def cleanup(signum, frame):
"""
Signal handler to ensure we disconnect cleanly
in the event of a SIGTERM or SIGINT.
"""
# Cleanup modules
MQTT.cleanup()
lcd.clear()
# Exit from application
print "LCD daemon stopped"
sys.exit(signum)
def cleanup(signum, frame):
"""
Signal handler to ensure we disconnect cleanly
in the event of a SIGTERM or SIGINT.
"""
# Cleanup modules
logging.debug("Clean up modules")
move.cleanup()
VSS.cleanup()
MQTT.cleanup()
# Exit from application
logging.info("Exiting on signal %d" % (signum))
sys.exit(signum)
def cleanup(signum, frame):
"""
Signal handler to ensure we disconnect cleanly
in the event of a SIGTERM or SIGINT.
"""
# Cleanup modules
logging.debug("Clean up modules")
move.cleanup()
VSS.cleanup()
MQTT.cleanup()
# Exit from application
logging.info("Exiting on signal %d" % (signum))
sys.exit(signum)
#!/usr/bin/python
__author__ = 'Bernd Gewehr'
import time
import lib_mqtt as MQTT
from lib_hmc5883l import hmc5883l
import os
DEBUG = False
if __name__ == '__main__':
os.nice(10)
try:
MQTT.init()
while True:
time.sleep(0.1)
compass = hmc5883l(gauss = 4.7, declination = (1,36))
if DEBUG:
print ("\rHeading: " + str(compass.heading()))
MQTT.mqttc.publish("/RPiMower/Compass", str(compass.heading()))
# interrupt
except KeyboardInterrupt:
print("Programm interrupted")
MQTT.cleanup()
sys.exit(2)
elif (hue > 160) and (hue <= 250):
colour = "blue"
else:
colour = "red"
if DEBUG:
print rgb, hue, std, mean, colour
return colour
if __name__ == '__main__':
# os.nice(10)
try:
MQTT.init()
while True:
with picamera.PiCamera() as camera:
with picamera.array.PiRGBArray(camera) as stream:
camera.start_preview()
camera.resolution = (100, 100)
for foo in camera.capture_continuous(stream, 'rgb', use_video_port=False, resize=None, splitter_port=0, burst=True):
stream.truncate()
stream.seek(0)
RGBavg = stream.array.mean(axis=0).mean(axis=0)
colour = get_colour_name(RGBavg)
MQTT.mqttc.publish("/RPiMower/Ground_Colour", colour)
# interrupt
except KeyboardInterrupt:
print("Programm interrupted")
camera.stop_preview()
MQTT.cleanup()
sys.exit(2)
