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")
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"
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()
