Zeroborg plugin

platypush/plugins/gpio/zeroborg/__init__.py

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+import enum
+import logging
+import threading
+import time
+
+from platypush.message.response import Response
+from platypush.plugins import Plugin
+
+
+class Direction(enum.Enum):
+    DIR_UP = 'up'
+    DIR_DOWN = 'down'
+    DIR_LEFT = 'left'
+    DIR_RIGHT = 'right'
+
+
+class GpioZeroborgPlugin(Plugin):
+    _drive_thread = None
+    _can_run = False
+    _direction = None
+
+
+    def __init__(self, v_in=8.4, v_out=6.0, left_power_offset=1.242, right_power_offset=1.0):
+        import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
+
+        self.v_in = v_in
+        self.v_out = v_out
+        self.max_power = v_out / float(v_in)
+        self.left_power_offset = left_power_offset
+        self.right_power_offset = right_power_offset
+
+        self.zb = ZeroBorg.ZeroBorg()
+        self.zb.Init()
+        self.zb.SetCommsFailsafe(True)
+        self.zb.ResetEpo()
+
+
+    def drive(self, direction):
+        self._can_run = True
+        self._direction = direction.lower()
+        logging.info('Received ZeroBorg drive command: {}'.format(direction))
+
+        def _run():
+            while self._can_run and self._direction:
+                left = 0.0
+                right = 0.0
+
+                if self._direction == Direction.DIR_UP.value:
+                    left = 1.0 * self.left_power_offset
+                    right = 1.0 / self.right_power_offset
+                elif self._direction == Direction.DIR_DOWN.value:
+                    left = -1.0
+                    right = -1.0
+                elif self._direction == Direction.DIR_LEFT.value:
+                    left = 2.0 * self.left_power_offset
+                    right = -1.0 / self.right_power_offset
+                elif self._direction == Direction.DIR_RIGHT.value:
+                    left = -1.0 / self.left_power_offset
+                    right = 2.0 * self.right_power_offset
+                elif self._direction is not None:
+                    logging.warning('Invalid direction: {}'.format(direction))
+
+                self.zb.SetMotor1(left * self.max_power)
+                self.zb.SetMotor2(left * self.max_power)
+                self.zb.SetMotor3(-right * self.max_power)
+                self.zb.SetMotor4(-right * self.max_power)
+
+
+        self._drive_thread = threading.Thread(target=_run)
+        self._drive_thread.start()
+
+        return Response(output={'status': 'running', 'direction': direction})
+
+
+    def stop(self):
+        self._can_run = False
+        if self._drive_thread and threading.get_ident() != self._drive_thread.ident:
+            self._drive_thread.join()
+
+        self.zb.MotorsOff()
+        self.zb.ResetEpo()
+        return Response(output={'status':'stopped'})
+
+
+# vim:sw=4:ts=4:et:
+