def on_start():
'''
This will execute when system starts
Do not execute long running stuff here, do it in on_loop...
'''
# Startup message
steelsquid_utils.shout("Steelsquid Irrbloss start")
if SETTINGS.control == 1:
co = "Radio"
elif SETTINGS.control == 2:
co = "WIFI"
elif SETTINGS.control == 3:
co = "3G/4G"
else:
co = "Not saved"
steelsquid_utils.shout("Control: " + co + "\n" + "Control IP: " +
SETTINGS.control_ip + "\n" +
"Video stream IP: " + SETTINGS.video_ip + "\n" +
"Audio stream IP: " + SETTINGS.audio_ip + "\n" +
"Resolution: " + SETTINGS.width + "x" +
SETTINGS.height + "\n" + "FPS: " +
SETTINGS.fps + "\n")
# Set the on OK and ERROR callback methods...they just flash some LED
steelsquid_utils.on_ok_callback_method = UTILS.on_ok
steelsquid_utils.on_err_callback_method = UTILS.on_err
# Enable network by default
try:
steelsquid_nm.set_network_status(True)
except:
pass
# Enable and disable networkcards
UTILS.set_net_status(SETTINGS.control)
# Reset some GPIO
IO.OUTPUT.sum_flash()
IO.UNITS.headlight(False)
IO.UNITS.highbeam(False)
IO.UNITS.siren(False)
IO.UNITS.speeker(True)
IO.OUTPUT.mood(0)
# Way ???
steelsquid_pi.gpio_set(26, True)
# Max volume
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(
["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"],
wait_for_finish=True)
# Center camera
IO.UNITS.camera(0, STATIC.servo_position_tilt_start, False)
# Setup gstreamer
steelsquid_gstreamer.setup_camera_mic(SETTINGS.video_ip, 6607,
SETTINGS.audio_ip, 6608,
SETTINGS.width, SETTINGS.height,
SETTINGS.fps, SETTINGS.bitrate,
SETTINGS.tcp_video,
SETTINGS.low_light)
def siren(activate=None):
'''
Aktivate the siren and get if it is activated
'''
if activate!=None:
if activate:
steelsquid_pi.gpio_set(17, True);
else:
steelsquid_pi.gpio_set(17, False);
GLOBAL.is_siren_on=activate
return GLOBAL.is_siren_on
def gpio_set(gpio, state, use_piio_pin_nr=True):
'''
Set gpio pin to hight (true) or low (false) on a pin
This is marked with GPIO and GPIO_5V on the PIIO board.
@param gpio: GPIO number (Raspberry GPIO or piio pin nr)
@param state: True/False
@param use_piio_pin_nr: Use PIIO pin nr or Raspberry GPIO nr.
'''
state = steelsquid_utils.to_boolean(state)
if use_piio_pin_nr:
gpio = __convert_to_gpio(gpio)
steelsquid_pi.gpio_set(gpio, state)
def gpio_set(gpio, state, use_piio_pin_nr=True):
'''
Set gpio pin to hight (true) or low (false) on a pin
This is marked with GPIO and GPIO_5V on the PIIO board.
@param gpio: GPIO number (Raspberry GPIO or piio pin nr)
@param state: True/False
@param use_piio_pin_nr: Use PIIO pin nr or Raspberry GPIO nr.
'''
state = steelsquid_utils.to_boolean(state)
if use_piio_pin_nr:
gpio = __convert_to_gpio(gpio)
steelsquid_pi.gpio_set(gpio, state)
def connected(status, dummy=False):
'''
Fire connection lost or not
'''
if not dummy:
if status:
steelsquid_utils.execute_one_time_clean()
UTILS.play("connected.wav")
lmatrix.animate_stop()
else:
UTILS.play("reconnect.wav")
lmatrix.animate_connect(True)
steelsquid_utils.execute_blink("connected_flash_1", not status, DO.connected, (True, True,), 0.04, DO.connected, (False, True,), 2)
else:
steelsquid_pi.gpio_set(16, not status)
steelsquid_pi.po12_digital_out(1, status)
steelsquid_pi.po12_digital_out(2, status)
def on_start():
'''
This will execute when system starts
Do not execute long running stuff here, do it in on_loop...
'''
# Startup message
steelsquid_utils.shout("Steelsquid Irrbloss start")
if SETTINGS.control==1:
co = "Radio"
elif SETTINGS.control==2:
co = "WIFI"
elif SETTINGS.control==3:
co = "3G/4G"
else:
co = "Not saved"
steelsquid_utils.shout("Control: " + co + "\n" + "Control IP: " + SETTINGS.control_ip + "\n" + "Video stream IP: " + SETTINGS.video_ip + "\n" + "Audio stream IP: " + SETTINGS.audio_ip + "\n" + "Resolution: " + SETTINGS.width+"x"+SETTINGS.height+ "\n" + "FPS: " + SETTINGS.fps + "\n")
# Set the on OK and ERROR callback methods...they just flash some LED
steelsquid_utils.on_ok_callback_method=UTILS.on_ok
steelsquid_utils.on_err_callback_method=UTILS.on_err
# Enable network by default
try:
steelsquid_nm.set_network_status(True)
except:
pass
# Enable and disable networkcards
UTILS.set_net_status(SETTINGS.control)
# Reset some GPIO
IO.OUTPUT.sum_flash()
IO.UNITS.headlight(False)
IO.UNITS.highbeam(False)
IO.UNITS.siren(False)
IO.UNITS.speeker(True)
IO.OUTPUT.mood(0)
# Way ???
steelsquid_pi.gpio_set(26, True)
# Max volume
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "unmute"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["amixer", "set", "PCM", "100%"], wait_for_finish=True)
steelsquid_utils.execute_system_command_blind(["alsactl", "store"], wait_for_finish=True)
# Center camera
IO.UNITS.camera(0, STATIC.servo_position_tilt_start, False)
# Setup gstreamer
steelsquid_gstreamer.setup_camera_mic(SETTINGS.video_ip, 6607, SETTINGS.audio_ip, 6608, SETTINGS.width, SETTINGS.height, SETTINGS.fps, SETTINGS.bitrate, SETTINGS.tcp_video, SETTINGS.low_light)
def lamp(activate=None):
'''
Aktivate the lamp and get if it is activated
'''
if activate!=None:
if activate:
steelsquid_pi.gpio_set(22, True);
steelsquid_pi.gpio_set(27, True);
else:
steelsquid_pi.gpio_set(22, False);
steelsquid_pi.gpio_set(27, False);
GLOBAL.is_lamp_on=activate
return GLOBAL.is_lamp_on
def highbeam(status):
'''
Enable highbeam
'''
status = not status
#steelsquid_pi.gpio_set(7, status)
steelsquid_pi.gpio_set(12, status)
steelsquid_pi.gpio_set(25, status)
steelsquid_pi.gpio_set(24, status)
def highbeam(status):
'''
Enable highbeam
'''
status = not status
#steelsquid_pi.gpio_set(7, status)
steelsquid_pi.gpio_set(12, status)
steelsquid_pi.gpio_set(25, status)
steelsquid_pi.gpio_set(24, status)
def _send_command(com):
'''
Send a command to the transiver
'''
# Set the HM-TRLR-S in command mode
steelsquid_pi.gpio_set(config_gpio_, False)
try:
time.sleep(STRANS_SLEEP)
ser.write(com)
ser.write("\n")
ser.flush()
line = ser.readline()
if "ERROR" in line:
if line.split(":")[1]=="0":
raise Exception("The command format is wrong.")
elif line.split(":")[1]=="1":
raise Exception("The parameter is wrong.")
else:
raise Exception("The command is failed. ")
time.sleep(STRANS_SLEEP)
finally:
# Set the HM-TRLR-S in communication mode
steelsquid_pi.gpio_set(config_gpio_, True)
time.sleep(STRANS_SLEEP)
def _send_command(com):
'''
Send a command to the transiver
'''
# Set the HM-TRLR-S in command mode
steelsquid_pi.gpio_set(config_gpio_, False)
try:
time.sleep(STRANS_SLEEP)
ser.write(com)
ser.write("\n")
ser.flush()
line = ser.readline()
if "ERROR" in line:
if line.split(":")[1]=="0":
raise Exception("The command format is wrong.")
elif line.split(":")[1]=="1":
raise Exception("The parameter is wrong.")
else:
raise Exception("The command is failed. ")
time.sleep(STRANS_SLEEP)
finally:
# Set the HM-TRLR-S in communication mode
steelsquid_pi.gpio_set(config_gpio_, True)
time.sleep(STRANS_SLEEP)
def connected(status, dummy=False):
'''
Fire connection lost or not
'''
if not dummy:
if status:
steelsquid_utils.execute_one_time_clean()
UTILS.play("connected.wav")
lmatrix.animate_stop()
else:
UTILS.play("reconnect.wav")
lmatrix.animate_connect(True)
steelsquid_utils.execute_blink("connected_flash_1", not status,
DO.connected, (
True,
True,
), 0.04, DO.connected, (
False,
True,
), 2)
else:
steelsquid_pi.gpio_set(16, not status)
steelsquid_pi.po12_digital_out(1, status)
steelsquid_pi.po12_digital_out(2, status)
def highbeam(status):
'''
highbeam
'''
steelsquid_pi.gpio_set(13, status)
def headlights(status):
'''
headlights
'''
steelsquid_pi.gpio_set(26, status)
def setup(serial_port="/dev/ttyAMA0", config_gpio=25, reset_gpio=23, baudrate=38400, mode=MODE_MEDIUM, timeout_mutipple=1):
'''
Setup the serial interface
serial_port: The serial port (/dev/ttyAMA0, /dev/ttyUSB1...)
config_gpio_: GPIO number to use for setting the device in configuration mode or communication mode
reset_gpio_: GPIO to use to send reset signal
mode: MODE_SLOW = Long range but slow speed
MODE_MEDIUM = Medum range and medium speed
MODE_FAST = Fast speed but short range
timeout_mutipple: mitipply the timeout time on the different modes with this...
MODE_SLOW = 6s * timeout_mutipple
MODE_MEDIUM = 0.5s * timeout_mutipple
MODE_FAST = 0.2s * timeout_mutipple
'''
global ser
global serial_port_
global config_gpio_
global reset_gpio_
global baudrate_
global mode_
serial_port_=serial_port
config_gpio_ = config_gpio
reset_gpio_ = reset_gpio
baudrate_ = baudrate
mode_ = mode
# Create the serial interface
ser = serial.Serial(serial_port, 9600, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=0.5)
time.sleep(STRANS_SLEEP)
# Set reset hight (low will reset the device)
steelsquid_pi.gpio_set(reset_gpio, True)
time.sleep(STRANS_SLEEP)
# Set baudrate
try:
_send_command("AT+SPR=6")
except:
steelsquid_utils.shout("Unable to use default baudrate, trying new boudrate...")
# Create the serial interface with new baudrate
try:
ser.close
except:
pass
if mode==MODE_SLOW:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=7*timeout_mutipple)
elif mode==MODE_MEDIUM:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=0.3*timeout_mutipple)
elif mode==MODE_FAST:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=0.2*timeout_mutipple)
time.sleep(STRANS_SLEEP)
# Set the HM-TRLR-S in communication mode
steelsquid_pi.gpio_set(config_gpio, True)
# Enable CRC
_send_command("AT+LRCRC=1")
# Packagesize
_send_command("AT+LRPL=32")
# Syncworld
_send_command("AT+SYNL=2")
_send_command("AT+SYNW=3412")
# Set mode
if mode==MODE_SLOW:
# Set LoRa
_send_command("AT+MODE=0")
_send_command("AT+LRSBW=6")
_send_command("AT+LRSF=C")
elif mode==MODE_MEDIUM:
# Set LoRa
_send_command("AT+MODE=0")
_send_command("AT+LRSBW=8")
_send_command("AT+LRSF=9")
elif mode==MODE_FAST:
# Set FSK
_send_command("AT+MODE=2")
time.sleep(STRANS_SLEEP)
def headlight(status):
'''
Enable headlights
'''
steelsquid_pi.gpio_set(16, not status)
steelsquid_pi.gpio_set(20, not status)
def speeker(status):
'''
Turn on and off speekers
'''
steelsquid_pi.gpio_set(21, not status)
def headlight(status):
'''
Enable headlights
'''
steelsquid_pi.gpio_set(16, not status)
steelsquid_pi.gpio_set(20, not status)
def video(status):
'''
Is video on
'''
steelsquid_pi.gpio_set(19, status)
def setup(serial_port="/dev/ttyS0", config_gpio=18, reset_gpio=23, baudrate=38400, mode=MODE_MEDIUM_FAST, timeout_mutipple=1):
'''
Setup the serial interface
serial_port: The serial port (/dev/ttyAMA0, /dev/ttyUSB1...)
config_gpio_: GPIO number to use for setting the device in configuration mode or communication mode
reset_gpio_: GPIO to use to send reset signal
mode: MODE_SLOW = Long range but slow speed
MODE_MEDIUM = Medum range and medium speed
MODE_FAST = Fast speed but short range
timeout_mutipple: mitipply the timeout time on the different modes with this...
MODE_SLOW = 6s * timeout_mutipple
MODE_MEDIUM = 0.5s * timeout_mutipple
MODE_FAST = 0.2s * timeout_mutipple
'''
global ser
global serial_port_
global config_gpio_
global reset_gpio_
global baudrate_
global mode_
serial_port_=serial_port
config_gpio_ = config_gpio
reset_gpio_ = reset_gpio
baudrate_ = baudrate
mode_ = mode
# Create the serial interface
ser = serial.Serial(serial_port, 9600, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=1)
time.sleep(STRANS_SLEEP)
# Set reset hight (low will reset the device)
steelsquid_pi.gpio_set(reset_gpio, True)
time.sleep(STRANS_SLEEP)
# Set baudrate
try:
_send_command("AT+SPR=6")
except:
steelsquid_utils.shout("Unable to use default baudrate, trying new boudrate...")
# Create the serial interface with new baudrate
try:
ser.close
except:
pass
if mode==MODE_SLOW:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=7*timeout_mutipple)
elif mode==MODE_MEDIUM or mode==MODE_MEDIUM_FAST:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=1*timeout_mutipple)
elif mode==MODE_FAST:
ser = serial.Serial(serial_port, baudrate, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, writeTimeout=0, dsrdtr=True, timeout=1*timeout_mutipple)
time.sleep(STRANS_SLEEP)
# Set the HM-TRLR-S in communication mode
steelsquid_pi.gpio_set(config_gpio, True)
# Enable CRC
_send_command("AT+LRCRC=1")
# Packagesize
_send_command("AT+LRPL=32")
# Syncworld
_send_command("AT+SYNL=2")
_send_command("AT+SYNW=3412")
# set channel
set_chanel(11)
# Set mode
if mode==MODE_SLOW:
# Set LoRa
_send_command("AT+MODE=0")
_send_command("AT+LRSBW=6")
_send_command("AT+LRSF=C")
elif mode==MODE_MEDIUM:
# Set LoRa
_send_command("AT+MODE=0")
_send_command("AT+LRSBW=8")
_send_command("AT+LRSF=9")
elif mode==MODE_MEDIUM_FAST:
# Set LoRa
_send_command("AT+MODE=0")
_send_command("AT+LRSBW=9")
_send_command("AT+LRSF=7")
elif mode==MODE_FAST:
# Set FSK
_send_command("AT+MODE=2")
time.sleep(STRANS_SLEEP)
def speeker(status):
'''
Turn on and off speekers
'''
steelsquid_pi.gpio_set(21, not status)