Added PWM3901 optical motion/flow sensor plugin

This commit is contained in:
Fabio Manganiello 2019-09-23 23:28:33 +02:00
parent a580cc93eb
commit 7e92f59d44
6 changed files with 143 additions and 0 deletions

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@ -223,6 +223,7 @@ autodoc_mock_imports = ['googlesamples.assistant.grpc.audio_helpers',
'envirophat',
'gps',
'picamera',
'pwm3901',
]
sys.path.insert(0, os.path.abspath('../..'))

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@ -0,0 +1,32 @@
from platypush.backend.sensor import SensorBackend
class SensorPwm3901Backend(SensorBackend):
"""
Backend to poll an `PWM3901 <https://github.com/pimoroni/pmw3901-python>`_
optical flow and motion sensor
Requires:
* ``pwm3901`` (``pip install pwm3901``)
"""
def __init__(self, absolute=True, relative=True, **kwargs):
"""
:param absolute: Enable absolute motion sensor events (default: true)
:param relative: Enable relative motion sensor events (default: true)
"""
enabled_sensors = {
'motion_rel_x': relative,
'motion_rel_y': relative,
'motion_rel_mod': relative,
'motion_abs_x': absolute,
'motion_abs_y': absolute,
'motion_abs_mod': absolute,
}
super().__init__(plugin='gpio.sensor.motion.pwm3901', enabled_sensors=enabled_sensors, **kwargs)
# vim:sw=4:ts=4:et:

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@ -0,0 +1,107 @@
import enum
import math
# noinspection PyUnresolvedReferences,PyPackageRequirements
from pmw3901 import PMW3901, BG_CS_FRONT_BCM, BG_CS_BACK_BCM
from platypush.plugins import action
from platypush.plugins.gpio.sensor import GpioSensorPlugin
class Rotation(enum.IntEnum):
ROTATE_0 = 0
ROTATE_90 = 90
ROTATE_180 = 180
ROTATE_270 = 270
class SPISlot(enum.Enum):
FRONT = 'front',
BACK = 'back'
class GpioSensorMotionPwm3901Plugin(GpioSensorPlugin):
"""
Plugin to interact with an `PWM3901 <https://github.com/pimoroni/pmw3901-python>`_
optical flow and motion sensor
Requires:
* ``pwm3901`` (``pip install pwm3901``)
"""
def __init__(self, rotation=Rotation.ROTATE_0.value, spi_slot=SPISlot.FRONT.value, spi_port=0, **kwargs):
"""
:param rotation: Rotation angle for the captured optical flow. Possible options: 0, 90, 180, 270 (default: 0)
:type rotation: int
:param spi_slot: SPI slot where the sensor is connected if you're using a Breakout Garden interface.
Possible options: 'front', 'back' (default: 'front')
:type spi_slot: str
:param spi_port: SPI port (default: 0)
:type spi_slot: int
"""
super().__init__(**kwargs)
self.spi_port = spi_port
self._sensor = None
(self.x, self.y) = (0, 0)
try:
if isinstance(rotation, int):
rotation = [r for r in Rotation if r.value == rotation][0]
self.rotation = rotation
except IndexError:
raise ValueError('{} is not a valid value for rotation - possible values: {}'.format(
rotation, [r.value for r in Rotation]))
try:
if isinstance(spi_slot, str):
spi_slot = [s for s in SPISlot if s.value == spi_slot][0]
self.spi_slot = BG_CS_FRONT_BCM if spi_slot == SPISlot.FRONT else BG_CS_BACK_BCM
except IndexError:
raise ValueError('{} is not a valid value for spi_slot - possible values: {}'.format(
spi_slot, [s.value for s in SPISlot]))
def _get_sensor(self):
if not self._sensor:
self._sensor = PMW3901(spi_port=self.spi_port,
spi_cs=1,
spi_cs_gpio=self.spi_slot)
self._sensor.set_rotation(self.rotation)
return self._sensor
@action
def get_measurement(self):
"""
:returns: dict. Example::
output = {
"motion_rel_x": 0, # Detected relative motion vector X-coord
"motion_rel_y": 1, # Detected relative motion vector Y-coord
"motion_abs_x": 3, # Detected absolute motion vector X-coord
"motion_abs_y": 3, # Detected absolute motion vector Y-coord
"motion_rel_mod": 1, # Detected relative motion vector module
"motion_abs_mod": 5 # Detected absolute motion vector module
}
"""
sensor = self._get_sensor()
x, y = sensor.get_motion()
self.x += x
self.y += y
return {
'motion_rel_x': x,
'motion_rel_y': y,
'motion_abs_x': self.x,
'motion_abs_y': self.y,
'motion_rel_mod': math.sqrt(x * x + y * y),
'motion_abs_mod': math.sqrt(self.x * self.x + self.y * self.y),
}
# vim:sw=4:ts=4:et:

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@ -162,3 +162,6 @@ pyScss
# Support for VL53L1X laser ranger/distance sensor
# smbus2
# vl53l1x
# Support for PWM3901 2-Dimensional Optical Flow Sensor
# pwm3901