def __init__(self):
super(Rail, self).__init__(self.state_sorting_position)
self.is_moving_val = False
self.current_position = self.WAIT_FOR_SORTING_POSITION;
self.stepper = Stepper(**devices["stepper_rail"])
self.switch_home = Switch(devices["rail"]["switch_home"])
self.switch_away = Switch(devices["rail"]["switch_away"])
def __init__(self):
print "[Camion.__init__]"
self.config = config.devices[self.CAMION_FOOT_CONFIG_ID]
self.stepper = Stepper(**config.devices[self.FOOT_STEPPER_ID])
self.down_switch = Switch(**config.devices[self.FOOT_DOWN_SWITCH_ID])
self.up_switch = Switch(**config.devices[self.FOOT_UP_SWITCH_ID])
self.__last_time_foot_was_brought_up = None
def __init__(self):
print "[Camion.__init__]"
self.foot = CamionFoot()
config.devices[self.COLLECTOR_SWITCH_ID]["detect_edges"] = GPIO.BOTH
self.collector_switch = Switch(**config.devices[self.COLLECTOR_SWITCH_ID]) #used by the truck to know when he have to drop the foot
config.devices[self.PLACE_IN_POSITION_SWITCH_ID]["detect_edges"] = GPIO.RISING
self.in_position_switch = Switch(**config.devices[self.PLACE_IN_POSITION_SWITCH_ID])
self.rf_receiver = RFReceiver(**config.devices[self.RF_SWITCH])
self.safe_lift_foot = None
class Camion:
PLACE_IN_POSITION_SWITCH_ID = "camion_in_position_switch"
COLLECTOR_SWITCH_ID = "camion_collector_switch"
RF_SWITCH = "camion_rf_switch"
WATCH_FOOT_TIMEOUT = 60
def __init__(self):
print "[Camion.__init__]"
self.foot = CamionFoot()
config.devices[self.COLLECTOR_SWITCH_ID]["detect_edges"] = GPIO.BOTH
self.collector_switch = Switch(**config.devices[self.COLLECTOR_SWITCH_ID]) #used by the truck to know when he have to drop the foot
config.devices[self.PLACE_IN_POSITION_SWITCH_ID]["detect_edges"] = GPIO.RISING
self.in_position_switch = Switch(**config.devices[self.PLACE_IN_POSITION_SWITCH_ID])
self.rf_receiver = RFReceiver(**config.devices[self.RF_SWITCH])
self.safe_lift_foot = None
def activate_bindings(self):
self.collector_switch.bind_rising_edge(self.drop_foot_safe)
self.collector_switch.bind_falling_edge(self.bring_foot_up_safe)
def stop(self):
print "[Camion.stop] Stop camion"
self.is_running = False
self.foot.stop()
PWM.cleanup()
def force_stop(self):
self.stop()
sys.exit(0);
def listen_stop_signal(self):
time.sleep(60*14)
self.rf_receiver.reset()
self.rf_receiver.wait_for_signal()
self.is_running = False
self.bring_foot_up_safe() #Remonter le pied a la fin
def run(self):
self.is_running = True
print "[Camion.run] Put camion down and wait for go_to_start_position signal"
self.put_in_initial_position()
print "[Camion.run] Start camion - waiting for signal"
self.rf_receiver.wait_for_signal()
print "[Camion.run] Signal received"
# Removed because of other teams tests.
stop_listener = threading.Thread(target=self.listen_stop_signal)
stop_listener.start()
self.activate_bindings(); #Activate the home switch bindings
print "[Camion.run] Camion started"
self.put_in_start_position();
while self.is_running:
time.sleep(0.01)
print "[Camion.run] Camion stopped"
def put_in_initial_position(self):
"""Wait to put in position signal here"""
print "[Camion.put_in_waiting_for_signal_position] Waiting for start switch"
self.in_position_switch.wait_pressed()
self.foot.go_to_initial_position()
def set_received_rf(self):
self.rf_received = True
def put_in_start_position(self):
self.foot.put_in_start_position()
def drop_foot(self):
self.foot.drop()
def bring_foot_up(self):
self.foot.bring_up()
def drop_foot_safe(self):
self.foot.drop()
self.safe_lift_foot = threading.Thread(target=self.__watch_foot_timeout)
self.safe_lift_foot.is_running = True
self.safe_lift_foot.start()
def bring_foot_up_safe(self):
if self.safe_lift_foot:
self.safe_lift_foot.is_running = False
self.foot.bring_up()
def __watch_foot_timeout(self):
start_time = time.time()
while self.safe_lift_foot.is_running and start_time + self.WATCH_FOOT_TIMEOUT > time.time():
time.sleep(0.25)
if self.safe_lift_foot.is_running:
self.bring_foot_up_safe()
class Rail(Component):
LEFT = 1
RIGHT = 0
AWAY_POSITION = 0
HOME_POSITION = 16700 /2
WAIT_FOR_SORTING_POSITION = HOME_POSITION - (600/2)
def __init__(self):
super(Rail, self).__init__(self.state_sorting_position)
self.is_moving_val = False
self.current_position = self.WAIT_FOR_SORTING_POSITION;
self.stepper = Stepper(**devices["stepper_rail"])
self.switch_home = Switch(devices["rail"]["switch_home"])
self.switch_away = Switch(devices["rail"]["switch_away"])
def stop(self):
print "[Rail.stop] Stop stepper rail"
self.stepper.stop();
def go_to_position(self, destination, stop_condition = None):
self.is_moving_val = True
steps = destination - self.current_position
print "steps %d" % steps
if steps == 0:
return 0
direction = max(0,min(steps, 1)) #0 when going to away, 1 when going to home
print "move of %d to %d" % (abs(steps), direction)
self.stepper.move(direction,abs(steps), stop_condition)
return abs(steps)
def slide_to_home(self):
self.is_moving_val = True
self.set_state( self.state_slide_to_home );
def slide_to_wait_for_sorting_position(self):
self.is_moving_val = True
self.set_state( self.state_slide_to_wait_for_sorting_position );
def slide_to_away(self):
self.is_moving_val = True
self.set_state( self.state_slide_to_away );
def state_sorting_position(self):
self.is_moving_val = False
yield self.state_sorting_position
def state_home(self):
self.is_moving_val = False
yield self.state_home
def state_away(self):
self.is_moving_val = False
yield self.state_away
def state_slide_to_home(self):
if not self.is_home():
distance = self.go_to_position(self.HOME_POSITION, self.is_home)
self.current_position = self.HOME_POSITION
while self.stepper.is_moving():
yield
else:
self.current_position = self.HOME_POSITION
yield self.state_check_homing
def state_slide_to_wait_for_sorting_position(self):
distance = self.go_to_position(self.WAIT_FOR_SORTING_POSITION)
self.current_position = self.WAIT_FOR_SORTING_POSITION # no validation possible...
while self.stepper.is_moving():
yield
yield self.state_sorting_position
def state_slide_to_away(self):
if not self.is_away():
distance = self.go_to_position(self.AWAY_POSITION, self.is_away)
self.current_position = self.AWAY_POSITION
while self.stepper.is_moving():
yield
else:
self.current_position = self.AWAY_POSITION
yield self.state_check_away
def state_check_away(self):
while not self.is_away():
self.stepper.move(self.RIGHT, self.HOME_POSITION, self.is_away)
while self.stepper.is_moving():
yield
yield self.state_away
def state_check_homing(self):
while not self.is_home():
self.stepper.move(self.LEFT, self.HOME_POSITION, self.is_home)
while self.stepper.is_moving():
yield
yield self.state_home
def is_home(self):
return self.switch_home.is_pressed()
def is_away(self):
return self.switch_away.is_pressed()
def is_moving(self):
return self.is_moving_val
class CamionFoot:
CAMION_FOOT_CONFIG_ID = "camion_foot"
FOOT_UP_SWITCH_ID = "camion_foot_up_switch"
FOOT_DOWN_SWITCH_ID = "camion_foot_down_switch"
FOOT_STEPPER_ID = "camion_stepper"
DROP_FOOT_DIRECTION = 1
LIFT_FOOT_DIRECTION = 0
__TIMEOUT_PROTECTION_INTERFERENCE = 2.0
def __init__(self):
print "[Camion.__init__]"
self.config = config.devices[self.CAMION_FOOT_CONFIG_ID]
self.stepper = Stepper(**config.devices[self.FOOT_STEPPER_ID])
self.down_switch = Switch(**config.devices[self.FOOT_DOWN_SWITCH_ID])
self.up_switch = Switch(**config.devices[self.FOOT_UP_SWITCH_ID])
self.__last_time_foot_was_brought_up = None
def stop(self):
print "[CamionFoot.stop] Stop foot"
self.stepper.stop()
def go_to_initial_position(self):
print "[CamionFoot.go_to_initial_position] Drop foot then go up a li' bit more"
self.drop()
print "[CamionFoot.go_to_initial_position] A lil' bit more.."
self.stepper.move(self.DROP_FOOT_DIRECTION, self.config["stepper_start_position_ticks"])
while self.stepper.is_moving():
time.sleep(0.01)
def put_in_start_position(self):
print "[CamionFoot.put_in_start_position]"
#Drop camion. Foot on floor so bring it up more than you need to so the switch on the collector is activated.
self.stepper.move(self.LIFT_FOOT_DIRECTION, 2*self.config["stepper_start_position_ticks"])
while self.stepper.is_moving():
time.sleep(0.01)
time.sleep(1)
self.drop() # Make sure the foot touch the ground
def drop(self):
print "[CamionFoot.drop]"
#Bring it up till it's done!
__protection_interference = self.__last_time_foot_was_brought_up
if __protection_interference and __protection_interference + self.__TIMEOUT_PROTECTION_INTERFERENCE > time.time():
return #Ignorer ce drop
while not self.down_switch.is_pressed():
self.stepper.move(self.DROP_FOOT_DIRECTION, self.config["stepper_complete_ticks"], self.down_switch.is_pressed)
while self.stepper.is_moving():
time.sleep(0.01) #It's ok, only component on the truck
time.sleep(0.01)
def bring_up(self):
print "[CamionFoot.bring_up]"
#Bring it up till it's done!
while not self.up_switch.is_pressed():
self.stepper.move(self.LIFT_FOOT_DIRECTION, self.config["stepper_complete_ticks"], self.up_switch.is_pressed)
while self.stepper.is_moving():
time.sleep(0.01) #It's ok, only component on the truck
time.sleep(0.01)
self.__last_time_foot_was_brought_up = time.time()
