def closeDevices():
devices = [k for k in DEVICES.keys()]
for name in devices:
device = DEVICES[name]["device"]
logger.debug("Closing device %s - %s" % (name, device))
del DEVICES[name]
device.close()
def __calculateMillimeter__(self, raw_proximity_counts):
# According to chip spec the proximity counts are strong non-linear with distance and cannot be calculated
# with a direct formula. From experience found on web this chip is generally not suited for really exact
# distance calculations. This is a rough distance estimation lookup table for now. Maybe someone can
# provide a more exact approximation in the future.
debug("VCNL4000: prox real raw counts = %d" % (raw_proximity_counts))
if raw_proximity_counts >= 10000:
estimated_distance = 0
elif raw_proximity_counts >= 3000:
estimated_distance = 5
elif raw_proximity_counts >= 900:
estimated_distance = 10
elif raw_proximity_counts >= 300:
estimated_distance = 20
elif raw_proximity_counts >= 150:
estimated_distance = 30
elif raw_proximity_counts >= 75:
estimated_distance = 40
elif raw_proximity_counts >= 50:
estimated_distance = 50
elif raw_proximity_counts >= 25:
estimated_distance = 70
else:
estimated_distance = 100
return estimated_distance
def setup(self):
for g in self.gpio_setup:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def __calculateMillimeter__(self, raw_proximity_counts):
# According to chip spec the proximity counts are strong non-linear with distance and cannot be calculated
# with a direct formula. From experience found on web this chip is generally not suited for really exact
# distance calculations. This is a rough distance estimation lookup table for now. Maybe someone can
# provide a more exact approximation in the future.
debug ("VCNL4000: prox real raw counts = %d" % (raw_proximity_counts))
if raw_proximity_counts >= 10000:
estimated_distance = 0
elif raw_proximity_counts >= 3000:
estimated_distance = 5
elif raw_proximity_counts >= 900:
estimated_distance = 10
elif raw_proximity_counts >= 300:
estimated_distance = 20
elif raw_proximity_counts >= 150:
estimated_distance = 30
elif raw_proximity_counts >= 75:
estimated_distance = 40
elif raw_proximity_counts >= 50:
estimated_distance = 50
elif raw_proximity_counts >= 25:
estimated_distance = 70
else:
estimated_distance = 100
return estimated_distance
def __setCurrent__(self):
if not self.current in range(0, 201):
raise ValueError("%d mA LED current out of range [%d..%d] mA" %
(self.current, 0, 201))
self.writeRegister(self.REG_IR_LED_CURRENT, int(self.current / 10))
debug("VCNL4000: new curr = %d" %
(self.readRegister(self.REG_IR_LED_CURRENT)))
def _disconnect(self):
debug("Disconnect from port = %s" % self.ser.port)
if self.ser.port != "":
# Turn the green led off
self.ser.write(("SET PE15 0\r").encode('ascii'))
self.ser.close()
self.ser.port = ""
def close(self):
for g in self.gpio_reset:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def __readProximityCounts__(self):
self.writeRegister(self.REG_COMMAND, self.VAL_START_PROX)
while not (self.readRegister(self.REG_COMMAND) & self.MASK_PROX_READY):
time.sleep(0.001)
proximity_bytes = self.readRegisters(self.REG_PROX_RESULT_HIGH, 2)
debug ("VCNL4000: prox raw value = %d" % (proximity_bytes[0] << 8 | proximity_bytes[1]))
return (proximity_bytes[0] << 8 | proximity_bytes[1])
def closeDevices():
devices = [k for k in DEVICES.keys()]
for name in devices:
device = DEVICES[name]["device"]
logger.debug("Closing device %s - %s" % (name, device))
del DEVICES[name]
device.close()
def close(self):
for g in self.gpio_reset:
gpio = g["gpio"]
debug("Reset GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def setup(self):
for g in self.gpio_setup:
gpio = g["gpio"]
debug("Setup GPIO %d" % gpio)
GPIO.setFunction(gpio, g["func"])
if g["value"] >= 0 and GPIO.getFunction(gpio) == GPIO.OUT:
GPIO.digitalWrite(gpio, g["value"])
def __readProximityCounts__(self):
self.writeRegister(self.REG_COMMAND, self.VAL_START_PROX)
while not (self.readRegister(self.REG_COMMAND) & self.MASK_PROX_READY):
time.sleep(0.001)
proximity_bytes = self.readRegisters(self.REG_PROX_RESULT_HIGH, 2)
debug("VCNL4000: prox raw value = %d" %
(proximity_bytes[0] << 8 | proximity_bytes[1]))
return (proximity_bytes[0] << 8 | proximity_bytes[1])
def setfunction(self, channel, function):
if self._connect() == -1:
return -1
out = self._write("INIT %s SET %s NO" %
(channel, getStrFromFunction(function)))
time.sleep(1)
while self.ser.inWaiting() > 0:
out += self.ser.read(1).decode('ascii')
if out.startswith("*KO*"):
debug("READ GPIOX KO : %s" % out)
#Raise an error
self._disconnect()
def __setFrequency__(self):
if not self.frequency in [391, 781, 1563, 3125]:
raise ValueError("Frequency %d out of range [%d,%d,%d,,%d]" % (self.frequency, 391, 781, 1563, 3125))
if self.frequency == 391:
bits_frequency = self.VAL_PR_FREQ_390K625HZ
elif self.frequency == 781:
bits_frequency = self.VAL_PR_FREQ_781K25HZ
elif self.frequency == 1563:
bits_frequency = self.VAL_PR_FREQ_1M5625HZ
elif self.frequency == 3125:
bits_frequency = self.VAL_PR_FREQ_3M125HZ
self.writeRegister(self.REG_PROX_FREQUENCY, bits_frequency)
debug ("VCNL4000: new freq = %d" % (self.readRegister(self.REG_PROX_FREQUENCY)))
def read(self, channel):
out = ''
debug("read gpio %s" % channel)
out = self._write("GET %s" % channel)
value = -1
if out.startswith("*OK*"):
value = int(out.split(":")[1])
elif out.startswith("*KO*"):
debug("READ GPIOX KO : %s" % out)
#Raise an error
return value
def trigger(self, channel, value, timems):
out = self._write("SET %s %d" % (channel, value))
if out.startswith("*KO*"):
debug("WRITE GPIOX KO : %s" % out)
#TODO Raise error
time.sleep(timems / 1000)
if value == 0:
out = self._write("SET %s 1" % channel)
else:
out = self._write("SET %s 0" % channel)
if out.startswith("*KO*"):
debug("WRITE GPIOX KO : %s" % out)
def __setFrequency__(self):
if not self.frequency in [391, 781, 1563, 3125]:
raise ValueError("Frequency %d out of range [%d,%d,%d,,%d]" %
(self.frequency, 391, 781, 1563, 3125))
if self.frequency == 391:
bits_frequency = self.VAL_PR_FREQ_390K625HZ
elif self.frequency == 781:
bits_frequency = self.VAL_PR_FREQ_781K25HZ
elif self.frequency == 1563:
bits_frequency = self.VAL_PR_FREQ_1M5625HZ
elif self.frequency == 3125:
bits_frequency = self.VAL_PR_FREQ_3M125HZ
self.writeRegister(self.REG_PROX_FREQUENCY, bits_frequency)
debug("VCNL4000: new freq = %d" %
(self.readRegister(self.REG_PROX_FREQUENCY)))
def addDeviceInstance(name, dev, args):
funcs = {"GET": {}, "POST": {}}
for att in dir(dev):
func = getattr(dev, att)
if callable(func) and hasattr(func, "routed"):
if name == "GPIO":
logger.debug("Mapping %s.%s to REST %s /GPIO/%s" % (dev, att, func.method, func.path))
else:
logger.debug("Mapping %s.%s to REST %s /devices/%s/%s" % (dev, att, func.method, name, func.path))
funcs[func.method][func.path] = func
DEVICES[name] = {'device': dev, 'functions': funcs}
if name == "GPIO":
logger.info("GPIO - Native mapped to REST API /GPIO")
else:
logger.info("%s - %s mapped to REST API /devices/%s" % (dev.__family__(), dev, name))
def connect(self):
debug("Connect %s for device id %s" %
(self.ser.baudrate, self.ser.port))
self.ser.open()
out = self._write("CONFIG DUMP")
devices = []
for line in out.splitlines():
if line and line[0] == 'P': #How we recognize a gpio name
temp = line.split(" ")
dev = {
"name": temp[0],
"function": getFunctionFromStr(temp[1]),
"value": temp[4]
}
devices.append(dev)
self.ser.close()
return devices
def addDeviceInstance(name, dev, args):
funcs = {"GET": {}, "POST": {}}
for att in dir(dev):
func = getattr(dev, att)
if callable(func) and hasattr(func, "routed"):
if name == "GPIO":
logger.debug("Mapping %s.%s to REST %s /GPIO/%s" %
(dev, att, func.method, func.path))
else:
logger.debug("Mapping %s.%s to REST %s /devices/%s/%s" %
(dev, att, func.method, name, func.path))
funcs[func.method][func.path] = func
DEVICES[name] = {'device': dev, 'functions': funcs}
if name == "GPIO":
logger.info("GPIO - Native mapped to REST API /GPIO")
else:
logger.info("%s - %s mapped to REST API /devices/%s" %
(dev.__family__(), dev, name))
def __analogWrite__(self, channel, value):
#printBytes(self.values)
self.values[channel] = value & 0xFF
#printBytes(self.values)
chipAddr = channel % self.slice
addressString = (bin(chipAddr)[2:]).rjust(self.ADDRESS_BITS, '0')
debug("Address=%s" % addressString)
slotValues = self.values[chipAddr::self.slice]
#printBytes(slotValues)
slotValues.reverse()
printBytes(slotValues)
unpaddedNumberBits = (self.ADDRESS_BITS + 8) * self.chips
debug("Unpadlength=%s" % unpaddedNumberBits)
lastBit = (unpaddedNumberBits % 8)
if lastBit > 0:
padLength = 8 - lastBit
else:
padLength = 0
debug("Padlength=%s" % padLength)
padString = "".rjust(padLength, '0')
debug("Padding=%s" % padString)
for i in range(len(slotValues)):
slotValues[i] = (bin(slotValues[i])[2:]).rjust(8, '0')
bitSequence = ""
for valueString in slotValues:
bitSequence = bitSequence + addressString + valueString
bitSequence = padString + bitSequence
debug("Bitsequence=%s" % bitSequence)
data = []
for s in range(0, len(bitSequence), 8):
data.append(int(bitSequence[s:s + 8], 2))
printBytes(data)
self.writeBytes(bytearray(data))
def write(self, channel, value):
debug("write gpio %s, with value %d" % (channel, value))
try:
out = self._write("SET %s %d" % (channel, value))
except:
debug("Retry connection to card %s" % self.cardname)
self.ser.port = findCard(self.cardname)
self._connect()
out = self._write("SET %s %d" % (channel, value))
if out.startswith("*KO*"):
debug("WRITE GPIOX KO : %s" % out)
def loadModule(module):
debug("Loading module : %s" % module)
subprocess.call(["modprobe", module])
def loadModule(module):
debug("Loading module : %s" % module)
subprocess.call(["modprobe", module])
def calibrate(self):
self.offset = self.__measureOffset__()
debug ("VCNL4000: offset = %d" % (self.offset))
return self.offset
def _connect(self):
try:
self.ser.open()
except:
debug("Error connecting to card %s on port %s" %
(self.cardname, self.ser.port))
def disconnect(self):
debug("Disconnect from %s" % self.cardname)
self._disconnect()
def __setCurrent__(self):
if not self.current in range(0,201):
raise ValueError("%d mA LED current out of range [%d..%d] mA" % (self.current, 0, 201))
self.writeRegister(self.REG_IR_LED_CURRENT, int(self.current / 10))
debug ("VCNL4000: new curr = %d" % (self.readRegister(self.REG_IR_LED_CURRENT)))
def main(argv):
port = 8000
configfile = None
logfile = None
i = 1
while i < len(argv):
if argv[i] in ["-c", "-C", "--config-file"]:
configfile = argv[i + 1]
i += 1
elif argv[i] in ["-l", "-L", "--log-file"]:
logfile = argv[i + 1]
i += 1
elif argv[i] in ["-h", "-H", "--help"]:
displayHelp()
elif argv[i] in ["-d", "--debug"]:
setDebug()
else:
try:
port = int(argv[i])
except ValueError:
displayHelp()
i += 1
if logfile:
logToFile(logfile)
info("Starting XBee %s" % VERSION)
# setup serial
serial = Serial()
serial.port = '/dev/ttyAMA0'
serial.baudrate = 9600
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
# disregard any pending data in xbee buffer
serial.flushInput()
# force to show xbee boot menu
time.sleep(.5)
serial.writelines("\r")
time.sleep(.5)
# read menu
while serial.inWaiting() > 0:
debug("%s" % serial.readline())
# trigger bypass automatically
serial.writelines("B")
# post startup message to other XBee's and at stdout
#serial.writelines("RPi #1 is up and running.\r\n")
info("RPi #1 is up and running.")
try:
while True:
waitToSend = True
# read a line from XBee and convert it from b'xxx\r\n' to xxx and send to webiopi
while serial.inWaiting() > 0:
try:
line = serial.readline().decode('utf-8').strip('\n\r')
if line:
waitToSend = False
debug("Received: %s" % line)
try:
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "setCarInfo")
macro.call(line.replace(",", "%2C"))
except:
exception("setting car info failed!")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
def calibrate(self):
self.offset = self.__measureOffset__()
debug("VCNL4000: offset = %d" % (self.offset))
return self.offset
def findCard(name):
ser = serial.Serial()
ser.baudrate = 230400
ser.timeout = 2
ser.write_timeout = 2
for port in glob.glob("/dev/ttyACM*"):
ser.port = port
debug('DEBUG port : %s ; name : %s' % (port, name))
ser.open()
time.sleep(1)
ser.flushInput()
ser.flushOutput()
for i in range(5):
try:
ser.write(("GETNAME\r").encode('ascii'))
time.sleep(0.01)
except SerialTimeoutException:
debug('ERROR timeoutException')
out = ""
while ser.inWaiting() > 0:
out += ser.read(1).decode('ascii', 'ignore')
debug('DEBUG response %s out : %s' % (i, out))
if out.find("*OK*") != -1:
value = out.split(":")[1].rstrip()
if (value == name):
# Turn the green led on
ser.write(("SET PE15 1\r").encode('ascii'))
ser.close()
debug("EXIT OK card found !") # : %s" % out)
return port
else:
debug("DEBUG OK but continue") # : %s" % out)
break
#elif out.find("*KO*") != -1:
# debug("ERROR KO : %s" % out)
#ser.close()
#Raise an error
#return ""
debug("DEBUG close port : %s" % ser.port)
ser.close()
return ""
def main(argv):
port = 8000
configfile = None
logfile = None
i = 1
while i < len(argv):
if argv[i] in ["-c", "-C", "--config-file"]:
configfile = argv[i+1]
i+=1
elif argv[i] in ["-l", "-L", "--log-file"]:
logfile = argv[i+1]
i+=1
elif argv[i] in ["-h", "-H", "--help"]:
displayHelp()
elif argv[i] in ["-d", "--debug"]:
setDebug()
else:
try:
port = int(argv[i])
except ValueError:
displayHelp()
i+=1
if logfile:
logToFile(logfile)
info("Starting XBee %s" % VERSION)
# setup serial
serial = Serial()
serial.port = '/dev/ttyAMA0'
serial.baudrate = 9600
serial.timeout = 1
serial.writeTimeout = 1
serial.open()
# disregard any pending data in xbee buffer
serial.flushInput()
# force to show xbee boot menu
time.sleep(.5)
serial.writelines("\r")
time.sleep(.5)
# read menu
while serial.inWaiting() > 0:
debug("%s" % serial.readline())
# trigger bypass automatically
serial.writelines("B")
# post startup message to other XBee's and at stdout
#serial.writelines("RPi #1 is up and running.\r\n")
info("RPi #1 is up and running.")
try:
while True:
waitToSend = True
# read a line from XBee and convert it from b'xxx\r\n' to xxx and send to webiopi
while serial.inWaiting() > 0:
try:
line = serial.readline().decode('utf-8').strip('\n\r')
if line:
waitToSend = False
debug("Received: %s" % line)
try:
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "setCarInfo")
macro.call(line.replace(",", "%2C"))
except:
exception("setting car info failed!")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
try:
time.sleep(1.)
client = PiHttpClient("127.0.0.1")
macro = Macro(client, "getPitInfo")
data = macro.call()
if data:
debug("Sending: %s" % data)
serial.writelines(data + "\n")
except KeyboardInterrupt:
raise
except Exception as e:
exception(e)
time.sleep(1.)
except KeyboardInterrupt:
info("*** Ctrl-C keyboard interrupt ***")
