def __init__(self, name="PiStorms", rotation=3):
## An instance of mindsensorsUI.mindsensorsUI representing the PiStorms's touchscreen.
self.screen = mindsensorsUI(name, rotation)
## An instance of PiStormsCom.PiStormsCom.
self.psc = PiStormsCom()
## An instance of PiStormsSensor representing Bank A sensor 1.
self.BAS1 = PiStormsSensor(self.psc.BAS1)
## An instance of PiStormsSensor representing Bank A sensor 2.
self.BAS2 = PiStormsSensor(self.psc.BAS2)
## An instance of PiStormsSensor representing Bank B sensor 1.
self.BBS1 = PiStormsSensor(self.psc.BBS1)
## An instance of PiStormsSensor representing Bank B sensor 2.
self.BBS2 = PiStormsSensor(self.psc.BBS2)
## An instance of PiStormsMotor representing Bank A motor 1.
self.BAM1 = PiStormsMotor(self.psc.BAM1)
## An instance of PiStormsMotor representing Bank A motor 2.
self.BAM2 = PiStormsMotor(self.psc.BAM2)
## An instance of PiStormsMotor representing Bank B motor 1.
self.BBM1 = PiStormsMotor(self.psc.BBM1)
## An instance of PiStormsMotor representing Bank B motor 2.
self.BBM2 = PiStormsMotor(self.psc.BBM2)
self.psc.resetKeyPressCount()
def __init__(self, name="PiStorms", rotation=3):
self.screen = mindsensorsUI(name, rotation)
self.psc = PiStormsCom()
self.BAS1 = PiStormsSensor(self.psc.BAS1)
self.BAS2 = PiStormsSensor(self.psc.BAS2)
self.BBS1 = PiStormsSensor(self.psc.BBS1)
self.BBS2 = PiStormsSensor(self.psc.BBS2)
self.BAM1 = PiStormsMotor(self.psc.BAM1)
self.BAM2 = PiStormsMotor(self.psc.BAM2)
self.BBM1 = PiStormsMotor(self.psc.BBM1)
self.BBM2 = PiStormsMotor(self.psc.BBM2)
def __init__(self, name="PiStorms", rotation=3):
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
self.comm = GRXCom
else:
self.comm = PiStormsCom()
# note self.comm is only used to getTouchscreenCoordinates and to getKeyPressCount
self.disp.begin()
self.clearScreen()
self.disp.command(ILI9341_INVOFF)
if (rotation in range(4)):
self.currentRotation = rotation
self.refresh()
self.myname = name
def __init__(self, name = "PiStorms", rotation = 3 ):
## An instance of mindsensorsUI.mindsensorsUI representing the PiStorms's touchscreen.
self.screen = mindsensorsUI(name, rotation)
## An instance of PiStormsCom.PiStormsCom.
self.psc = PiStormsCom()
## An instance of PiStormsSensor representing Bank A sensor 1.
self.BAS1 = PiStormsSensor(self.psc.BAS1)
## An instance of PiStormsSensor representing Bank A sensor 2.
self.BAS2 = PiStormsSensor(self.psc.BAS2)
## An instance of PiStormsSensor representing Bank B sensor 1.
self.BBS1 = PiStormsSensor(self.psc.BBS1)
## An instance of PiStormsSensor representing Bank B sensor 2.
self.BBS2 = PiStormsSensor(self.psc.BBS2)
## An instance of PiStormsMotor representing Bank A motor 1.
self.BAM1 = PiStormsMotor(self.psc.BAM1)
## An instance of PiStormsMotor representing Bank A motor 2.
self.BAM2 = PiStormsMotor(self.psc.BAM2)
## An instance of PiStormsMotor representing Bank B motor 1.
self.BBM1 = PiStormsMotor(self.psc.BBM1)
## An instance of PiStormsMotor representing Bank B motor 2.
self.BBM2 = PiStormsMotor(self.psc.BBM2)
self.psc.resetKeyPressCount()
def __init__(self, name = "PiStorms", rotation = 3 ):
self.screen = mindsensorsUI(name ,rotation)
self.psc = PiStormsCom()
self.BAS1 = PiStormsSensor(self.psc.BAS1)
self.BAS2 = PiStormsSensor(self.psc.BAS2)
self.BBS1 = PiStormsSensor(self.psc.BBS1)
self.BBS2 = PiStormsSensor(self.psc.BBS2)
self.BAM1 = PiStormsMotor(self.psc.BAM1)
self.BAM2 = PiStormsMotor(self.psc.BAM2)
self.BBM1 = PiStormsMotor(self.psc.BBM1)
self.BBM2 = PiStormsMotor(self.psc.BBM2)
def __init__(self, name = "PiStorms", rotation = 3):
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
self.comm = GRXCom
else:
self.comm = PiStormsCom()
# note self.comm is only used to getTouchscreenCoordinates and to getKeyPressCount
self.disp.begin()
self.clearScreen()
self.disp.command(ILI9341_INVOFF)
if(rotation in range(4)):
self.currentRotation = rotation
self.refresh()
self.myname = name
class mindsensorsUI():
## Constant to specify black color
PS_BLACK = (0, 0, 0)
## Constant to specify blue color
PS_BLUE = (0, 0, 255)
## Constant to specify red color
PS_RED = (255, 0, 0)
## Constant to specify green color
PS_GREEN = (0, 255, 0)
## Constant to specify cyan color
PS_CYAN = (0, 255, 255)
## Constant to specify magenta color
PS_MAGENTA = (255, 0, 255)
## Constant to specify yellow color
PS_YELLOW = (255, 255, 0)
## Constant to specify white color
PS_WHITE = (255, 255, 255)
## Constant to defualt screen width
PS_SCREENWIDTH = 240
## Constant to defualt screen height
PS_SCREENHEIGHT = 320
### @cond Doxygen_ignore_this
## Constant to specify terminal mode
PS_MODE_TERMINAL = 0
## Constant to specify pop-up mode
PS_MODE_POPUP = 1
## Constant to specify dead mode
PS_MODE_DEAD = 2
## Dictionary of default emnpty terminal buffer
terminalBuffer = [""] * 20
## Variable of default terminal cursor position
terminalCursor = 0
## Variable of default mode
currentMode = 0
## Variable of default rotation
currentRotation = 0
## Instance to initialize the display
disp = TFT.ILI9341(24, rst=25, spi=SPI.SpiDev(0, 0, max_speed_hz=64000000))
## Variable of default button text
buttonText = ["OK", "Cancel"]
## Variable of default pop-up text
popupText = ["Do you wish to continue?"]
## Variable of default draw arrow state
drawArrowsbool = False
x = 0
y = 0
### @endcond
## Initialize the UI device.
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen. Optional, defaults to "PiStorms" (unused).
# @param rotation The rotation of the LCD touchscreen. Optional, defaults to 3 (standard rotation).
# @remark
# There is no need to use this function directly. To initialize the mindsensorsUI class in your program:
# @code
# from mindsensorsUI import mindsensorsUI
# ...
# screen = mindsensorsUI()
# @endcode
def __init__(self, name="PiStorms", rotation=3):
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
self.comm = GRXCom
else:
self.comm = PiStormsCom()
# note self.comm is only used to getTouchscreenCoordinates and to getKeyPressCount
self.disp.begin()
self.clearScreen()
self.disp.command(ILI9341_INVOFF)
if (rotation in range(4)):
self.currentRotation = rotation
self.refresh()
self.myname = name
#self.drawDisplay(name, display=False)
## Dumps the screen buffer
# @param self The object pointer.
def dumpTerminal(self):
self.terminalBuffer = [""] * 20
self.terminalCursor = 0
if (self.getMode() == self.PS_MODE_TERMINAL):
self.refresh()
## Sets the mode (Experienced users)
# @param self The object pointer.
# @param mode The new mode: PS_MODE_TERMINAL, PS_MODE_POPUP, or PS_MODE_DEAD. Optional, defaults to PS_MODE_TERMINAL.
def setMode(self, mode=0):
if (mode < 0 or mode > 2):
self.currentMode = self.PS_MODE_DEAD
else:
self.currentMode = mode
self.refresh()
## Returns the value of the mode (Experienced users)
# @param self The object pointer.
def getMode(self):
return self.currentMode
## Draw a rectangle with rounded edges on the screen (rotated to screen)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the rectangle.
# @param height The height of the rectangle.
# @param radius The arc of the rectangle corners.
# @param fill The color of the inside of the rectangle. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def fillRoundRect(self,
x,
y,
width,
height,
radius,
fill=(255, 255, 255),
display=True):
self.fillRect(x,
y + radius,
width,
height - (radius * 2),
fill=fill,
display=False)
self.fillRect(x + radius,
y,
width - (radius * 2),
height,
fill=fill,
display=False)
self.fillCircle(x + radius,
y + radius,
radius,
fill=fill,
display=False)
self.fillCircle(x + width - radius,
y + radius,
radius,
fill=fill,
display=False)
self.fillCircle(x + radius,
y + height - radius,
radius,
fill=fill,
display=False)
self.fillCircle(x + width - radius,
y + height - radius,
radius,
fill=fill,
display=display)
## Calculates the x-coordinate of the screen upon rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the current rotation's coordinate system
# @param y y value in the current rotation's coordinate system
# @return x value for the corresponding point in the display's coordinate system (for writing to TFT)
def screenXFromImageCoords(self, x, y):
cr = self.currentRotation
if (cr == 0):
return x
if (cr == 1):
return self.PS_SCREENWIDTH - y
if (cr == 2):
return self.PS_SCREENWIDTH - x
if (cr == 3):
return y
## Calculates the y-coordinate of the screen upon rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the current rotation's coordinate system
# @param y y value in the current rotation's coordinate system
# @return y value for the corresponding point in the display's coordinate system (for writing to TFT)
def screenYFromImageCoords(self, x, y):
cr = self.currentRotation
if (cr == 0):
return y
if (cr == 1):
return x
if (cr == 2):
return self.PS_SCREENHEIGHT - y
if (cr == 3):
return self.PS_SCREENHEIGHT - x
## Calculates display x-coordinate from touchscreen values, adjusted for rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the touchscreen's coordinate system (read from registers)
# @param y y value in the touchscreen's coordinate system (read from registers)
# @return x value for the corresponding point in the current rotation's coordinate system
def TS_To_ImageCoords_X(self, x, y):
cr = self.currentRotation
if (cr == 0):
return y
if (cr == 1):
return x
if (cr == 2):
return self.PS_SCREENWIDTH - y
if (cr == 3):
return self.PS_SCREENHEIGHT - x
## Calculates display y-coordinate from touchscreen values, adjusted for rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the touchscreen's coordinate system (read from registers)
# @param y y value in the touchscreen's coordinate system (read from registers)
# @return y value for the corresponding point in the current rotation's coordinate system
def TS_To_ImageCoords_Y(self, x, y):
cr = self.currentRotation
if (cr == 0):
return x
if (cr == 1):
return self.PS_SCREENWIDTH - y
if (cr == 2):
return self.PS_SCREENHEIGHT - x
if (cr == 3):
return y
## Displays rotated text (INTERNAL USE ONLY)
# @param self The object pointer.
# @param image The image used for creating text
# @param text The text to display on the screen
# @param position The position of the text as a set of x and y-coordinates
# @param angle The angle at which to rotate the text
# @param font The font of the text
# @param fill The color of the text. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def draw_rotated_text(self,
image,
text,
position,
angle,
font,
fill=(255, 255, 255),
display=True):
draw = ImageDraw.Draw(image)
width, height = draw.textsize(text, font=font)
textimage = Image.new('RGBA', (width, height), (0, 0, 0, 0))
textdraw = ImageDraw.Draw(textimage)
textdraw.text((0, 0), text, font=font, fill=fill)
if angle == -90: textimage = textimage.transpose(Image.ROTATE_270)
if angle == -180: textimage = textimage.transpose(Image.ROTATE_180)
if angle == -270: textimage = textimage.transpose(Image.ROTATE_90)
image.paste(textimage, position, textimage)
if (display):
self.disp.display()
## Determines the width of the screen based on rotation (Experienced users)
# @param self The object pointer.
def screenWidth(self):
if (self.currentRotation == 1 or self.currentRotation == 3):
return 320
else:
return 240
## Determines the height of the screen based on rotation (Experienced users)
# @param self The object pointer.
def screenHeight(self):
if (self.currentRotation == 1 or self.currentRotation == 3):
return 240
else:
return 320
## Prints a large title, intended for terminal mode.
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen in cyan.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def drawDisplay(self, name, display=True):
self.drawAutoText(name,
0,
5,
fill=(0, 255, 255),
size=30,
display=display,
align="center")
## Draw forward and back arrows on the screen
# @param self The object pointer.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def drawArrows(self, display=True):
self.drawButton(0, 0, width=50, height=40, text="<", display=False)
self.drawButton(self.screenWidth() - 50,
0,
width=50,
height=40,
text=">",
display=display)
## Determine if either on screen arrow button is pressed
# @param self The object pointer.
def checkArrows(self):
return (self.checkButton(0, 0, 50, 50),
self.checkButton(self.screenWidth() - 50, 0, 50, 50))
## Hide the on screen arrow buttons
# @param self The object pointer.
# @param refresh Choose to immediately refresh screen.
def hideArrows(self, refresh=True):
self.drawArrowsbool = False
if (refresh):
self.refresh()
## Show the on screen arrow buttons
# @param self The object pointer.
# @param refresh Choose to immediately refresh screen.
def showArrows(self, refresh=True):
self.drawArrowsbool = True
if (refresh):
self.refresh()
## Reads the x-coordinate of the touchscreen press
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# x = screen.TS_X()
# @endcode
def TS_X(self):
return self.x
## Reads the y-coordinate of the touchscreen press
# @param self The object pointer.
# To use this function in your program:
# @code
# ...
# y = screen.TS_Y()
# @endcode
def TS_Y(self):
return self.y
## Detects touchscreen presses and prevents false positives,
# updates self.x and self.y if pressed.
# @param self The object pointer.
# To use this function in your program:
# @code
# ...
# if (screen.isTouched())
# print "Touched at {},{}".format(screen.x, screen.y)
# @endcode
def isTouched(self):
x, y = self.comm.getTouchscreenCoordinates()
if x == 0 and y == 0:
return False
self.x = x
self.y = y
return True
## Clears the LCD screen to defualt black
# @param self The object pointer.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# To use this function in your program:
# @code
# ...
# screen.clearScreen()
# @endcode
def clearScreen(self, display=True):
self.disp.clear()
if (display):
self.disp.display()
## Draw a rectangle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the rectangle.
# @param height The height of the rectangle.
# @param fill The color of inside of the rectangle. Optional, defaults to white.
# @param outline The color of the outer edge of the rectangle. Optional, defaults to no outline.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.fillRect(100, 100, 75, 75, fill = (255,0,0), outline = (0,0,0))
# @endcode
def fillRect(self,
x,
y,
width,
height,
fill=(255, 255, 255),
outline=None,
display=True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x, y)
acty = self.screenYFromImageCoords(x, y)
actx2 = self.screenXFromImageCoords(x + width, y + height)
acty2 = self.screenYFromImageCoords(x + width, y + height)
draw.rectangle((actx, acty, actx2, acty2), fill=fill, outline=outline)
if (display):
self.disp.display()
## Draw a filled circle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The center x coordinate of the circle.
# @param y The center y coordinate of the circle.
# @param radius The radius of the circle.
# @param fill The color of the inside of the circle. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.fillCircle(100, 100, 15, fill = (255,0,0))
# @endcode
def fillCircle(self, x, y, radius, fill=(255, 255, 255), display=True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x, y)
acty = self.screenYFromImageCoords(x, y)
draw.ellipse(
(actx - radius, acty - radius, actx + radius, acty + radius),
fill=fill)
if (display):
self.disp.display()
## Draw a circle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The center x coordinate of the circle.
# @param y The center y coordinate of the circle.
# @param radius The radius of the circle.
# @param fill The color of the inside of the circle. Optional, defaults to None
# @param outline The color of the outer edge of the circle. Optional, defaults to Black
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# red circle with blue outline:
# screen.drawCircle(100, 100, 15, fill = (255,0,0), outline=(0,0,255))
# @endcode
def drawCircle(self,
x,
y,
radius,
fill=None,
outline=(0, 0, 0),
display=True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x, y)
acty = self.screenYFromImageCoords(x, y)
draw.ellipse(
(actx - radius, acty - radius, actx + radius, acty + radius),
fill=fill,
outline=outline)
if (display):
self.disp.display()
## Draw a bitmap image on the screen (.png files rcommended)
# @param self The object pointer.
# @param x The upper left x coordinate of the image.
# @param y The upper left y coordinate of the image.
# @param width The width of the image.
# @param height The width of the image.
# @param path The image file path. Optional, defaults to the popup background image.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.screen.fillBmp(30, 0, 240, 240, path = os.path.join(currentdir, "dog.png"))
# @endcode
def fillBmp(self,
x,
y,
width,
height,
path="/usr/local/mindsensors/images/Pane1.png",
display=True):
buff = self.disp.buffer
actx = self.screenXFromImageCoords(x, y)
acty = self.screenYFromImageCoords(x, y)
# if the caller only provided icon name, assume it is in our system repository
if (path[0] != "/"):
path = "/usr/local/mindsensors/images/" + path
# if the image is missing, use a default X image.
if (os.path.isfile(path)):
image = Image.open(path)
else:
image = Image.open("/usr/local/mindsensors/images/missing.png")
image = image.resize((width, height), Image.ANTIALIAS)
cr = self.currentRotation
if (cr == 1):
actx -= height
image = image.transpose(Image.ROTATE_270)
if (cr == 2):
acty -= height
actx -= width
image = image.transpose(Image.ROTATE_180)
if (cr == 3):
acty -= width
image = image.transpose(Image.ROTATE_90)
buff.paste(image, (actx, acty))
if (display):
self.disp.display()
## Draw a image on the screen using supplied image data
# @param self The object pointer.
# @param x The upper left x coordinate of the image.
# @param y The upper left y coordinate of the image.
# @param width The width of the image.
# @param height The width of the image.
# @param image data
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.screen.fillBmp(40, 0, 240, 240, image)
# @endcode
def fillImgArray(self, x, y, width, height, image, display=True):
buff = self.disp.buffer
actx = self.screenXFromImageCoords(x, y)
acty = self.screenYFromImageCoords(x, y)
image = Image.fromarray(image)
image = image.resize((width, height), Image.ANTIALIAS)
cr = self.currentRotation
if (cr == 1):
actx -= height
image = image.transpose(Image.ROTATE_270)
if (cr == 2):
acty -= height
actx -= width
image = image.transpose(Image.ROTATE_180)
if (cr == 3):
acty -= width
image = image.transpose(Image.ROTATE_90)
buff.paste(image, (actx, acty))
if (display):
self.disp.display()
## Rotates the screen orientation 90 degrees to the right (-90 degrees)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.rotateRight()
# @endcode
def rotateRight(self):
self.currentRotation += 1
if (self.currentRotation > 3):
self.currentRotation = 0
self.refresh()
## Rotates the screen orientation 90 degrees to the left (90 degrees)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.rotateLeft()
# @endcode
def rotateLeft(self):
self.currentRotation -= 1
if (self.currentRotation < 0):
self.currentRotation = 3
self.refresh()
## Displays text on the screen with adjusted position and rotation
# @param self The object pointer.
# @param text The text to display on the screen
# @param x The upper left x coordinate of the text. Optional, defaults to "left". Irrelevant if align is "center"
# @param y The upper left y coordinate of the text.
# @param fill The color of the text. Optional, defaults to white.
# @param size The pixel size of the text. Optional, defaults to 20.
# @param align The text alignment, "left" or "center" or "right". Optional, defaults to "left".
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawAutoText("Wow!", 10, 20, fill = (255,255,255), size = 25)
# @endcode
def drawAutoText(self,
text,
x,
y,
fill=(255, 255, 255),
size=20,
align="left",
display=True):
text = str(text)
font = ImageFont.truetype(
"/usr/share/fonts/truetype/freefont/FreeSans.ttf", size)
width, height = ImageDraw.Draw(self.disp.buffer).textsize(text,
font=font)
tempx = self.screenXFromImageCoords(x, y)
tempy = self.screenYFromImageCoords(x, y)
cr = self.currentRotation
if align == "center":
tempy = (self.screenWidth() - width) / 2
if cr == 1 or cr == 2:
tempx = self.screenHeight() - height - y
if cr == 0 or cr == 2:
tempx, tempy = tempy, tempx
if cr == 0:
tempy = y
elif align == "right":
if cr == 0:
tempx = self.screenWidth() - width - x
tempy = y
if cr == 1:
tempx = self.screenHeight() - height - y
tempy = self.screenWidth() - width - x
if cr == 2:
tempx, tempy = x, self.screenHeight() - height - y
if cr == 3:
tempy = x
else:
if cr == 1:
tempx -= height
if cr == 2:
tempy -= height
tempx -= width
if cr == 3:
tempy -= width
angletemp = -90 * self.currentRotation
self.draw_rotated_text(self.disp.buffer,
text, (tempx, tempy),
angletemp,
font,
fill,
display=display)
## Set the cursor to a specific line of the of the screen
# @param self The object pointer.
# @param lineno The line number at which to set the cursor.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termGotoLine(5)
# @endcode
def termGotoLine(self, lineno):
self.terminalCursor = lineno
## Print to a specific line of the screen
# @param self The object pointer.
# @param lineno The line number at which to set the cursor.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrintAt(5, "Printing at line 5")
# @endcode
def termPrintAt(self, lineno, text):
self.terminalCursor = lineno
self.fillRect(10,
self.terminalCursor * 20 + 42,
320,
19, (0, 0, 0),
display=False)
self.terminalBuffer[self.terminalCursor] = str(text)
self.refreshLine(self.terminalCursor)
## Print to the current line of the screen
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrint("Regular print, no newline")
# @endcode
def termPrint(self, text):
self.terminalBuffer[self.terminalCursor] += str(text)
self.refreshLine(self.terminalCursor)
## Print to the current line and then go to the next line
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrintln("Hello, world!")
# @endcode
def termPrintln(self, text):
if (self.terminalCursor > 9):
self.terminalCursor = 0
self.terminalBuffer = [""] * 20
self.refresh()
self.termPrint(text)
self.terminalCursor += 1
## Print new text in place of current line (Low Refresh Rate)
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termReplaceLastLine("Replaced!")
# @endcode
def termReplaceLastLine(self, text):
self.terminalBuffer[self.terminalCursor] = ""
self.fillRect(10,
self.terminalCursor * 20 + 42,
320,
19, (0, 0, 0),
display=False)
self.termPrint(text)
## Refresh a screen line
# @param self The object pointer.
# @param lineNum The line number to refresh.
# @param display Choose to immediately push the drawing to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.refreshLine(1)
# @endcode
def refreshLine(self, lineNum, display=True):
if (self.currentMode == self.PS_MODE_TERMINAL):
self.drawAutoText(self.terminalBuffer[lineNum],
10,
lineNum * 20 + 40, (255, 255, 255),
display=display)
## Draw a labeled button on the screen (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the button.
# @param height The height of the button.
# @param prefix The button images filename prefix. Optional, defaults to "btns_"
# @param text The button label. Defaults to "OK"
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @param align The alignment for the button's text label.
# @param image An optional image to be included on the button, should be 32x32.
# @param imageX The x-coordinate of the optional image icon.
# @param imageY The y-coordinate of the optional image icon.
def drawButton(self,
x,
y,
width,
height,
prefix="btns_",
text="OK",
display=True,
align="left",
image=None,
imageX=None,
imageY=None):
self.fillBmp(x, y, 14, height, prefix + "left.png", display=False)
self.fillBmp(x + 14,
y,
width - 28,
height,
prefix + "center.png",
display=False)
self.fillBmp(x + width - 14,
y,
14,
height,
prefix + "right.png",
display=False)
textX = x + 10
if image:
textX += 32
imgY = imageY or y + ((height - 32) / 2)
imgX = imageX or x + 4
self.fillBmp(imgX, imgY, 32, 32, image, display=False)
self.drawAutoText(text,
textX,
y + (height / 2) - 10,
size=16,
fill=(0, 0, 0),
display=display,
align=align)
## Refresh the screen (Slow)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.refresh()
# @endcode
def refresh(self):
if (self.currentMode == self.PS_MODE_TERMINAL):
self.clearScreen(False)
if (self.drawArrowsbool):
self.drawArrows(False)
for i, _ in enumerate(self.terminalBuffer):
self.refreshLine(i, display=False)
self.disp.display()
if (self.currentMode == self.PS_MODE_POPUP):
xbuff = 20
ybuff = 20
try:
self.fillBmp(xbuff,
ybuff,
self.screenWidth() - (2 * xbuff),
self.screenHeight() - (2 * ybuff),
"dialogbg.png",
display=False)
except:
self.fillRect(xbuff,
ybuff,
self.screenWidth() - (2 * xbuff),
self.screenHeight() - (2 * ybuff),
fill=(127, 127, 127),
outline=(255, 255, 255))
numButts = len(self.buttonText)
spacing = 10
room = self.screenWidth() - (xbuff + ybuff)
buttHeight = 50
n = 0
while (n < numButts):
self.drawButton(
(room / numButts) * n + xbuff + spacing / 2 + 10,
self.screenHeight() - (ybuff + spacing + buttHeight),
(room / numButts) - spacing - 20,
buttHeight,
prefix="btns_",
text=self.buttonText[n],
display=False)
"""
self.fillBmp((room/numButts)*n + xbuff + spacing/2, self.screenHeight() - (ybuff + spacing + buttHeight), (room/numButts) - spacing, buttHeight, path = "button.png", display = False)
self.drawAutoText(self.buttonText[n],(room/numButts)*n + xbuff + spacing, self.screenHeight() - (ybuff + buttHeight), fill = (0,0,0), display = False)
"""
n += 1
n = 0
offset = 5
if (self.currentRotation % 2 == 0): # portrait
offset = 12
while (n < len(self.popupText)):
if (n > 0):
offset = 10
if (self.currentRotation % 2 == 0): # portrait
offset = 24
self.drawAutoText(self.popupText[n],
xbuff + 10,
ybuff + offset + (20 * n),
fill=(0, 0, 0),
size=15,
display=False)
n += 1
self.disp.display()
## Determine if an on screen button is pressed
# @param self The object pointer.
# @param x The upper left x-coordinate of the button.
# @param y The upper left y-coordinate of the button.
# @param width The width of the button.
# @param height The height of the button.
# @remark
# To use this function in your program:
# @code
# ...
# button = screen.checkButton(0, 0, 50, 50)
# @endcode
def checkButton(self, x, y, width, height):
if self.isTouched():
tsx = self.TS_To_ImageCoords_X(self.x, self.y)
tsy = self.TS_To_ImageCoords_Y(self.x, self.y)
if tsx in range(x, x + width) and tsy in range(y, y + height):
return True
return False
## Determines if button in a pop-up window is pressed (Experienced users)
# @param self The object pointer.
# @param numButts How many buttons are being shown
def checkDialogButtons(self, numButts):
# see refresh method for value definitions
xbuff = 20
ybuff = 20
spacing = 10
room = self.screenWidth() - (xbuff + ybuff)
buttHeight = 50
y = self.screenHeight() - (ybuff + spacing + buttHeight)
width = (room / numButts) - spacing - 20
for n in range(numButts):
x = (room / numButts) * n + xbuff + spacing / 2 + 10
if self.checkButton(x, y, width, buttHeight):
return n
return -1
## Display pop-up of a question on the screen
# @param self The object pointer.
# @param question The question that will pop-up on the screen. The first string will be the titlebar.
# @param options The possible answers to the question.
# @param touch Whether to check if the on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to False.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# question = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Here's a second line. It will be wrapped, too. What do you think?"]
# options = ["No thanks", "Cool!"]
# answer = screen.askQuestion(question, options, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return -1
# @remark
# To use this function in your program:
# @code
# ...
# question = ["Color Picker", "Pick a color!"]
# options = ["Red", "Green", "Blue"]
# answer = screen.askQuestion(question, options)
# @endcode
def askQuestion(self,
question,
options,
touch=True,
goBtn=False,
wrapText=False):
for i, line in enumerate(question):
question[i] = str(line)
if wrapText:
wrap, maxlines = 48, 5
if (self.currentRotation % 2 == 0): # portrait
wrap, maxlines = 30, 9
maxWidth = self.screenWidth(
) - 60 # see fillBpm of dialogbg.png in refresh()
getTextSize = ImageDraw.Draw(self.disp.buffer).textsize
font = ImageFont.truetype(
"/usr/share/fonts/truetype/freefont/FreeSans.ttf", 15)
def makeWrappedText():
arr = '\n'.join([
textwrap.fill(t, width=wrap) for t in question[1:]
]).split('\n')
self.popupText = [question[0]] + arr[:maxlines]
if len(arr) > maxlines:
if self.popupText[maxlines][-1] == ".":
self.popupText[maxlines] += " ..."
else:
self.popupText[maxlines] += "..."
def widestLine():
return max(
[getTextSize(str, font=font)[0] for str in self.popupText])
makeWrappedText()
while (widestLine() > maxWidth):
wrap -= 1
makeWrappedText()
else:
self.popupText = question
self.buttonText = options
oldMode = self.currentMode
self.setMode(self.PS_MODE_POPUP)
if (len(options) >= 4):
print "warning!, buttons may be too small to read"
if (len(options) <= 0 and not goBtn):
print "warning!, no options will leave this pop-up stuck"
if goBtn:
keyPressCount = self.comm.getKeyPressCount()
while (True):
if (goBtn and keyPressCount < self.comm.getKeyPressCount()):
self.setMode(oldMode)
return -1
if (touch and self.isTouched()):
n = self.checkDialogButtons(len(options))
if (n != -1):
self.setMode(oldMode)
return n
## Display Pop-up of 'Yes' or 'No' question on the screen, returning True or False
# @param self The object pointer.
# @param question The question that will pop-up on the screen.
# @param touch Whether to check if on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to False.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# question = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Cool?"]
# response = screen.askYesOrNoQuestion(question, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return False
# @remark
# To use this function in your program:
# @code
# ...
# question = ["Continue?", "Do you want to continue?"]
# response = screen.askYesOrNoQuestion(question)
# @endcode
def askYesOrNoQuestion(self,
question,
touch=True,
goBtn=False,
wrapText=False):
return self.askQuestion(question, ["Yes", "No"],
touch=touch,
goBtn=goBtn,
wrapText=wrapText) == 0
## Display pop-up of a message on the screen with a single option "OK"
# @param self The object pointer.
# @param message The message that will pop-up on the screen.
# @param touch Whether to check if on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to True.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# message = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Other lines will be wrapped, too. Press OK to close this popup."]
# screen.showMessage(message, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return False
# @remark
# To use this function in your program:
# @code
# ...
# message = ["Complete", "The process has completed.", "Status: success"]
# screen.showMessage(message)
# @endcode
def showMessage(self, message, touch=True, goBtn=True, wrapText=False):
if type(message) is not list:
message = ["Message", message]
return self.askQuestion(message, ["OK"],
touch=touch,
goBtn=goBtn,
wrapText=wrapText) == 0
## Display pop-up of a message on the screen with no exit options.
# This function will return right away. You may need to call `screen.setMode(screen.PS_MODE_TERMINAL)` to stop the popup later.
# @param self The object pointer.
# @param message The message that will pop-up on the screen.
# @remark
# To use this function in your program:
# @code
# ...
# message = ["Processing", "Processing, please wait..."]
# screen.forceMessage(message)
# @endcode
def forceMessage(self, message):
self.popupText = message
self.buttonText = []
oldMode = self.currentMode
self.setMode(self.PS_MODE_POPUP)
## Draw a line on the screen (rotated to screen)
# @param self The object pointer.
# @param x1, y1, x2, y2 The x and y coordinates of each endpoint of the line.
# @param width The width of the line. Optional, defaults to 0.
# @param fill The color of line. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawLine(50, 50, 100, 100, width = 0, fill = (255,0,0))
# @endcode
def drawLine(self,
x1,
y1,
x2,
y2,
width=0,
fill=(255, 255, 255),
display=True):
draw = self.disp.draw()
actx1 = self.screenXFromImageCoords(x1, y1)
acty1 = self.screenYFromImageCoords(x1, y1)
actx2 = self.screenXFromImageCoords(x2, y2)
acty2 = self.screenYFromImageCoords(x2, y2)
draw.line((actx1, acty1, actx2, acty2), fill=fill, width=width)
if (display):
self.disp.display()
## Draw a polyline on the screen (rotated to screen)
# @param self The object pointer.
# @param endpoints [x1, y1, x2, y2...] The x and y coordinates of each endpoint of the polyline.
# @param width The width of the polyline. Optional, defaults to 0.
# @param fill The color of polyline. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawLine([50, 50, 100, 50, 100, 100], width = 0, fill = (255,0,0))
# @endcode
def drawPolyLine(self,
endpoints,
width=0,
fill=(255, 255, 255),
display=True):
assert len(
endpoints
) % 2 == 0, "endpoints must be an array of even length, containing *pairs* of integers"
assert len(
endpoints
) >= 4, "endpoints must contain at least two coordinates to draw a line"
draw = self.disp.draw()
actendpts = []
for (x, y) in [(endpoints[i * 2], endpoints[i * 2 + 1])
for i in range(len(endpoints) / 2)
]: # iterate over each pair of integers
actendpts.append(self.screenXFromImageCoords(
x, y)) # actual x-coordinate
actendpts.append(self.screenYFromImageCoords(
x, y)) # actual y-coordinate
draw.line(actendpts, fill=fill, width=width)
if (display):
self.disp.display()
class PiStorms:
## Initialize the PiStorms motor and sensor ports
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen.
# @param rotation The rotation of the LCD touchscreen.
# @remark
# There is no need to use this function directly. To initialize the PiStorms class in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# @endcode
def __init__(self, name = "PiStorms", rotation = 3 ):
self.screen = mindsensorsUI(name ,rotation)
self.psc = PiStormsCom()
self.BAS1 = PiStormsSensor(self.psc.BAS1)
self.BAS2 = PiStormsSensor(self.psc.BAS2)
self.BBS1 = PiStormsSensor(self.psc.BBS1)
self.BBS2 = PiStormsSensor(self.psc.BBS2)
self.BAM1 = PiStormsMotor(self.psc.BAM1)
self.BAM2 = PiStormsMotor(self.psc.BAM2)
self.BBM1 = PiStormsMotor(self.psc.BBM1)
self.BBM2 = PiStormsMotor(self.psc.BBM2)
def command (self, cmd, bank):
self.psc.command(cmd, bank)
## Shutdown the Raspberry Pi
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.Shutdown()
# @endcode
def Shutdown(self):
self.psc.Shutdown()
## Returns the input battery voltage
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# volts = psm.battVoltage()
# if(volts > 6):
# # do some task
# @endcode
def battVoltage(self):
return self.psc.battVoltage()
## Returns the PiStorms firmware version
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# fwVersion = psm.GetFirmwareVersion()
# print str(devID)
# @endcode
def GetFirmwareVersion(self):
return self.psc.GetFirmwareVersion()
## Returns the PiStorms vendor name
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# venName = psm.GetVendorName()
# print str(devID)
# @endcode
def GetVendorName(self):
return self.psc.GetVendorName()
## Returns the PiStorms device ID
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# devID = psm.GetDeviceId()
# print str(devID)
# @endcode
def GetDeviceId(self):
return self.psc.GetDeviceId()
## Writes to the specified RGB LED
# @param self The object pointer.
# @param lednum The number to specify the LED (1 for BankA, 2 for BankB).
# @param red The red value to write to the specified LED (0-255).
# @param green The green value to write to the specified LED (0-255).
# @param blue The blue value to write to the specified LED (0-255).
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.led(1,255,0,0)
# @endcode
def led(self,lednum,red,green,blue):
return self.psc.led(lednum,red,green,blue)
## Check if the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isKeyPressed()
# if(key == True):
# # do some task
# @endcode
def isKeyPressed(self):
return self.psc.isKeyPressed()
## Check if any Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.getKeyValue()
# if(key == 40):
# # (40 is F4), do some task
# @endcode
def getKeyPressValue(self):
return self.psc.getKeyPressValue()
## Check if F1 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF1Pressed()
# if(key == True):
# # F1 is pressed, do some task
# @endcode
def isF1Pressed(self):
return (self.psc.getKeyPressValue() == 8)
## Check if F2 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF2Pressed()
# if(key == True):
# # F2 is pressed, do some task
# @endcode
def isF2Pressed(self):
return (self.psc.getKeyPressValue() == 16)
## Check if F3 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF3Pressed()
# if(key == True):
# # F3 is pressed, do some task
# @endcode
def isF3Pressed(self):
return (self.psc.getKeyPressValue() == 24)
## Check if F4 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF4Pressed()
# if(key == True):
# # F4 is pressed, do some task
# @endcode
def isF4Pressed(self):
return (self.psc.getKeyPressValue() == 40)
## Returns the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# keyCount = psm.getKeyPressCount()
# if(keyCount == 5):
# # do some task
# @endcode
def getKeyPressCount(self):
return self.psc.getKeyPressCount()
## Resets the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# resetKeyPressCount()
# @endcode
def resetKeyPressCount(self):
self.psc.resetKeyPressCount()
### @cond
## Pings the PiStorms for reliable I2C communication
# @param self The object pointer.
def ping(self):
self.psc.ping()
import socket, fcntl, struct
def get_ip_address(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15]))[20:24])
from PiStormsCom import PiStormsCom
print("running psm-info.py")
psm_comm = PiStormsCom()
print(" Version : {0}".format(str(psm_comm.GetFirmwareVersion())[:5]))
print(" Vendor : {0}".format(str(psm_comm.GetVendorName())))
print(" Device : {0}".format(str(psm_comm.GetDeviceId())))
print(" HostName : {0}".format(socket.gethostname()))
try:
print(" eth0 : {0} ".format(get_ip_address('eth0')))
except:
print(" eth0 : not present")
try:
print(" wlan0 : {0} ".format(get_ip_address('wlan0')))
except:
print(" wlan0 : not present")
# # Copyright (c) 2016 mindsensors.com # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License version 2 as # published by the Free Software Foundation. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. # #mindsensors.com invests time and resources providing this open source code, #please support mindsensors.com by purchasing products from mindsensors.com! #Learn more product option visit us @ http://www.mindsensors.com/ # # History: # Date Author Comments # 05/25/16 Deepak Initial development. # from PiStormsCom import PiStormsCom psc = PiStormsCom() psc.Shutdown()
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/21/17 Seth Tenembaum Initial development.
#
import os, time
from mindsensorsUI import mindsensorsUI
from mindsensors_i2c import mindsensors_i2c
from PiStormsCom import PiStormsCom
from PiStormsCom import PSSensor
s = mindsensorsUI() # screen
psc = PiStormsCom()
i2c = mindsensors_i2c(0x22 >> 1)
PSSensor(psc.bankA, 1).activateCustomSensorI2C()
s.drawDisplay("ABSIMU Calibration")
s.termGotoLine(0)
s.termPrintln("Beginning AbsoluteIMU compass")
s.termPrintln("calibration program.")
s.termPrintln("")
s.termPrintln("Connect AbsoluteIMU-ACG")
s.termPrintln("to BAS1.")
s.termPrintln("")
s.termReplaceLastLine("Press GO to begin.")
common_prefix = os.path.commonprefix([requested_path, current_directory])
return common_prefix != current_directory
app = Flask(__name__)
from PiStormsCom import PiStormsCom
from PiStormsCom_GRX import GRXCom
import ConfigParser
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
psc = GRXCom
else:
psc = PiStormsCom()
import MS_ILI9341
import Adafruit_GPIO.SPI as SPI
disp = MS_ILI9341.ILI9341(24,
rst=25,
spi=SPI.SpiDev(0, 0, max_speed_hz=64000000))
import socket, fcntl, struct
def get_ip_address(ifname):
try:
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(
fcntl.ioctl(
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04-11-16 Deepak Troubleshooting program
import time
from PiStormsCom import PiStormsCom
print ""
print "Running program 5 times, press Ctrl-C to terminate"
print ""
psm_comm = PiStormsCom()
exit = False
a = 0
while(a < 5):
voltVal = psm_comm.battVoltage()
print "PiStorms voltage: " + str(voltVal)
time.sleep(2)
a = a + 1
class mindsensorsUI():
## Constant to specify black color
PS_BLACK = (0,0,0)
## Constant to specify blue color
PS_BLUE = (0,0,255)
## Constant to specify red color
PS_RED = (255,0,0)
## Constant to specify green color
PS_GREEN = (0,255,0)
## Constant to specify cyan color
PS_CYAN = (0,255,255)
## Constant to specify magenta color
PS_MAGENTA = (255,0,255)
## Constant to specify yellow color
PS_YELLOW = (255,255,0)
## Constant to specify white color
PS_WHITE = (255,255,255)
## Constant to defualt screen width
PS_SCREENWIDTH = 240
## Constant to defualt screen height
PS_SCREENHEIGHT = 320
### @cond Doxygen_ignore_this
## Constant to specify terminal mode
PS_MODE_TERMINAL = 0
## Constant to specify pop-up mode
PS_MODE_POPUP = 1
## Constant to specify dead mode
PS_MODE_DEAD = 2
## Dictionary of default emnpty terminal buffer
terminalBuffer = [""]*20
## Variable of default terminal cursor position
terminalCursor = 0
## Variable of default mode
currentMode = 0
## Variable of default rotation
currentRotation = 0
## Instance to initialize the display
disp = TFT.ILI9341(24, rst=25, spi=SPI.SpiDev(0,0,max_speed_hz=64000000))
## Variable of default button text
buttonText = ["OK","Cancel"]
## Variable of default pop-up text
popupText = ["Do you wish to continue?"]
## Variable of default draw arrow state
drawArrowsbool = False
x = 0
y = 0
### @endcond
## Initialize the UI device.
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen. Optional, defaults to "PiStorms" (unused).
# @param rotation The rotation of the LCD touchscreen. Optional, defaults to 3 (standard rotation).
# @remark
# There is no need to use this function directly. To initialize the mindsensorsUI class in your program:
# @code
# from mindsensorsUI import mindsensorsUI
# ...
# screen = mindsensorsUI()
# @endcode
def __init__(self, name = "PiStorms", rotation = 3):
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in config.get('msdev', 'device'):
self.comm = GRXCom
else:
self.comm = PiStormsCom()
# note self.comm is only used to getTouchscreenCoordinates and to getKeyPressCount
self.disp.begin()
self.clearScreen()
self.disp.command(ILI9341_INVOFF)
if(rotation in range(4)):
self.currentRotation = rotation
self.refresh()
self.myname = name
#self.drawDisplay(name, display=False)
## Dumps the screen buffer
# @param self The object pointer.
def dumpTerminal(self):
self.terminalBuffer = [""]*20
self.terminalCursor = 0
if(self.getMode() == self.PS_MODE_TERMINAL):
self.refresh()
## Sets the mode (Experienced users)
# @param self The object pointer.
# @param mode The new mode: PS_MODE_TERMINAL, PS_MODE_POPUP, or PS_MODE_DEAD. Optional, defaults to PS_MODE_TERMINAL.
def setMode(self, mode = 0):
if(mode<0 or mode>2):
self.currentMode = self.PS_MODE_DEAD
else:
self.currentMode = mode
self.refresh()
## Returns the value of the mode (Experienced users)
# @param self The object pointer.
def getMode(self):
return self.currentMode
## Draw a rectangle with rounded edges on the screen (rotated to screen)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the rectangle.
# @param height The height of the rectangle.
# @param radius The arc of the rectangle corners.
# @param fill The color of the inside of the rectangle. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def fillRoundRect(self, x, y, width, height, radius, fill = (255,255,255), display = True):
self.fillRect(x,y + radius,width, height-(radius*2), fill = fill, display = False)
self.fillRect(x + radius, y, width - (radius*2), height, fill = fill, display = False)
self.fillCircle(x + radius, y + radius, radius, fill = fill, display = False)
self.fillCircle(x + width - radius, y + radius, radius, fill = fill, display = False)
self.fillCircle(x + radius, y + height - radius, radius, fill = fill, display = False)
self.fillCircle(x + width - radius,y + height - radius, radius, fill = fill, display = display)
## Calculates the x-coordinate of the screen upon rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the current rotation's coordinate system
# @param y y value in the current rotation's coordinate system
# @return x value for the corresponding point in the display's coordinate system (for writing to TFT)
def screenXFromImageCoords(self, x, y):
cr = self.currentRotation
if(cr == 0):
return x
if(cr == 1):
return self.PS_SCREENWIDTH-y
if(cr == 2):
return self.PS_SCREENWIDTH-x
if(cr == 3):
return y
## Calculates the y-coordinate of the screen upon rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the current rotation's coordinate system
# @param y y value in the current rotation's coordinate system
# @return y value for the corresponding point in the display's coordinate system (for writing to TFT)
def screenYFromImageCoords(self, x, y):
cr = self.currentRotation
if(cr == 0):
return y
if(cr == 1):
return x
if(cr == 2):
return self.PS_SCREENHEIGHT-y
if(cr == 3):
return self.PS_SCREENHEIGHT-x
## Calculates display x-coordinate from touchscreen values, adjusted for rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the touchscreen's coordinate system (read from registers)
# @param y y value in the touchscreen's coordinate system (read from registers)
# @return x value for the corresponding point in the current rotation's coordinate system
def TS_To_ImageCoords_X(self, x, y):
cr = self.currentRotation
if(cr == 0):
return y
if(cr == 1):
return x
if(cr == 2):
return self.PS_SCREENWIDTH-y
if(cr == 3):
return self.PS_SCREENHEIGHT-x
## Calculates display y-coordinate from touchscreen values, adjusted for rotation (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x x value in the touchscreen's coordinate system (read from registers)
# @param y y value in the touchscreen's coordinate system (read from registers)
# @return y value for the corresponding point in the current rotation's coordinate system
def TS_To_ImageCoords_Y(self, x, y):
cr = self.currentRotation
if(cr == 0):
return x
if(cr == 1):
return self.PS_SCREENWIDTH-y
if(cr == 2):
return self.PS_SCREENHEIGHT-x
if(cr == 3):
return y
## Displays rotated text (INTERNAL USE ONLY)
# @param self The object pointer.
# @param image The image used for creating text
# @param text The text to display on the screen
# @param position The position of the text as a set of x and y-coordinates
# @param angle The angle at which to rotate the text
# @param font The font of the text
# @param fill The color of the text. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def draw_rotated_text(self, image, text, position, angle, font, fill=(255,255,255), display = True):
draw = ImageDraw.Draw(image)
width, height = draw.textsize(text, font=font)
textimage = Image.new('RGBA', (width, height), (0,0,0,0))
textdraw = ImageDraw.Draw(textimage)
textdraw.text((0,0), text, font=font, fill=fill)
if angle == - 90: textimage = textimage.transpose(Image.ROTATE_270)
if angle == -180: textimage = textimage.transpose(Image.ROTATE_180)
if angle == -270: textimage = textimage.transpose(Image.ROTATE_90)
image.paste(textimage, position, textimage)
if(display):
self.disp.display()
## Determines the width of the screen based on rotation (Experienced users)
# @param self The object pointer.
def screenWidth(self):
if(self.currentRotation == 1 or self.currentRotation == 3):
return 320
else:
return 240
## Determines the height of the screen based on rotation (Experienced users)
# @param self The object pointer.
def screenHeight(self):
if(self.currentRotation == 1 or self.currentRotation == 3):
return 240
else:
return 320
## Prints a large title, intended for terminal mode.
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen in cyan.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def drawDisplay(self, name, display = True):
self.drawAutoText(name, 0, 5, fill = (0,255,255), size = 30, display = display, align="center")
## Draw forward and back arrows on the screen
# @param self The object pointer.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
def drawArrows(self, display = True):
self.drawButton(0, 0, width = 50, height = 40, text = "<", display = False)
self.drawButton(self.screenWidth()-50, 0, width = 50, height = 40, text = ">", display = display)
## Determine if either on screen arrow button is pressed
# @param self The object pointer.
def checkArrows(self):
return(self.checkButton(0,0,50,50),self.checkButton(self.screenWidth()-50,0,50,50))
## Hide the on screen arrow buttons
# @param self The object pointer.
# @param refresh Choose to immediately refresh screen.
def hideArrows(self, refresh = True):
self.drawArrowsbool = False
if(refresh):
self.refresh()
## Show the on screen arrow buttons
# @param self The object pointer.
# @param refresh Choose to immediately refresh screen.
def showArrows(self, refresh = True):
self.drawArrowsbool = True
if(refresh):
self.refresh()
## Reads the x-coordinate of the touchscreen press
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# x = screen.TS_X()
# @endcode
def TS_X(self):
return self.x
## Reads the y-coordinate of the touchscreen press
# @param self The object pointer.
# To use this function in your program:
# @code
# ...
# y = screen.TS_Y()
# @endcode
def TS_Y(self):
return self.y
## Detects touchscreen presses and prevents false positives,
# updates self.x and self.y if pressed.
# @param self The object pointer.
# To use this function in your program:
# @code
# ...
# if (screen.isTouched())
# print "Touched at {},{}".format(screen.x, screen.y)
# @endcode
def isTouched(self):
x, y = self.comm.getTouchscreenCoordinates()
if x == 0 and y == 0:
return False
self.x = x
self.y = y
return True
## Clears the LCD screen to defualt black
# @param self The object pointer.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# To use this function in your program:
# @code
# ...
# screen.clearScreen()
# @endcode
def clearScreen(self, display = True):
self.disp.clear()
if(display):
self.disp.display()
## Draw a rectangle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the rectangle.
# @param height The height of the rectangle.
# @param fill The color of inside of the rectangle. Optional, defaults to white.
# @param outline The color of the outer edge of the rectangle. Optional, defaults to no outline.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.fillRect(100, 100, 75, 75, fill = (255,0,0), outline = (0,0,0))
# @endcode
def fillRect(self, x, y, width, height, fill = (255,255,255), outline = None, display=True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x,y)
acty = self.screenYFromImageCoords(x,y)
actx2 = self.screenXFromImageCoords(x + width,y + height)
acty2 = self.screenYFromImageCoords(x + width,y + height)
draw.rectangle((actx,acty,actx2,acty2), fill = fill, outline = outline)
if(display):
self.disp.display()
## Draw a filled circle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The center x coordinate of the circle.
# @param y The center y coordinate of the circle.
# @param radius The radius of the circle.
# @param fill The color of the inside of the circle. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.fillCircle(100, 100, 15, fill = (255,0,0))
# @endcode
def fillCircle(self, x, y, radius, fill = (255,255,255), display = True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x,y)
acty = self.screenYFromImageCoords(x,y)
draw.ellipse((actx-radius,acty-radius,actx+radius,acty+radius), fill = fill)
if(display):
self.disp.display()
## Draw a circle on the screen (rotated to screen)
# @param self The object pointer.
# @param x The center x coordinate of the circle.
# @param y The center y coordinate of the circle.
# @param radius The radius of the circle.
# @param fill The color of the inside of the circle. Optional, defaults to None
# @param outline The color of the outer edge of the circle. Optional, defaults to Black
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# red circle with blue outline:
# screen.drawCircle(100, 100, 15, fill = (255,0,0), outline=(0,0,255))
# @endcode
def drawCircle(self, x, y, radius, fill = None, outline = (0,0,0), display = True):
draw = self.disp.draw()
actx = self.screenXFromImageCoords(x,y)
acty = self.screenYFromImageCoords(x,y)
draw.ellipse((actx-radius,acty-radius,actx+radius,acty+radius), fill=fill, outline=outline)
if(display):
self.disp.display()
## Draw a bitmap image on the screen (.png files rcommended)
# @param self The object pointer.
# @param x The upper left x coordinate of the image.
# @param y The upper left y coordinate of the image.
# @param width The width of the image.
# @param height The width of the image.
# @param path The image file path. Optional, defaults to the popup background image.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.screen.fillBmp(30, 0, 240, 240, path = os.path.join(currentdir, "dog.png"))
# @endcode
def fillBmp(self, x, y, width, height, path = "/usr/local/mindsensors/images/Pane1.png", display = True):
buff = self.disp.buffer
actx = self.screenXFromImageCoords(x,y)
acty = self.screenYFromImageCoords(x,y)
# if the caller only provided icon name, assume it is in our system repository
if (path[0] != "/"):
path = "/usr/local/mindsensors/images/" + path
# if the image is missing, use a default X image.
if (os.path.isfile(path)):
image = Image.open(path)
else:
image = Image.open("/usr/local/mindsensors/images/missing.png")
image = image.resize((width,height), Image.ANTIALIAS)
cr = self.currentRotation
if(cr == 1):
actx -= height
image = image.transpose(Image.ROTATE_270)
if(cr == 2):
acty -= height
actx -= width
image = image.transpose(Image.ROTATE_180)
if(cr == 3):
acty -= width
image = image.transpose(Image.ROTATE_90)
buff.paste(image, (actx,acty))
if(display):
self.disp.display()
## Draw a image on the screen using supplied image data
# @param self The object pointer.
# @param x The upper left x coordinate of the image.
# @param y The upper left y coordinate of the image.
# @param width The width of the image.
# @param height The width of the image.
# @param image data
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.screen.fillBmp(40, 0, 240, 240, image)
# @endcode
def fillImgArray(self, x, y, width, height, image, display = True):
buff = self.disp.buffer
actx = self.screenXFromImageCoords(x,y)
acty = self.screenYFromImageCoords(x,y)
image = Image.fromarray(image)
image = image.resize((width,height), Image.ANTIALIAS)
cr = self.currentRotation
if(cr == 1):
actx -= height
image = image.transpose(Image.ROTATE_270)
if(cr == 2):
acty -= height
actx -= width
image = image.transpose(Image.ROTATE_180)
if(cr == 3):
acty -= width
image = image.transpose(Image.ROTATE_90)
buff.paste(image, (actx,acty))
if(display):
self.disp.display()
## Rotates the screen orientation 90 degrees to the right (-90 degrees)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.rotateRight()
# @endcode
def rotateRight(self):
self.currentRotation += 1
if(self.currentRotation>3):
self.currentRotation = 0
self.refresh()
## Rotates the screen orientation 90 degrees to the left (90 degrees)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.rotateLeft()
# @endcode
def rotateLeft(self):
self.currentRotation -= 1
if(self.currentRotation<0):
self.currentRotation = 3
self.refresh()
## Displays text on the screen with adjusted position and rotation
# @param self The object pointer.
# @param text The text to display on the screen
# @param x The upper left x coordinate of the text. Optional, defaults to "left". Irrelevant if align is "center"
# @param y The upper left y coordinate of the text.
# @param fill The color of the text. Optional, defaults to white.
# @param size The pixel size of the text. Optional, defaults to 20.
# @param align The text alignment, "left" or "center" or "right". Optional, defaults to "left".
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawAutoText("Wow!", 10, 20, fill = (255,255,255), size = 25)
# @endcode
def drawAutoText(self, text, x, y, fill = (255,255,255), size = 20, align="left", display = True):
text = str(text)
font = ImageFont.truetype("/usr/share/fonts/truetype/freefont/FreeSans.ttf", size)
width, height = ImageDraw.Draw(self.disp.buffer).textsize(text, font=font)
tempx = self.screenXFromImageCoords(x,y)
tempy = self.screenYFromImageCoords(x,y)
cr = self.currentRotation
if align == "center":
tempy = (self.screenWidth() - width)/2
if cr == 1 or cr == 2:
tempx = self.screenHeight() - height - y
if cr == 0 or cr == 2:
tempx, tempy = tempy, tempx
if cr == 0:
tempy = y
elif align == "right":
if cr == 0:
tempx = self.screenWidth() - width - x
tempy = y
if cr == 1:
tempx = self.screenHeight() - height - y
tempy = self.screenWidth() - width - x
if cr == 2:
tempx, tempy = x, self.screenHeight() - height - y
if cr == 3:
tempy = x
else:
if cr == 1:
tempx -= height
if cr == 2:
tempy -= height
tempx -= width
if cr == 3:
tempy -= width
angletemp = -90*self.currentRotation
self.draw_rotated_text(self.disp.buffer, text, (tempx,tempy), angletemp, font, fill, display = display)
## Set the cursor to a specific line of the of the screen
# @param self The object pointer.
# @param lineno The line number at which to set the cursor.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termGotoLine(5)
# @endcode
def termGotoLine(self, lineno):
self.terminalCursor = lineno
## Print to a specific line of the screen
# @param self The object pointer.
# @param lineno The line number at which to set the cursor.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrintAt(5, "Printing at line 5")
# @endcode
def termPrintAt(self, lineno, text):
self.terminalCursor = lineno
self.fillRect(10, self.terminalCursor*20+42, 320, 19, (0,0,0), display = False)
self.terminalBuffer[self.terminalCursor] = str(text)
self.refreshLine(self.terminalCursor)
## Print to the current line of the screen
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrint("Regular print, no newline")
# @endcode
def termPrint(self, text):
self.terminalBuffer[self.terminalCursor] += str(text)
self.refreshLine(self.terminalCursor)
## Print to the current line and then go to the next line
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termPrintln("Hello, world!")
# @endcode
def termPrintln(self, text):
if(self.terminalCursor>9):
self.terminalCursor = 0
self.terminalBuffer = [""]*20
self.refresh()
self.termPrint(text)
self.terminalCursor += 1
## Print new text in place of current line (Low Refresh Rate)
# @param self The object pointer.
# @param text The text to print to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.termReplaceLastLine("Replaced!")
# @endcode
def termReplaceLastLine(self, text):
self.terminalBuffer[self.terminalCursor] = ""
self.fillRect(10, self.terminalCursor*20+42, 320, 19, (0,0,0), display = False)
self.termPrint(text)
## Refresh a screen line
# @param self The object pointer.
# @param lineNum The line number to refresh.
# @param display Choose to immediately push the drawing to the screen.
# @remark
# To use this function in your program:
# @code
# ...
# screen.refreshLine(1)
# @endcode
def refreshLine(self, lineNum, display = True):
if(self.currentMode == self.PS_MODE_TERMINAL):
self.drawAutoText(self.terminalBuffer[lineNum], 10, lineNum*20 + 40, (255,255,255), display = display)
## Draw a labeled button on the screen (INTERNAL USE ONLY)
# @param self The object pointer.
# @param x The upper left x coordinate of the rectangle.
# @param y The upper left y coordinate of the rectangle.
# @param width The width of the button.
# @param height The height of the button.
# @param prefix The button images filename prefix. Optional, defaults to "btns_"
# @param text The button label. Defaults to "OK"
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @param align The alignment for the button's text label.
# @param image An optional image to be included on the button, should be 32x32.
# @param imageX The x-coordinate of the optional image icon.
# @param imageY The y-coordinate of the optional image icon.
def drawButton(self, x, y, width, height, prefix="btns_",text="OK", display=True, align="left", image=None, imageX=None, imageY=None):
self.fillBmp(x, y, 14, height, prefix+"left.png", display=False)
self.fillBmp(x+14, y, width-28, height, prefix+"center.png", display=False)
self.fillBmp(x+width-14, y, 14, height, prefix+"right.png", display=False)
textX = x+10
if image:
textX += 32
imgY = imageY or y+((height-32)/2)
imgX = imageX or x+4
self.fillBmp(imgX, imgY, 32, 32, image, display=False)
self.drawAutoText(text,textX, y+(height/2)-10, size=16, fill = (0,0,0), display=display, align=align)
## Refresh the screen (Slow)
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# ...
# screen.refresh()
# @endcode
def refresh(self):
if(self.currentMode == self.PS_MODE_TERMINAL):
self.clearScreen(False)
if(self.drawArrowsbool):
self.drawArrows(False)
for i,_ in enumerate(self.terminalBuffer):
self.refreshLine(i, display = False)
self.disp.display()
if(self.currentMode == self.PS_MODE_POPUP):
xbuff = 20
ybuff = 20
try:
self.fillBmp(xbuff,ybuff,self.screenWidth()-(2*xbuff),self.screenHeight()-(2*ybuff), "dialogbg.png", display = False)
except:
self.fillRect(xbuff,ybuff,self.screenWidth()-(2*xbuff),self.screenHeight()-(2*ybuff),fill = (127,127,127), outline = (255,255,255))
numButts = len(self.buttonText)
spacing = 10
room = self.screenWidth()-(xbuff + ybuff)
buttHeight = 50
n = 0
while(n<numButts):
self.drawButton((room/numButts)*n + xbuff + spacing/2 + 10, self.screenHeight() - (ybuff + spacing + buttHeight), (room/numButts) - spacing - 20, buttHeight, prefix = "btns_", text=self.buttonText[n], display = False)
"""
self.fillBmp((room/numButts)*n + xbuff + spacing/2, self.screenHeight() - (ybuff + spacing + buttHeight), (room/numButts) - spacing, buttHeight, path = "button.png", display = False)
self.drawAutoText(self.buttonText[n],(room/numButts)*n + xbuff + spacing, self.screenHeight() - (ybuff + buttHeight), fill = (0,0,0), display = False)
"""
n+= 1
n = 0
offset = 5
if(self.currentRotation % 2 == 0): # portrait
offset = 12
while(n<len(self.popupText)):
if ( n > 0 ):
offset = 10
if(self.currentRotation % 2 == 0): # portrait
offset = 24
self.drawAutoText(self.popupText[n], xbuff + 10, ybuff + offset + (20*n), fill = (0,0,0), size = 15, display = False)
n += 1
self.disp.display()
## Determine if an on screen button is pressed
# @param self The object pointer.
# @param x The upper left x-coordinate of the button.
# @param y The upper left y-coordinate of the button.
# @param width The width of the button.
# @param height The height of the button.
# @remark
# To use this function in your program:
# @code
# ...
# button = screen.checkButton(0, 0, 50, 50)
# @endcode
def checkButton(self, x, y, width, height):
if self.isTouched():
tsx = self.TS_To_ImageCoords_X(self.x, self.y)
tsy = self.TS_To_ImageCoords_Y(self.x, self.y)
if tsx in range(x, x+width) and tsy in range(y, y+height):
return True
return False
## Determines if button in a pop-up window is pressed (Experienced users)
# @param self The object pointer.
# @param numButts How many buttons are being shown
def checkDialogButtons(self, numButts):
# see refresh method for value definitions
xbuff = 20
ybuff = 20
spacing = 10
room = self.screenWidth() - (xbuff + ybuff)
buttHeight = 50
y = self.screenHeight() - (ybuff + spacing + buttHeight)
width = (room/numButts) - spacing - 20
for n in range(numButts):
x = (room/numButts)*n + xbuff + spacing/2 + 10
if self.checkButton(x, y, width, buttHeight):
return n
return -1
## Display pop-up of a question on the screen
# @param self The object pointer.
# @param question The question that will pop-up on the screen. The first string will be the titlebar.
# @param options The possible answers to the question.
# @param touch Whether to check if the on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to False.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# question = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Here's a second line. It will be wrapped, too. What do you think?"]
# options = ["No thanks", "Cool!"]
# answer = screen.askQuestion(question, options, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return -1
# @remark
# To use this function in your program:
# @code
# ...
# question = ["Color Picker", "Pick a color!"]
# options = ["Red", "Green", "Blue"]
# answer = screen.askQuestion(question, options)
# @endcode
def askQuestion(self, question, options, touch=True, goBtn=False, wrapText=False):
for i, line in enumerate(question):
question[i] = str(line)
if wrapText:
wrap, maxlines = 48, 5
if (self.currentRotation % 2 == 0): # portrait
wrap, maxlines = 30, 9
maxWidth = self.screenWidth()-60 # see fillBpm of dialogbg.png in refresh()
getTextSize = ImageDraw.Draw(self.disp.buffer).textsize
font = ImageFont.truetype("/usr/share/fonts/truetype/freefont/FreeSans.ttf", 15)
def makeWrappedText():
arr = '\n'.join([textwrap.fill(t, width=wrap) for t in question[1:]]).split('\n')
self.popupText = [question[0]] + arr[:maxlines]
if len(arr) > maxlines:
if self.popupText[maxlines][-1] == ".":
self.popupText[maxlines] += " ..."
else:
self.popupText[maxlines] += "..."
def widestLine():
return max([getTextSize(str, font=font)[0] for str in self.popupText])
makeWrappedText()
while (widestLine() > maxWidth):
wrap -= 1
makeWrappedText()
else:
self.popupText = question
self.buttonText = options
oldMode = self.currentMode
self.setMode(self.PS_MODE_POPUP)
if(len(options)>=4):
print "warning!, buttons may be too small to read"
if(len(options)<=0 and not goBtn):
print "warning!, no options will leave this pop-up stuck"
if goBtn:
keyPressCount = self.comm.getKeyPressCount()
while(True):
if(goBtn and keyPressCount < self.comm.getKeyPressCount()):
self.setMode(oldMode)
return -1
if(touch and self.isTouched()):
n = self.checkDialogButtons(len(options))
if(n != -1):
self.setMode(oldMode)
return n
## Display Pop-up of 'Yes' or 'No' question on the screen, returning True or False
# @param self The object pointer.
# @param question The question that will pop-up on the screen.
# @param touch Whether to check if on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to False.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# question = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Cool?"]
# response = screen.askYesOrNoQuestion(question, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return False
# @remark
# To use this function in your program:
# @code
# ...
# question = ["Continue?", "Do you want to continue?"]
# response = screen.askYesOrNoQuestion(question)
# @endcode
def askYesOrNoQuestion(self, question, touch=True, goBtn=False, wrapText=False):
return self.askQuestion(question, ["Yes","No"], touch=touch, goBtn=goBtn, wrapText=wrapText) == 0
## Display pop-up of a message on the screen with a single option "OK"
# @param self The object pointer.
# @param message The message that will pop-up on the screen.
# @param touch Whether to check if on screen buttons are pressed. Optional, defaults to True.
# @param goBtn Whether to check for the GO button to close the question. Optional, defaults to True.
# @param wrapText When True, long lines of text will be wrapped to fit in the popup. Optional, default to False.
# @code
# message = ["Title", "This is a very long line of text which will be wrapped to fit in the dialog box.", "Other lines will be wrapped, too. Press OK to close this popup."]
# screen.showMessage(message, wrapText=True)
# @endcode
# @note If goBtn is True, pressing GO will close the dialog and return False
# @remark
# To use this function in your program:
# @code
# ...
# message = ["Complete", "The process has completed.", "Status: success"]
# screen.showMessage(message)
# @endcode
def showMessage(self, message, touch=True, goBtn=True, wrapText=False):
if type(message) is not list:
message = ["Message", message]
return self.askQuestion(message, ["OK"], touch=touch, goBtn=goBtn, wrapText=wrapText) == 0
## Display pop-up of a message on the screen with no exit options.
# This function will return right away. You may need to call `screen.setMode(screen.PS_MODE_TERMINAL)` to stop the popup later.
# @param self The object pointer.
# @param message The message that will pop-up on the screen.
# @remark
# To use this function in your program:
# @code
# ...
# message = ["Processing", "Processing, please wait..."]
# screen.forceMessage(message)
# @endcode
def forceMessage(self, message):
self.popupText = message
self.buttonText = []
oldMode = self.currentMode
self.setMode(self.PS_MODE_POPUP)
## Draw a line on the screen (rotated to screen)
# @param self The object pointer.
# @param x1, y1, x2, y2 The x and y coordinates of each endpoint of the line.
# @param width The width of the line. Optional, defaults to 0.
# @param fill The color of line. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawLine(50, 50, 100, 100, width = 0, fill = (255,0,0))
# @endcode
def drawLine(self, x1, y1, x2, y2, width = 0, fill = (255,255,255), display = True):
draw = self.disp.draw()
actx1 = self.screenXFromImageCoords(x1,y1)
acty1 = self.screenYFromImageCoords(x1,y1)
actx2 = self.screenXFromImageCoords(x2,y2)
acty2 = self.screenYFromImageCoords(x2,y2)
draw.line((actx1,acty1,actx2,acty2), fill = fill, width = width)
if(display):
self.disp.display()
## Draw a polyline on the screen (rotated to screen)
# @param self The object pointer.
# @param endpoints [x1, y1, x2, y2...] The x and y coordinates of each endpoint of the polyline.
# @param width The width of the polyline. Optional, defaults to 0.
# @param fill The color of polyline. Optional, defaults to white.
# @param display Choose to immediately push the drawing to the screen. Optional, defaults to True.
# @remark
# To use this function in your program:
# @code
# ...
# screen.drawLine([50, 50, 100, 50, 100, 100], width = 0, fill = (255,0,0))
# @endcode
def drawPolyLine(self, endpoints, width = 0, fill = (255,255,255), display = True):
assert len(endpoints) % 2 == 0, "endpoints must be an array of even length, containing *pairs* of integers"
assert len(endpoints) >= 4, "endpoints must contain at least two coordinates to draw a line"
draw = self.disp.draw()
actendpts = []
for (x,y) in [(endpoints[i*2],endpoints[i*2+1]) for i in range(len(endpoints)/2)]: # iterate over each pair of integers
actendpts.append(self.screenXFromImageCoords(x,y)) # actual x-coordinate
actendpts.append(self.screenYFromImageCoords(x,y)) # actual y-coordinate
draw.line(actendpts, fill = fill, width = width)
if(display):
self.disp.display()
# This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License version 2 as # published by the Free Software Foundation. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. # #mindsensors.com invests time and resources providing this open source code, #please support mindsensors.com by purchasing products from mindsensors.com! #Learn more product option visit us @ http://www.mindsensors.com/ # # History: # Date Author Comments # 05/02/16 deepak Initial development # # we could also do this instead: # i2cdump -y -r 0x00-0x04 1 0x1a | grep "^00:" | cut -c 56-60 # from PiStormsCom import PiStormsCom #psm = PiStorms() psm_comm = PiStormsCom() print str(psm_comm.GetFirmwareVersion())[:5]
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04/21/17 Seth Tenembaum Initial development.
#
import os, time
from mindsensorsUI import mindsensorsUI
from mindsensors_i2c import mindsensors_i2c
from PiStormsCom import PiStormsCom
from PiStormsCom import PSSensor
s = mindsensorsUI() # screen
psc = PiStormsCom()
i2c = mindsensors_i2c(0x22 >> 1)
PSSensor(psc.bankA, 1).activateCustomSensorI2C()
s.drawDisplay("ABSIMU Calibration")
s.termGotoLine(0)
s.termPrintln("Beginning AbsoluteIMU compass")
s.termPrintln("calibration program.")
s.termPrintln("")
s.termPrintln("Connect AbsoluteIMU-ACG")
s.termPrintln("to BAS1.")
s.termPrintln("")
s.termReplaceLastLine("Press GO to begin.")
class PiStorms:
## Initialize the PiStorms motor and sensor ports
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen.
# @param rotation The rotation of the LCD touchscreen.
# @remark
# There is no need to use this function directly. To initialize the PiStorms class in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# @endcode
def __init__(self, name="PiStorms", rotation=3):
self.screen = mindsensorsUI(name, rotation)
self.psc = PiStormsCom()
self.BAS1 = PiStormsSensor(self.psc.BAS1)
self.BAS2 = PiStormsSensor(self.psc.BAS2)
self.BBS1 = PiStormsSensor(self.psc.BBS1)
self.BBS2 = PiStormsSensor(self.psc.BBS2)
self.BAM1 = PiStormsMotor(self.psc.BAM1)
self.BAM2 = PiStormsMotor(self.psc.BAM2)
self.BBM1 = PiStormsMotor(self.psc.BBM1)
self.BBM2 = PiStormsMotor(self.psc.BBM2)
## Returns the input battery voltage
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# volts = psm.battVoltage()
# @endcode
def battVoltage(self):
return self.psc.battVoltage()
## Returns the PiStorms firmware version
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# fwVersion = psm.GetFirmwareVersion()
# @endcode
def GetFirmwareVersion(self):
return self.psc.GetFirmwareVersion()
## Returns the PiStorms vendor name
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# venName = psm.GetVendorName()
# @endcode
def GetVendorName(self):
return self.psc.GetVendorName()
## Returns the PiStorms device ID
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# devID = psm.GetDeviceId()
# @endcode
def GetDeviceId(self):
return self.psc.GetDeviceId()
## Writes to the specified RGB LED
# @param self The object pointer.
# @param lednum The number to specify the LED (1 for BankA, 2 for BankB).
# @param red The red value to write to the specified LED (0-255).
# @param green The green value to write to the specified LED (0-255).
# @param blue The blue value to write to the specified LED (0-255).
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.led(1,255,0,0)
# @endcode
def led(self, lednum, red, green, blue):
return self.psc.led(lednum, red, green, blue)
## Check if the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isKeyPressed()
# @endcode
def isKeyPressed(self):
return self.psc.isKeyPressed()
## Returns the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# keyCount = psm.getKeyPressCount()
# if(keyCount == 5):
# # do some task
# @endcode
def getKeyPressCount(self):
return self.psc.getKeyPressCount()
## Resets the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# resetKeyPressCount()
# @endcode
def resetKeyPressCount(self):
self.psc.resetKeyPressCount()
### @cond
## Pings the PiStorms for reliable I2C communication
# @param self The object pointer.
def ping(self):
self.psc.ping()
class PiStorms:
## Initialize the PiStorms motor and sensor ports
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen.
# @param rotation The rotation of the LCD touchscreen.
# @remark
# There is no need to use this function directly. To initialize the PiStorms class in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# @endcode
def __init__(self, name="PiStorms", rotation=3):
## An instance of mindsensorsUI.mindsensorsUI representing the PiStorms's touchscreen.
self.screen = mindsensorsUI(name, rotation)
## An instance of PiStormsCom.PiStormsCom.
self.psc = PiStormsCom()
## An instance of PiStormsSensor representing Bank A sensor 1.
self.BAS1 = PiStormsSensor(self.psc.BAS1)
## An instance of PiStormsSensor representing Bank A sensor 2.
self.BAS2 = PiStormsSensor(self.psc.BAS2)
## An instance of PiStormsSensor representing Bank B sensor 1.
self.BBS1 = PiStormsSensor(self.psc.BBS1)
## An instance of PiStormsSensor representing Bank B sensor 2.
self.BBS2 = PiStormsSensor(self.psc.BBS2)
## An instance of PiStormsMotor representing Bank A motor 1.
self.BAM1 = PiStormsMotor(self.psc.BAM1)
## An instance of PiStormsMotor representing Bank A motor 2.
self.BAM2 = PiStormsMotor(self.psc.BAM2)
## An instance of PiStormsMotor representing Bank B motor 1.
self.BBM1 = PiStormsMotor(self.psc.BBM1)
## An instance of PiStormsMotor representing Bank B motor 2.
self.BBM2 = PiStormsMotor(self.psc.BBM2)
self.psc.resetKeyPressCount()
def command(self, cmd, bank):
self.psc.command(cmd, bank)
## Shutdown the Raspberry Pi
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.Shutdown()
# @endcode
def Shutdown(self):
self.psc.Shutdown()
## Returns the input battery voltage
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# volts = psm.battVoltage()
# if(volts > 6):
# # do some task
# @endcode
def battVoltage(self):
return self.psc.battVoltage()
## Returns the PiStorms firmware version
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# fwVersion = psm.GetFirmwareVersion()
# print str(fwVersion)
# @endcode
def GetFirmwareVersion(self):
return self.psc.GetFirmwareVersion()
## Returns the PiStorms vendor name
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# venName = psm.GetVendorName()
# print str(venName)
# @endcode
def GetVendorName(self):
return self.psc.GetVendorName()
## Returns the PiStorms device ID
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# devID = psm.GetDeviceId()
# print str(devID)
# @endcode
def GetDeviceId(self):
return self.psc.GetDeviceId()
## Writes to the specified RGB LED
# @param self The object pointer.
# @param lednum The number to specify the LED (1 for BankA, 2 for BankB).
# @param red The red value to write to the specified LED (0-255).
# @param green The green value to write to the specified LED (0-255).
# @param blue The blue value to write to the specified LED (0-255).
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.led(1,255,0,0)
# @endcode
def led(self, lednum, red, green, blue):
return self.psc.led(lednum, red, green, blue)
## Check if the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isKeyPressed()
# if(key == True):
# # do some task
# @endcode
def isKeyPressed(self):
return self.psc.isKeyPressed()
## Wait until the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.screen.termPrintln("Press GO to continue...")
# psm.waitForKeyPress()
# @endcode
def waitForKeyPress(self):
self.untilKeyPress(functools.partial(time.sleep, 0.01))
## Repeat an action until the GO button is pressed
# @param self The object pointer.
# @param func The function to be called repeatedly
# @param args Positional arguments to be passed to func
# @param kwargs Keyword arguments to be passed to func
# @warning Beware of scope issues! In Python, functions introduce a new scope.
# You might have to use the keyword "global" to achieve your intended behavior.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilKeyPress(mainLoop)
# @endcode
def untilKeyPress(self, func, *args, **kwargs):
initialKeyPressCount = self.getKeyPressCount()
while self.getKeyPressCount() == initialKeyPressCount:
func(*args, **kwargs)
## Repeat an action until the GO button is pressed
# or the screen is touched
# @param self The object pointer.
# @param func The function to be called repeatedly
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilKeyPressOrTouch(mainLoop)
# @endcode
def untilKeyPressOrTouch(self, func, *args, **kwargs):
initialKeyPressCount = self.getKeyPressCount()
while self.getKeyPressCount(
) == initialKeyPressCount and not self.screen.isTouched():
func(*args, **kwargs)
## Repeat an action until the touchscreen is touched
# @param self The object pointer.
# @param func The function to be called repeatedly
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilTouch(mainLoop)
# @endcode
def untilTouch(self, func, *args, **kwargs):
while not self.screen.isTouched():
func(*args, **kwargs)
## Check if any Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.getKeyValue()
# if(key == 40):
# # (40 is F4), do some task
# @endcode
def getKeyPressValue(self):
return self.psc.getKeyPressValue()
## Check if F1 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF1Pressed()
# if(key == True):
# # F1 is pressed, do some task
# @endcode
def isF1Pressed(self):
return (self.psc.getKeyPressValue() == 8)
## Check if F2 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF2Pressed()
# if(key == True):
# # F2 is pressed, do some task
# @endcode
def isF2Pressed(self):
return (self.psc.getKeyPressValue() == 16)
## Check if F3 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF3Pressed()
# if(key == True):
# # F3 is pressed, do some task
# @endcode
def isF3Pressed(self):
return (self.psc.getKeyPressValue() == 24)
## Check if F4 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF4Pressed()
# if(key == True):
# # F4 is pressed, do some task
# @endcode
def isF4Pressed(self):
return (self.psc.getKeyPressValue() == 40)
## Returns the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# keyCount = psm.getKeyPressCount()
# if(keyCount == 5):
# # do some task
# @endcode
def getKeyPressCount(self):
return self.psc.getKeyPressCount()
## Resets the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# resetKeyPressCount()
# @endcode
def resetKeyPressCount(self):
self.psc.resetKeyPressCount()
### @cond
## Pings the PiStorms for reliable I2C communication
# @param self The object pointer.
def ping(self):
self.psc.ping()
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 04-11-16 Deepak Troubleshooting program
import time
from PiStormsCom import PiStormsCom
print ""
print "Running program 5 times, press Ctrl-C to terminate"
print ""
psm_comm = PiStormsCom()
exit = False
a = 0
while (a < 5):
voltVal = psm_comm.battVoltage()
print "PiStorms voltage: " + str(voltVal)
time.sleep(2)
a = a + 1
import socket,fcntl,struct
def get_ip_address(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
0x8915, # SIOCGIFADDR
struct.pack('256s', ifname[:15])
)[20:24])
from PiStormsCom import PiStormsCom
print "running psm-info.py"
psm_comm = PiStormsCom()
print " Version : "+ str(psm_comm.GetFirmwareVersion() )[:5]
print " Vendor : "+ str(psm_comm.GetVendorName() )
print " Device : "+ str(psm_comm.GetDeviceId() )
print " HostName : " + socket.gethostname()
try:
print " eth0 : " + get_ip_address('eth0')
except:
print " eth0 : not present"
try:
print " wlan0 : "+ get_ip_address('wlan0')
except:
print " wlan0 : not present"
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
#
#mindsensors.com invests time and resources providing this open source code,
#please support mindsensors.com by purchasing products from mindsensors.com!
#Learn more product option visit us @ http://www.mindsensors.com/
#
# History:
# Date Author Comments
# 05/02/16 deepak Initial development
#
# we could also do this instead:
# i2cdump -y -r 0x00-0x04 1 0x1a | grep "^00:" | cut -c 56-60
#
from PiStormsCom import PiStormsCom
comm = PiStormsCom()
import ConfigParser
config = ConfigParser.RawConfigParser()
config.read("/usr/local/mindsensors/conf/msdev.cfg")
if "GRX" in comm.GetDeviceFeatures().upper():
config.set('msdev', 'device', 'PiStorms-GRX')
else:
config.set('msdev', 'device', 'PiStorms')
with open("/usr/local/mindsensors/conf/msdev.cfg", 'wb') as configfile:
config.write(configfile)
class PiStorms:
## Initialize the PiStorms motor and sensor ports
# @param self The object pointer.
# @param name The display title that will appear at the top of the LCD touchscreen.
# @param rotation The rotation of the LCD touchscreen.
# @remark
# There is no need to use this function directly. To initialize the PiStorms class in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# @endcode
def __init__(self, name = "PiStorms", rotation = 3 ):
## An instance of mindsensorsUI.mindsensorsUI representing the PiStorms's touchscreen.
self.screen = mindsensorsUI(name, rotation)
## An instance of PiStormsCom.PiStormsCom.
self.psc = PiStormsCom()
## An instance of PiStormsSensor representing Bank A sensor 1.
self.BAS1 = PiStormsSensor(self.psc.BAS1)
## An instance of PiStormsSensor representing Bank A sensor 2.
self.BAS2 = PiStormsSensor(self.psc.BAS2)
## An instance of PiStormsSensor representing Bank B sensor 1.
self.BBS1 = PiStormsSensor(self.psc.BBS1)
## An instance of PiStormsSensor representing Bank B sensor 2.
self.BBS2 = PiStormsSensor(self.psc.BBS2)
## An instance of PiStormsMotor representing Bank A motor 1.
self.BAM1 = PiStormsMotor(self.psc.BAM1)
## An instance of PiStormsMotor representing Bank A motor 2.
self.BAM2 = PiStormsMotor(self.psc.BAM2)
## An instance of PiStormsMotor representing Bank B motor 1.
self.BBM1 = PiStormsMotor(self.psc.BBM1)
## An instance of PiStormsMotor representing Bank B motor 2.
self.BBM2 = PiStormsMotor(self.psc.BBM2)
self.psc.resetKeyPressCount()
def command (self, cmd, bank):
self.psc.command(cmd, bank)
## Shutdown the Raspberry Pi
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.Shutdown()
# @endcode
def Shutdown(self):
self.psc.Shutdown()
## Returns the input battery voltage
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# volts = psm.battVoltage()
# if(volts > 6):
# # do some task
# @endcode
def battVoltage(self):
return self.psc.battVoltage()
## Returns the PiStorms firmware version
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# fwVersion = psm.GetFirmwareVersion()
# print str(fwVersion)
# @endcode
def GetFirmwareVersion(self):
return self.psc.GetFirmwareVersion()
## Returns the PiStorms vendor name
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# venName = psm.GetVendorName()
# print str(venName)
# @endcode
def GetVendorName(self):
return self.psc.GetVendorName()
## Returns the PiStorms device ID
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# devID = psm.GetDeviceId()
# print str(devID)
# @endcode
def GetDeviceId(self):
return self.psc.GetDeviceId()
## Writes to the specified RGB LED
# @param self The object pointer.
# @param lednum The number to specify the LED (1 for BankA, 2 for BankB).
# @param red The red value to write to the specified LED (0-255).
# @param green The green value to write to the specified LED (0-255).
# @param blue The blue value to write to the specified LED (0-255).
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.led(1,255,0,0)
# @endcode
def led(self,lednum,red,green,blue):
return self.psc.led(lednum,red,green,blue)
## Check if the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isKeyPressed()
# if(key == True):
# # do some task
# @endcode
def isKeyPressed(self):
return self.psc.isKeyPressed()
## Wait until the GO button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# psm.screen.termPrintln("Press GO to continue...")
# psm.waitForKeyPress()
# @endcode
def waitForKeyPress(self):
self.untilKeyPress(functools.partial(time.sleep, 0.01))
## Repeat an action until the GO button is pressed
# @param self The object pointer.
# @param func The function to be called repeatedly
# @param args Positional arguments to be passed to func
# @param kwargs Keyword arguments to be passed to func
# @warning Beware of scope issues! In Python, functions introduce a new scope.
# You might have to use the keyword "global" to achieve your intended behavior.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilKeyPress(mainLoop)
# @endcode
def untilKeyPress(self, func, *args, **kwargs):
initialKeyPressCount = self.getKeyPressCount()
while self.getKeyPressCount() == initialKeyPressCount:
func(*args, **kwargs)
## Repeat an action until the GO button is pressed
# or the screen is touched
# @param self The object pointer.
# @param func The function to be called repeatedly
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilKeyPressOrTouch(mainLoop)
# @endcode
def untilKeyPressOrTouch(self, func, *args, **kwargs):
initialKeyPressCount = self.getKeyPressCount()
while self.getKeyPressCount() == initialKeyPressCount and not self.screen.isTouched():
func(*args, **kwargs)
## Repeat an action until the touchscreen is touched
# @param self The object pointer.
# @param func The function to be called repeatedly
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
#
# def mainLoop():
# psm.screen.termPrintln(psm.battVoltage())
#
# psm.untilTouch(mainLoop)
# @endcode
def untilTouch(self, func, *args, **kwargs):
while not self.screen.isTouched():
func(*args, **kwargs)
## Check if any Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.getKeyValue()
# if(key == 40):
# # (40 is F4), do some task
# @endcode
def getKeyPressValue(self):
return self.psc.getKeyPressValue()
## Check if F1 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF1Pressed()
# if(key == True):
# # F1 is pressed, do some task
# @endcode
def isF1Pressed(self):
return (self.psc.getKeyPressValue() == 8)
## Check if F2 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF2Pressed()
# if(key == True):
# # F2 is pressed, do some task
# @endcode
def isF2Pressed(self):
return (self.psc.getKeyPressValue() == 16)
## Check if F3 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF3Pressed()
# if(key == True):
# # F3 is pressed, do some task
# @endcode
def isF3Pressed(self):
return (self.psc.getKeyPressValue() == 24)
## Check if F4 Function button is pressed
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# key = psm.isF4Pressed()
# if(key == True):
# # F4 is pressed, do some task
# @endcode
def isF4Pressed(self):
return (self.psc.getKeyPressValue() == 40)
## Returns the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# keyCount = psm.getKeyPressCount()
# if(keyCount == 5):
# # do some task
# @endcode
def getKeyPressCount(self):
return self.psc.getKeyPressCount()
## Resets the GO button press count
# @param self The object pointer.
# @remark
# To use this function in your program:
# @code
# from PiStorms import PiStorms
# ...
# psm = PiStorms()
# resetKeyPressCount()
# @endcode
def resetKeyPressCount(self):
self.psc.resetKeyPressCount()
### @cond
## Pings the PiStorms for reliable I2C communication
# @param self The object pointer.
def ping(self):
self.psc.ping()
