From 6309f5301e7c3845c01e69da733308823ed9ab11 Mon Sep 17 00:00:00 2001
From: Fabio Manganiello <blacklight86@gmail.com>
Date: Sat, 17 Mar 2018 17:16:20 +0100
Subject: [PATCH] - Power offsets now passed through conf instead of source
 code - More robust handling of temporary sensor failures

---
 platypush/backend/sensor/ir/zeroborg.py       | 22 ++++++-----
 platypush/plugins/gpio/zeroborg/__init__.py   | 39 +++++++++++++------
 .../plugins/gpio/zeroborg/lib/__init__.py     |  4 +-
 3 files changed, 42 insertions(+), 23 deletions(-)

diff --git a/platypush/backend/sensor/ir/zeroborg.py b/platypush/backend/sensor/ir/zeroborg.py
index 74f4b640..06870988 100644
--- a/platypush/backend/sensor/ir/zeroborg.py
+++ b/platypush/backend/sensor/ir/zeroborg.py
@@ -26,16 +26,20 @@ class SensorIrZeroborgBackend(Backend):
         super().run()
 
         while True:
-            self.zb.GetIrMessage()
-            if self.zb.HasNewIrMessage():
-                message = self.zb.GetIrMessage()
-                if message != self.last_message:
-                    logging.info('Received key down event on the IR sensor: {}'.format(message))
-                    self.bus.post(IrKeyDownEvent(message=message))
+            try:
+                self.zb.GetIrMessage()
+                if self.zb.HasNewIrMessage():
+                    message = self.zb.GetIrMessage()
+                    if message != self.last_message:
+                        logging.info('Received key down event on the IR sensor: {}'.format(message))
+                        self.bus.post(IrKeyDownEvent(message=message))
 
-                self.last_message = message
-                self.last_message_timestamp = time.time()
-            elif self.last_message_timestamp and \
+                    self.last_message = message
+                    self.last_message_timestamp = time.time()
+            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))
diff --git a/platypush/plugins/gpio/zeroborg/__init__.py b/platypush/plugins/gpio/zeroborg/__init__.py
index 123613b5..fe423647 100644
--- a/platypush/plugins/gpio/zeroborg/__init__.py
+++ b/platypush/plugins/gpio/zeroborg/__init__.py
@@ -22,20 +22,12 @@ class GpioZeroborgPlugin(Plugin):
     _drive_thread = None
     _can_run = False
     _direction = None
-    _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,
-        },
-    }
+    _power_offsets = {}
 
 
-    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:
diff --git a/platypush/plugins/gpio/zeroborg/lib/__init__.py b/platypush/plugins/gpio/zeroborg/lib/__init__.py
index 326d0fa2..87a15aa0 100644
--- a/platypush/plugins/gpio/zeroborg/lib/__init__.py
+++ b/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