def configure_ht0740(self):
self._log.warning('configure ht0740...')
from lib.switch import Switch
self._log.info('configuring switch...')
self._ros._switch = Switch(Level.INFO)
# since we're using the HT0740 Switch we need to turn it on to enable
# the sensors that rely upon its power
# self._ros._switch.enable()
self._ros._switch.on()
def start(self):
""" Ejecuta el comando y mira si tiene que ejecutarlo localmente o se tiene que ejecutar en otro host. """
tmp_exec = {'out': None, 'err': None}
if self.__is_command_exist():
with Switch(self.location) as case:
if case(EnumLocationExec.local):
tmp_exec = self.__execute_local()
elif case(EnumLocationExec.remote):
tmp_exec = self.__execute_remote()
return tmp_exec['out'], tmp_exec['err'], tmp_exec['code'], tmp_exec[
'exception']
def run(self):
self.pi_setup()
switch_obj = Switch(self, Water_System.push_button)
switch_obj.run(Water_System.led)
thread1 = threading.Thread(target=self.data_generator.monitor_data,
name="thread1",
args=(self.lock, ),
daemon=True)
thread1.start()
try:
while True:
pass
except KeyboardInterrupt:
return
def Risposta(r):
risultato = r # Inizializzazione risultato
clear = False # Inizializzazione variabile
operators = ['×', '÷', '+', '-', '√'] # Lista degli operatori
while not clear: # Finchè l'espressione non è stata analizzata tutta, allora...
for operator in operators: # ... per ogni operatore della lista operators ...
trovato = r.find(operator) # trova l'operatore nella stringa
if trovato != -1: # Se l'operatore è stato trovato...
l = r.split(operator) # Dividi la stringa in base all'operatore
if operator == "-" and not l[0]: # Se l'operatore è il - e se l'elemento in prima posizione
# dell'espressione è vuoto (ad esempio: -2-1 --> l = ["", "2", "1"]
del l[0] # elimina quell'elemento
l[0] = -float(l[0]) # trasforma il nuovo primo elemento in un float (numero decimale) negativo
for p, e in enumerate(l): # Per ogni elemento (e la sua posizione) nell'espressione:
if type(e) == str: # se l'elemento attuale è una stringa ...
e = e.replace(",",
".") # ... sostituisci tutte le virgole con dei punti (per la trasformazione in stringa)
l[p] = float(e) # Trasforma l'elemento in float
with Switch(operator) as case: # Switch (controlla che l'operatore sia uguale a...
if case(operators[0]): # Primo operatore nella lista (multiply) + calcolo
risultato = 1
for x in l:
risultato = risultato * x
elif case(operators[1]): # Secondo operatore nella lista (divide) + calcolo
risultato = l[0]
for p, x in enumerate(l):
if p == 0:
continue
risultato = risultato / x
elif case(operators[2]): # Terzo operatore nella lista (plus) + calcolo
risultato = sum(l)
elif case(operators[3]): # Quarto operatore nella lista (minus) + calcolo
for p, e in enumerate(l):
if p != 0 and float(e) > 0:
l[p] = -float(e)
risultato = sum(l)
elif case(operators[4]): # Quinto operatore nella lista (square root) + calcolo
risultato = math.sqrt(float(l[1]))
clear = True # Quando il ciclo è concluso, imposta la variabile clear a True
# (l'espressione è stata analizzata)
salvaInCronologia(r, risultato) # Salva nella cronologia l'espressione e il risultato
return risultato
def update(self, key: str, option: str, value) -> bool:
"""
Actualiza alguna de las propiedades de un return que ya existe.
:param key: Key del return
:param option: Nombre de la opción.
:param value: Nuevo valor.
:return: True si todo ha ido bien y False si algo ha fallado.
"""
if key:
with Switch(option, invariant_culture_ignore_case=True) as case:
if case("status", "message", "send", "other_data"):
if self.is_exist(key):
self.__dict_return[key][option] = value
return True
else:
# Opción no valida!!
pass
return False
def resetIdleCountdown():
settings.lastMotionEndTime = None
def onMotionSwitchChange(value):
if (value):
light.switchOn()
resetIdleCountdown()
if (app.is_running == False):
app.start()
print("Started")
else:
light.switchOff()
settings.lastMotionEndTime = time.time()
Switch(15, onMotionSwitchChange)
while True:
if (is_idle()):
idle = calcSecondsIdle()
print(idle)
if (idle >= settings.maxIdleSeconds):
resetIdleCountdown()
app.stop()
print("Stopped")
time.sleep(1)
GPIO.cleanup()
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.')
