def set_angle(self, angle):
msg = "Set Angle {}".format(angle)
logger.debug(msg)
if angle == self.last_angle or angle is None:
return
self.last_angle = angle
logger.info(msg)
pz.setOutput(self.servo_id, angle)
def set_angle(self, angle):
msg = "DefaultServoProvider({}).set_angle({})".format(
self._servo_id, angle)
logger.debug(msg)
if angle == self.last_angle:
return
logger.info(msg)
self.last_angle = angle
def handleMessage(self):
logger.debug('handleMessage, from {}'.format(self.address))
try:
obj = json.loads(self.data)
DefaultWebSocketHandler.callee.on_websocket_message(obj)
except Exception as e:
logger.exception("Error in handleMessage")
def set_speed(self, speed):
msg = "set_speed({}, {})".format(self.motor_id, speed)
logger.debug(msg)
if speed == self._last_speed or speed is None:
return
self._last_speed = speed
logger.info(msg)
# TODO: scale -100..100 to -128..127
speed = constrain(speed, -128, 127)
pz.setMotor(self.motor_id, speed)
def set_speed(self, speed):
msg = "set_speed({}, {})".format(self.motor_id, speed)
logger.debug(msg)
speed = constrain(speed, -100, 100)
try:
PimoroniExplorerHatMotor.motors[self.motor_id].speed(speed)
pass
except AttributeError as ae:
logger.error("Pimoroni Explorer HAT error setting motor speed, perhaps the HAT is not attached?")
def set_angle(self, angle):
msg = "Set Angle {}".format(angle)
logger.debug(msg)
if angle == self.last_angle or angle is None:
return
logger.info(msg)
self.last_angle = angle
angle -= 90
try:
self.set_servo_angle(angle)
except IOError as e:
logger.exception("cant set angle")
def __init__(self, camera):
logger.debug('Spawning background conversion process')
self.converter = Popen([
'avconv', '-f', 'rawvideo', '-pix_fmt', 'yuv420p', '-s',
'%dx%d' % camera.resolution, '-r',
str(float(camera.framerate)), '-i', '-', '-f', 'mpeg1video', '-b',
'800k', '-r',
str(float(camera.framerate)), '-'
],
stdin=PIPE,
stdout=PIPE,
stderr=io.open(os.devnull, 'wb'),
shell=False,
close_fds=True)
def _start(self):
for event in self.input_device.read_loop():
cat_event = categorize(event)
if isinstance(cat_event, AbsEvent):
#logger.debug("Event= {} Cat={}".format(event, cat_event))
axis_key = ABS[cat_event.event.code]
axis_val = event.value
# TODO: move to init
logger.debug("Joypad event: {} = {}".format(
axis_key, axis_val))
if axis_key not in self.controller_state:
self.controller_state[axis_key] = 0
if self.controller_state[axis_key] != axis_val:
self.controller_state[axis_key] = axis_val
if self._listener:
self._listener(self)
elif isinstance(cat_event, KeyEvent):
logger.debug(
"KeyEvent, keycode={}, scancode={}, keystate={}".
format(cat_event.keycode, cat_event.scancode,
cat_event.keystate))
button_id = self._get_button_id(cat_event.keycode)
if button_id is not None:
Button(button_id).value = 1 if bool(
cat_event.keystate) else 0
else:
logger.debug("{}, {}".format(event, cat_event))
if not self.keep_running:
break
def _process_events(self, events):
# TODO: to play nicely with other toys in the future this really should be fed from a global event loop
for e in events:
logger.debug("Joystick event: {}".format(e))
if e.type == JOYAXISMOTION:
for axis_num in range(0, self.joystick.get_numaxes()):
axis_key = 'AXIS' + str(axis_num)
axis_val = self.joystick.get_axis(axis_num)
if axis_key not in self.controller_state or self.controller_state[
axis_key] != axis_val:
self.controller_state[axis_key] = axis_val
if self._listener:
self._listener(self)
elif e.type == JOYBUTTONDOWN:
logger.debug(e.button)
Button(e.button).value = 1
elif e.type == JOYBUTTONUP:
logger.debug(e.button)
Button(e.button).value = 0
else:
logger.debug(e)
def handleClose(self):
logger.debug('handleClose, from {}'.format(self.address))
DefaultWebSocketHandler.clients.remove(self)
def handleConnected(self):
logger.debug('handleConnected, from {}'.format(self.address))
DefaultWebSocketHandler.clients.append(self)
def send_all_clients_message(message):
logger.debug("Sending all WS Clients: {}".format(message))
for client in DefaultWebSocketHandler.clients:
client.sendMessage(message)
def main():
logger.info('Initializing camera')
with picamera.PiCamera() as camera:
config = get_config()
w = config.getint('camera', 'width', fallback=640)
h = config.getint('camera', 'height', fallback=480)
camera.resolution = (w, h)
camera.framerate = config.getint('camera', 'framerate', fallback=24)
camera.rotation = config.getint('camera', 'rotation', fallback=0)
camera.hflip = config.getboolean('camera', 'hflip', fallback=False)
camera.vflip = config.getboolean('camera', 'vflip', fallback=False)
camera.led = config.getboolean('camera', 'led', fallback=False)
sleep(1) # camera warm-up tim
logger.info('Initializing websockets server on port %d' % WS_PORT)
websocket_server = make_server(
'',
WS_PORT,
server_class=WSGIServer,
handler_class=HTTP11WebSocketWSGIRequestHandler,
app=WebSocketWSGIApplication(handler_cls=StreamingWebSocket))
websocket_server.initialize_websockets_manager()
websocket_thread = Thread(target=websocket_server.serve_forever)
#logger.info('Initializing HTTP server on port %d' % HTTP_PORT)
#http_server = StreamingHttpServer()
#http_thread = Thread(target=http_server.serve_forever)
logger.debug('Initializing broadcast thread')
output = BroadcastOutput(camera)
broadcast_thread = BroadcastThread(output.converter, websocket_server)
logger.info('Starting recording')
camera.start_recording(output, 'yuv')
try:
logger.debug('Starting websockets thread')
websocket_thread.start()
#logger.info('Starting HTTP server thread')
#http_thread.start()
logger.debug('Starting broadcast thread')
broadcast_thread.start()
while True:
camera.wait_recording(1)
except KeyboardInterrupt:
pass
finally:
logger.info('Stopping recording')
camera.stop_recording()
logger.debug('Waiting for broadcast thread to finish')
broadcast_thread.join()
logger.debug('Shutting down HTTP server')
#http_server.shutdown()
logger.debug('Shutting down websockets server')
websocket_server.shutdown()
logger.debug('Waiting for HTTP server thread to finish')
#http_thread.join()
logger.debug('Waiting for websockets thread to finish')
websocket_thread.join()
def flush(self):
logger.debug('Waiting for background conversion process to exit')
self.converter.stdin.close()
self.converter.wait()
