- Power offsets now passed through conf instead of source code

- More robust handling of temporary sensor failures

platypush/backend/sensor/ir/zeroborg.py

@@ -26,6 +26,7 @@ class SensorIrZeroborgBackend(Backend):
         super().run()
 
         while True:
+            try:
                 self.zb.GetIrMessage()
                 if self.zb.HasNewIrMessage():
                     message = self.zb.GetIrMessage()
@@ -35,7 +36,10 @@ class SensorIrZeroborgBackend(Backend):
 
                     self.last_message = message
                     self.last_message_timestamp = time.time()
-            elif self.last_message_timestamp and \
+            except OSError as e:
+                logging.warning('Failed reading IR sensor status')
+
+            if self.last_message_timestamp and \
                     time.time() - self.last_message_timestamp > self.no_message_timeout:
                 logging.info('Received key up event on the IR sensor')
                 self.bus.post(IrKeyUpEvent(message=self.last_message))

platypush/plugins/gpio/zeroborg/__init__.py

@@ -22,20 +22,12 @@ class GpioZeroborgPlugin(Plugin):
     _drive_thread = None
     _can_run = False
     _direction = None
-    _power_offsets = {
+    _power_offsets = {}
-        Direction.DIR_LEFT: {
-            Direction.DIR_UP: 0.325,
-            Direction.DIR_DOWN: 0,
-        },
-
-        Direction.DIR_RIGHT: {
-            Direction.DIR_UP: -0.132,
-            Direction.DIR_DOWN: 0.387,
-        },
-    }
 
 
-    def __init__(self, v_in=8.4, v_out=6.0):
+    def __init__(self, v_in=8.4, v_out=6.0,
+                 power_offset_left_up=0.0, power_offset_right_up=0.0,
+                 power_offset_left_down=0.0, power_offset_right_down=0.0):
         import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
 
         self.v_in = v_in
@@ -43,6 +35,17 @@ class GpioZeroborgPlugin(Plugin):
         self.max_power = v_out / float(v_in)
         self.auto_mode = False
         self._direction = None
+        self._power_offsets = {
+            Direction.DIR_LEFT: {
+                Direction.DIR_UP: power_offset_left_up,
+                Direction.DIR_DOWN: power_offset_left_down,
+            },
+
+            Direction.DIR_RIGHT: {
+                Direction.DIR_UP: power_offset_right_up,
+                Direction.DIR_DOWN: power_offset_right_down,
+            },
+        }
 
         self.zb = ZeroBorg.ZeroBorg()
         self.zb.Init()
@@ -83,10 +86,22 @@ class GpioZeroborgPlugin(Plugin):
 
                 if self.auto_mode:
                     distance = None
+                    last_recorded_distance_timestamp = None
+                    distance_record_timeout = 2.0
+
                     while distance is None:
                         distance = self.get_distance()
                         logging.info('Closest obstacle distance: {} mm'.format(distance))
 
+                        if last_recorded_distance_timestamp and \
+                                time.time() - last_recorded_distance_timestamp > distance_record_timeout:
+                            # Stop the motors if we have been unable
+                            # to access the distance sensor data
+                            self._direction = None
+                            break
+
+                    last_recorded_distance_timestamp = time.time()
+
                     if distance > 400.0:  # distance in mm
                         self._direction = Direction.DIR_UP.value
                     else:

platypush/plugins/gpio/zeroborg/lib/__init__.py

@@ -758,9 +758,9 @@ If True there has been a new IR message which can be read using GetIrMessage().
             i2cRecv = self.RawRead(COMMAND_GET_NEW_IR, I2C_NORM_LEN)
         except KeyboardInterrupt:
             raise
-        except:
+        except Exception as e:
             self.Print('Failed reading new IR message received flag!')
-            return
+            raise e
 
         if i2cRecv[1] == COMMAND_VALUE_OFF:
             return False