_consumer(self._indicator)
else:
self._ifs = None
self._log.info('integrated front sensor disabled.')
self._ctrl = GamepadController(_config, self._queue,
self._pid_motor_ctrl, self._ifs,
self._video, self._blob,
matrix11x7_stbd_available, Level.INFO,
self._close_demo_callback)
self._enabled = False
self._log.info('connecting gamepad...')
self._gamepad.connect()
self._log.info('ready.')
# ..........................................................................
def get_motors(self):
return self._motors
# ..........................................................................
@property
def enabled(self):
return self._enabled
# ..........................................................................
def enable(self):
if self._enabled:
self._log.warning('already enabled.')
return
self._log.info('enabling...')
self._gamepad.enable()
self._clock.enable()
# if self._enable_compass:
# self._compass.enable()
self._battery_check.enable()
if self._enable_ifs:
self._ifs.enable()
self._ctrl.enable()
self._enabled = True
self._log.info('enabled.')
# ..........................................................................
def get_thread_position(self, thread):
frame = sys._current_frames().get(thread.ident, None)
if frame:
return frame.f_code.co_filename, frame.f_code.co_name, frame.f_code.co_firstlineno
# ..........................................................................
def disable(self):
if not self._enabled:
self._log.warning('already disabled.')
return
self._log.info('disabling...')
self._enabled = False
self._clock.disable()
self._battery_check.disable()
# if self._enable_compass:
# self._compass.disable()
if self._enable_ifs:
self._ifs.disable()
self._pid_motor_ctrl.disable()
self._gamepad.disable()
for thread in threading.enumerate():
self._log.info(
Fore.GREEN +
'thread "{}" is alive? {}; is daemon? {}\t😡'.format(
thread.name, thread.is_alive(), thread.isDaemon()))
if thread is not None:
_position = self.get_thread_position(thread)
if _position:
self._log.info(
Fore.GREEN +
' thread "{}" filename: {}; co_name: {}; first_lineno: {}'
.format(thread.name, _position[0], _position[1],
_position[2]))
else:
self._log.info(
Fore.GREEN +
' thread "{}" position null.'.format(thread.name))
else:
self._log.info(Fore.GREEN + ' null thread.')
self._log.info('disabled.')
# ..........................................................................
def _close_demo_callback(self):
self._log.info(Fore.MAGENTA + 'close demo callback...')
# self._queue.disable()
self.disable()
self.close()
# ..........................................................................
def close(self):
if self._enabled:
self.disable()
self._log.info('closing...')
if self._enable_ifs:
self._ifs.close()
self._pid_motor_ctrl.close()
self._gamepad.close()
self._log.info('closed.')
