def __init__(self, ipcon, key_queue):
if not config.UID_DUAL_BUTTON_BRICKLET[0]:
print("Not Configured: Dual Button 1")
if not config.UID_DUAL_BUTTON_BRICKLET[1]:
print("Not Configured: Dual Button 2")
self.key_queue = key_queue
self.ipcon = ipcon
if config.UID_DUAL_BUTTON_BRICKLET[0]:
self.db1 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[0],
self.ipcon)
else:
self.db1 = None
if config.UID_DUAL_BUTTON_BRICKLET[1]:
self.db2 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[1],
self.ipcon)
else:
self.db2 = None
if self.db1:
try:
self.db1.get_button_state()
print("Found: Dual Button 1 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[0])
except:
self.db1 = None
print("Not Found: Dual Button 1 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[0])
if self.db2:
try:
self.db2.get_button_state()
print("Found: Dual Button 2 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[1])
except:
self.db2 = None
print("Not Found: Dual Button 2 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[1])
if self.db1:
self.db1.register_callback(self.db1.CALLBACK_STATE_CHANGED,
self.cb_state_changed1)
if self.db2:
self.db2.register_callback(self.db2.CALLBACK_STATE_CHANGED,
self.cb_state_changed2)
self.press_timer = RepeatedTimer(0.1, self.press_tick)
def __init__(self, ipcon, key_queue):
if not config.UID_DUAL_BUTTON_BRICKLET[0]:
print("Not Configured: Dual Button 1")
if not config.UID_DUAL_BUTTON_BRICKLET[1]:
print("Not Configured: Dual Button 2")
self.key_queue = key_queue
self.ipcon = ipcon
if config.UID_DUAL_BUTTON_BRICKLET[0]:
self.db1 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[0], self.ipcon)
else:
self.db1 = None
if config.UID_DUAL_BUTTON_BRICKLET[1]:
self.db2 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[1], self.ipcon)
else:
self.db2 = None
if self.db1:
try:
self.db1.get_button_state()
print("Found: Dual Button 1 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[0])
except:
self.db1 = None
print("Not Found: Dual Button 1 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[0])
if self.db2:
try:
self.db2.get_button_state()
print("Found: Dual Button 2 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[1])
except:
self.db2 = None
print("Not Found: Dual Button 2 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[1])
if self.db1:
self.db1.register_callback(self.db1.CALLBACK_STATE_CHANGED, self.cb_state_changed1)
if self.db2:
self.db2.register_callback(self.db2.CALLBACK_STATE_CHANGED, self.cb_state_changed2)
self.press_timer = RepeatedTimer(0.1, self.press_tick)
def cb_enumerate(self, uid, connected_uid, position, hardware_version, firmware_version, device_identifier, enumeration_type):
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
# enumeration is for dual button bricklet
if device_identifier == DualButton.DEVICE_IDENTIFIER:
if self.db != None:
return
# create dual button device object
self.db = DualButton(uid, self.ipcon)
# register button push callback to function cb_state_changed
self.db.register_callback(self.db.CALLBACK_STATE_CHANGED, self.cb_state_changed)
# set led state
self.db.set_led_state(DualButton.LED_STATE_ON, DualButton.LED_STATE_OFF)
Timer(LRF.TIMER_MS, self.led_blink).start()
def start_ipcon(self):
if self._ipcon != None:
EventLogger.warning(self.name + " tried to start IPCON, but IPCON was already started!")
return
self._ipcon = IPConnection()
# Init Components
self._db = DualButton(self._DB_UID, self._ipcon)
self._nfc = NFCRFID(self._NFC_UID, self._ipcon)
try:
self._ipcon.connect(self._HOST, self._PORT)
except Exception as e:
EventLogger.critical("A critical error occur: " + str(e))
raise Exception("A critical error occur: " + str(e))
#Init Callbacks
self._db.register_callback(DualButton.CALLBACK_STATE_CHANGED, self.__cb_db_state_changed)
self._nfc.register_callback(self._nfc.CALLBACK_STATE_CHANGED,
lambda x, y: self.__cb_nfc_state_changed(x, y, self._nfc))
class GuiControl():
def __init__(self):
self._name = "[GuiControl]"
# ipcon
self._ipcon = None
self._HOST = "localhost"
self._PORT = 4223
#DualButton States
self._db = None
self._DB_UID = "mAo"
self.recognition_running = True
self.recognition_state = False
#TODO bad idea?
self.recognition_progress = False
# NFC/RFID
self._nfc = None
self._NFC_UID = "oDg"
self._nfc_cb_to_profiler = None
self._nfc_write_mode = False
self._nfc_write_name = None
def start_ipcon(self):
if self._ipcon != None:
EventLogger.warning(self.name + " tried to start IPCON, but IPCON was already started!")
return
self._ipcon = IPConnection()
# Init Components
self._db = DualButton(self._DB_UID, self._ipcon)
self._nfc = NFCRFID(self._NFC_UID, self._ipcon)
try:
self._ipcon.connect(self._HOST, self._PORT)
except Exception as e:
EventLogger.critical("A critical error occur: " + str(e))
raise Exception("A critical error occur: " + str(e))
#Init Callbacks
self._db.register_callback(DualButton.CALLBACK_STATE_CHANGED, self.__cb_db_state_changed)
self._nfc.register_callback(self._nfc.CALLBACK_STATE_CHANGED,
lambda x, y: self.__cb_nfc_state_changed(x, y, self._nfc))
def stop_ipcon(self):
if self._ipcon == None:
EventLogger.warning(self.name + " tried to disconnect IPCON, but IPCON was not connected!")
return
self._ipcon.disconnect()
self._ipcon = None
# DualButton Functions
def __cb_db_state_changed(self, button_l, button_r, led_r, led_l):
#Button Right = Programm Control => True = Program Quit
if button_r == DualButton.BUTTON_STATE_PRESSED:
led_r = DualButton.LED_STATE_OFF
self._db.set_selected_led_state(DualButton.LED_RIGHT, led_r)
# exit program
self.recognition_running = False
if not self.recognition_progress:
if button_l == DualButton.BUTTON_STATE_PRESSED:
led_l = DualButton.LED_STATE_ON
self._db.set_selected_led_state(DualButton.LED_LEFT, led_l)
self.recognition_state = True
else:
led_l = DualButton.LED_STATE_OFF
self._db.set_selected_led_state(DualButton.LED_LEFT, led_l)
self.recognition_state = False
def _db_start_state(self):
self._db.set_selected_led_state(DualButton.LED_LEFT, DualButton.LED_STATE_OFF)
self._db.set_selected_led_state(DualButton.LED_RIGHT, DualButton.LED_STATE_ON)
def _db_end_state(self):
self._db.set_selected_led_state(DualButton.LED_LEFT, DualButton.LED_STATE_OFF)
self._db.set_selected_led_state(DualButton.LED_RIGHT, DualButton.LED_STATE_OFF)
def _db_recognizer_state_off(self):
self._db.set_selected_led_state(DualButton.LED_LEFT, DualButton.LED_STATE_OFF)
self.recognition_state = False
self.recognition_progress = False
def __cb_nfc_state_changed(self, state, idle, nr):
name = "NO NAME"
if state == nr.STATE_REQUEST_TAG_ID_READY:
EventLogger.debug('Tag found')
# Write 16 byte to pages 5-8
if self._nfc_write_mode:
data_write = Utils.string_to_byte_array(self._nfc_write_name)
nr.write_page(5, data_write)
EventLogger.debug('Writing data...')
else:
nr.request_page(5)
EventLogger.debug('Requesting data...2')
elif state == nr.STATE_WRITE_PAGE_READY: # only when writing before!
# Request pages 5-8
nr.request_page(5)
EventLogger.debug('Requesting data...')
elif state == nr.STATE_REQUEST_PAGE_READY:
# Get and print pages
data = nr.get_page()
name = str(Utils.byte_array_to_string(data))
EventLogger.debug('Read data:' + name)
if self._nfc_cb_to_profiler != None:
self._nfc_cb_to_profiler(name)
elif state & (1 << 6):
# All errors have bit 6 set
if state == self._nfc.STATE_REQUEST_TAG_ID_ERROR:
EventLogger.info(
'No NFC/RFID Tag found! TODO: Message - Token @ Lesegereat -> Button') # TODO: Message - Token @ Lesegeraet -> Button
else:
EventLogger.debug('Error: ' + str(state))
# TODO check for errors in coding!
#EventLogger.error(self._name + "_nfc_cb_to_profiler was None! DEBUG ONLY!")
def _debug_print(self):
print "self.recognition_running = " + str(self.recognition_running) + "\nself.recognition_state = " + str(
self.recognition_state) + "\nself.recognition_progress = " + str(self.recognition_progress) + "\n"
class DualButtonInput:
current_state = 0
current_state_counter = [0]*4
press_timer = None
def __init__(self, ipcon, key_queue):
if not config.UID_DUAL_BUTTON_BRICKLET[0]:
print("Not Configured: Dual Button 1")
if not config.UID_DUAL_BUTTON_BRICKLET[1]:
print("Not Configured: Dual Button 2")
self.key_queue = key_queue
self.ipcon = ipcon
if config.UID_DUAL_BUTTON_BRICKLET[0]:
self.db1 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[0], self.ipcon)
else:
self.db1 = None
if config.UID_DUAL_BUTTON_BRICKLET[1]:
self.db2 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[1], self.ipcon)
else:
self.db2 = None
if self.db1:
try:
self.db1.get_button_state()
print("Found: Dual Button 1 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[0])
except:
self.db1 = None
print("Not Found: Dual Button 1 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[0])
if self.db2:
try:
self.db2.get_button_state()
print("Found: Dual Button 2 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[1])
except:
self.db2 = None
print("Not Found: Dual Button 2 ({0})").format(config.UID_DUAL_BUTTON_BRICKLET[1])
if self.db1:
self.db1.register_callback(self.db1.CALLBACK_STATE_CHANGED, self.cb_state_changed1)
if self.db2:
self.db2.register_callback(self.db2.CALLBACK_STATE_CHANGED, self.cb_state_changed2)
self.press_timer = RepeatedTimer(0.1, self.press_tick)
def stop(self):
if self.press_timer is not None:
self.press_timer.stop()
def cb_state_changed1(self, button_l, button_r, led_l, led_r):
l = button_l == DualButton.BUTTON_STATE_PRESSED
r = button_r == DualButton.BUTTON_STATE_PRESSED
state = (l << 0) | (r << 1)
changed_state = (self.current_state ^ state) & 0b0011
self.current_state = state
self.state_to_queue(changed_state & self.current_state)
def cb_state_changed2(self, button_l, button_r, led_l, led_r):
l = button_l == DualButton.BUTTON_STATE_PRESSED
r = button_r == DualButton.BUTTON_STATE_PRESSED
state = (l << 2) | (r << 3)
changed_state = (self.current_state ^ state) & 0b1100
self.current_state = state
self.state_to_queue(changed_state & self.current_state)
def state_to_queue(self, state):
for item in config.KEYMAP_DUAL_BUTTON.items():
if state & (1 << item[0]):
self.key_queue.put(item[1])
def press_tick(self):
state = 0
for i in range(4):
if self.current_state & (1 << i):
self.current_state_counter[i] += 1
else:
self.current_state_counter[i] = 0
if self.current_state_counter[i] > 1:
state |= (1 << i)
self.state_to_queue(state)
class LRF:
HOST = "localhost"
PORT = 4223
PROG_PATH = "/home/pi/SICKRPi-Scanner/"
#PROG_PATH = "/home/gus484/Programme/octomap_ibeo/"
TIMER_MS = 1.0
def __init__(self):
self.db = None
self.is_scan = False
self.led_l_blink = False
self.led_r_blink = False
self.run = True
self.ipcon = None
self.pro = None
self.bat_lv = None
try:
# create ip connection
self.ipcon = IPConnection()
# register ip connection callbacks
self.ipcon.register_callback(IPConnection.CALLBACK_ENUMERATE,
self.cb_enumerate)
self.ipcon.register_callback(IPConnection.CALLBACK_CONNECTED,
self.cb_connected)
self.ipcon.connect(LRF.HOST, LRF.PORT)
#self.ipcon.enumerate()
except:
self.run = False
print "no connection to tinkerforge devices!"
exit(0)
def release(self):
if self.ipcon != None:
# turn off leds
self.db.set_led_state(DualButton.LED_STATE_OFF,DualButton.LED_STATE_OFF)
# disconnect
self.ipcon.disconnect()
print "quit"
self.run = False
# thread: start laserscan
def call_laser(self):
# nicht blockierend
self.pro = subprocess.Popen(LRF.PROG_PATH+"bin/main", shell=False, preexec_fn=os.setsid)
# callback handles device connections and configures possibly lost
# configuration of lcd and temperature callbacks, backlight etc.
def cb_enumerate(self, uid, connected_uid, position, hardware_version, firmware_version, device_identifier, enumeration_type):
if enumeration_type == IPConnection.ENUMERATION_TYPE_CONNECTED or enumeration_type == IPConnection.ENUMERATION_TYPE_AVAILABLE:
# enumeration is for dual button bricklet
if device_identifier == DualButton.DEVICE_IDENTIFIER:
if self.db != None:
return
# create dual button device object
self.db = DualButton(uid, self.ipcon)
# register button push callback to function cb_state_changed
self.db.register_callback(self.db.CALLBACK_STATE_CHANGED, self.cb_state_changed)
# set led state
self.db.set_led_state(DualButton.LED_STATE_ON, DualButton.LED_STATE_OFF)
Timer(LRF.TIMER_MS, self.led_blink).start()
# callback handles reconnection of ip connection
def cb_connected(self, connected_reason):
self.ipcon.enumerate()
# callback function for interrupts
def cb_state_changed(self, button_l, button_r, led_l, led_r):
# check for both interrupts
if button_l == DualButton.BUTTON_STATE_PRESSED and button_r == DualButton.BUTTON_STATE_PRESSED:
print "stop script"
#if self.is_scan:
execfile(LRF.PROG_PATH+"quit.py")
time.sleep(0.5)
try:
print "terminate process"
#os.killpg(self.pro.pid, signal.SIGTERM)
self.pro.terminate()
except:
print "..."
self.run = False
# check start interrupt
elif button_l == DualButton.BUTTON_STATE_PRESSED:
if self.is_scan == False:
print "start scan"
self.led_l_blink = False
self.db.set_selected_led_state(DualButton.LED_RIGHT,DualButton.LED_STATE_ON)
self.is_scan = True
# start laser thread
start_new_thread(self.call_laser,())
# check stop interrupt
elif button_r == DualButton.BUTTON_STATE_PRESSED:
if self.is_scan:
print "stop scan"
self.led_l_blink = False
self.db.set_selected_led_state(DualButton.LED_RIGHT,DualButton.LED_STATE_OFF)
execfile(LRF.PROG_PATH+"quit.py")
self.is_scan = False
def led_blink(self):
if self.db != None and self.run == True:
# get led state
ls = self.db.get_led_state()
if self.led_l_blink:
if ls[0] == DualButton.LED_STATE_ON:
l = DualButton.LED_STATE_OFF
else:
l = DualButton.LED_STATE_ON
# set led state
self.db.set_selected_led_state(DualButton.LED_LEFT,l)
if self.led_r_blink:
if ls[1] == DualButton.LED_STATE_ON:
l = DualButton.LED_STATE_OFF
else:
l = DualButton.LED_STATE_ON
# set led state
self.db.set_selected_led_state(DualButton.LED_RIGHT,l)
if self.run == True:
Timer(LRF.TIMER_MS, self.led_blink).start()
def check_battery_level(self):
try:
#open serial dev
s = serial.Serial()
s.port = "/dev/ttyAMA0"
s.baudrate = 38400
s.timeout = 0.15
s.open()
if not s.isOpen():
return
s.write("@EPR"+'\r\n')
#s.write("@USB"+'\r\n')
if s.readable():
msg = s.read(1000)
msg = msg.split(":")
msg = msg[1].split("V")
self.bat_lv = float(msg[0])
print "Voltage:" + str(self.bat_lv)
s.close()
except:
self.bat_lv = None
class DualButtonInput:
current_state = 0
current_state_counter = [0] * 4
press_timer = None
def __init__(self, ipcon, key_queue):
if not config.UID_DUAL_BUTTON_BRICKLET[0]:
print("Not Configured: Dual Button 1")
if not config.UID_DUAL_BUTTON_BRICKLET[1]:
print("Not Configured: Dual Button 2")
self.key_queue = key_queue
self.ipcon = ipcon
if config.UID_DUAL_BUTTON_BRICKLET[0]:
self.db1 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[0],
self.ipcon)
else:
self.db1 = None
if config.UID_DUAL_BUTTON_BRICKLET[1]:
self.db2 = DualButton(config.UID_DUAL_BUTTON_BRICKLET[1],
self.ipcon)
else:
self.db2 = None
if self.db1:
try:
self.db1.get_button_state()
print("Found: Dual Button 1 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[0])
except:
self.db1 = None
print("Not Found: Dual Button 1 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[0])
if self.db2:
try:
self.db2.get_button_state()
print("Found: Dual Button 2 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[1])
except:
self.db2 = None
print("Not Found: Dual Button 2 ({0})").format(
config.UID_DUAL_BUTTON_BRICKLET[1])
if self.db1:
self.db1.register_callback(self.db1.CALLBACK_STATE_CHANGED,
self.cb_state_changed1)
if self.db2:
self.db2.register_callback(self.db2.CALLBACK_STATE_CHANGED,
self.cb_state_changed2)
self.press_timer = RepeatedTimer(0.1, self.press_tick)
def stop(self):
if self.press_timer is not None:
self.press_timer.stop()
def cb_state_changed1(self, button_l, button_r, led_l, led_r):
l = button_l == DualButton.BUTTON_STATE_PRESSED
r = button_r == DualButton.BUTTON_STATE_PRESSED
state = (l << 0) | (r << 1)
changed_state = (self.current_state ^ state) & 0b0011
self.current_state = state
self.state_to_queue(changed_state & self.current_state)
def cb_state_changed2(self, button_l, button_r, led_l, led_r):
l = button_l == DualButton.BUTTON_STATE_PRESSED
r = button_r == DualButton.BUTTON_STATE_PRESSED
state = (l << 2) | (r << 3)
changed_state = (self.current_state ^ state) & 0b1100
self.current_state = state
self.state_to_queue(changed_state & self.current_state)
def state_to_queue(self, state):
for item in config.KEYMAP_DUAL_BUTTON.items():
if state & (1 << item[0]):
self.key_queue.put(item[1])
def press_tick(self):
state = 0
for i in range(4):
if self.current_state & (1 << i):
self.current_state_counter[i] += 1
else:
self.current_state_counter[i] = 0
if self.current_state_counter[i] > 1:
state |= (1 << i)
self.state_to_queue(state)
