def __setPowerOn(self):
gpio.add_interrupt_callback(self.gpioFaultA,
self.gpioCallback,
threaded_callback=True,
debounce_timeout_ms=100)
gpio.add_interrupt_callback(self.gpioFaultB,
self.gpioCallback,
threaded_callback=True,
debounce_timeout_ms=100)
msgText = 'Power is ON for module ' + self.descr + '. Error monitor is now ON'
print(msgText)
sendAlertEmail(msgText, self)
def init_boundary_sensors(self, pins=None):
if pins is not None:
self.config.boundary_gpio_pins = pins
# Init boundary pins
for i in range(2):
GPIO.setup(self.boundary_gpio_pins[i][0],
GPIO.IN,
pull_up_down=GPIO.PUD_UP)
GPIO.setup(self.boundary_gpio_pins[i][1],
GPIO.IN,
pull_up_down=GPIO.PUD_UP)
# Init callbacks
bbt = self.boundary_bounce_timeout
GPIO.add_interrupt_callback(self.boundary_gpio_pins[0][0],
callback=self.on_hit_bound_min_x,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[0][1],
callback=self.on_hit_bound_max_x,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[1][0],
callback=self.on_hit_bound_min_y,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[1][1],
callback=self.on_hit_bound_max_y,
debounce_timeout_ms=bbt)
def init_boundary_sensors(self, pins=None):
if pins is not None:
self.config.boundary_gpio_pins = pins
# Init boundary pins
for i in range(2):
GPIO.setup(self.boundary_gpio_pins[i][0], GPIO.IN,
pull_up_down=GPIO.PUD_UP)
GPIO.setup(self.boundary_gpio_pins[i][1], GPIO.IN,
pull_up_down=GPIO.PUD_UP)
# Init callbacks
bbt = self.boundary_bounce_timeout
GPIO.add_interrupt_callback(self.boundary_gpio_pins[0][0],
callback=self.on_hit_bound_min_x,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[0][1],
callback=self.on_hit_bound_max_x,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[1][0],
callback=self.on_hit_bound_min_y,
debounce_timeout_ms=bbt)
GPIO.add_interrupt_callback(self.boundary_gpio_pins[1][1],
callback=self.on_hit_bound_max_y,
debounce_timeout_ms=bbt)
def start(self):
debug('debugGPIO', self.name, "using GPIO library", gpioLibrary)
gpio.setwarnings(False)
if self.interface:
gpio.setmode(gpio.BCM)
# configure the MCP23017
self.interface.write(
(self.addr, MCP23017Interface.IODIR + self.bank),
self.inOut) # I/O direction
self.interface.write(
(self.addr, MCP23017Interface.GPINTEN + self.bank),
self.inOut) # enable interrupts for inputs
self.interface.write(
(self.addr, MCP23017Interface.GPPU + self.bank),
self.inOut) # pull up resistors on inputs
self.interface.write((self.addr, MCP23017Interface.IOCON),
0x04) # interrupt pins are open drain
# additional configuration
for config in self.config:
reg = config[0] + self.bank # offset register with bank
debug('debugGPIO', self.name, "start",
"addr: 0x%02x" % self.addr, "reg: 0x%02x" % reg,
"value: 0x%02x" % config[1])
self.interface.write((self.addr, reg), config[1])
# get the current state
self.readState()
# set up the interrupt handling
if gpioLibrary == "RPIO":
gpio.add_interrupt_callback(self.interruptPin,
interruptCallback,
edge="falling",
pull_up_down=gpio.PUD_UP)
gpio.wait_for_interrupts(threaded=True)
elif gpioLibrary == "RPi.GPIO":
gpio.setup(self.interruptPin,
gpio.IN,
pull_up_down=gpio.PUD_UP)
gpio.add_event_detect(self.interruptPin,
gpio.FALLING,
callback=interruptCallback)
else: # direct only supports output - FIXME
gpio.setmode(gpio.BOARD)
for pin in MCP23017Interface.gpioPins:
debug('debugGPIO', self.name, "setup", pin, gpio.OUT)
gpio.setup(pin, gpio.OUT)
debug('debugGPIO', self.name, "write", pin, 0)
gpio.output(pin, 0)
def __initializeGPIO(self):
msgText = 'Initializing error monitor for module ' + self.descr
print(msgText)
import RPi.GPIO as gpio
gpio.setmode(gpio.BCM)
gpio.setup(self.gpioPowerUp, gpio.IN, pull_up_down=gpio.PUD_OFF)
gpio.setup(self.gpioFaultA, gpio.IN, pull_up_down=gpio.PUD_UP)
gpio.setup(self.gpioFaultB, gpio.IN, pull_up_down=gpio.PUD_UP)
self.gpioPowerStatus = gpio.input(self.gpioPowerUp)
gpio.add_interrupt_callback(self.gpioPowerUp,
self.gpioCallback,
threaded_callback=True,
debounce_timeout_ms=100)
self.__newStatus('initialized', self.gpioPowerUp)
if self.gpioPowerStatus == self.gpioPowerAlertStatus:
__setPowerOn()
else:
__setPowerOff()
return
backwardRight = 11
backwardLeft = 13
sleepSeconds = 1
GPIO.setmode(GPIO.BOARD)
GPIO.setup(forwardRight,GPIO.OUT)
GPIO.setup(backwardRight,GPIO.OUT)
GPIO.setup(backwardLeft,GPIO.OUT)
GPIO.setup(forwardLeft,GPIO.OUT)
def gpio_callback(gpio_id, val):
print("gpio %s: %s" % (gpio_id, val))
GPIO.add_interrupt_callback(forwardRight, gpio_callback)
def goForward():
#Go fordward for one second
GPIO.output(forwardRight,True)
GPIO.output(forwardLeft,True)
time.sleep(sleepSeconds)
GPIO.output(forwardRight,False)
GPIO.output(forwardLeft,False)
def goBackward():
#go backward for one second
GPIO.output(backwardRight,True)
