def new_execute():
global recst
global recbtn
GPIO.setmode(GPIO.BOARD)
GPIO.setup(recbtn, GPIO.IN)
GPIO.add_event_detect(recbtn,
GPIO.FALLING,
callback=btn_th,
bouncetime=200)
phpath = "./data/rec/"
os.makedirs(phpath, exist_ok=True)
# Left Camera
camera0 = nano.Camera(device_id=0, flip=2, width=224, height=224, fps=60)
# Right Camera
camera1 = nano.Camera(device_id=1, flip=2, width=224, height=224, fps=60)
# wait rec button
print("REC wait ...")
waitrec()
# rec start
print("REC START! ...")
# recloop_old(camera0, "./data/apex/", 0.1)
# recloopDual_old(camera0,camera1, phpathL,phpathR, 0.1)
# recloopStereo_old(camera0,camera1, phpathMx, phpathL,phpathR, 0.1)
recloopDual(camera0, camera1, phpath, 0.05)
# testloop()
print("REC END!! ...")
camera0.release()
camera1.release()
# finish
del camera0
GPIO.cleanup()
def getDistance(self):
# pins setup
GPIO.setup(self.trig, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(self.echo, GPIO.IN)
# set Trigger to HIGH for 10 us
GPIO.output(self.trig, GPIO.HIGH)
time.sleep(0.00001) # 10 us
GPIO.output(self.trig, GPIO.LOW)
# start counting time at Echo rising edge
GPIO.wait_for_edge(self.echo, GPIO.RISING, timeout=100) # 100 ms
startTime = time.time()
# stop counting time at Echo falling edge
GPIO.wait_for_edge(self.echo, GPIO.FALLING, timeout=100) # 100 ms
elapsedTime = time.time() - startTime # in seconds
distance = -1
# check if the measurement succeeded
if elapsedTime < 0.1:
# get the distance in cm using sonic speed (aprox. 34300 cm/s)
distance = (elapsedTime * 34300) / 2
GPIO.cleanup([self.trig, self.echo])
return distance
def main():
# Pin Setup:
GPIO.setmode(GPIO.BOARD) # BOARD pin-numbering scheme
# GPIO.setup([led_pin_1, led_pin_2], GPIO.IN) # LED pins set as output
GPIO.setup(12, GPIO.IN) # button pin set as input
#GPIO.setup(led_pin_2, GPIO.IN)
# Initial state for LEDs:
# GPIO.output(led_pin_1, GPIO.LOW)
# GPIO.output(led_pin_2, GPIO.LOW)
GPIO.add_event_detect(12, GPIO.RISING, callback=blink1, bouncetime=10)
#GPIO.add_event_detect(led_pin_2, GPIO.RISING, callback=blink2, bouncetime=10)
print("Starting demo now! Press CTRL+C to exit")
try:
while True:
input1 = GPIO.input(led_pin_1)
#input2 = GPIO.input(led_pin_2)
# blink LED 1 slowly
print("Value read from pin {} : {}\n".format(input1, ' pin_1 low'))
time.sleep(2)
#print("Value read from pin {} : {}\n".format(input2, '2down'))
# time.sleep(1)
finally:
GPIO.cleanup() # cleanup all GPIOs
def main():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
# GPIO.setup([stop, rec, menu], GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup([stop, rec, menu], GPIO.IN)
# # attach callbacks to events
# GPIO.add_event_detect(stop, GPIO.RISING, callback=stop_cb, bouncetime=200)
# GPIO.add_event_detect(rec, GPIO.RISING, callback=rec_cb, bouncetime=200)
# GPIO.add_event_detect(menu, GPIO.RISING, callback=menu_cb, bouncetime=200)
GPIO.add_event_detect(stop, GPIO.RISING)
GPIO.add_event_detect(rec, GPIO.RISING)
GPIO.add_event_detect(menu, GPIO.RISING)
while True:
try:
if GPIO.event_detected(stop):
stop_cb()
if GPIO.event_detected(rec):
rec_cb()
if GPIO.event_detected(menu):
menu_cb()
pass
except KeyboardInterrupt:
GPIO.cleanup()
sys.exit()
def main():
# Pin Setup:
# Board pin-numbering scheme
GPIO.setmode(GPIO.BOARD)
# set pin as an output pin with optional initial state of LOW
GPIO.setup(trig_output_pin, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(echo_input_pin, GPIO.IN)
#value = GPIO.input(echo_input_pin)
#print("Value read from pin {} : {}".format(echo_input_pin,value_str))
print("Starting Measure now! Press CTRL+C to exit")
try:
while True:
# Toggle the output every second
GPIO.output(trig_output_pin, GPIO.HIGH)
time.sleep(0.00001)
GPIO.output(trig_output_pin, GPIO.LOW)
pulse_start = time.time()
while GPIO.input(echo_input_pin)==0:
pulse_start = time.time()
pulse_end = time.time()
while GPIO.input(echo_input_pin)==1:
pulse_end = time.time()
pulse_duration = pulse_end - pulse_start
distance = pulse_duration * 17150
distance = round(distance, 2)
print ("Distance" , distance)
finally:
GPIO.cleanup()
def terminate(signalNumber, frame):
# i2c.write_byte(0x71, 0x76)
TCPconnection.close()
UDPconnection.close()
if useHardware:
GPIO.cleanup()
exit(0)
def main(argv):
global output_pin, frequency, state_flag, perma_state, random_flag, random_size, times
if len(argv) == 1:
print(
'Using default values of: Output Pin = Board 12, Frequency = 30 Hz'
)
try:
opts, args = getopt.getopt(
argv, "hs:r:f:t:", ["state=", "random=", "frequency=", "times="])
except getopt.GetoptError:
usage()
sys.exit(2)
for opt, arg in opts:
if opt == '-h':
usage()
sys.exit()
elif opt in ('-s', '--state'):
state_flag = True
perma_state = get_perma_state(arg)
elif opt in ('-f', '--freq'):
frequency = int(arg)
elif opt in ('-r', '--random'):
random_flag = True
random_size = int(arg)
elif opt in ('-t', '--times'):
times = int(arg)
signal.signal(signal.SIGINT, interrupt_handler)
if state_flag:
GPIO.setmode(GPIO.BOARD)
GPIO.setup(output_pin, GPIO.OUT, initial=perma_state)
GPIO.output(output_pin, perma_state)
print('Output set to permanent state: {0}'.format(perma_state))
GPIO.cleanup(output_pin)
elif random_flag:
# logging config
# ToDo: Change the filename here if in the future our datasets change
logging.basicConfig(
filename='DataLog/TXDATA/transmitter_{0}Hz_{1}_cycles-{2}_bits.log'
.format(frequency, times, random_size),
level=logging.INFO,
format='%(asctime)s %(message)s')
random_bits = generate_random_bitstream(random_size)
logging.info("Generated bitstream: {0}".format(random_bits))
transmission = create_transmission(random_bits, times)
f = open(
'DataLog/TXDATA/raw_bitsream_{0}Hz_{1}_cycles-{2}_bits.txt'.format(
frequency, times, random_size), "w+")
f.write(transmission)
print("Transmitting")
logging.info("Starting Transmission")
transmit(transmission)
logging.info("Transmisssion Ended")
else:
print('No flags set, exiting')
GPIO.output(output_pin, GPIO.LOW)
usage()
sys.exit(0)
def __del__(self):
self.set_motion(0, 90, Mode.STOP)
if self.softpwm_a.run_flag:
self.softpwm_a.stop()
if self.softpwm_b.run_flag:
self.softpwm_b.stop()
GPIO.cleanup()
def init():
global rows
global columns
global colors
A, B, C = GPIO.gpio_pin_data.get_data()
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
i2c = busio.I2C(board.SCL, board.SDA)
try:
i2c.scan()
except RuntimeError:
raise RuntimeError("wire configuration incorrect")
lcd = character_lcd(i2c, COLUMNS, ROWS) #, backlight_inverted=False)
lcd.message = "testing!"
time.sleep(1)
lcd.clear()
lcd.message = "Hi"
rows = [16, 6, 12, 13]
colors = [18, 23]
columns = [19, 20, 21]
for color in colors:
GPIO.setup(color, GPIO.OUT)
for row in rows:
GPIO.setup(row, GPIO.OUT)
for column in columns:
GPIO.setup(column, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
def output_operation(pin, state):
"""
Perform the OUTPUT operation
"""
GPIO.setup(pin, GPIO.OUT)
GPIO.output(pin, state)
GPIO.cleanup()
def shutdown(sig):
try:
GPIO.cleanup()
except:
print("Shutdown of Jetson.GPIO failed.")
pass
sys.exit(0)
def _shutdown(self):
"""Shutdown the radio.
Puts the radio to sleep and cleans up the GPIO connections.
"""
self._setHighPower(False)
self.sleep()
GPIO.cleanup()
def main():
server = TcpIp('192.168.0.101', 1998)
try:
server.run()
except KeyboardInterrupt:
print("Done!")
camera.release()
GPIO.cleanup()
def remove_air_sprays(front_sprayer=None, back_sprayer=None, time_interval=8):
try:
# Quantity of sprayers
sprayers = len(front_sprayer)
# Setting initial values for sprayers
GPIO.setup(front_sprayer, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(back_sprayer, GPIO.OUT, initial=GPIO.LOW)
# Initiating spray from the last one until the closest to the bar
print(
f'[WEEDS] OPENING the pin {front_sprayer[-1]} of the blue sprayer')
print(
f'[WEEDS] OPENING the pin {back_sprayer[-1]} of the red sprayer\n')
GPIO.output(front_sprayer[-1], GPIO.HIGH)
GPIO.output(back_sprayer[-1], GPIO.HIGH)
sleep(time_interval)
for index in range(1, sprayers):
print(
f'[WEEDS] CLOSING the pin {front_sprayer[-index]} of the blue sprayer'
)
print(
f'[WEEDS] CLOSING the pin {back_sprayer[-index]} of the red sprayer\n'
)
GPIO.output(front_sprayer[-index], GPIO.LOW)
GPIO.output(back_sprayer[-index], GPIO.LOW)
sleep(time_interval)
print(
f'[WEEDS] OPENING the pin {front_sprayer[-index - 1]} of the blue sprayer'
)
print(
f'[WEEDS] OPENING the pin {back_sprayer[-index - 1]} of the red \n'
)
GPIO.output(front_sprayer[-index - 1], GPIO.HIGH)
GPIO.output(back_sprayer[-index - 1], GPIO.HIGH)
sleep(time_interval)
print(
f'[WEEDS] CLOSING the pin {front_sprayer[-sprayers]} of the blue sprayer'
)
print(
f'[WEEDS] CLOSING the pin {back_sprayer[-sprayers]} of the red sprayer\n'
)
GPIO.output(front_sprayer[-sprayers], GPIO.LOW)
GPIO.output(back_sprayer[-sprayers], GPIO.LOW)
except KeyboardInterrupt:
print("[WEEDS] Turning off the sprayers.")
GPIO.output(front_sprayer, GPIO.LOW)
GPIO.output(back_sprayer, GPIO.LOW)
GPIO.cleanup()
sys.exit()
def card_tap():
try:
while True:
id, text = reader.read()
return id
sleep(5)
except KeyboardInterrupt:
GPIO.cleanup()
raise
def handler(_signalRecieved, _frame):
print("exiting with grace")
safeNumber = 7
GPIO.output(safeNumber, GPIO.HIGH)
GPIO.cleanup()
sys.exit(0)
def module_exit():
print("spi end")
spi.SYSFS_software_spi_end()
print("close 5V, Module enters 0 power consumption ...")
GPIO.output(RST_PIN, 0)
GPIO.output(DC_PIN, 0)
GPIO.cleanup()
def __blink(self):
GPIO.setmode(self.__pin_type)
GPIO.setup(self.__output_pin, GPIO.OUT, initial=GPIO.HIGH)
curr_value = GPIO.HIGH
try:
GPIO.output(self.__output_pin, curr_value)
curr_value ^= GPIO.HIGH
finally:
GPIO.cleanup()
def __del__(self):
for pin in self.pinlist:
if pin == SERVO:
self.setServo(8)
self.servo.stop()
elif pin == WAVE_ECHO:
pass
else:
GPIO.output(pin, GPIO.LOW)
GPIO.cleanup()
def talker():
rospy.init_node('Relay_Switcher')
GPIO.setmode(GPIO.BOARD)
for relay_name, relay_pin in config.items():
GPIO.setup(relay_pin, GPIO.OUT)
rospy.Subscriber('/relay/' + relay_name, Bool, callback,
(relay_name, relay_pin))
r = rospy.Rate(10)
while not rospy.is_shutdown():
r.sleep()
GPIO.cleanup()
def main(args=None):
rclpy.init(args=args)
try:
enviro = EnviroBoard()
rclpy.spin(enviro)
except KeyboardInterrupt:
enviro.get_logger().info("ctrl-C detected, shutting down")
finally:
enviro.destroy_node()
rclpy.shutdown()
GPIO.cleanup()
def main():
GPIO.setmode(GPIO.BOARD)
GPIO.setup(output_pin, GPIO.OUT, initial=GPIO.LOW)
try:
while True:
time.sleep(2)
GPIO.output(output_pin, GPIO.HIGH)
time.sleep(1)
GPIO.output(output_pin, GPIO.LOW)
finally:
GPIO.cleanup()
def main():
GPIO.setmode(GPIO.BOARD)
GPIO.setup(LED_Pin, GPIO.OUT, initial=GPIO.HIGH)
try:
while True:
GPIO.output(LED_Pin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(LED_Pin, GPIO.LOW)
time.sleep(0.1)
finally:
GPIO.cleanup()
def turn_on_pumps(left_pump=0, right_punp=0):
try:
# Setting initial values for sprayers
GPIO.setup(left_pump, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(right_punp, GPIO.OUT, initial=GPIO.HIGH)
except KeyboardInterrupt:
print("[WEEDS] Turning off the pumps.")
GPIO.output(left_pump, GPIO.LOW)
GPIO.output(right_punp, GPIO.LOW)
GPIO.cleanup()
sys.exit()
def main():
direction_pin = 17 # BOARD12, BCM17
output_pin = 18 # BOARD pin 12, BCM pin 18
GPIO.setmode(GPIO.BCM)
GPIO.setup(output_pin, GPIO.OUT, initial=GPIO.HIGH)
GPIO.setup(direction_pin, GPIO.OUT, initial=GPIO.HIGH)
try:
print("pulse")
pulse(0.0002, output_pin, direction_pin)
finally:
print("cleanup")
GPIO.cleanup()
def setup_button(channel):
print("{}: RESET GPIO {} for push".format(time.time(), channel))
GPIO.cleanup(channel)
GPIO.remove_event_detect(channel)
GPIO.setup(channel, GPIO.OUT)
GPIO.output(channel, GPIO.LOW)
GPIO.setup(
channel, GPIO.IN, pull_up_down=GPIO.PUD_DOWN
) # Set pin 10 to be an input pin and set initial value to be pulled low (off)
#can use GPIO.RISING / FALLING / BOTH
GPIO.add_event_detect(channel,
GPIO.RISING,
callback=button_callback,
bouncetime=300) # Setup event on pin 10 rising edge
def input_operation(pin):
"""
Perform the INPUT operation
"""
GPIO.setup(pin, GPIO.IN)
print("Ctrl+C to exit")
while 1:
try:
value = GPIO.input(pin)
print(f"GPIO_READ pin {pin}: {value}")
time.sleep(1)
except KeyboardInterrupt:
break
GPIO.cleanup()
def alarm():
GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(True)
GPIO.setup(23, GPIO.OUT)
try:
print("LED on")
GPIO.output(23, GPIO.HIGH)
time.sleep(3)
#print ("LED off")
GPIO.output(23, GPIO.LOW)
GPIO.cleanup()
except:
KeyboardInterrupt
def cleanup(self):
'''
Cleans up the motor controller node, stopping motors and killing all threads
no return value
'''
rospy.loginfo("Cleaning up the motor_controller node..")
self._thread_lock = False
self.kill_motors()
self.set_estop(1)
try:
GPIO.cleanup()
except:
pass
def main():
# Pin Setup:
# Board pin-numbering scheme
GPIO.setmode(GPIO.BOARD)
# set pin as an output pin with optional initial state of HIGH
GPIO.setup(output_pin, GPIO.OUT, initial=GPIO.LOW)
p = GPIO.PWM(output_pin, 100)
p.start(50)
print("PWM running. Press CTRL+C to exit.")
try:
while True:
time.sleep(.1)
finally:
p.stop()
GPIO.cleanup()
