def __init__(self):
logging.info("Starting Spaceship")
self.q_mode_camera = Queue.Queue()
self.q_com_device_in = Queue.Queue()
self.q_com_device_out = Queue.Queue()
GPIO.setmode(GPIO.BOARD)
# init pin 7 for camera PWM
GPIO.setup(7, GPIO.OUT)
# Init pin 11 for diode
GPIO.setup(11, GPIO.OUT)
# Init pin 13 for relay for power to servo
GPIO.setup(13, GPIO.OUT)
self.mode = ""
self.online = False
self.camera = Camera(self.q_mode_camera)
self.com_device = ComDevice(self.q_com_device_in, self.q_com_device_out)
self.running = True
class Spaceship:
def __init__(self):
logging.info("Starting Spaceship")
self.q_mode_camera = Queue.Queue()
self.q_com_device_in = Queue.Queue()
self.q_com_device_out = Queue.Queue()
GPIO.setmode(GPIO.BOARD)
# init pin 7 for camera PWM
GPIO.setup(7, GPIO.OUT)
# Init pin 11 for diode
GPIO.setup(11, GPIO.OUT)
# Init pin 13 for relay for power to servo
GPIO.setup(13, GPIO.OUT)
self.mode = ""
self.online = False
self.camera = Camera(self.q_mode_camera)
self.com_device = ComDevice(self.q_com_device_in, self.q_com_device_out)
self.running = True
# Main loop
def run(self):
logging.info('Started')
self.com_device.start()
self.camera.start()
try:
while self.running:
self.check_queue()
self.blink_diode()
time.sleep(2)
except KeyboardInterrupt:
self.shutdown()
finally:
pass
GPIO.cleanup()
logging.info('Finished')
def set_mode(self, mode):
logging.info("Setting mode "+mode)
self.q_mode_camera.put(mode)
self.q_com_device_in.put(mode)
self.mode = mode
def shutdown(self):
print("Shutting down...")
self.running = False
self.set_mode("EXIT")
logging.info("All shut down")
logging.info("Shutdown Spaceship")
def check_queue(self):
try:
msg = self.q_com_device_out.get_nowait().upper()
if msg == "MODE 1" \
or msg == "MODE 2" \
or msg == "MODE 3" \
or msg == "START":
self.set_mode(msg)
elif msg == "EXIT":
self.shutdown()
elif msg == "ONLINE":
self.online = True
elif msg == "OFFLINE":
self.online = False
except Queue.Empty:
None
finally:
pass
def blink_diode(self):
if self.mode == "":
GPIO.output(11, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(11, GPIO.LOW)
time.sleep(0.5)
self.blink_online_status()
elif self.mode == "MODE 1":
self.blink()
time.sleep(0.5)
self.blink_online_status()
elif self.mode == "MODE 2":
self.blink()
self.blink()
time.sleep(0.5)
self.blink_online_status()
elif self.mode == "MODE 3":
self.blink()
self.blink()
self.blink()
time.sleep(0.5)
self.blink_online_status()
def blink_online_status(self):
if self.online:
GPIO.output(11, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(11, GPIO.LOW)
else:
time.sleep(0.5)
@staticmethod
def blink():
GPIO.output(11, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(11, GPIO.LOW)
time.sleep(0.1)