forked from platypush/platypush
Getting distance synchronously
This commit is contained in:
Fabio Manganiello
parent
df6790cde9
commit
da0d715d49
2 changed files with 37 additions and 77 deletions
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@ -12,7 +12,6 @@ class GpioSensorDistancePlugin(Plugin):
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def __init__(self, trigger_pin, echo_pin):
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self.trigger_pin = trigger_pin
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self.echo_pin = echo_pin
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self.measured_distance_mm = None
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self._is_probing = False
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gpio.setmode(gpio.BCM)
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@ -24,75 +23,45 @@ class GpioSensorDistancePlugin(Plugin):
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time.sleep(1)
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def start(self):
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self._is_probing = True
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logging.info('Received distance sensor start command')
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def _run():
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gpio.setmode(gpio.BCM)
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gpio.setup(self.trigger_pin, gpio.OUT)
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gpio.setup(self.echo_pin, gpio.IN)
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while self._is_probing:
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gpio.output(self.trigger_pin, True)
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time.sleep(0.00001) # 1 us pulse to trigger echo measurement
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gpio.output(self.trigger_pin, False)
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read_timeout = False
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pulse_start = time.time()
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pulse_on = pulse_start
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while gpio.input(self.echo_pin) == 0:
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pulse_on = time.time()
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if pulse_on - pulse_start > 0.5:
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logging.warning('Distance sensor echo timeout: 0')
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read_timeout = True
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break
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pulse_start = pulse_on
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pulse_end = time.time()
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pulse_off = pulse_end
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while gpio.input(self.echo_pin) == 1:
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pulse_off = time.time()
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if pulse_off - pulse_end > 0.5:
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logging.warning('Distance sensor echo timeout: 1')
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read_timeout = True
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break
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if read_timeout:
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continue
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pulse_end = pulse_off
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pulse_duration = pulse_end - pulse_start
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# s = vt where v = avg speed of sound
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self.measured_distance_mm = round(pulse_duration * 171500.0, 2)
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gpio.output(self.trigger_pin, False)
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time.sleep(0.1)
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gpio.cleanup()
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self.measured_distance_mm = None
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self._probe_thread = threading.Thread(target=_run)
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self._probe_thread.start()
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return Response(output={'status': 'probing'})
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def get_distance(self):
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return self.measured_distance_mm
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gpio.setmode(gpio.BCM)
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gpio.setup(self.trigger_pin, gpio.OUT)
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gpio.setup(self.echo_pin, gpio.IN)
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gpio.output(self.trigger_pin, True)
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time.sleep(0.00001) # 1 us pulse to trigger echo measurement
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gpio.output(self.trigger_pin, False)
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read_timeout = False
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def stop(self):
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self._is_probing = False
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self.measured_distance_mm = None
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pulse_start = time.time()
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pulse_on = pulse_start
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if self._probe_thread and threading.get_ident() != self._probe_thread.ident:
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self._probe_thread.join()
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while gpio.input(self.echo_pin) == 0:
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pulse_on = time.time()
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if pulse_on - pulse_start > 0.5:
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logging.warning('Distance sensor echo timeout: 0')
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read_timeout = True
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break
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return Response(output={'status':'stopped'})
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pulse_start = pulse_on
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pulse_end = time.time()
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pulse_off = pulse_end
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while gpio.input(self.echo_pin) == 1:
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pulse_off = time.time()
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if pulse_off - pulse_end > 0.5:
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logging.warning('Distance sensor echo timeout: 1')
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read_timeout = True
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break
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if read_timeout:
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return None
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pulse_end = pulse_off
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pulse_duration = pulse_end - pulse_start
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# s = vt where v = avg speed of sound
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return round(pulse_duration * 171500.0, 2)
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# vim:sw=4:ts=4:et:
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@ -40,7 +40,6 @@ class GpioZeroborgPlugin(Plugin):
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self.v_in = v_in
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self.v_out = v_out
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self.max_power = v_out / float(v_in)
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self.distance_sensor = None
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self.auto_mode = False
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self.zb = ZeroBorg.ZeroBorg()
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@ -50,16 +49,11 @@ class GpioZeroborgPlugin(Plugin):
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def get_distance(self):
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if not self.distance_sensor:
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self.distance_sensor = get_plugin('gpio.sensor.distance')
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if not self.distance_sensor:
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distance_sensor = get_plugin('gpio.sensor.distance')
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if not distance_sensor:
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raise RuntimeError('No gpio.sensor.distance configuration found')
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if self.distance_sensor.get_distance() is None:
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self.distance_sensor.start()
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return self.distance_sensor.get_distance()
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return distance_sensor.get_distance()
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def drive(self, direction):
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@ -126,9 +120,6 @@ class GpioZeroborgPlugin(Plugin):
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self.zb.MotorsOff()
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self.zb.ResetEpo()
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if self.distance_sensor:
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self.distance_sensor.stop()
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return Response(output={'status':'stopped'})
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