#!/usr/bin/env python3
import sys
from spotmicroai.utilities.log import Logger
import multiprocessing
from spotmicroai.motion_controller.motion_controller import MotionController
from spotmicroai.abort_controller.abort_controller import AbortController
from spotmicroai.lcd_screen_controller.lcd_screen_controller import LCDScreenController
from spotmicroai.remote_controller.remote_controller import RemoteControllerController
log = Logger().setup_logger()
def process_abort_controller(communication_queues):
abort = AbortController(communication_queues)
abort.do_process_events_from_queue()
def process_motion_controller(communication_queues):
motion = MotionController(communication_queues)
motion.do_process_events_from_queues()
def process_remote_controller_controller(communication_queues):
remote_controller = RemoteControllerController(communication_queues)
remote_controller.do_process_events_from_queues()
import signal
import RPi.GPIO as GPIO
import sys
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
import spotmicroai.utilities.queues as queues
log = Logger().setup_logger('Abort controller')
class AbortController:
gpio_port = None
def __init__(self, communication_queues):
try:
log.debug('Starting controller...')
signal.signal(signal.SIGINT, self.exit_gracefully)
signal.signal(signal.SIGTERM, self.exit_gracefully)
self.gpio_port = Config().get(Config.ABORT_CONTROLLER_GPIO_PORT)
GPIO.setmode(GPIO.BCM)
GPIO.setup(self.gpio_port, GPIO.OUT)
self._abort_queue = communication_queues[queues.ABORT_CONTROLLER]
self._lcd_screen_queue = communication_queues[queues.LCD_SCREEN_CONTROLLER]
self.abort()
import os
from spotmicroai.utilities.log import Logger
log = Logger().setup_logger('System')
class Singleton(type):
_instances = {}
def __call__(cls, *args, **kwargs):
if cls not in cls._instances:
cls._instances[cls] = super(Singleton,
cls).__call__(*args, **kwargs)
return cls._instances[cls]
class System(metaclass=Singleton):
def __init__(self):
try:
log.debug('Loading system...')
except Exception as e:
log.error('Problem while loading the configuration file', e)
def temperature(self):
try:
temp = os.popen("vcgencmd measure_temp").readline()
# log.debug("System temperature: " + temp.replace("temp=", "")[:-5])
return temp.replace("temp=", "")[:-5]
except:
#!/home/pi/spotmicroai/venv/bin/python3 -u
from spotmicroai.lcd_screen_controller import LCD_16x2_I2C_driver
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
import time
log = Logger().setup_logger('Test LCD Screen')
log.info('Testing LCD screen...')
i2c_address = Config().get('lcd_screen_controller[0].lcd_screen[0].address')
log.info('Use the command "i2cdetect -y 1" to list your i2c devices connected and')
log.info('write your lcd screen i2c address in your configuration file ~/spotmicroai.json')
log.info('Current configuration value is: ' + str(i2c_address))
input("Press Enter to start the tests...")
lcd_screen = LCD_16x2_I2C_driver.lcd(address=int(i2c_address, 0))
def test_0():
log.info('Test0')
lcd_screen.lcd_clear()
lcd_screen.backlight(0)
time.sleep(1)
lcd_screen.backlight(1)
time.sleep(1)
import json
import sys
import os
from spotmicroai.utilities.log import Logger
import jmespath # http://jmespath.org/tutorial.html
import shutil
from pathlib import Path
log = Logger().setup_logger('Configuration')
class Singleton(type):
_instances = {}
def __call__(cls, *args, **kwargs):
if cls not in cls._instances:
cls._instances[cls] = super(Singleton, cls).__call__(*args, **kwargs)
return cls._instances[cls]
class Config(metaclass=Singleton):
ABORT_CONTROLLER_GPIO_PORT = 'abort_controller[0].gpio_port'
LCD_SCREEN_CONTROLLER_I2C_ADDRESS = 'lcd_screen_controller[0].lcd_screen[0].address'
REMOTE_CONTROLLER_CONTROLLER_DEVICE = 'remote_controller_controller[0].remote_controller[0].device'
MOTION_CONTROLLER_BOARDS_PCA9685_1_ADDRESS = 'motion_controller[*].boards[*].pca9685_1[*].address | [0] | [0] | [0]'
MOTION_CONTROLLER_BOARDS_PCA9685_1_REFERENCE_CLOCK_SPEED = 'motion_controller[*].boards[*].pca9685_1[*].reference_clock_speed | [0] | [0] | [0]'
MOTION_CONTROLLER_BOARDS_PCA9685_1_FREQUENCY = 'motion_controller[*].boards[*].pca9685_1[*].frequency | [0] | [0] | [0]'
MOTION_CONTROLLER_BOARDS_PCA9685_2_ADDRESS = 'motion_controller[*].boards[*].pca9685_2[*].address | [0] | [0] | [0]'
MOTION_CONTROLLER_BOARDS_PCA9685_2_REFERENCE_CLOCK_SPEED = 'motion_controller[*].boards[*].pca9685_2[*].reference_clock_speed | [0] | [0] | [0]'
MOTION_CONTROLLER_BOARDS_PCA9685_2_FREQUENCY = 'motion_controller[*].boards[*].pca9685_2[*].frequency | [0] | [0] | [0]'
#!/home/pi/spotmicroai/venv/bin/python3 -u
# Released by rdb under the Unlicense (unlicense.org)
# Based on information from:
# https://www.kernel.org/doc/Documentation/input/joystick-api.txt
import os, struct, array
from fcntl import ioctl
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
log = Logger().setup_logger('Testing remote controller')
# Iterate over the joystick devices.
print('Available devices:')
for fn in os.listdir('/dev/input'):
if fn.startswith('js'):
log.info((' /dev/input/%s' % (fn)))
# We'll store the states here.
axis_states = {}
button_states = {}
# These constants were borrowed from linux/input.h
axis_names = {
0x00: 'x',
0x01: 'y',
0x02: 'z',
0x03: 'rx',
#!/home/pi/spotmicroai/venv/bin/python3 -u
import busio
from board import SCL, SDA
from adafruit_pca9685 import PCA9685
from adafruit_motor import servo
from pick import pick
import time
import os
import sys
import RPi.GPIO as GPIO
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
log = Logger().setup_logger('CALIBRATE SERVOS')
log.info('Calibrate rest position...')
pca = None
gpio_port = Config().get(Config.ABORT_CONTROLLER_GPIO_PORT)
GPIO.setmode(GPIO.BCM)
GPIO.setup(gpio_port, GPIO.OUT)
GPIO.output(gpio_port, False)
i2c = busio.I2C(SCL, SDA)
while True:
options = {
import signal
import sys
import time
import queue
from spotmicroai.utilities.log import Logger
from spotmicroai.lcd_screen_controller import LCD_16x2_I2C_driver
from spotmicroai.utilities.config import Config
from spotmicroai.utilities.system import System
import spotmicroai.utilities.queues as queues
log = Logger().setup_logger('LCD Screen controller')
class LCDScreenController:
is_alive = False
lcd_screen_controller = None
abort_controller = None
remote_controller_controller = None
motion_controller_1 = None
motion_controller_2 = None
def __init__(self, communication_queues):
try:
log.debug('Starting controller...')
signal.signal(signal.SIGINT, self.exit_gracefully)
signal.signal(signal.SIGTERM, self.exit_gracefully)
#!/home/pi/spotmicroai/venv/bin/python3 -u
import busio
from board import SCL, SDA
from adafruit_pca9685 import PCA9685
from adafruit_motor import servo
import time
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
import RPi.GPIO as GPIO
log = Logger().setup_logger('Test Motion')
log.info('Testing Motion...')
pca9685_1_address = int(
Config().get(
'motion_controller[*].boards[*].pca9685_1[*].address | [0] | [0] | [0]'
), 0)
pca9685_1_reference_clock_speed = int(Config().get(
'motion_controller[*].boards[*].pca9685_1[*].reference_clock_speed | [0] | [0] | [0]'
))
pca9685_1_frequency = int(Config().get(
'motion_controller[*].boards[*].pca9685_1[*].frequency | [0] | [0] | [0]'))
boards = 1
try:
pca9685_2_address = int(
Config().get(
#!/home/pi/spotmicroai/venv/bin/python3 -u
import RPi.GPIO as GPIO
import time
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
log = Logger().setup_logger('Test Abort')
log.info('Testing abort mechanism...')
gpio_port = Config().get('abort_controller[0].gpio_port')
log.info(
'Make sure you have connected your GPIO pin to the 0E port in the PCA9685 boards'
)
log.info('GPIO information for RaspberryPi can be found here: ')
log.info(' https://www.raspberrypi.org/documentation/usage/gpio/')
log.info('Current configuration value is: ' + str(gpio_port))
input("Press Enter to start the tests...")
try:
GPIO.setmode(GPIO.BCM)
GPIO.setup(gpio_port, GPIO.OUT)
GPIO.cleanup()
GPIO.output(gpio_port, True)
time.sleep(2)
import time
import os
import struct
import array
from fcntl import ioctl
import signal
import sys
from spotmicroai.utilities.log import Logger
from spotmicroai.utilities.config import Config
import spotmicroai.utilities.queues as queues
log = Logger().setup_logger('Remote controller')
class RemoteControllerController:
def __init__(self, communication_queues):
try:
log.debug('Starting controller...')
signal.signal(signal.SIGINT, self.exit_gracefully)
signal.signal(signal.SIGTERM, self.exit_gracefully)
# We'll store the states here.
self.connected_device = False
self.axis_states = {}
self.button_states = {}
self.button_map = []
self.axis_map = []
self.jsdev = None