def __init__(self, leds, switches, countdown, game_time, score_increment):
self.LEDS = leds
self.SWITCHES = switches
self.COUNTDOWN = countdown
self.GAME_TIME = game_time
self.SCORE_INCREMENT = score_increment
self.gpio = Gpio
self.lcd = Lcd()
self.db = TinyDB('data/database.json')
if len(self.LEDS) != len(self.SWITCHES):
print(
"[Game][error] There isn't the same number of LEDS as SWITCHES"
)
exit()
try:
self.gpio.setmode(self.gpio.BCM)
for switch in self.SWITCHES:
self.gpio.setup(switch, self.gpio.IN)
self.gpio.add_event_detect(switch,
self.gpio.RISING,
bouncetime=300)
self.gpio.add_event_callback(switch, self.__button_press)
for led in self.LEDS:
self.gpio.setup(led, self.gpio.OUT)
self.gpio.output(led, False)
except AttributeError:
print("[Game][error] An error occurred initialising game")
def __init__(self):
""" constructeur """
print('Démarrage jeux ... ')
self.lcd = Lcd() # affichage LCD du jeux
self.lcd.write_char('robot_ok', pos=(0, 0))
self.lcd.msg_centre('SinS', 'Initialisation')
self.lcd.write_char('robot_ok', pos=(15, 0))
self.buzzer = Buzz() # buzzer du jeux
self.rackleds = RackLeds() # rack de leds
self.rackbuttons = RackButtons(self.rackleds,
self.buzzer) # rack de boutons
self.color = ['V', 'B', 'J', 'R'] # couleur du jeux
self.dic_color = {'V': 0, 'B': 1, 'J': 2, 'R': 3}
self.file_scores = '/flash/scores.txt' # fichier des records
self.scores = self.read_scores() # dictionnaire des record
self.total_keys = 10 # nb_clés à trouver
#mode de difficulté du jeux
self.dic_mode = {
'V': ['Vert', 'Facile'],
'B': ['Bleu', 'Moyen'],
'J': ['Jaune', 'Difficile'],
'R': ['Rouge', 'Expert'],
}
self.mode = 'V'
self.nb_portes = 3 # nb de portes par niveau à ouvrir
self.niveau = self.nb_portes # nb de leds dans la séquence en cours
self.init_seq() # initialise séquences
def __init__(self, config, core):
super(TestFrontend, self).__init__()
self.core = core
self._now_playing_track = None
self.lcd = Lcd()
self.radioMenu = RadioMenu(self.lcd, self)
logger.info("My plugin has loaded!")
# set up fallback image
self.plugin_dir = os.path.dirname(os.path.realpath(__file__))
self.fallback_image = self.plugin_dir + "/images/on_the_air.jpg"
self.radioMenu.loading()
def __init__(self, online = True):
self.config_path = 'car.ini'
self.read_configuration()
self.online = online
self.reset_odometry()
self.listener = None
self.last_verified_velocity = 0.0
self.lcd = None
self.usb_error_count = 0
self.input_recording_file = None
self.commands_recording_file = None
if self.online:
from lcd import Lcd
self.lcd = Lcd()
self.quit = False
self.write_command('td+') # first command normally fails, so write a blank command
self.write_command('td+')
self.output_thread = threading.Thread(target=self._monitor_output, args = ())
self.output_thread.daemon = True
self.output_thread.start()
while self.dynamics.reading_count == 0:
time.sleep(0.01)
class Jeux_sins():
""" classe gestion du jeux """
def __init__(self):
""" constructeur """
print('Démarrage jeux ... ')
self.lcd = Lcd() # affichage LCD du jeux
self.lcd.write_char('robot_ok', pos=(0, 0))
self.lcd.msg_centre('SinS', 'Initialisation')
self.lcd.write_char('robot_ok', pos=(15, 0))
self.buzzer = Buzz() # buzzer du jeux
self.rackleds = RackLeds() # rack de leds
self.rackbuttons = RackButtons(self.rackleds,
self.buzzer) # rack de boutons
self.color = ['V', 'B', 'J', 'R'] # couleur du jeux
self.dic_color = {'V': 0, 'B': 1, 'J': 2, 'R': 3}
self.file_scores = '/flash/scores.txt' # fichier des records
self.scores = self.read_scores() # dictionnaire des record
self.total_keys = 10 # nb_clés à trouver
#mode de difficulté du jeux
self.dic_mode = {
'V': ['Vert', 'Facile'],
'B': ['Bleu', 'Moyen'],
'J': ['Jaune', 'Difficile'],
'R': ['Rouge', 'Expert'],
}
self.mode = 'V'
self.nb_portes = 3 # nb de portes par niveau à ouvrir
self.niveau = self.nb_portes # nb de leds dans la séquence en cours
self.init_seq() # initialise séquences
def init_seq(self):
""" réinitialise les séquences à vide"""
self.seq_led_droid = []
self.seq_led_joueur = []
#seed(randint(0,32000)) #initialize random number generator
t = utime.localtime() #format (y,m,d,h,m,s,ss,sss)
s = t[3] * 3600 + t[4] * 60 + t[5] # conversion hh:mn:ss en secondes
seed(s % 2048) # initialise table random non reproductibles
def add_seq(self):
""" ajoute une séquence de nb_portes aléatoires au jeux"""
for _ in range(self.nb_portes):
self.seq_led_droid.append(self.color[randint(0, 3)])
def nouvelle_seq(self):
""" détermine la nouvelle séquence de couleurs à trouver"""
self.seq_led_joueur = [] # remise à zéro de la séquence du joueur
if self.mode in ['J', 'R']: # séquences aléatoires depuis le début
self.seq_led_droid = []
for n in range(self.niveau // self.nb_portes):
self.add_seq()
else: # sinon on ajoute nb_portes couleurs au hasard
self.add_seq()
def add_sequence_joueur(self, color):
""" ajoute la couleur jouée par le joueur"""
self.seq_led_joueur.append(color)
def read_scores(self):
""" retourne le dictionaires des records à battre par mode V,B,J,R"""
dic_scores = {'V': 0, 'B': 0, 'J': 0, 'R': 0} #scores par niveaux
try:
with open(self.file_scores, 'r') as f:
for line in f.readlines():
l = line.strip()
mode, score = l[0], int(l[2:])
dic_scores[mode] = score
except: #création du fichier score.txt s'il n'existe pas
print('création fichier des scores')
self.write_scores(dic_scores)
print('record à battre par mode:', dic_scores)
return dic_scores
def write_scores(self, scores):
""" sauvegarde des record à battre"""
with open(self.file_scores, 'w') as f:
f.write('V:' + str(scores['V']) + '\n')
f.write('B:' + str(scores['B']) + '\n')
f.write('J:' + str(scores['J']) + '\n')
f.write('R:' + str(scores['R']) + '\n')
def loop(self):
""" boucle principale du jeux"""
while True:
#initialisations
self.init_seq()
self.niveau = self.nb_portes
self.lcd.clear()
self.rackbuttons.desactivate_buzzer()
self.lcd.msg_centre('Choix du mode', 'Quelle couleur ?')
# choix du mode de jeux
self.rackbuttons.pressed = False
while not (self.rackbuttons.pressed
): #attente appui sur un bouton du rack
time.sleep(0.2)
self.mode = self.rackbuttons.button_pressed
self.lcd.clear()
self.lcd.msg_centre('Tu as choisi',
'mode: ' + self.dic_mode[self.mode][1])
if self.mode in ['V', 'J']:
self.rackbuttons.activate_buzzer(
) #buzzer activé uniquement pour les modes V et J
time.sleep(2)
self.lcd.clear()
#boucle de jeux tant que le joueur trouve la bonne séquence
continuer = True
while (continuer):
#création d'une nouvelle séquence à trouver
self.nouvelle_seq()
#self.lcd.msg('Niveau:'+str(self.niveau), 'Record:'+ str(self.scores[self.mode]))
self.lcd.msg('Niveau:', 'Record:')
self.lcd.write_key(self.niveau // self.nb_portes, 0) # niveau
self.lcd.write_key(self.scores[self.mode],
1) # record du mode joué
time.sleep(1)
#affichage de la séquence à trouver
for rang, color in enumerate(self.seq_led_droid):
self.rackleds.get_led(color).smooth_on() # led allumée
if self.mode in ['V', 'J']:
self.buzzer.buzzId(
color
) # son correspondant à la couleur uniquement pour les modes V et J
time.sleep(0.5) # temps d'attente en 2 leds
self.buzzer.mute() # buzzer mute
self.rackleds.get_led(color).smooth_off() # led éteinte
time.sleep(0.5) # temps d'attente
if (
rang + 1
) % self.nb_portes == 0: # attente supplémentaires entre 2 séries de nb_portes
time.sleep(0.3)
#mémorisation séquence du joueur
#print('à toi de jouer')
self.rackbuttons.pressed = False
for n in range(self.niveau):
#attente qu'un bouton du rack de boutons soit pressée
while not (self.rackbuttons.pressed):
time.sleep(0.2)
self.add_sequence_joueur(self.rackbuttons.button_pressed)
self.rackbuttons.pressed = False
#print('Voici ton jeu: ', self.jeux.seq_led_joueur)
#comparaison des listes
self.rackbuttons.pressed = True #empêche la saisie sur une touche
time.sleep(1)
if (self.seq_led_joueur == self.seq_led_droid):
#print('Bien joué! niveau suivant')
self.rackleds.win() #animation gagné
if (self.scores[self.mode] < self.niveau //
self.nb_portes): # le record du mode est battu
self.scores[
self.
mode] = self.niveau // self.nb_portes # maj du dictionnaire des records
self.write_scores(
self.scores) # enregistrement des records
if self.niveau == self.total_keys * self.nb_portes:
# toutes les clés sont trouvées
self.buzzer.welcome_sound()
self.lcd.clear()
self.lcd.msg_centre('BRAVO!')
self.lcd.write_char('robot_ok', pos=(0, 0))
self.lcd.write_char('robot_ok', pos=(15, 0))
for n in range(10):
self.lcd.write_char('key', pos=(3 + n, 1))
time.sleep(0.3)
time.sleep(2)
continuer = False
else:
self.niveau += self.nb_portes
else:
#print('Perdu!')
self.lcd.clear()
self.lcd.msg_centre('Et non!')
for l in range(6, 9):
self.lcd.write_char('robot_ko', pos=(l, 1))
self.buzzer.loose_sound()
self.rackleds.loose() # animation perdu
time.sleep(1)
continuer = False
import ubinascii
import time
import machine
import json
from connect import Connect
from led_pwm import LedPwm
from lcd import Lcd
from temperature_dht11 import TemperatureSensor as Dht
from mqtt import Mqtt
dht = Dht(4)
led = LedPwm(2)
lcd = Lcd(spi=1, cs=2, dc=15, rst=0, bl=12)
config = json.loads(open('config.json').read())
client_id = ubinascii.hexlify(machine.unique_id())
try:
mqtt = Mqtt(client_id, config['broker_ip'])
except:
mqtt = False
while True:
# Connect to wifi
Connect.check_and_reconnect()
try:
data = {
'temperature': dht.read_temp_and_hum()[0],
'humidity': dht.read_temp_and_hum()[1]
}
print(str(time.localtime()) + ' ' + str(data))
if not mqtt:
try:
mqtt = Mqtt(client_id, config['broker_ip'])
#!/usr/bin/python
import RPi.GPIO as GPIO
import os
import time
from lcd import Lcd
from temperatureSensor import TemperatureSensor
from log import Logger
def get_immediate_subdirectories(a_dir):
return [name for name in os.listdir(a_dir)
if os.path.isdir(os.path.join(a_dir, name))]
if __name__ == "__main__":
#Initialize lcd and test screen
lcd = Lcd()
#Init Logger
logger = Logger("PF3I0333ITSWQ97W")
#Get all sensor name
subdir = get_immediate_subdirectories("/sys/bus/w1/devices")
temperatureSensor = []
for dir in subdir:
if(dir != "w1_bus_master1"):
temperatureSensor.append(TemperatureSensor(dir))
while(1):
#display sensor temperature
lcd.lcd_string(temperatureSensor[0].read(),1)
lcd.lcd_string(temperatureSensor[1].read(),2)
#Update push data in api for each sensor
#We have to push to thingspeek and local database
logger.write(temperatureSensor[0].read(),"field1")
#!/usr/bin/env python
import time
import grovepi
from pir import *
from lcd import Lcd
from stats import GoalCounter
from anhem import Anhem
class Logger:
def notify(self, event):
print "GOAL!"
logger = Logger()
lcd = Lcd()
kogut = DigitalPrinter(8)
anhem = Anhem(4)
leftGoals = GoalCounter()
rightGoals = GoalCounter()
leftPir = Pir(5, [logger, leftGoals, kogut, anhem])
rightPir = Pir(6, [logger, rightGoals, kogut, anhem])
leftPir.start()
rightPir.start()
while True:
time.sleep(1)
lcd.notify(str(leftGoals.goals()) + " - " + str(rightGoals.goals()))
player.previous()
elif buttons == Lcd.BUTTON_RIGHT:
player.next()
elif buttons == Lcd.BUTTON_UP:
if player.getStatus() == "playing":
player.pause()
else:
player.play()
logging.basicConfig(filename=LOG_FILE, format=LOG_FORMAT, level=LOG_LEVEL)
logging.info("Starting BluePlayer")
#gobject.threads_init()
#dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
lcd = Lcd()
lcd.begin(16, 2, handler=navHandler)
lcd.backlight(Lcd.TEAL)
lcd.clear()
lcd.writeLn("Starting", 0)
lcd.writeLn("BluePlayer", 1)
time.sleep(2)
player = None
try:
player = BluePlayer(lcd)
player.start()
except KeyboardInterrupt as ex:
logging.info("BluePlayer cancelled by user")
except Exception as ex:
logging.error("How embarrassing. The following error occurred {}".format(ex))
def __init__(self):
# Inicialização de logging
self.logger = logging.getLogger('Apontamento')
self.logger.setLevel('DEBUG')
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s')
handler = TimedRotatingFileHandler(
'apontamento.log', when='d', interval=1, backupCount=30)
handler.setFormatter(formatter)
self.logger.addHandler(handler)
self.lcd = Lcd()
self.cp = configparser.ConfigParser()
try:
self.cp.read('config.ini')
except Exception as e:
self.logger.error('Erro ao recuperar informações de configuração')
self.lcd.write_line('Erro', 0, 1, 1)
sys.exit()
self.logger.info('Inicializando')
server = self.cp.get('sistema', 'server')
database = self.cp.get('sistema', 'database')
user = self.cp.get('sistema', 'user')
pwd = self.cp.get('sistema', 'password')
self.logger.info('Incialização da base de dados')
self.db = Database(server, database, user, pwd)
self.logger.info('Carregando dados de apontamento')
self.codemp = int(self.cp.get('apontamento', 'codemp'))
self.codfil = int(self.cp.get('apontamento', 'codfil'))
self.codope = int(self.cp.get('apontamento', 'codope'))
self.codori = self.cp.get('apontamento', 'codori')
self.numorp = int(self.cp.get('apontamento', 'numorp'))
self.qtdprv = int(self.cp.get('apontamento', 'qtdprv'))
self.qtdfrd = int(self.cp.get('apontamento', 'qtdfrd'))
self.numfrd = int(self.cp.get('apontamento', 'numfrd'))
self.last_codbar = 0
self.logger.info('Início da leitura do código de barras')
try:
while True:
self.status()
codbar: str = input()
self.logger.info('Cod. Barras lido: {0}'.format(codbar))
if (7 <= len(codbar) <= 11) and codbar[4].__eq__('-'):
if self.last_codbar == codbar:
self.lcd.write_line('Apontado', 0, 1, 1)
continue
try:
op, contcel = codbar.split('-')
cont, cel = int(
contcel[0:(len(contcel)-1)]), int(contcel[-1])
op = int(op)
except:
self.logger.info('Código invalido lido')
self.lcd.write_line('Nao reconhecido', 0, 1, 1)
continue
if self.numorp == op:
result = self.db.insert_entry(self.codemp,
self.codfil,
self.codope,
self.codori,
self.numorp,
codbar,
cont,
cel)
if result == 0:
self.lcd.write_line('Ja apontado', 0, 1, 2)
if result == 1:
self.last_codbar = codbar
self.lcd.write_line(
'Apontado: {0}'.format(codbar), 0, 1, 1)
self.logger.info('Apontado: {0}'.format(codbar))
if self.numfrd == self.qtdfrd:
self.numfrd = 1
else:
self.numfrd = self.numfrd + 1
self.config_update(
'apontamento', 'numfrd', self.numfrd)
else:
self.logger.warning(
'Tentativa de fazer apontamento com OP errada: ' + str(codbar))
self.lcd.write_line('OP nao confere', 0, 1, 2)
elif len(codbar) == 24 and codbar[0:2].__eq__('04'):
nova_op = int(codbar[2:11])
if self.numorp != 0 and nova_op != self.numorp:
self.logger.warning(
'Não é possível iniciar nova OP sem finalizar a última')
self.lcd.write_line('OP nao fechada', 0, 1, 2)
elif self.numorp != 0 and nova_op == self.numorp:
self.logger.info('OP fechada: {0}'.format(self.numorp))
self.lcd.write_line('OP fechada', 0, 1, 2)
self.numorp = 0
self.qtdprv = 0
self.qtdfrd = 0
self.config_update(
'apontamento', 'numorp', self.numorp)
self.config_update(
'apontamento', 'qtdprv', self.qtdprv)
self.config_update(
'apontamento', 'qtdfrd', self.qtdfrd)
else:
op, qtdprv, fardo = self.db.get_newop(nova_op)
if op:
self.numorp = op
self.qtdfrd = fardo
self.qtdprv = qtdprv
self.numfrd = 0
self.logger.info('Dados de OP atualizados: OP - {0}, Qtde prev. - {1}, Qtde fardo - {2}'
.format(op, fardo, qtdprv))
self.config_update('apontamento', 'numorp', op)
self.config_update('apontamento', 'qtdfrd', fardo)
self.config_update('apontamento', 'qtdprv', qtdprv)
self.config_update(
'apontamento', 'numfrd', self.numfrd)
self.lcd.write_line('Nova OP: ' + str(op), 0, 1, 2)
else:
self.lcd.write_line('Erro OP', 0, 1, 2)
else:
self.lcd.write_line('Nao reconhecido', 0, 1, 2)
self.status()
except Exception as e:
self.logger.exception('Erro fatal')
self.lcd.write_line("Fim", 0, 0, 0)
self.logger.error("Programa passou do While, verificar")
# pin config
IO.pinMode(REDPIN, IO.OUTPUT)
IO.pinMode(YELPIN, IO.OUTPUT)
IO.pinMode(GRNPIN, IO.OUTPUT)
IO.pinMode(SRNPIN, IO.OUTPUT)
IO.pinMode(BTNPIN, IO.INPUT)
# audio, maps to existing pwm channel for line out audio jack
IO.pinMode(AUDIOPIN, IO.PWM_OUTPUT)
# Set PWM range to 100 (duty cycle can be 0-100)
wiringpi.softPwmCreate(REDPIN, 0, 100)
wiringpi.softPwmCreate(YELPIN, 0, 100)
wiringpi.softPwmCreate(GRNPIN, 0, 100)
LCD = Lcd(LCD_ROWS, LCD_CHARS, LCD_BITS, PIN_LCD_RS, PIN_LCD_E, PINS_LCD_DB)
SPEECH = Speech()
# Siren state machine functions
def siren_on (fsm):
"""Turn on Siren"""
IO.digitalWrite(SRNPIN, IO.HIGH)
time.sleep(1.7)
def siren_off (fsm):
"""Turn off Siren"""
IO.digitalWrite(SRNPIN, IO.LOW)
time.sleep(0.5)
# Button state machine functions
def button_up (fsm):
ap = argparse.ArgumentParser(description='AUV LCD Daemon')
ap.add_argument('--virtual',
action='store_const',
const=True,
help='Enable virtual testing mode (gtk LCD display)')
args = ap.parse_args()
if args.virtual:
# Use GTK lcd screen window instead of hardware LCD
from virtual_lcd import VirtualLcd
screen = VirtualLcd()
else:
# Connect to the hardware LCD
from lcd import Lcd
screen = Lcd()
screen.init()
dispatch = ScreenDispatcher()
def interrupt_handler(signal, frame):
print "\nExiting"
dispatch.stop_all()
surface, cr = screen.new_surface()
exitscreen = ExitScreen()
exitscreen.draw(cr)
screen.write_surface(surface)
sys.exit(0)
class Car:
def __init__(self, online = True):
self.config_path = 'car.ini'
self.read_configuration()
self.online = online
self.reset_odometry()
self.listener = None
self.last_verified_velocity = 0.0
self.lcd = None
self.usb_error_count = 0
self.input_recording_file = None
self.commands_recording_file = None
if self.online:
from lcd import Lcd
self.lcd = Lcd()
self.quit = False
self.write_command('td+') # first command normally fails, so write a blank command
self.write_command('td+')
self.output_thread = threading.Thread(target=self._monitor_output, args = ())
self.output_thread.daemon = True
self.output_thread.start()
while self.dynamics.reading_count == 0:
time.sleep(0.01)
def display_text(self, s):
if self.lcd is not None:
self.lcd.display_text(s)
# records all input from the pi
def begin_recording_input(self, recording_file_path):
if self.input_recording_file is not None:
self.end_recording_input()
self.input_recording_file = open(recording_file_path,'w')
def end_recording_input(self):
if self.input_recording_file is not None:
self.input_recording_file.close()
self.input_recording_file = None
# records all commands to the pi
def begin_recording_commands(self, commands_recording_file_path):
if self.commands_recording_file is not None:
self.end_recording_commands()
self.commands_recording_file = open(commands_recording_file_path,'w')
def end_recording_commands(self):
if self.commands_recording_file is not None:
self.commands_recording_file.close()
self.commands_recording_file = None
def reset_odometry(self):
self.reading_count = 0
self.dynamics = Dynamics()
self.velocity = 0.0
self.last_velocity = 0.0
self.heading_adjustment = 0.
self.odometer_start = 0
self.odometer_front_left_start = 0
self.odometer_front_right_start = 0
self.odometer_back_left_start = 0
self.odometer_back_right_start = 0
self.ackerman = Ackerman(
front_wheelbase_width = self.front_wheelbase_width_in_meters,
wheelbase_length = self.wheelbase_length_in_meters)
def read_configuration(self):
# odometry
self.meters_per_odometer_tick = float(self.get_option('calibration','meters_per_odometer_tick'))
self.gyro_adjustment_factor = float(self.get_option('calibration','gyro_adjustment_factor'))
# esc and steering
self.center_steering_us = int(self.get_option('calibration','center_steering_us'))
self.min_forward_esc = int(self.get_option('calibration','min_forward_esc'))
self.min_reverse_esc = int(self.get_option('calibration','min_reverse_esc'))
self.reverse_center_steering_us = int(self.get_option('calibration','reverse_center_steering_us'))
# car dimensions
self.front_wheelbase_width_in_meters = float(self.get_option('calibration','front_wheelbase_width_in_meters'))
self.rear_wheelbase_width_in_meters = float(self.get_option('calibration','rear_wheelbase_width_in_meters'))
self.wheelbase_length_in_meters = float(self.get_option('calibration','wheelbase_length_in_meters'))
# infer general dimensions
# todo: put these in config to get complete shape of car
self.length = self.wheelbase_length_in_meters
self.width = self.front_wheelbase_width_in_meters
def add_listener(self, listener):
if self.listener is not None:
raise Exception("only one listener allowed")
self.listener = listener
def remove_listener(self, listener):
if self.listener is not listener:
raise Exception("Unknown listener")
self.listener = None
def __exit__(self, type_unused, value_unused, traceback_unused):
self.quit = True
if self.online:
self.output_thread.join()
def get_option(self,section,option):
config = ConfigParser.ConfigParser()
with open(self.config_path, 'rwb+') as configfile:
config.readfp(configfile)
return config.get(section, option)
def set_option(self,section,option,value):
config = ConfigParser.ConfigParser()
with open(self.config_path, 'rwb+') as configfile:
config.readfp(configfile)
config.set(section,option,value)
with open(self.config_path, 'rwb+') as configfile:
config.write(configfile)
def write_command(self, s):
if not self.online:
raise Exception("must be online")
l = "{0}\n".format(s)
with open('/dev/car','w') as command:
command.write(l)
if self.commands_recording_file is not None:
self.commands_recording_file.write(l)
def _monitor_output(self):
self.output = open('/var/log/car','r')
self.output.seek(0,2) # go to end of file
line_start = None
while not self.quit:
s = self.output.readline()
if s:
if line_start is not None:
s = line_start + s
line_start = None
if not s.endswith('\n'):
line_start = s
continue
self.process_line_from_log(s)
else:
time.sleep(0.001)
def process_line_from_log(self, s):
# sanity check. Only process valid TRACE_DYNAMICS log lines
fields = s.split(',')
if fields == None:
return
if len(fields) < 10:
return
if fields[1] != 'TD':
return
if len(fields) != 39:
self.usb_error_count = self.usb_error_count + 1
#print 'invalid TD packet with {} fields: {}'.format(len(fields),s)
return
if self.input_recording_file is not None:
self.input_recording_file.write(s)
# todo, handle contention with different threads
# for now, make changeover quick and don't mess
# with existing structures, maybe by keeping a big list
current = Dynamics()
try:
current.set_from_log(fields)
except:
return
previous = self.dynamics
self.dynamics = current
self.reading_count += 1
if self.reading_count > 1:
self.apply_dynamics(current, previous)
else:
self.original_dynamics = current
if self.listener != None:
self.listener.put(current)
def get_usb_error_count(self):
return self.usb_error_count
# returns ping distance in meters
def ping_inches(self):
return self.ping_meters()/0.0254
def ping_distance(self):
return self.ping_meters()
def ping_meters(self):
return self.dynamics.ping_millimeters / 1000.
def battery_voltage(self):
return self.dynamics.battery_voltage
def apply_dynamics(self, current, previous):
# correct heading with adjustment factor
self.heading_adjustment += (1. - self.gyro_adjustment_factor) * standardized_degrees(current.heading - previous.heading)
# if wheels have moved, update ackerman
wheel_distance_meters = (current.odometer_ticks-previous.odometer_ticks) * self.meters_per_odometer_tick
if abs(wheel_distance_meters) > 0.:
outside_wheel_angle = radians(self.angle_for_steering(previous.str))
self.ackerman.move_left_wheel(outside_wheel_angle, wheel_distance_meters, self.heading_radians())
# update velocity
if current.odometer_last_us != previous.odometer_last_us:
elapsed_seconds = (current.odometer_last_us - previous.odometer_last_us) / 1000000.
self.velocity = wheel_distance_meters / elapsed_seconds
self.last_verified_velocity = self.velocity
else:
# no tick this time, how long has it been?
seconds_since_tick = ( current.us - current.odometer_last_us ) / 1000000.
if seconds_since_tick > 0.1:
# it's been a long time, let's call velocity zero
self.velocity = 0.0
else:
# we've had a tick recently, fastest possible speed is when a tick is about to happen
# let's use smaller of that and previously certain velocity
max_possible = self.meters_per_odometer_tick / seconds_since_tick
if max_possible > abs(self.last_verified_velocity):
self.velocity = self.last_verified_velocity
else:
if self.last_verified_velocity > 0:
self.velocity = max_possible
else:
self.velocity = -max_possible
#print("x:{:.2f} y:{:.2f} heading:{:.2f}".format(self.ackerman.x, self.ackerman.y, relative_heading))
# returns the velocity in meters/sec
# if the car is reversing, velocity will be negative
def get_velocity_meters_per_second(self):
return self.velocity;
# returns position of rear of car (between two rear wheels), this starts at -wheelbase_length_in_meters,0
def rear_position(self):
return (self.ackerman.x - self.wheelbase_length_in_meters, self.ackerman.y)
# returns position of front of car (between two front wheels), this starts at 0,0
def front_position(self):
h = radians(self.heading_degrees());
l = self.wheelbase_length_in_meters
return (self.ackerman.x + l * cos(h) - l , self.ackerman.y + l * sin(h))
def heading_degrees(self):
return standardized_degrees(self.dynamics.heading - self.original_dynamics.heading + self.heading_adjustment)
def heading_radians(self):
return radians(self.heading_degrees())
def set_rc_mode(self):
self.write_command('rc')
def set_manual_mode(self):
self.write_command('m')
def wheels_angle(self):
return self.angle_for_steering(self.dynamics.str)
def esc_for_velocity(self, v):
data = [
(-2., 1200), # made up numbers for negative v: todo: find empirically
(-1., 1250),
(0.0, 1500),
(0.1, 1645),
(0.34, 1659),
(0.85, 1679),
(1.2, 1699),
(1.71, 1719),
(1.88, 1739),
(2.22, 1759),
(2.6, 1779),
(3.0, 1799),
(14.0, 2000)
]
return table_lookup(data, v)
def angle_for_steering(self, str):
data = [
(30,1000),
(25,1104),
(20,1189),
(15,1235),
(10,1268),
(5, 1390),
(0, 1450),
(-5, 1528),
(-10, 1607),
(-15,1688),
(-20, 1723),
(-25, 1768),
(-30, 1858)]
last = len(data)-1
if str <= data[0][1]:
return data[0][0]
if str >= data[last][1]:
return data[last][0]
for i in range(0,last):
if str <= data[i+1][1]:
return interpolate(
str, data[i][1], data[i][0], data[i+1][1], data[i+1][0])
# returns the steering pulse for give steering angle
# of the outside wheel
def steering_for_angle(self, theta):
data = [
(30,1000),
(25,1104),
(20,1189),
(15,1235),
(10,1268),
(5, 1390),
(0, 1450),
(-5, 1528),
(-10, 1607),
(-15,1688),
(-20, 1723),
(-25, 1768),
(-30, 1858)]
last = len(data)-1
if theta >= data[0][0]:
return data[0][1]
if theta <= data[last][0]:
return data[last][1]
for i in range(0,last):
if theta >= data[i+1][0]:
return interpolate(
theta, data[i][0], data[i][1], data[i+1][0], data[i+1][1])
def set_esc_and_str(self, speed, steering):
self.write_command('pse {0},{1}'.format(int(steering), int(speed)))
def zero_odometer(self):
self.odometer_start = self.dynamics.odometer_ticks
self.odometer_front_left_start = self.dynamics.odometer_front_left
self.odometer_front_right_start = self.dynamics.odometer_front_right
self.odometer_back_left_start = self.dynamics.odometer_back_left
self.odometer_back_right_start = self.dynamics.odometer_back_right
def odometer_meters(self):
return (self.dynamics.odometer_ticks - self.odometer_start) * self.meters_per_odometer_tick
def odometer_front_left(self):
return self.dynamics.odometer_front_left - self.odometer_front_left_start
def odometer_front_right(self):
return self.dynamics.odometer_front_right - self.odometer_front_right_start
def odometer_back_left(self):
return self.dynamics.odometer_back_left - self.odometer_back_left_start
def odometer_back_right(self):
return self.dynamics.odometer_back_right - self.odometer_back_right_start
# returns where you should steer to if you wish to go to goal_heading
def steering_for_goal_heading_degrees(self, goal_heading, reverse = False):
direction = -1 if reverse else 1
heading_error = degrees_diff(goal_heading, self.heading_degrees())
steering = self.steering_for_angle(-direction * heading_error)
return steering
def is_drifting(self):
return self.ackerman.is_drifting()
def forward(self, meters, goal_heading = None, fixed_steering_us = None, max_speed = 2.0):
ticks = int(meters/self.meters_per_odometer_tick)
if fixed_steering_us != None:
steering = fixed_steering_us
if goal_heading == None:
goal_heading = self.dynamics.heading
#use a direction of 1 / -1 to help with the math for forward / reverse
if ticks > 0:
direction = 1
min_esc = 1500
max_esc = self.esc_for_velocity(max_speed)
else:
direction = -1
min_esc = 1500
max_esc = self.esc_for_velocity(-max_speed)
goal_odometer = self.dynamics.odometer_ticks + ticks
self.set_rc_mode()
while self.dynamics.odometer_ticks * direction < goal_odometer * direction:
esc = max_esc
# adjust steering if fixed steering wasn't selected
if fixed_steering_us == None:
heading_error = degrees_diff(goal_heading, self.dynamics.heading)
steering = self.steering_for_angle(-direction * heading_error)
# adjust speed
if abs(self.get_velocity_meters_per_second()) > max_speed:
esc = min_esc
self.set_esc_and_str(esc, steering)
time.sleep(.02)
self.set_esc_and_str(1500,steering)
slowdown_start = time.time()
while (time.time()-slowdown_start < 3):
if fixed_steering_us == None:
heading_error = degrees_diff(goal_heading, self.dynamics.heading)
steering = self.steering_for_angle(-direction * heading_error * 1.5)
time.sleep(0.01)
# pin config
IO.pinMode(REDPIN, IO.OUTPUT)
IO.pinMode(YELPIN, IO.OUTPUT)
IO.pinMode(GRNPIN, IO.OUTPUT)
IO.pinMode(SRNPIN, IO.OUTPUT)
IO.pinMode(BTNPIN, IO.INPUT)
# audio, maps to existing pwm channel for line out audio jack
IO.pinMode(AUDIOPIN, IO.PWM_OUTPUT)
# Set PWM range to 100 (duty cycle can be 0-100)
wiringpi.softPwmCreate(REDPIN, 0, 100)
wiringpi.softPwmCreate(YELPIN, 0, 100)
wiringpi.softPwmCreate(GRNPIN, 0, 100)
LCD = Lcd(LCD_ROWS, LCD_CHARS, LCD_BITS, PIN_LCD_RS, PIN_LCD_E, PINS_LCD_DB)
SPEECH = Speech()
# Siren state machine functions
def siren_on(fsm):
"""Turn on Siren"""
IO.digitalWrite(SRNPIN, IO.HIGH)
time.sleep(1.7)
def siren_off(fsm):
"""Turn off Siren"""
IO.digitalWrite(SRNPIN, IO.LOW)
time.sleep(0.5)
# Capture SIGINT for cleanup when the script is aborted
def end_read(signal, frame):
global continue_reading
print "Ctrl+C captured, ending read."
continue_reading = False
GPIO.cleanup()
sys.exit()
# Hook the SIGINT
signal.signal(signal.SIGINT, end_read)
# Create an object of the class MFRC522
MIFAREReader = MFRC522.MFRC522()
# Create an object of the class Lcd
lcd = Lcd()
### KEYPAD ###
keypad = Keypad()
def getCourses():
lcd.lcd_clear()
r = requests.get(BASE_URL + 'courses')
courses = r.json()
lcd.lcd_string("", lcd.LCD_LINE_2)
for index, course in enumerate(courses):
if index == 0:
lcd.lcd_string(course['code'], lcd.LCD_LINE_1)
elif index == 1:
class TestFrontend(pykka.ThreadingActor, core.CoreListener):
def __init__(self, config, core):
super(TestFrontend, self).__init__()
self.core = core
self._now_playing_track = None
self.lcd = Lcd()
self.radioMenu = RadioMenu(self.lcd, self)
logger.info("My plugin has loaded!")
# set up fallback image
self.plugin_dir = os.path.dirname(os.path.realpath(__file__))
self.fallback_image = self.plugin_dir + "/images/on_the_air.jpg"
self.radioMenu.loading()
def volume_up(self):
logger.info("COMMAND: Volume Up")
current_volume = self.core.mixer.get_volume().get()
logger.info("Current volume: " + str(current_volume))
current_volume += 5
if current_volume > 100:
current_volume = 100
self.core.mixer.set_volume(current_volume)
logger.info("New volume: " + str(current_volume))
def volume_down(self):
logger.info("COMMAND: Volume Down")
current_volume = self.core.mixer.get_volume().get()
logger.info("Current volume: " + str(current_volume))
current_volume -= 5
if current_volume < 0:
current_volume = 0
self.core.mixer.set_volume(current_volume)
logger.info("New volume: " + str(current_volume))
def toggle_play(self):
logger.info("COMMAND: Toggling Play State")
current_state = self.core.playback.get_state().get()
logger.info("state is: " + current_state)
if current_state == core.PlaybackState.STOPPED:
current_state = self.core.playback.get_state().get()
logger.info("state is: " + current_state)
logger.info("Playing")
self.core.playback.play()
else:
if current_state == core.PlaybackState.PAUSED:
self.core.playback.resume()
else:
if current_state == core.PlaybackState.PLAYING:
self.core.playback.pause()
logger.info("new state is: " + self.core.playback.get_state().get())
def playlists_loaded(self):
logger.info("Playlists Loaded - navigating to default screen")
self.radioMenu.close()
def menu_load_playlists(self, uri=None):
'''Returns the list of playlists'''
if uri:
logger.info("Loading menu level: " + uri)
else:
logger.info("Loading root menu level")
root_level = self.core.library.browse(uri).get()
print root_level
items = []
for entry in root_level:
if entry.type == "directory":
items.append(DynamicMenuItem(entry.name, self.menu_load_playlists, entry.uri))
elif entry.type == "track":
items.append(Command(entry.name, self.load_track_and_play, entry.uri))
elif entry.type == "playlist":
items.append(Command(entry.name, self.load_playlist_and_play, entry.uri))
return items
def load_playlist(self, uri):
"""
Loads the items of the play list to the track list
"""
logger.info("Playing playlist")
logger.info("Loading playlist: " + uri)
pl = self.core.playlists.lookup(uri).get()
logger.info(pl)
self.core.tracklist.clear()
self.core.tracklist.add(pl.tracks)
self.core.tracklist.set_random(True)
def load_playlist_and_play(self, uri):
# close out of the menu
self.radioMenu.close()
self.lcd.message("Loading playlist...")
self.load_playlist(uri)
self.core.playback.play()
def load_track_and_play(self, uri):
logger.info("Playing track")
logger.info(uri)
# close out of the menu
self.radioMenu.close()
self.lcd.message("Playing...")
self.core.tracklist.clear()
self.core.tracklist.add(uris=[uri])
self.core.playback.play()
def load_default_playlist_and_play(self):
if self.core.tracklist.get_length().get() == 0:
self.load_playlist("spotify:user:1230911936:playlist:04OMIJJH2YSLkeVl5jhXjl")
self.toggle_play()
def show_now_playing(self, track):
# store for later
self._now_playing_track = track
logger.info(track)
name = track.name
artists = ', '.join([a.name for a in track.artists])
track_image_uri = self.fallback_image
if len(track.album.images) > 0:
logger.info("Has an image...")
track_image_uri = iter(track.album.images).next()
logger.info("Image: %s", track_image_uri)
else:
logger.info("Checking for image...")
image_result = self.core.library.get_images({track.uri}).get()
logger.info(image_result[track.uri])
for image in image_result[track.uri]:
if image.width >= 640:
logger.info("Found image: " + image.uri)
track_image_uri = image.uri
logger.info("Playback started: %s - %s", name, artists)
logger.info("Name: %s", name)
logger.info("Artists: %s", artists)
logger.info("Image: %s", track_image_uri or "None")
track_image_path = self.fallback_image
if track_image_uri is not None:
try:
logger.info("Downloading image..." + track_image_uri)
import tempfile
temp_dir = tempfile.gettempdir()
import urllib
testfile = urllib.URLopener()
track_image_path = temp_dir + "/art.jpg"
logger.info("Saving to " + track_image_path)
testfile.retrieve(track_image_uri, track_image_path)
logger.info(image)
except Exception as ex:
logger.error("Error downloading image ...")
logger.error(ex)
track_image_path = self.fallback_image
logger.info("Updating LCD")
self.lcd.now_playing(track_image_path, name.encode("utf8","ignore") or "", artists.encode("utf8","ignore") or "")
def track_playback_started(self, tl_track):
logger.info("STARTED")
self.show_now_playing(tl_track.track)
#self.lcd.message("Playing")
def track_playback_paused(self, tl_track, time_position):
logger.info("PAUSED")
self.lcd.message("Paused")
def track_playback_resumed(self, tl_track, time_position):
logger.info("RESUMED")
self.show_now_playing(tl_track.track)
#self.lcd.message("Playing")
def track_playback_ended(self, tl_track, time_position):
logger.info("ENDED")
# self.lcd.message("Stopped (Finished)")
def volume_changed(self, volume):
#self.lcd.message("Volume: " + str(volume))
pass
def stream_title_changed(self, title):
pass
time()
jmp = Button(21)
btn_power = Button(26, hold_time=2)
btn_channel = Button(13, hold_time=2)
btn_start = Button(6)
channel = 11
power = 8
current_mode = ''
input_queue = queue.Queue()
output_queue = queue.Queue()
sp = SerialProcess()
lcd = Lcd()
buzzer = Buzzer()
buzzer.start()
if is_tx():
print("Tx Mode")
else:
print("Rx mode")
while True:
while not sp.is_open():
sp = SerialProcess()
print('port is open')
try:
import _thread import time import json from pyb import Timer import os from adc import Adc from lcd import Lcd from scan import Scan from outctl import Outctl from networks import Network adc = Adc() lcd = Lcd() scan = Scan() outctl = Outctl() network = Network() up_state_cnt = 0 #上位机状态计数器 file_flag = 0 #是否写入文件 adc_freq = 1000 #adc采样频率 voltage_b = 0 current_b = 0 warnvalue = 10 warntime = 20 stopvalue = 20 stoptime = 20 time_now = '' def up_state(tt):
class Game:
LEDS = None
SWITCHES = None
COUNTDOWN = None
GAME_TIME = None
FINISH_TIME = 0
RAND = -1
RANDS = []
BUTTONS_STATE = False
BUTTONS_PRESSED = []
GAMEOVER = False
BUTTON_ACTION_ALL = 'all'
BUTTON_ACTION_SNAKE = 'snake'
LEVEL = 1
SCORE_INCREMENT = None
gpio = None
lcd = None
db = None
def __init__(self, leds, switches, countdown, game_time, score_increment):
self.LEDS = leds
self.SWITCHES = switches
self.COUNTDOWN = countdown
self.GAME_TIME = game_time
self.SCORE_INCREMENT = score_increment
self.gpio = Gpio
self.lcd = Lcd()
self.db = TinyDB('data/database.json')
if len(self.LEDS) != len(self.SWITCHES):
print(
"[Game][error] There isn't the same number of LEDS as SWITCHES"
)
exit()
try:
self.gpio.setmode(self.gpio.BCM)
for switch in self.SWITCHES:
self.gpio.setup(switch, self.gpio.IN)
self.gpio.add_event_detect(switch,
self.gpio.RISING,
bouncetime=300)
self.gpio.add_event_callback(switch, self.__button_press)
for led in self.LEDS:
self.gpio.setup(led, self.gpio.OUT)
self.gpio.output(led, False)
except AttributeError:
print("[Game][error] An error occurred initialising game")
def start(self, run_once=False):
print("[Game][info] Starting game")
self.lcd.print("Press lit button", self.lcd.LINE_1)
self.lcd.print("to start", self.lcd.LINE_2)
try:
self.gpio.output(self.LEDS[2], True)
while self.gpio.input(self.SWITCHES[2]) == self.gpio.LOW:
time.sleep(0.01)
for led in self.LEDS:
self.gpio.output(led, True)
except AttributeError:
print("[Game][error] An error occurred starting game")
self.__countdown()
self.__loop()
self.finish()
if run_once is not True:
self.start()
def __countdown(self):
print("[Game][info] Starting game countdown")
try:
self.lcd.clear()
for i in range(self.COUNTDOWN, -1, -1):
if i == 0:
self.lcd.print("Go Go Go!", self.lcd.LINE_1)
elif i == self.COUNTDOWN:
self.lcd.print("Starting in %d!" % i, self.lcd.LINE_1)
else:
self.lcd.print("%d!" % i, self.lcd.LINE_1)
time.sleep(1)
self.gpio.output(self.LEDS[(i - 1)], False)
self.lcd.clear()
except AttributeError:
print("[Game][error] An error occurred starting game countdown")
def __loop(self):
print("[Game][info] Starting game loop")
self.FINISH_TIME = time.time() + (self.GAME_TIME + 1)
try:
while time.time() < self.FINISH_TIME and self.GAMEOVER is not True:
print("[Game][info] Game loop iteration")
self.BUTTONS_STATE = False
self.BUTTONS_PRESSED = []
for i in range(self.LEVEL):
self.print_information("Repeat following")
if len(self.RANDS) >= (i + 1):
self.RAND = self.SWITCHES.index(self.RANDS[i])
else:
self.RAND = random.randint(0, (len(self.LEDS) - 1))
self.RANDS.append(self.SWITCHES[self.RAND])
print("[Game][info] Activating button: %s" %
(self.SWITCHES[self.RAND]))
self.gpio.output(self.LEDS[self.RAND], True)
time.sleep(0.5)
self.gpio.output(self.LEDS[self.RAND], False)
start = time.time()
print("[Game][info] Waiting for button press")
while len(self.BUTTONS_PRESSED) < self.LEVEL:
self.print_information()
if time.time() >= self.FINISH_TIME:
break
end = time.time()
time_taken = end - start
time.sleep(0.5)
print("[Game][info] Button presses time taken: %f" %
time_taken)
if time.time() < self.FINISH_TIME:
if self.BUTTONS_STATE is True:
print("[Game][info] Level increased by %d" % 1)
self.LEVEL += 1
else:
self.GAMEOVER = True
except AttributeError:
print("[Game][error] An error occurred during game loop")
def __button_press(self, channel):
print("[Game][info] Button pressed: %d" % channel)
if len(self.RANDS) == 0:
return
self.BUTTONS_PRESSED.append(channel)
if len(self.BUTTONS_PRESSED) <= len(
self.RANDS) and channel == self.RANDS[(
len(self.BUTTONS_PRESSED) - 1)]:
self.BUTTONS_STATE = True
else:
self.BUTTONS_STATE = False
def get_score(self):
print("[Game][info] Calculating score")
level = self.LEVEL - 1
if level < 1:
return 0
return (level * (level + 1) / level) * self.SCORE_INCREMENT
def print_information(self, message=None):
print("[Game][info] Printing information")
score = self.get_score()
remaining = int(self.FINISH_TIME - time.time())
try:
self.lcd.print("Remaining: %ds" % remaining, self.lcd.LINE_1)
if message is None:
self.lcd.print("Score: %d" % score, self.lcd.LINE_2)
else:
self.lcd.print(message, self.lcd.LINE_2)
except AttributeError:
print("[Game][error] An error occurred printing information")
def print_score(self, high_score=False):
print("[Game][info] Printing score")
score = self.get_score()
try:
if high_score:
self.lcd.print("High score: %d!" % self.get_score(),
self.lcd.LINE_1)
self.flash_buttons(self.BUTTON_ACTION_ALL)
time.sleep(3)
else:
self.lcd.print("Your score: %d" % score, self.lcd.LINE_1)
time.sleep(3)
except AttributeError:
print("[Game][error] An error occurred printing score")
def flash_buttons(self, action):
print("[Game][info] Flashing buttons '%s'" % action)
try:
if action == self.BUTTON_ACTION_SNAKE:
for x in range(0, 4):
for y in range(0, len(self.LEDS)):
self.gpio.output(self.LEDS[y], True)
time.sleep(0.2)
self.gpio.output(self.LEDS[y], False)
elif action == self.BUTTON_ACTION_ALL:
for x in range(0, 4):
for y in range(0, len(self.LEDS)):
self.gpio.output(self.LEDS[y], True)
time.sleep(0.2)
for y in range(0, len(self.LEDS)):
self.gpio.output(self.LEDS[y], False)
time.sleep(0.2)
except AttributeError:
print("[Game][error] An error occurred flashing buttons")
def finish(self):
print("[Game][info] Finishing game")
score = self.get_score()
self.lcd.clear()
if self.db.contains(Query().score >= score):
self.print_score()
else:
self.print_score(True)
self.db.insert({'score': score})
self.reset()
def reset(self):
print("[Game][info] Resetting game")
self.GAMEOVER = False
self.RAND = -1
self.RANDS = []
self.LEVEL = 1
self.FINISH_TIME = 0
self.BUTTONS_STATE = False
self.BUTTONS_PRESSED = []
self.flash_buttons(self.BUTTON_ACTION_SNAKE)
self.lcd.clear()
def cleanup(self):
print("[Lcd][info] Game clean up")
try:
self.gpio.cleanup()
self.lcd.cleanup()
except AttributeError:
print("[Game][error] An error occurred cleaning up")
def __exit__(self):
print("[Game][info] Game exit")
self.cleanup()
def write_to_lcd_and_lock_failure(lcd, message, led_buzzer):
led_buzzer.trigger_failure()
write_to_lcd_and_lock(lcd, message)
def display_date_time(lcd, lcd_lock):
while True:
lcd_lock.wait_empty()
write_to_lcd(lcd, get_current_date_time().strftime("%Y-%m-%d %H:%M:%S").split(' '))
sys_time.sleep(0.5)
if __name__ == "__main__":
logging.info("nfc main func started")
nfc_reader_output_queue = queue.Queue()
keypad = Keypad()
lcd = Lcd(LCD_RS_PIN, LCD_E_PIN, LCD_DATA_PINS)
led_buzzer = LedBuzzer(GREEN_LED_AND_BUZZER_PIN, RED_LED_PIN)
system_state = SystemState()
lcd_lock = LcdLock()
threads = []
threads.append(threading.Thread(target=start_nfc_poll_producer, \
args=(nfc_reader_output_queue,)))
threads.append(threading.Thread(target=start_nfc_poll_consumer, \
args=(nfc_reader_output_queue,keypad,lcd,led_buzzer,system_state,lcd_lock)))
threads.append(threading.Thread(target=display_date_time, args=(lcd, lcd_lock)))
for func in [lambda t: t.start(), lambda t: t.join()]:
for thread in threads:
func(thread)
# pin config
IO.pinMode(REDPIN, IO.OUTPUT)
IO.pinMode(YELPIN, IO.OUTPUT)
IO.pinMode(GRNPIN, IO.OUTPUT)
IO.pinMode(SRNPIN, IO.OUTPUT)
IO.pinMode(BTNPIN, IO.INPUT)
# audio, maps to existing pwm channel for line out audio jack
IO.pinMode(AUDIOPIN, IO.PWM_OUTPUT)
# Set PWM range to 100 (duty cycle can be 0-100)
wiringpi.softPwmCreate(REDPIN, 0, 100)
wiringpi.softPwmCreate(YELPIN, 0, 100)
wiringpi.softPwmCreate(GRNPIN, 0, 100)
LCD = Lcd(LCD_ROWS, LCD_CHARS, LCD_BITS, PIN_LCD_RS, PIN_LCD_E, PINS_LCD_DB)
# Siren state machine functions
def siren_on (fsm):
"""Turn on Siren"""
IO.digitalWrite(SRNPIN, IO.HIGH)
time.sleep(1.7)
def siren_off (fsm):
"""Turn off Siren"""
IO.digitalWrite(SRNPIN, IO.LOW)
time.sleep(0.5)
# Button state machine functions
def button_up (fsm):
"""Button is not pressed/ up"""
