def senseStickService():
print 'Starting SenseHat Stick Service'
STICK_MIDDLE = 28
stick = SenseStick()
while True:
if stick.wait(timeout=0.10) == True:
# Get the input from the joystick
stick_input = stick.read()
direction = stick_input[1]
state = stick_input[2] # 1 = pressed, 2 = held, 0 = released
if (state == 0): # Only register if the joystick has been released
if (direction == STICK_MIDDLE):
# cycle the currentDisplayMode through the allDisplayModes array
currentDisplayMode.value = allDisplayModes[(allDisplayModes.index(currentDisplayMode.value) + 1) % len(allDisplayModes)]
def __init__(self, config):
self.sense = SenseHat()
self.sense.clear()
self.stick = SenseStick()
self.stick_thread = Thread(target=self.evdev_loop)
self.stick_thread.daemon = True
self.stick_thread.start()
self.msg = MessageHandler(self.sense)
dslink.DSLink.__init__(self, config)
def __init__(self, platform=SENSE_HAT):
# init correct display renderer
if platform == SENSE_HAT:
print 'Using SenseHAT display'
self.renderer = renderer.get_sensehat_renderer()
self.stick = SenseStick()
else:
print 'Using desktop display'
self.renderer = renderer.get_pygame_renderer()
self.platform = platform
self.init_assets()
self.maze = Maze('maze_01.png')
self.maze_width = self.maze.width
self.maze_height = self.maze.height
self.board = Board()
self.ball = Ball(3, 3)
self.set_viewport(0, 15)
#!/usr/bin/python
import sys
import os
from time import *
from picamera import PiCamera
import threading
from stick import SenseStick
import led_display
#initializing the camera
camera = PiCamera()
#camera.rotation = 180 #use this if the camera rotation is not correct
camera.resolution = (3280, 2464) #this can be changed
#starting the Sense Stick
joystick = SenseStick()
#opening the output files
filestamp = localtime()
delay = 1 #use this number to set the delay between camera captures in seconds
pic_number = 1 #this is the starting number for taking pictures
pic_dir = "/home/pi/Desktop/Pictures_" + repr(filestamp.tm_year) + '-' + repr(
filestamp.tm_mon) + '-' + repr(filestamp.tm_mday) + '__' + repr(
filestamp.tm_hour) + '-' + repr(filestamp.tm_min)
if not os.path.isdir(pic_dir):
os.makedirs(pic_dir)
camera_check = True
## This is the main picture taking loop
while camera_check:
camera.capture(pic_dir + '/image%s.jpg' % pic_number)
from sense_hat import SenseHat
from stick import SenseStick
from game.game import Game
sense = SenseHat()
joystick = SenseStick()
sense.clear()
game = Game()
def render(component):
for pixel in component.pixels:
sense.set_pixel(pixel[0], pixel[1], component.colour[0], component.colour[1], component.colour[2])
def clear(component):
for pixel in component.pixels:
sense.set_pixel(pixel[0], pixel[1], 0, 0, 0)
def mainLoop():
print("Running")
# draw the wall
for brick in game.wall.bricks:
render(brick)
# draw the ball
render(game.ball)
class Rollerball(object):
def __init__(self, platform=SENSE_HAT):
# init correct display renderer
if platform == SENSE_HAT:
print 'Using SenseHAT display'
self.renderer = renderer.get_sensehat_renderer()
self.stick = SenseStick()
else:
print 'Using desktop display'
self.renderer = renderer.get_pygame_renderer()
self.platform = platform
self.init_assets()
self.maze = Maze('maze_01.png')
self.maze_width = self.maze.width
self.maze_height = self.maze.height
self.board = Board()
self.ball = Ball(3, 3)
self.set_viewport(0, 15)
def handle_keyboard_events(self):
for event in pygame.event.get():
if event.type == QUIT:
return True
elif event.type == KEYDOWN and event.key == K_ESCAPE:
return True
elif event.type == KEYDOWN and (event.key == K_LEFT):
self.move_left()
elif event.type == KEYDOWN and (event.key == K_RIGHT):
self.move_right()
elif event.type == KEYDOWN and (event.key == K_UP):
self.move_up()
elif event.type == KEYDOWN and (event.key == K_DOWN):
self.move_down()
def handle_stick_events(self):
event = self.stick.read()
print event
if event.key == SenseStick.KEY_UP and event.state == SenseStick.STATE_PRESS:
print 'Move up'
self.move_up()
elif event.key == SenseStick.KEY_DOWN and event.state == SenseStick.STATE_PRESS:
self.move_down()
elif event.key == SenseStick.KEY_RIGHT and event.state == SenseStick.STATE_PRESS:
self.move_right()
elif event.key == SenseStick.KEY_LEFT and event.state == SenseStick.STATE_PRESS:
self.move_left()
def init_assets(self):
# this is where we load all the game assets
self.ball_image = load_image('ball.png')
def move_down(self):
if self.view_y < self.maze_height - renderer.ROWS:
cell_1 = self.board.cells[self.ball.x][self.ball.y + 2]
cell_2 = self.board.cells[self.ball.x + 1][self.ball.y + 2]
if cell_1.colour != renderer.BLACK and cell_2.colour != renderer.BLACK:
self.view_y += 1
def move_left(self):
if self.view_x > 0:
# check maze is clear to move right
cell_1 = self.board.cells[self.ball.x - 1][self.ball.y]
cell_2 = self.board.cells[self.ball.x - 1][self.ball.y + 1]
if cell_1.colour != renderer.BLACK and cell_2.colour != renderer.BLACK:
self.view_x -= 1
def move_right(self):
if self.view_x < self.maze_width - renderer.COLS:
# check maze is clear to move right
cell_1 = self.board.cells[self.ball.x + 2][self.ball.y]
cell_2 = self.board.cells[self.ball.x + 2][self.ball.y + 1]
if cell_1.colour != renderer.BLACK and cell_2.colour != renderer.BLACK:
self.view_x += 1
def move_up(self):
if self.view_y > 0:
cell_1 = self.board.cells[self.ball.x][self.ball.y - 1]
cell_2 = self.board.cells[self.ball.x + 1][self.ball.y - 1]
if cell_1.colour != renderer.BLACK and cell_2.colour != renderer.BLACK:
self.view_y -= 1
def render(self):
'''
render_board creates an 8x8 board that can be passed to a renderer
'''
self.board.cells = self.maze.get_cells(self.view_x, self.view_y)
self.overlay_ball_cells()
self.renderer.render(self.board.cells)
def overlay_ball_cells(self):
# overlay ball position
ball_cells = self.ball.get_cells()
board_cell = self.board.cells[3][3]
ball_cell = ball_cells[0][0]
self.average_colour(board_cell, ball_cell)
board_cell = self.board.cells[4][3]
ball_cell = ball_cells[1][0]
self.average_colour(board_cell, ball_cell)
board_cell = self.board.cells[3][4]
ball_cell = ball_cells[0][1]
self.average_colour(board_cell, ball_cell)
board_cell = self.board.cells[4][4]
ball_cell = ball_cells[1][1]
self.average_colour(board_cell, ball_cell)
def average_colour(self, board_cell, ball_cell):
if board_cell.colour != renderer.WHITE:
temp_colour = ball_cell.colour - board_cell.colour
board_cell.colour = temp_colour
else:
board_cell.colour = ball_cell.colour
def run(self):
'''
Run forever
'''
quit = False
while not quit:
if self.platform == SENSE_HAT:
self.handle_stick_events()
else:
quit = self.handle_keyboard_events()
self.render()
time.sleep(0.1)
def set_viewport(self, x, y):
self.view_x = x
self.view_y = y
dataOut += str(sense.get_compass_raw()) + ", "
dataOut += str(sense.get_gyroscope()) + ", "
dataOut += str(sense.get_gyroscope_raw()) + ", "
dataOut += str(sense.get_accelerometer()) + ", "
dataOut += str(sense.get_accelerometer_raw()) + "\n"
f.write(dataOut)
####################################################################
####################################################################
####################################################################
#initializing the sense hat
sense = SenseHat()
sense.set_imu_config(True, True, True)
stick = SenseStick()
#set some initial parameters and LED display
min_pressure = sense.get_pressure()
start_pressure = min_pressure
start_alt_ft = 0.0
max_alt_ft = 0.0
led_display.init_display()
#opening the output files
filestamp = localtime()
directory = '/home/pi/Desktop/data/'
if not os.path.isdir(directory):
os.makedirs(directory)
data_filename = directory + repr(filestamp.tm_year) + '-' + repr(
filestamp.tm_mon) + '-' + repr(filestamp.tm_mday) + '__' + repr(
class SenseHATLink(dslink.DSLink):
def __init__(self, config):
self.sense = SenseHat()
self.sense.clear()
self.stick = SenseStick()
self.stick_thread = Thread(target=self.evdev_loop)
self.stick_thread.daemon = True
self.stick_thread.start()
self.msg = MessageHandler(self.sense)
dslink.DSLink.__init__(self, config)
def evdev_loop(self):
while self.stick_thread.is_alive:
event = self.stick.read()
if event.key is SenseStick.KEY_UP:
key = self.responder.get_super_root().get("/stick/up")
self.set_key_state(key, event)
elif event.key is SenseStick.KEY_DOWN:
key = self.responder.get_super_root().get("/stick/down")
self.set_key_state(key, event)
elif event.key is SenseStick.KEY_LEFT:
key = self.responder.get_super_root().get("/stick/left")
self.set_key_state(key, event)
elif event.key is SenseStick.KEY_RIGHT:
key = self.responder.get_super_root().get("/stick/right")
self.set_key_state(key, event)
elif event.key is SenseStick.KEY_ENTER:
key = self.responder.get_super_root().get("/stick/button")
self.set_key_state(key, event)
@staticmethod
def set_key_state(key, event):
if key.is_subscribed():
if (event.state == SenseStick.STATE_PRESS or event.state == SenseStick.STATE_HOLD) and key.get_value() is not "DOWN":
key.set_value("DOWN", check=False)
elif event.state == SenseStick.STATE_RELEASE and key.get_value() is not "UP":
key.set_value("UP", check=False)
def start(self):
self.responder.profile_manager.create_profile("show_message")
self.responder.profile_manager.register_callback("show_message", self.start_show_message)
self.responder.profile_manager.create_profile("set_pixel")
self.responder.profile_manager.register_callback("set_pixel", self.set_pixel)
self.responder.profile_manager.create_profile("clear_screen")
self.responder.profile_manager.register_callback("clear_screen", self.clear_screen)
self.responder.profile_manager.create_profile("set_pixels")
self.responder.profile_manager.register_callback("set_pixels", self.set_pixels)
reactor.callLater(0.5, self.update)
reactor.callLater(0.01, self.location_update)
def get_default_nodes(self, root):
# Screen Manipulation
show_message = dslink.Node("show_message", root)
show_message.set_display_name("Show Message")
show_message.set_invokable(dslink.Permission.WRITE)
show_message.set_profile("show_message")
show_message.set_parameters([
{
"name": "Message",
"type": "string"
},
{
"name": "Scroll Speed",
"type": "number",
"default": "0.1"
},
{
"name": "Foreground",
"type": "dynamic",
"editor": "color"
},
{
"name": "Background",
"type": "dynamic",
"editor": "color"
}
])
set_pixel = dslink.Node("set_pixel", root)
set_pixel.set_display_name("Set Pixel")
set_pixel.set_profile("set_pixel")
set_pixel.set_invokable(dslink.Permission.WRITE)
set_pixel.set_parameters([
{
"name": "X",
"type": "int",
"default": 0
},
{
"name": "Y",
"type": "int",
"default": 0
},
{
"name": "Color",
"type": "dynamic",
"editor": "color"
}
])
set_pixel.set_columns([
{
"name": "Message",
"type": "string"
}
])
clear_screen = dslink.Node("clear_screen", root)
clear_screen.set_display_name("Clear Screen")
clear_screen.set_profile("clear_screen")
clear_screen.set_invokable(dslink.Permission.WRITE)
set_pixels = dslink.Node("set_pixels", root)
set_pixels.set_display_name("Set Pixels")
set_pixels.set_profile("set_pixels")
set_pixels.set_invokable(dslink.Permission.WRITE)
set_pixels.set_parameters([
{
"name": "Pixels",
"type": "string"
}
])
# Temperature
temperature = dslink.Node("temperature", root)
temperature.set_display_name("Temperature")
temperature.set_type("number")
temperature.set_value(self.sense.temperature)
temperature.set_attribute("@unit", "C")
# Humidity
humidity = dslink.Node("humidity", root)
humidity.set_display_name("Humidity")
humidity.set_type("number")
humidity.set_value(self.sense.humidity)
humidity.set_attribute("@unit", "%")
# Pressure
pressure = dslink.Node("pressure", root)
pressure.set_display_name("Pressure")
pressure.set_type("number")
pressure.set_value(self.sense.pressure)
pressure.set_attribute("@unit", "MB")
# Gyroscope
gyroscope = dslink.Node("gyroscope", root)
gyroscope.set_display_name("Gyroscope")
values = self.sense.gyroscope
pitch = dslink.Node("pitch", root)
pitch.set_display_name("Pitch")
pitch.set_type("number")
pitch.set_value(values["pitch"])
roll = dslink.Node("roll", root)
roll.set_display_name("Roll")
roll.set_type("number")
roll.set_value(values["roll"])
yaw = dslink.Node("yaw", root)
yaw.set_display_name("Yaw")
yaw.set_type("number")
yaw.set_value(values["yaw"])
gyroscope.add_child(pitch)
gyroscope.add_child(roll)
gyroscope.add_child(yaw)
# Accelerometer
accelerometer = dslink.Node("accelerometer", root)
accelerometer.set_display_name("Accelerometer")
values = self.sense.accelerometer
pitch = dslink.Node("pitch", root)
pitch.set_display_name("Pitch")
pitch.set_type("number")
pitch.set_value(values["pitch"])
roll = dslink.Node("roll", root)
roll.set_display_name("Roll")
roll.set_type("number")
roll.set_value(values["roll"])
yaw = dslink.Node("yaw", root)
yaw.set_display_name("Yaw")
yaw.set_type("number")
yaw.set_value(values["yaw"])
accelerometer.add_child(pitch)
accelerometer.add_child(roll)
accelerometer.add_child(yaw)
# Compass
north = self.sense.compass
compass = dslink.Node("compass", root)
compass.set_display_name("Compass")
compass.set_type("number")
compass.set_value(north)
# Joystick
joystick = dslink.Node("stick", root)
joystick.set_display_name("Stick")
up = dslink.Node("up", joystick)
up.set_display_name("Up")
up.set_type(dslink.Value.build_enum(["UP, DOWN"]))
up.set_value("UP", check=False)
down = dslink.Node("down", joystick)
down.set_display_name("Down")
down.set_type(dslink.Value.build_enum(["UP, DOWN"]))
down.set_value("UP", check=False)
left = dslink.Node("left", joystick)
left.set_display_name("Left")
left.set_type(dslink.Value.build_enum(["UP, DOWN"]))
left.set_value("UP", check=False)
right = dslink.Node("right", joystick)
right.set_display_name("Right")
right.set_type(dslink.Value.build_enum(["UP, DOWN"]))
right.set_value("UP", check=False)
button = dslink.Node("button", joystick)
button.set_display_name("Button")
button.set_type(dslink.Value.build_enum(["UP, DOWN"]))
button.set_value("UP", check=False)
joystick.add_child(up)
joystick.add_child(down)
joystick.add_child(left)
joystick.add_child(right)
joystick.add_child(button)
# Update configuration
location_update = dslink.Node("location_update", root)
location_update.set_display_name("Location Update Time")
location_update.set_writable(dslink.Permission.CONFIG)
location_update.set_type("number")
location_update.set_value(0.05)
# Add Nodes to root
root.add_child(show_message)
root.add_child(set_pixel)
root.add_child(clear_screen)
root.add_child(set_pixels)
root.add_child(temperature)
root.add_child(humidity)
root.add_child(pressure)
root.add_child(gyroscope)
root.add_child(accelerometer)
root.add_child(compass)
root.add_child(joystick)
root.add_child(location_update)
return root
def start_show_message(self, parameters):
thread = Thread(target=self.show_message, args=[parameters])
thread.start()
return []
def show_message(self, parameters):
self.msg.do_cancel()
message = str(parameters[1]["Message"])
scroll_speed = float(parameters[1]["Scroll Speed"])
if "Foreground" in parameters[1]:
fgin = str(parameters[1]["Foreground"]).lstrip("#")
fgred, fggreen, fgblue = rgb(hex(int(fgin))[2:].zfill(6))
fg = [fgred, fggreen, fgblue]
else:
fg = [255, 255, 255]
if "Background" in parameters[1]:
bgin = str(parameters[1]["Background"]).lstrip("#")
bgred, bggreen, bgblue = rgb(hex(int(bgin))[2:].zfill(6))
bg = [bgred, bggreen, bgblue]
else:
bg = [0, 0, 0]
self.msg.show_message(message,
scroll_speed=scroll_speed,
text_colour=fg,
back_colour=bg)
def set_pixel(self, parameters):
x = int(parameters[1]["X"])
y = int(parameters[1]["Y"])
if (x < 0 or x > 7) or (y < 0 or y > 7):
return [
[
"Invalid coordinate, 0-7 is valid."
]
]
if "Color" in parameters[1]:
input = str(parameters[1]["Color"]).lstrip("#")
red, green, blue = rgb(hex(int(input))[2:].zfill(6))
else:
red = green = blue = 255
thread = Thread(target=self.sense.set_pixel, args=[x, y, red, green, blue])
thread.start()
return [
[
"Success"
]
]
def clear_screen(self, parameters):
thread = Thread(target=self.sense.clear)
thread.start()
return []
def set_pixels(self, parameters):
pixels = json.loads(parameters[1]["Pixels"])
for pixel in pixels:
if len(pixel) is not 3:
return [
[
"Pixel arrays must contain three values: red, green, and blue"
]
]
for p in pixel:
if p > 255 or p < 0:
return [
[
"Pixel colors must be 0-255"
]
]
thread = Thread(target=self.sense.set_pixels, args=[pixels])
thread.start()
return [
[
"Success"
]
]
def update(self):
"""
Function that runs every 500 ms for values that need slow updates.
"""
temperature = self.responder.get_super_root().get("/temperature")
humidity = self.responder.get_super_root().get("/humidity")
pressure = self.responder.get_super_root().get("/pressure")
if temperature.is_subscribed():
temperature.set_value(self.sense.temperature)
if humidity.is_subscribed():
humidity.set_value(self.sense.humidity)
if pressure.is_subscribed():
pressure.set_value(self.sense.pressure)
reactor.callLater(0.5, self.update)
def location_update(self):
"""
Function that runs every 50 ms for values that need quick updates.
"""
# Gyroscope
pitch = self.responder.get_super_root().get("/gyroscope/pitch")
roll = self.responder.get_super_root().get("/gyroscope/roll")
yaw = self.responder.get_super_root().get("/gyroscope/yaw")
values = self.sense.gyroscope
if pitch.is_subscribed():
pitch.set_value(values["pitch"])
if roll.is_subscribed():
roll.set_value(values["roll"])
if yaw.is_subscribed():
yaw.set_value(values["yaw"])
# Accelerometer
pitch = self.responder.get_super_root().get("/accelerometer/pitch")
roll = self.responder.get_super_root().get("/accelerometer/roll")
yaw = self.responder.get_super_root().get("/accelerometer/yaw")
values = self.sense.accelerometer
if pitch.is_subscribed():
pitch.set_value(values["pitch"])
if roll.is_subscribed():
roll.set_value(values["roll"])
if yaw.is_subscribed():
yaw.set_value(values["yaw"])
# Compass
compass = self.responder.get_super_root().get("/compass")
north = self.sense.compass
if compass.is_subscribed():
compass.set_value(north)
update_time = self.responder.get_super_root().get("/location_update").get_value()
reactor.callLater(update_time, self.location_update)
# there is a bug/missing logic that needs to be fixed where it will quit the game
# even if there is still a valid move left when the grid is completely full.
# but other than that it works.
# Originally this version used the Pimoroni UnicornHAT as the display. The source of
# which can be found at https://github.com/ukscone/unicornhat/blob/master/uni2048.py
# This version has been ported to use the Raspberry Pi SenseHAT as both the display
# and controls.
from sense_hat import SenseHat
from stick import SenseStick # This file is not in the pip'd SenseHAT install
# so include manually from running directory.
import random
sense = SenseHat()
sensestick = SenseStick()
KEY_UP = 103
KEY_LEFT = 105
KEY_RIGHT = 106
KEY_DOWN = 108
KEY_ENTER = 28
grid = [[0,0,0,0],
[0,0,0,0],
[0,0,0,0],
[0,0,0,0]]
index = {0:0,2:1,4:2,8:3,16:4,32:5,64:6,128:7,256:8,512:9,1024:10,2048:11}
colour=((0,0,0),(0,127,0),(0,255,0),(0,0,127),(0,0,255),(127,0,0),(255,0,0),
(127,127,0),(127,127,127),(255,127,127),(255,255,127),(255,255,255))
