def __init__(self):
super(GroveBoard, self).__init__()
# pin mappings
self.pin_mappings = PinMappings(interrupter_pin=2, uart_bus=0)
if HARDWARE_CONFIG.platform == KNOWN_PLATFORMS.firmata:
addSubplatform(GENERIC_FIRMATA, "/dev/ttyACM0")
self.pin_mappings += 512
self.gps_baud = HARDWARE_CONFIG.gps_baud
self.gps = NMEAGPS(self.pin_mappings.uart_bus, self.gps_baud, -1)
self.interrupter = RFR359F(self.pin_mappings.interrupter_pin)
self.obj_detected_state = False
self.nmea_stream_reader = NMEAStreamReader()
def __init__(self):
super(GroveBoard, self).__init__()
# pin mappings
self.pin_mappings = PinMappings(
interrupter_pin=2,
uart_bus=0
)
if HARDWARE_CONFIG.platform == KNOWN_PLATFORMS.firmata:
addSubplatform(GENERIC_FIRMATA, "/dev/ttyACM0")
self.pin_mappings += 512
self.gps_baud = HARDWARE_CONFIG.gps_baud
self.gps = NMEAGPS(self.pin_mappings.uart_bus, self.gps_baud, -1)
self.interrupter = RFR359F(self.pin_mappings.interrupter_pin)
self.obj_detected_state = False
self.nmea_stream_reader = NMEAStreamReader()
class GroveBoard(Board):
"""
Board class for Grove hardware.
"""
def __init__(self):
super(GroveBoard, self).__init__()
# pin mappings
self.pin_mappings = PinMappings(interrupter_pin=2, uart_bus=0)
if HARDWARE_CONFIG.platform == KNOWN_PLATFORMS.firmata:
addSubplatform(GENERIC_FIRMATA, "/dev/ttyACM0")
self.pin_mappings += 512
self.gps_baud = HARDWARE_CONFIG.gps_baud
self.gps = NMEAGPS(self.pin_mappings.uart_bus, self.gps_baud, -1)
self.interrupter = RFR359F(self.pin_mappings.interrupter_pin)
self.obj_detected_state = False
self.nmea_stream_reader = NMEAStreamReader()
def update_hardware_state(self):
"""
Update hardware state.
"""
# handle gps data
gps_data = self.query_gps()
if gps_data:
for gps_msg in gps_data:
self.trigger_hardware_event(GPS_DATA_RECEIVED, gps_msg)
# handle IR interrupter data
obj_detected = self.detect_object()
if self.obj_detected_state != obj_detected:
if obj_detected:
self.trigger_hardware_event(OBJECT_DETECTED)
self.obj_detected_state = obj_detected
# hardware functions
def query_gps(self):
"""
Query GPS receiver.
"""
print("Running GPS query.")
if self.gps.dataAvailable(5000):
try:
payload = self.gps.readStr(256).decode("utf8", "ignore")
data = self.nmea_stream_reader.next(payload)
except (ParseError, ChecksumError):
print("GPS result: (Error) No Data.")
return None
print("GPS result: {0} messages.".format(len(data)))
return data
else:
print("GPS result: No Data.")
return None
def detect_object(self):
"""
Detect object.
"""
return self.interrupter.objectDetected()
class GroveBoard(Board):
"""
Board class for Grove hardware.
"""
def __init__(self):
super(GroveBoard, self).__init__()
# pin mappings
self.pin_mappings = PinMappings(
interrupter_pin=2,
uart_bus=0
)
if HARDWARE_CONFIG.platform == KNOWN_PLATFORMS.firmata:
addSubplatform(GENERIC_FIRMATA, "/dev/ttyACM0")
self.pin_mappings += 512
self.gps_baud = HARDWARE_CONFIG.gps_baud
self.gps = NMEAGPS(self.pin_mappings.uart_bus, self.gps_baud, -1)
self.interrupter = RFR359F(self.pin_mappings.interrupter_pin)
self.obj_detected_state = False
self.nmea_stream_reader = NMEAStreamReader()
def update_hardware_state(self):
"""
Update hardware state.
"""
# handle gps data
gps_data = self.query_gps()
if gps_data:
for gps_msg in gps_data:
self.trigger_hardware_event(GPS_DATA_RECEIVED, gps_msg)
# handle IR interrupter data
obj_detected = self.detect_object()
if self.obj_detected_state != obj_detected:
if obj_detected:
self.trigger_hardware_event(OBJECT_DETECTED)
self.obj_detected_state = obj_detected
# hardware functions
def query_gps(self):
"""
Query GPS receiver.
"""
print("Running GPS query.")
if self.gps.dataAvailable(5000):
try:
payload = self.gps.readStr(256).decode("utf8", "ignore")
data = self.nmea_stream_reader.next(payload)
except (ParseError, ChecksumError):
print("GPS result: (Error) No Data.")
return None
print("GPS result: {0} messages.".format(len(data)))
return data
else:
print("GPS result: No Data.")
return None
def detect_object(self):
"""
Detect object.
"""
return self.interrupter.objectDetected()
