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()
