def __init__(self, component):
"""
:param component: Name of component, i.e 'left_arm'.
"""
self.component = str(component).lower()
self.servos = []
self.motors = []
tmp_servo_list = Component.constants['components'][
self.component]['servo_list']
tmp_motor_list = Component.constants['components'][
self.component]['motor_list']
if tmp_servo_list:
self.servos = [
ServoMotor(value['dependencies'], value['pin'],
value['max_pulse'], value['min_pulse'],
value['abs_max_pulse'], value['abs_min_pulse'],
value['pulse_width'], value['init_pulse'])
for (key, value) in tmp_servo_list.items()
]
if tmp_motor_list:
self.motors = [
GearedMotor(value['pin'], value['init_percentage'],
value['init_direction'], value['pulse_width'])
for (key, value) in tmp_motor_list.items()
]
Controller.add_servos(self.servos)
def execute_stack():
"""
:return: True for successful execution.
Parallel execution of pending commands on the SSC32U board.
"""
try:
Controller.execute_stack()
return True
except:
print("Executing stack failed!")
raise
def validate_results(feedback_list, method):
"""
:param feedback_list: List of booleans corresponding to the return value of a method.
:param method: Method name, i.e initialize.
:return: True if all booleans in feedback_list are True.
Validates results of executed method and executes stack.
"""
if False not in feedback_list:
Controller.execute_stack()
print('JohnnyV: ' + method + ' was successful.')
return True
else:
print('JohnnyV: ' + method +
' failed. Commands could not be written to SSC board.')
return False
def range(self):
"""
:return: Call to Controller.sensor_range().
Method to return raw range of SRF08 sensor.
"""
return Controller.sensor_range(self)
def light_level(self):
"""
:return: Call to Controller.light_level().
Method for reading current light level of SRF08 sensor.
"""
return Controller.light_level(self)
def measure_range(self, unit=None):
"""
:param unit: Unit of measurement, i.e 'inches'. Standard is on 'centimeter'.
:return: Call to Controller.measure_range().
Method for returning aggregated range.
"""
if unit is None:
return Controller.measure_range(self, self.unit)
else:
if isinstance(unit, str):
if unit in self.unit_set:
return Controller.measure_range(self, unit)
else:
print("Camera: Measure Range must be in " + self.unit_set)
return False
else:
print("Camera: Measure Range must be a string).")
return False
def write(self, unit=None):
"""
:param unit: Unit of measurement, i.e 'inches'. Standard is on 'centimeter'.
:return: Call to Controller.write_to_sensor().
Method to write commands to sensor.
"""
if unit is None:
return Controller.write_to_sensor(self, self.unit)
else:
if isinstance(unit, str):
if unit in self.unit_set:
return Controller.write_to_sensor(self, unit)
else:
print("Camera: Measure Range must be in " + self.unit_set)
return False
else:
print("Camera: Measure Range must be a string).")
return False
def __init__(self, sensor_id):
"""
:param sensor_id: ID/Name of sensor.
"""
self.sensor_id = sensor_id
self.sensor_specs = SRF08.constants['sensors'][sensor_id]
if self.sensor_specs:
self.sensor_addr = Controller.get_sensor_addr()
self.unit = self.sensor_specs["unit"]
self.unit_set = self.sensor_specs["unit_set"]
else:
print(self.sensor_id+": No specifications found for given Sensor-ID.")
def __init__(self):
self.components = {
key: Component(key)
for (key, value) in self.constants['components'].items()
}
self.peripherals = {
key: Camera(key)
for (key, value) in self.constants['cameras'].items()
}
self.peripherals.update({
key: SRF08(key)
for (key, value) in self.constants['sensors'].items()
})
self.controller = Controller()
def capture(self, file_name):
"""
:param file_name: Name of the picture that will be taken without extension.
:return: Call to Controller.capture().
Creates a picture with given filename.
"""
if isinstance(file_name, str):
pattern = re.compile("^([a-zA-Z0-9]+)$")
if pattern.match(file_name):
return Controller.capture(self, file_name)
else:
print(
"Camera: File_name does not fit pattern: ^([a-zA-Z0-9]+)$")
return False
else:
print("Camera: File_name must be a string.")
return False
def record(self, file_name, duration):
"""
:param file_name: Name of the video that will be taken without extension.
:param duration: Recording time.
:return: Call to Controller.record().
Creates a video with given filename.
"""
if isinstance(file_name, str):
pattern = re.compile("^([a-zA-Z0-9]+)$")
if pattern.match(file_name):
if isinstance(duration, int) and duration > 0:
return Controller.record(self, file_name, duration)
else:
print("Camera: Duration must be a integer greater 0.")
return False
else:
print(
"Camera: File_name does not fit pattern: ^([a-zA-Z0-9]+)$")
return False
else:
print("Camera: File_name must be a string.")
return False
def init_command(self, init_list):
"""
:param init_list: The list of pins to be initialized.
:return: True for successful execution.
Creates the initialization command for later execution.
"""
if isinstance(init_list, list):
if all(isinstance(command, tuple) for command in init_list):
if all(len(command) == 2 for command in init_list):
if all(
isinstance(command[0], numbers.Number)
for command in init_list):
if all(
isinstance(command[1], bool)
for command in init_list):
if self.servos:
for command in init_list:
pin = command[0]
servo = next(servo for servo in self.servos
if servo.pin == pin)
if servo:
init_list = [
command for command in init_list
if command[0] != pin
]
if command[1]:
if Controller.execute_servo(
servo, servo.init_pulse):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_servo_to_stack(
servo, servo.init_pulse):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error('Desired servo with pin ' +
str(pin) +
' is not available.')
return False
if self.motors:
for command in init_list:
pin = command[0]
motor = next(motor for motor in self.motors
if motor.pin == pin)
if motor:
if command[1]:
if Controller.execute_motor(
motor,
motor.init_direction,
motor.init_percentage):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_motor_to_stack(
motor,
motor.init_direction,
motor.init_percentage):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error('Desired motor with pin ' +
str(pin) +
' is not available.')
return False
if self.servos or self.motors:
return True
else:
self.error('No servo or motor list available.')
return False
else:
self.error(
'Unexpected tuple element. Second element must be a boolean.'
)
return False
else:
self.error(
'Unexpected tuple element. First element must be a number'
)
return False
else:
self.error('Unexpected tuple size. Expected tuple of two')
return False
else:
self.error('Unexpected list element. Expected list of tuples')
return False
else:
self.error('Unexpected input: ' + type(init_list).__name__ +
'. Expected: list')
return False
def move_motor(self, command_list):
"""
:param command_list: List of commands to be executed.
:return: True for successful execution.
Moves motor according to command_list.
"""
if self.motors:
if isinstance(command_list, list):
if all(isinstance(command, tuple) for command in command_list):
if all(len(command) == 4 for command in command_list):
if all(
isinstance(number, numbers.Number)
for command in command_list
for number in command[:2]):
if all(
isinstance(command[3], bool)
for command in command_list):
for command in command_list:
pin = command[0]
direction = command[1]
percent = command[2]
motor = next(motor for motor in self.motors
if motor.pin == pin)
if motor:
if direction in [-1, 0, 1]:
if 0 <= percent <= 100:
if command[2]:
if Controller.execute_motor(
motor, direction,
percent):
self.error(
'Execution of single command was successful'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_motor_to_stack(
motor, direction,
percent):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error(
'Invalid percentage. Percentage must be beween 0 and 100.'
)
return False
else:
self.error(
'Invalid direction. Direction must be 1 or -1.'
)
return False
else:
self.error('Desired motor with pin ' +
str(pin) +
' is not available.')
return False
return True
else:
self.error(
'Unexpected tuple element. Last Element must be a boolean.'
)
return False
else:
self.error(
'Unexpected tuple element. First three items must be of type Number.'
)
return False
else:
self.error(
'Unexpected tuple size. Expected tuple of three')
return False
else:
self.error(
'Unexpected list element. Expected list of tuples')
return False
else:
self.error('Unexpected input: ' + type(command_list).__name__ +
'. Expected: list')
return False
else:
self.error('Component does not contain any motors.')
return False
def move_servo(self, command_list):
"""
:param command_list: List of commands to be executed.
:return: True for successful execution.
Move servos according to the command_list.
"""
if self.servos:
if isinstance(command_list, list):
if all(isinstance(command, tuple) for command in command_list):
if all(len(command) == 3 for command in command_list):
if all(
isinstance(number, numbers.Number)
for command in command_list
for number in command[:1]):
if all(
isinstance(command[2], bool)
for command in command_list):
for command in command_list:
pin = command[0]
degree = command[1]
servo = next(servo for servo in self.servos
if servo.pin == pin)
if servo:
if servo.min_pulse <= degree <= servo.max_pulse:
if command[2]:
if Controller.execute_servo(
servo, degree):
self.error(
'Execution of single command was successfull'
)
else:
self.error(
'Execution of single command failed'
)
return False
else:
if Controller.add_servo_to_stack(
servo, degree):
self.error(
'Command was added to Execution-list.'
)
else:
self.error(
'Command could not be added to Execution-list.'
)
return False
else:
self.error(
str(degree) +
' is not allowed.')
return False
else:
self.error('Desired servo with pin ' +
str(pin) +
' is not available.')
return False
return True
else:
self.error(
'Unexpected tuple element. Last Element must be a boolean.'
)
return False
else:
self.error(
'Unexpected tuple element. First two items must be numbers'
)
return False
else:
self.error(
'Unexpected tuple size. Expected tuple of three')
return False
else:
self.error(
'Unexpected list element. Expected list of tuples')
return False
else:
self.error('Unexpected input: ' + type(command_list).__name__ +
'. Expected: list')
return False
else:
self.error('Component does not contain any servos.')
return False