def on_menu_down(self, sender: IDevice):
sender.stop()
# Hover the plate and deactivate the servos
pymoab.hoverPlate()
pymoab.sync()
sleep(0.5)
pymoab.disableServoPower()
pymoab.sync()
sleep(0.5)
def signal_handler(sig, frame) -> int:
log.info(f"Signal {sig} received, shutting down...")
# Lower the plate and deactivate the servos
# lowerPlate is 155º; testing a lower position of 160º
pymoab.setServoPositions(155, 155, 155)
pymoab.sync()
time.sleep(0.2)
pymoab.disableServoPower()
pymoab.sync()
time.sleep(0.1)
# Clear the screen
pymoab.setIcon(pymoab.Icon.BLANK)
pymoab.setText(pymoab.Text.BLANK)
pymoab.sync()
time.sleep(0.1)
sys.exit(0)
def main():
args = parse_args()
# load configs
config = load_config(args.config)
# Load calibration.json file which contains the ball hue (22 default)
calibration = load_calibration(args.calibration)
# Now that log is configured, we can say we're starting up
log.info("Moab starting.")
# onetime init of pymoab library
# side effect of setting OLED to Initalizing... which is ok
pymoab.init()
pymoab.sync()
time.sleep(0.1)
# put plate in "ready" mode, then cut power until needed
pymoab.setServoPositions(150, 150, 150)
pymoab.sync()
time.sleep(0.1)
pymoab.disableServoPower()
pymoab.sync()
time.sleep(0.1)
# optional perf timing
global perf_timer
if args.perf_interval_sec > 0:
perf_timer = ThreadedTimer()
perf_timer.start(args.perf_interval_sec, printPerformanceCounters)
try:
devices = config["devices"]
except Exception as e:
log.exception(f"Error reading devices from {args.config}\n{e}")
sys.exit(-1)
device_stack = deque()
device_stack.append(args.device)
previous_menu: int = 0
# Register the signal handler
signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)
while True:
curr_device = device_stack.pop() if len(device_stack) > 0 else None
if curr_device is None:
break
try:
config = from_dict(IDevice.Config, devices.get(curr_device))
config.menu_idx = previous_menu
device = Device.createFromConfig(config, calibration)
log.info("{} §".format(curr_device.upper()))
device.run()
previous_menu = device.previous_menu
# Did our current device ask us to activate another one?
next_device = device.get_next_device()
if next_device is not None:
# Save this device so we can go back to it
device_stack.append(curr_device)
# Will be the one popped off next iteration
device_stack.append(next_device)
except Exception as e:
log.exception(f"Error instantiating {args.device}\n{e}")
curr_device = None
continue
# Reload configs
config = load_config(args.config)
calibration = load_calibration(args.calibration)