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Support for Zeroborg events

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This commit is contained in:
Fabio Manganiello 2019-12-22 23:54:45 +01:00
parent b36a8095ab
commit 7a7acbe6b9
3 changed files with 175 additions and 140 deletions
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19
platypush/message/event/zeroborg.py Normal file
View file

@ -0,0 +1,19 @@
from typing import Optional, Union
from platypush.message.event import Event
class ZeroborgEvent(Event):
pass
class ZeroborgDriveEvent(ZeroborgEvent):
def __init__(self, motors: Union[list, tuple], direction: Optional[str] = None, *args, **kwargs):
super().__init__(*args, motors=motors, direction=direction, **kwargs)
class ZeroborgStopEvent(ZeroborgEvent):
pass
# vim:sw=4:ts=4:et:

47
platypush/plugins/gpio/zeroborg/__init__.py
View file

@ -2,6 +2,10 @@ import enum
import threading import threading
import time import time
from typing import Optional
from platypush.context import get_bus
from platypush.message.event.zeroborg import ZeroborgDriveEvent, ZeroborgStopEvent
from platypush.plugins import Plugin, action from platypush.plugins import Plugin, action
from platypush.context import get_plugin from platypush.context import get_plugin
@ -21,12 +25,13 @@ class GpioZeroborgPlugin(Plugin):
ZeroBorg plugin. It allows you to control a ZeroBorg ZeroBorg plugin. It allows you to control a ZeroBorg
(https://www.piborg.org/motor-control-1135/zeroborg) motor controller and (https://www.piborg.org/motor-control-1135/zeroborg) motor controller and
infrared sensor circuitry for Raspberry Pi infrared sensor circuitry for Raspberry Pi
"""
_drive_thread = None Triggers:
_can_run = False
_direction = None * :class:`platypush.message.event.zeroborg.ZeroborgDriveEvent` when motors direction changes
_init_in_progress = threading.Lock() * :class:`platypush.message.event.zeroborg.ZeroborgStopEvent` upon motors stop
"""
def __init__(self, directions=None, **kwargs): def __init__(self, directions=None, **kwargs):
""" """
@ -96,6 +101,8 @@ class GpioZeroborgPlugin(Plugin):
self.directions = directions self.directions = directions
self.auto_mode = False self.auto_mode = False
self._direction = None self._direction = None
self._drive_thread: Optional[threading.Thread] = None
self._can_run: bool = False
self.zb = ZeroBorg.ZeroBorg() self.zb = ZeroBorg.ZeroBorg()
self.zb.Init() self.zb.Init()
@ -155,10 +162,6 @@ class GpioZeroborgPlugin(Plugin):
""" """
self._can_run = True
self._direction = direction.lower()
self.logger.info('Received ZeroBorg drive command: {}'.format(direction))
def _run(): def _run():
try: try:
while self._can_run and self._direction: while self._can_run and self._direction:
@ -173,7 +176,7 @@ class GpioZeroborgPlugin(Plugin):
if self._direction == Direction.DIR_AUTO.value: if self._direction == Direction.DIR_AUTO.value:
self.auto_mode = True self.auto_mode = True
motor_1_power = motor_2_power = motor_3_power = motor_4_power = 0.0 motors = [0, 0, 0, 0]
try: try:
if self.auto_mode: if self.auto_mode:
@ -181,25 +184,27 @@ class GpioZeroborgPlugin(Plugin):
time.sleep(0.1) time.sleep(0.1)
if self._direction in self.directions and self._direction != Direction.DIR_AUTO.value: if self._direction in self.directions and self._direction != Direction.DIR_AUTO.value:
motor_1_power = self.directions[self._direction]['motor_1_power'] motors = self.directions[self._direction]
motor_2_power = self.directions[self._direction]['motor_2_power']
motor_3_power = self.directions[self._direction]['motor_3_power']
motor_4_power = self.directions[self._direction]['motor_4_power']
else: else:
self.logger.warning('Invalid direction {}: stopping motors'.format(self._direction)) self.logger.warning('Invalid direction {}: stopping motors'.format(self._direction))
except Exception as e: except Exception as e:
self.logger.error('Error on _get_direction_from_sensors: {}'.format(str(e))) self.logger.error('Error on _get_direction_from_sensors: {}'.format(str(e)))
break break
self.zb.SetMotor1(motor_1_power) for i, power in enumerate(motors):
self.zb.SetMotor2(motor_2_power) method = getattr(self.zb, 'SetMotor{}'.format(i+1))
self.zb.SetMotor3(motor_3_power) method(power)
self.zb.SetMotor4(motor_4_power)
finally: finally:
self.stop() self.stop()
self._drive_thread = None
self._drive_thread = threading.Thread(target=_run) self._can_run = True
self._drive_thread.start() self._direction = direction.lower()
get_bus().post(ZeroborgDriveEvent(direction=self._direction, motors=self.directions[self._direction]))
if not self._drive_thread:
self._drive_thread = threading.Thread(target=_run)
self._drive_thread.start()
return {'status': 'running', 'direction': direction} return {'status': 'running', 'direction': direction}
@ -217,7 +222,7 @@ class GpioZeroborgPlugin(Plugin):
self.zb.MotorsOff() self.zb.MotorsOff()
self.zb.ResetEpo() self.zb.ResetEpo()
get_bus().post(ZeroborgStopEvent())
return {'status': 'stopped'} return {'status': 'stopped'}

249
platypush/plugins/gpio/zeroborg/lib/__init__.py
View file

@ -33,64 +33,67 @@ import types
import time import time
# Constant values # Constant values
I2C_SLAVE = 0x0703 I2C_SLAVE = 0x0703
PWM_MAX = 255 PWM_MAX = 255
I2C_NORM_LEN = 4 I2C_NORM_LEN = 4
I2C_LONG_LEN = 24 I2C_LONG_LEN = 24
I2C_ID_ZEROBORG = 0x40 I2C_ID_ZEROBORG = 0x40
COMMAND_SET_LED = 1 # Set the LED status COMMAND_SET_LED = 1 # Set the LED status
COMMAND_GET_LED = 2 # Get the LED status COMMAND_GET_LED = 2 # Get the LED status
COMMAND_SET_A_FWD = 3 # Set motor 1 PWM rate in a forwards direction COMMAND_SET_A_FWD = 3 # Set motor 1 PWM rate in a forwards direction
COMMAND_SET_A_REV = 4 # Set motor 1 PWM rate in a reverse direction COMMAND_SET_A_REV = 4 # Set motor 1 PWM rate in a reverse direction
COMMAND_GET_A = 5 # Get motor 1 direction and PWM rate COMMAND_GET_A = 5 # Get motor 1 direction and PWM rate
COMMAND_SET_B_FWD = 6 # Set motor 2 PWM rate in a forwards direction COMMAND_SET_B_FWD = 6 # Set motor 2 PWM rate in a forwards direction
COMMAND_SET_B_REV = 7 # Set motor 2 PWM rate in a reverse direction COMMAND_SET_B_REV = 7 # Set motor 2 PWM rate in a reverse direction
COMMAND_GET_B = 8 # Get motor 2 direction and PWM rate COMMAND_GET_B = 8 # Get motor 2 direction and PWM rate
COMMAND_SET_C_FWD = 9 # Set motor 3 PWM rate in a forwards direction COMMAND_SET_C_FWD = 9 # Set motor 3 PWM rate in a forwards direction
COMMAND_SET_C_REV = 10 # Set motor 3 PWM rate in a reverse direction COMMAND_SET_C_REV = 10 # Set motor 3 PWM rate in a reverse direction
COMMAND_GET_C = 11 # Get motor 3 direction and PWM rate COMMAND_GET_C = 11 # Get motor 3 direction and PWM rate
COMMAND_SET_D_FWD = 12 # Set motor 4 PWM rate in a forwards direction COMMAND_SET_D_FWD = 12 # Set motor 4 PWM rate in a forwards direction
COMMAND_SET_D_REV = 13 # Set motor 4 PWM rate in a reverse direction COMMAND_SET_D_REV = 13 # Set motor 4 PWM rate in a reverse direction
COMMAND_GET_D = 14 # Get motor 4 direction and PWM rate COMMAND_GET_D = 14 # Get motor 4 direction and PWM rate
COMMAND_ALL_OFF = 15 # Switch everything off COMMAND_ALL_OFF = 15 # Switch everything off
COMMAND_SET_ALL_FWD = 16 # Set all motors PWM rate in a forwards direction COMMAND_SET_ALL_FWD = 16 # Set all motors PWM rate in a forwards direction
COMMAND_SET_ALL_REV = 17 # Set all motors PWM rate in a reverse direction COMMAND_SET_ALL_REV = 17 # Set all motors PWM rate in a reverse direction
COMMAND_SET_FAILSAFE = 18 # Set the failsafe flag, turns the motors off if communication is interrupted COMMAND_SET_FAILSAFE = 18 # Set the failsafe flag, turns the motors off if communication is interrupted
COMMAND_GET_FAILSAFE = 19 # Get the failsafe flag COMMAND_GET_FAILSAFE = 19 # Get the failsafe flag
COMMAND_RESET_EPO = 20 # Resets the EPO flag, use after EPO has been tripped and switch is now clear COMMAND_RESET_EPO = 20 # Resets the EPO flag, use after EPO has been tripped and switch is now clear
COMMAND_GET_EPO = 21 # Get the EPO latched flag COMMAND_GET_EPO = 21 # Get the EPO latched flag
COMMAND_SET_EPO_IGNORE = 22 # Set the EPO ignored flag, allows the system to run without an EPO COMMAND_SET_EPO_IGNORE = 22 # Set the EPO ignored flag, allows the system to run without an EPO
COMMAND_GET_EPO_IGNORE = 23 # Get the EPO ignored flag COMMAND_GET_EPO_IGNORE = 23 # Get the EPO ignored flag
COMMAND_GET_NEW_IR = 24 # Get the new IR message received flag COMMAND_GET_NEW_IR = 24 # Get the new IR message received flag
COMMAND_GET_LAST_IR = 25 # Get the last IR message received (long message, resets new IR flag) COMMAND_GET_LAST_IR = 25 # Get the last IR message received (long message, resets new IR flag)
COMMAND_SET_LED_IR = 26 # Set the LED for indicating IR messages COMMAND_SET_LED_IR = 26 # Set the LED for indicating IR messages
COMMAND_GET_LED_IR = 27 # Get if the LED is being used to indicate IR messages COMMAND_GET_LED_IR = 27 # Get if the LED is being used to indicate IR messages
COMMAND_GET_ANALOG_1 = 28 # Get the analog reading from port #1, pin 2 COMMAND_GET_ANALOG_1 = 28 # Get the analog reading from port #1, pin 2
COMMAND_GET_ANALOG_2 = 29 # Get the analog reading from port #2, pin 4 COMMAND_GET_ANALOG_2 = 29 # Get the analog reading from port #2, pin 4
COMMAND_GET_ID = 0x99 # Get the board identifier COMMAND_GET_ID = 0x99 # Get the board identifier
COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address COMMAND_SET_I2C_ADD = 0xAA # Set a new I2C address
COMMAND_VALUE_FWD = 1 # I2C value representing forward COMMAND_VALUE_FWD = 1 # I2C value representing forward
COMMAND_VALUE_REV = 2 # I2C value representing reverse COMMAND_VALUE_REV = 2 # I2C value representing reverse
COMMAND_VALUE_ON = 1 # I2C value representing on COMMAND_VALUE_ON = 1 # I2C value representing on
COMMAND_VALUE_OFF = 0 # I2C value representing off COMMAND_VALUE_OFF = 0 # I2C value representing off
COMMAND_ANALOG_MAX = 0x3FF # Maximum value for analog readings COMMAND_ANALOG_MAX = 0x3FF # Maximum value for analog readings
IR_MAX_BYTES = I2C_LONG_LEN - 2 IR_MAX_BYTES = I2C_LONG_LEN - 2
def ScanForZeroBorg(busNumber = 1):
# noinspection PyPep8Naming
def ScanForZeroBorg(busNumber=1):
""" """
ScanForZeroBorg([busNumber]) ScanForZeroBorg([busNumber])
Scans the I?C bus for a ZeroBorg boards and returns a list of all usable addresses Scans the I?C bus for a ZeroBorg boards and returns a list of all usable addresses
The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1 The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied
the default is 1
""" """
found = [] found = []
print('Scanning I?C bus #%d' % (busNumber)) print('Scanning I?C bus #%d' % busNumber)
bus = ZeroBorg() bus = ZeroBorg()
for address in range(0x03, 0x78, 1): for address in range(0x03, 0x78, 1):
try: try:
@ -98,7 +101,7 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
if len(i2cRecv) == I2C_NORM_LEN: if len(i2cRecv) == I2C_NORM_LEN:
if i2cRecv[1] == I2C_ID_ZEROBORG: if i2cRecv[1] == I2C_ID_ZEROBORG:
print('Found ZeroBorg at %02X' % (address)) print('Found ZeroBorg at %02X' % address)
found.append(address) found.append(address)
else: else:
pass pass
@ -106,10 +109,11 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
pass pass
except KeyboardInterrupt: except KeyboardInterrupt:
raise raise
except: except Exception as e:
pass print('Error on ZeroBorg scan: {}: {}'.format(type(e), str(e)))
if len(found) == 0: if len(found) == 0:
print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % (busNumber)) print('No ZeroBorg boards found, is bus #%d correct (should be 0 for Rev 1, 1 for Rev 2)' % busNumber)
elif len(found) == 1: elif len(found) == 1:
print('1 ZeroBorg board found') print('1 ZeroBorg board found')
else: else:
@ -117,13 +121,15 @@ The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Re
return found return found
def SetNewAddress(newAddress, oldAddress = -1, busNumber = 1): # noinspection PyPep8Naming
def SetNewAddress(newAddress, oldAddress=-1, busNumber=1):
""" """
SetNewAddress(newAddress, [oldAddress], [busNumber]) SetNewAddress(newAddress, [oldAddress], [busNumber])
Scans the I?C bus for the first ZeroBorg and sets it to a new I2C address Scans the I?C bus for the first ZeroBorg and sets it to a new I2C address
If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus If oldAddress is supplied it will change the address of the board at that address rather than scanning the bus
The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied the default is 1 The busNumber if supplied is which I?C bus to scan, 0 for Rev 1 boards, 1 for Rev 2 boards, if not supplied
the default is 1.
Warning, this new I?C address will still be used after resetting the power on the device Warning, this new I?C address will still be used after resetting the power on the device
""" """
if newAddress < 0x03: if newAddress < 0x03:
@ -142,52 +148,57 @@ Warning, this new I?C address will still be used after resetting the power on th
print('Changing I2C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber)) print('Changing I2C address from %02X to %02X (bus #%d)' % (oldAddress, newAddress, busNumber))
bus = ZeroBorg() bus = ZeroBorg()
bus.InitBusOnly(busNumber, oldAddress) bus.InitBusOnly(busNumber, oldAddress)
# noinspection PyBroadException
try: try:
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
if len(i2cRecv) == I2C_NORM_LEN: if len(i2cRecv) == I2C_NORM_LEN:
if i2cRecv[1] == I2C_ID_ZEROBORG: if i2cRecv[1] == I2C_ID_ZEROBORG:
foundChip = True foundChip = True
print('Found ZeroBorg at %02X' % (oldAddress)) print('Found ZeroBorg at %02X' % oldAddress)
else: else:
foundChip = False foundChip = False
print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (oldAddress, i2cRecv[1], I2C_ID_ZEROBORG)) print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
oldAddress, i2cRecv[1], I2C_ID_ZEROBORG))
else: else:
foundChip = False foundChip = False
print('Missing ZeroBorg at %02X' % (oldAddress)) print('Missing ZeroBorg at %02X' % oldAddress)
except KeyboardInterrupt: except KeyboardInterrupt:
raise raise
except: except:
foundChip = False foundChip = False
print('Missing ZeroBorg at %02X' % (oldAddress)) print('Missing ZeroBorg at %02X' % oldAddress)
if foundChip: if foundChip:
bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress]) bus.RawWrite(COMMAND_SET_I2C_ADD, [newAddress])
time.sleep(0.1) time.sleep(0.1)
print('Address changed to %02X, attempting to talk with the new address' % (newAddress)) print('Address changed to %02X, attempting to talk with the new address' % newAddress)
# noinspection PyBroadException
try: try:
bus.InitBusOnly(busNumber, newAddress) bus.InitBusOnly(busNumber, newAddress)
i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) i2cRecv = bus.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
if len(i2cRecv) == I2C_NORM_LEN: if len(i2cRecv) == I2C_NORM_LEN:
if i2cRecv[1] == I2C_ID_ZEROBORG: if i2cRecv[1] == I2C_ID_ZEROBORG:
foundChip = True foundChip = True
print('Found ZeroBorg at %02X' % (newAddress)) print('Found ZeroBorg at %02X' % newAddress)
else: else:
foundChip = False foundChip = False
print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (newAddress, i2cRecv[1], I2C_ID_ZEROBORG)) print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
newAddress, i2cRecv[1], I2C_ID_ZEROBORG))
else: else:
foundChip = False foundChip = False
print('Missing ZeroBorg at %02X' % (newAddress)) print('Missing ZeroBorg at %02X' % newAddress)
except KeyboardInterrupt: except KeyboardInterrupt:
raise raise
except: except:
foundChip = False foundChip = False
print('Missing ZeroBorg at %02X' % (newAddress)) print('Missing ZeroBorg at %02X' % newAddress)
if foundChip: if foundChip:
print('New I?C address of %02X set successfully' % (newAddress)) print('New I?C address of %02X set successfully' % newAddress)
else: else:
print('Failed to set new I?C address...') print('Failed to set new I?C address...')
# Class used to control ZeroBorg # Class used to control ZeroBorg
# noinspection PyPep8Naming
class ZeroBorg: class ZeroBorg:
""" """
This module is designed to communicate with the ZeroBorg This module is designed to communicate with the ZeroBorg
@ -200,13 +211,12 @@ printFunction Function reference to call when printing text, if None "
""" """
# Shared values used by this class # Shared values used by this class
busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus busNumber = 1 # Check here for Rev 1 vs Rev 2 and select the correct bus
i2cAddress = I2C_ID_ZEROBORG # I?C address, override for a different address i2cAddress = I2C_ID_ZEROBORG # I?C address, override for a different address
foundChip = False foundChip = False
printFunction = None printFunction = None
i2cWrite = None i2cWrite = None
i2cRead = None i2cRead = None
def RawWrite(self, command, data): def RawWrite(self, command, data):
""" """
@ -218,11 +228,11 @@ Command codes can be found at the top of ZeroBorg.py, data is a list of 0 or mor
Under most circumstances you should use the appropriate function instead of RawWrite Under most circumstances you should use the appropriate function instead of RawWrite
""" """
rawOutput = bytes([command]) rawOutput = bytes([command])
if data: rawOutput += bytes(data) if data:
rawOutput += bytes(data)
self.i2cWrite.write(rawOutput) self.i2cWrite.write(rawOutput)
def RawRead(self, command, length, retryCount=3):
def RawRead(self, command, length, retryCount = 3):
""" """
RawRead(command, length, [retryCount]) RawRead(command, length, [retryCount])
@ -234,6 +244,8 @@ If it does not it will retry the request until retryCount is exhausted (default
Under most circumstances you should use the appropriate function instead of RawRead Under most circumstances you should use the appropriate function instead of RawRead
""" """
reply = []
while retryCount > 0: while retryCount > 0:
self.RawWrite(command, []) self.RawWrite(command, [])
rawReply = self.i2cRead.read(length) rawReply = self.i2cRead.read(length)
@ -247,8 +259,7 @@ Under most circumstances you should use the appropriate function instead of RawR
if retryCount > 0: if retryCount > 0:
return reply return reply
else: else:
raise IOError('I2C read for command %d failed' % (command)) raise IOError('I2C read for command %d failed' % command)
def InitBusOnly(self, busNumber, address): def InitBusOnly(self, busNumber, address):
""" """
@ -259,24 +270,22 @@ This call does not check the board is present or working, under most circumstanc
""" """
self.busNumber = busNumber self.busNumber = busNumber
self.i2cAddress = address self.i2cAddress = address
self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0) self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering=0)
fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress) fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0) self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering=0)
fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress) fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
def Print(self, message): def Print(self, message):
""" """
Print(message) Print(message)
Wrapper used by the ZeroBorg instance to print messages, will call printFunction if set, print otherwise Wrapper used by the ZeroBorg instance to print messages, will call printFunction if set, print otherwise
""" """
if self.printFunction == None: if self.printFunction is None:
print(message) print(message)
else: else:
self.printFunction(message) self.printFunction(message)
def NoPrint(self, message): def NoPrint(self, message):
""" """
NoPrint(message) NoPrint(message)
@ -287,42 +296,45 @@ ZB.printFunction = ZB.NoPrint
""" """
pass pass
def Init(self, tryOtherBus=False):
def Init(self, tryOtherBus = False):
""" """
Init([tryOtherBus]) Init([tryOtherBus])
Prepare the I2C driver for talking to the ZeroBorg Prepare the I2C driver for talking to the ZeroBorg
If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on the current busNumber If tryOtherBus is True, this function will attempt to use the other bus if the ThunderBorg devices can not be found on
the current busNumber.
This is only really useful for early Raspberry Pi models! This is only really useful for early Raspberry Pi models!
""" """
self.Print('Loading ZeroBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress)) self.Print('Loading ZeroBorg on bus %d, address %02X' % (self.busNumber, self.i2cAddress))
# Open the bus # Open the bus
self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering = 0) self.i2cRead = io.open("/dev/i2c-" + str(self.busNumber), "rb", buffering=0)
fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress) fcntl.ioctl(self.i2cRead, I2C_SLAVE, self.i2cAddress)
self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering = 0) self.i2cWrite = io.open("/dev/i2c-" + str(self.busNumber), "wb", buffering=0)
fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress) fcntl.ioctl(self.i2cWrite, I2C_SLAVE, self.i2cAddress)
# Check for ZeroBorg # Check for ZeroBorg
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_ID, I2C_NORM_LEN)
if len(i2cRecv) == I2C_NORM_LEN: if len(i2cRecv) == I2C_NORM_LEN:
if i2cRecv[1] == I2C_ID_ZEROBORG: if i2cRecv[1] == I2C_ID_ZEROBORG:
self.foundChip = True self.foundChip = True
self.Print('Found ZeroBorg at %02X' % (self.i2cAddress)) self.Print('Found ZeroBorg at %02X' % self.i2cAddress)
else: else:
self.foundChip = False self.foundChip = False
self.Print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (self.i2cAddress, i2cRecv[1], I2C_ID_ZEROBORG)) self.Print('Found a device at %02X, but it is not a ZeroBorg (ID %02X instead of %02X)' % (
self.i2cAddress, i2cRecv[1], I2C_ID_ZEROBORG))
else: else:
self.foundChip = False self.foundChip = False
self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress)) self.Print('Missing ZeroBorg at %02X' % self.i2cAddress)
except KeyboardInterrupt: except KeyboardInterrupt:
raise raise
except: except:
self.foundChip = False self.foundChip = False
self.Print('Missing ZeroBorg at %02X' % (self.i2cAddress)) self.Print('Missing ZeroBorg at %02X' % self.i2cAddress)
# See if we are missing chips # See if we are missing chips
if not self.foundChip: if not self.foundChip:
@ -332,15 +344,16 @@ If tryOtherBus is True, this function will attempt to use the other bus if the T
self.busNumber = 0 self.busNumber = 0
else: else:
self.busNumber = 1 self.busNumber = 1
self.Print('Trying bus %d instead' % (self.busNumber)) self.Print('Trying bus %d instead' % self.busNumber)
self.Init(False) self.Init(False)
else: else:
self.Print('Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C drivers are running?') self.Print(
'Are you sure your ZeroBorg is properly attached, the correct address is used, and the I2C ' +
'drivers are running?')
self.bus = None self.bus = None
else: else:
self.Print('ZeroBorg loaded on bus %d' % (self.busNumber)) self.Print('ZeroBorg loaded on bus %d' % (self.busNumber))
def SetMotor1(self, power): def SetMotor1(self, power):
""" """
SetMotor1(power) SetMotor1(power)
@ -365,6 +378,7 @@ SetMotor1(1) -> motor 1 moving forward at 100% power
if pwm > PWM_MAX: if pwm > PWM_MAX:
pwm = PWM_MAX pwm = PWM_MAX
# noinspection PyBroadException
try: try:
self.RawWrite(command, [pwm]) self.RawWrite(command, [pwm])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -372,7 +386,6 @@ SetMotor1(1) -> motor 1 moving forward at 100% power
except: except:
self.Print('Failed sending motor 1 drive level!') self.Print('Failed sending motor 1 drive level!')
def GetMotor1(self): def GetMotor1(self):
""" """
power = GetMotor1() power = GetMotor1()
@ -384,6 +397,7 @@ e.g.
-0.5 -> motor 1 moving reverse at 50% power -0.5 -> motor 1 moving reverse at 50% power
1 -> motor 1 moving forward at 100% power 1 -> motor 1 moving forward at 100% power
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_A, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_A, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -401,7 +415,6 @@ e.g.
else: else:
return return
def SetMotor2(self, power): def SetMotor2(self, power):
""" """
SetMotor1(power) SetMotor1(power)
@ -426,6 +439,7 @@ SetMotor2(1) -> motor 2 moving forward at 100% power
if pwm > PWM_MAX: if pwm > PWM_MAX:
pwm = PWM_MAX pwm = PWM_MAX
# noinspection PyBroadException
try: try:
self.RawWrite(command, [pwm]) self.RawWrite(command, [pwm])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -433,7 +447,6 @@ SetMotor2(1) -> motor 2 moving forward at 100% power
except: except:
self.Print('Failed sending motor 2 drive level!') self.Print('Failed sending motor 2 drive level!')
def GetMotor2(self): def GetMotor2(self):
""" """
power = GetMotor2() power = GetMotor2()
@ -445,6 +458,7 @@ e.g.
-0.5 -> motor 2 moving reverse at 50% power -0.5 -> motor 2 moving reverse at 50% power
1 -> motor 2 moving forward at 100% power 1 -> motor 2 moving forward at 100% power
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_B, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_B, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -462,7 +476,6 @@ e.g.
else: else:
return return
def SetMotor3(self, power): def SetMotor3(self, power):
""" """
SetMotor3(power) SetMotor3(power)
@ -487,6 +500,7 @@ SetMotor3(1) -> motor 3 moving forward at 100% power
if pwm > PWM_MAX: if pwm > PWM_MAX:
pwm = PWM_MAX pwm = PWM_MAX
# noinspection PyBroadException
try: try:
self.RawWrite(command, [pwm]) self.RawWrite(command, [pwm])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -494,7 +508,6 @@ SetMotor3(1) -> motor 3 moving forward at 100% power
except: except:
self.Print('Failed sending motor 3 drive level!') self.Print('Failed sending motor 3 drive level!')
def GetMotor3(self): def GetMotor3(self):
""" """
power = GetMotor3() power = GetMotor3()
@ -506,6 +519,7 @@ e.g.
-0.5 -> motor 3 moving reverse at 50% power -0.5 -> motor 3 moving reverse at 50% power
1 -> motor 3 moving forward at 100% power 1 -> motor 3 moving forward at 100% power
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_C, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_C, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -523,7 +537,6 @@ e.g.
else: else:
return return
def SetMotor4(self, power): def SetMotor4(self, power):
""" """
SetMotor4(power) SetMotor4(power)
@ -548,6 +561,7 @@ SetMotor4(1) -> motor 4 moving forward at 100% power
if pwm > PWM_MAX: if pwm > PWM_MAX:
pwm = PWM_MAX pwm = PWM_MAX
# noinspection PyBroadException
try: try:
self.RawWrite(command, [pwm]) self.RawWrite(command, [pwm])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -555,7 +569,6 @@ SetMotor4(1) -> motor 4 moving forward at 100% power
except: except:
self.Print('Failed sending motor 4 drive level!') self.Print('Failed sending motor 4 drive level!')
def GetMotor4(self): def GetMotor4(self):
""" """
power = GetMotor4() power = GetMotor4()
@ -567,6 +580,7 @@ e.g.
-0.5 -> motor 4 moving reverse at 50% power -0.5 -> motor 4 moving reverse at 50% power
1 -> motor 4 moving forward at 100% power 1 -> motor 4 moving forward at 100% power
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_D, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_D, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -584,7 +598,6 @@ e.g.
else: else:
return return
def SetMotors(self, power): def SetMotors(self, power):
""" """
SetMotors(power) SetMotors(power)
@ -609,6 +622,7 @@ SetMotors(1) -> all motors are moving forward at 100% power
if pwm > PWM_MAX: if pwm > PWM_MAX:
pwm = PWM_MAX pwm = PWM_MAX
# noinspection PyBroadException
try: try:
self.RawWrite(command, [pwm]) self.RawWrite(command, [pwm])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -616,13 +630,13 @@ SetMotors(1) -> all motors are moving forward at 100% power
except: except:
self.Print('Failed sending all motors drive level!') self.Print('Failed sending all motors drive level!')
def MotorsOff(self): def MotorsOff(self):
""" """
MotorsOff() MotorsOff()
Sets all motors to stopped, useful when ending a program Sets all motors to stopped, useful when ending a program
""" """
# noinspection PyBroadException
try: try:
self.RawWrite(COMMAND_ALL_OFF, [0]) self.RawWrite(COMMAND_ALL_OFF, [0])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -630,7 +644,6 @@ Sets all motors to stopped, useful when ending a program
except: except:
self.Print('Failed sending motors off command!') self.Print('Failed sending motors off command!')
def SetLed(self, state): def SetLed(self, state):
""" """
SetLed(state) SetLed(state)
@ -650,13 +663,13 @@ Sets the current state of the LED, False for off, True for on
self.Print('Failed sending LED state!') self.Print('Failed sending LED state!')
self.Print(e) self.Print(e)
def GetLed(self): def GetLed(self):
""" """
state = GetLed() state = GetLed()
Reads the current state of the LED, False for off, True for on Reads the current state of the LED, False for off, True for on
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_LED, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_LED, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -670,13 +683,13 @@ Reads the current state of the LED, False for off, True for on
else: else:
return True return True
def ResetEpo(self): def ResetEpo(self):
""" """
ResetEpo() ResetEpo()
Resets the EPO latch state, use to allow movement again after the EPO has been tripped Resets the EPO latch state, use to allow movement again after the EPO has been tripped
""" """
# noinspection PyBroadException
try: try:
self.RawWrite(COMMAND_RESET_EPO, [0]) self.RawWrite(COMMAND_RESET_EPO, [0])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -684,7 +697,6 @@ Resets the EPO latch state, use to allow movement again after the EPO has been t
except: except:
self.Print('Failed resetting EPO!') self.Print('Failed resetting EPO!')
def GetEpo(self): def GetEpo(self):
""" """
state = GetEpo() state = GetEpo()
@ -694,6 +706,7 @@ If False the EPO has not been tripped, and movement is allowed.
If True the EPO has been tripped, movement is disabled if the EPO is not ignored (see SetEpoIgnore) If True the EPO has been tripped, movement is disabled if the EPO is not ignored (see SetEpoIgnore)
Movement can be re-enabled by calling ResetEpo. Movement can be re-enabled by calling ResetEpo.
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_EPO, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_EPO, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -707,7 +720,6 @@ If True the EPO has been tripped, movement is disabled if the EPO is not ignored
else: else:
return True return True
def SetEpoIgnore(self, state): def SetEpoIgnore(self, state):
""" """
SetEpoIgnore(state) SetEpoIgnore(state)
@ -719,6 +731,7 @@ Sets the system to ignore or use the EPO latch, set to False if you have an EPO
else: else:
level = COMMAND_VALUE_OFF level = COMMAND_VALUE_OFF
# noinspection PyBroadException
try: try:
self.RawWrite(COMMAND_SET_EPO_IGNORE, [level]) self.RawWrite(COMMAND_SET_EPO_IGNORE, [level])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -726,13 +739,13 @@ Sets the system to ignore or use the EPO latch, set to False if you have an EPO
except: except:
self.Print('Failed sending EPO ignore state!') self.Print('Failed sending EPO ignore state!')
def GetEpoIgnore(self): def GetEpoIgnore(self):
""" """
state = GetEpoIgnore() state = GetEpoIgnore()
Reads the system EPO ignore state, False for using the EPO latch, True for ignoring the EPO latch Reads the system EPO ignore state, False for using the EPO latch, True for ignoring the EPO latch
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_EPO_IGNORE, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_EPO_IGNORE, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -746,7 +759,6 @@ Reads the system EPO ignore state, False for using the EPO latch, True for ignor
else: else:
return True return True
def HasNewIrMessage(self): def HasNewIrMessage(self):
""" """
state = HasNewIrMessage() state = HasNewIrMessage()
@ -768,7 +780,6 @@ If True there has been a new IR message which can be read using GetIrMessage().
else: else:
return True return True
def GetIrMessage(self): def GetIrMessage(self):
""" """
message = GetIrMessage() message = GetIrMessage()
@ -777,6 +788,7 @@ Reads the last IR message which has been received and clears the new IR message
Returns the bytes from the remote control as a hexadecimal string, e.g. 'F75AD5AA8000' Returns the bytes from the remote control as a hexadecimal string, e.g. 'F75AD5AA8000'
Use HasNewIrMessage() to see if there has been a new IR message since the last call. Use HasNewIrMessage() to see if there has been a new IR message since the last call.
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_LAST_IR, I2C_LONG_LEN) i2cRecv = self.RawRead(COMMAND_GET_LAST_IR, I2C_LONG_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -787,10 +799,9 @@ Use HasNewIrMessage() to see if there has been a new IR message since the last c
message = '' message = ''
for i in range(IR_MAX_BYTES): for i in range(IR_MAX_BYTES):
message += '%02X' % (i2cRecv[1+i]) message += '%02X' % (i2cRecv[1 + i])
return message.rstrip('0') return message.rstrip('0')
def SetLedIr(self, state): def SetLedIr(self, state):
""" """
SetLedIr(state) SetLedIr(state)
@ -802,6 +813,7 @@ Sets if IR messages control the state of the LED, False for no effect, True for
else: else:
level = COMMAND_VALUE_OFF level = COMMAND_VALUE_OFF
# noinspection PyBroadException
try: try:
self.RawWrite(COMMAND_SET_LED_IR, [level]) self.RawWrite(COMMAND_SET_LED_IR, [level])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -809,13 +821,13 @@ Sets if IR messages control the state of the LED, False for no effect, True for
except: except:
self.Print('Failed sending LED state!') self.Print('Failed sending LED state!')
def GetLedIr(self): def GetLedIr(self):
""" """
state = GetLedIr() state = GetLedIr()
Reads if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED Reads if IR messages control the state of the LED, False for no effect, True for incoming messages blink the LED
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_LED_IR, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_LED_IR, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -829,7 +841,6 @@ Reads if IR messages control the state of the LED, False for no effect, True for
else: else:
return True return True
def GetAnalog1(self): def GetAnalog1(self):
""" """
voltage = GetAnalog1() voltage = GetAnalog1()
@ -837,6 +848,7 @@ voltage = GetAnalog1()
Reads the current analog level from port #1 (pin 2). Reads the current analog level from port #1 (pin 2).
Returns the value as a voltage based on the 3.3 V reference pin (pin 1). Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_ANALOG_1, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_ANALOG_1, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -849,7 +861,6 @@ Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
level = float(raw) / float(COMMAND_ANALOG_MAX) level = float(raw) / float(COMMAND_ANALOG_MAX)
return level * 3.3 return level * 3.3
def GetAnalog2(self): def GetAnalog2(self):
""" """
voltage = GetAnalog2() voltage = GetAnalog2()
@ -857,6 +868,7 @@ voltage = GetAnalog2()
Reads the current analog level from port #2 (pin 4). Reads the current analog level from port #2 (pin 4).
Returns the value as a voltage based on the 3.3 V reference pin (pin 1). Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_ANALOG_2, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_ANALOG_2, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -869,7 +881,6 @@ Returns the value as a voltage based on the 3.3 V reference pin (pin 1).
level = float(raw) / float(COMMAND_ANALOG_MAX) level = float(raw) / float(COMMAND_ANALOG_MAX)
return level * 3.3 return level * 3.3
def SetCommsFailsafe(self, state): def SetCommsFailsafe(self, state):
""" """
SetCommsFailsafe(state) SetCommsFailsafe(state)
@ -884,6 +895,7 @@ The failsafe is disabled at power on
else: else:
level = COMMAND_VALUE_OFF level = COMMAND_VALUE_OFF
# noinspection PyBroadException
try: try:
self.RawWrite(COMMAND_SET_FAILSAFE, [level]) self.RawWrite(COMMAND_SET_FAILSAFE, [level])
except KeyboardInterrupt: except KeyboardInterrupt:
@ -891,7 +903,6 @@ The failsafe is disabled at power on
except: except:
self.Print('Failed sending communications failsafe state!') self.Print('Failed sending communications failsafe state!')
def GetCommsFailsafe(self): def GetCommsFailsafe(self):
""" """
state = GetCommsFailsafe() state = GetCommsFailsafe()
@ -899,6 +910,7 @@ state = GetCommsFailsafe()
Read the current system state of the communications failsafe, True for enabled, False for disabled Read the current system state of the communications failsafe, True for enabled, False for disabled
The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second The failsafe will turn the motors off unless it is commanded at least once every 1/4 of a second
""" """
# noinspection PyBroadException
try: try:
i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_NORM_LEN) i2cRecv = self.RawRead(COMMAND_GET_FAILSAFE, I2C_NORM_LEN)
except KeyboardInterrupt: except KeyboardInterrupt:
@ -912,18 +924,17 @@ The failsafe will turn the motors off unless it is commanded at least once every
else: else:
return True return True
def Help(self): def Help(self):
""" """
Help() Help()
Displays the names and descriptions of the various functions and settings provided Displays the names and descriptions of the various functions and settings provided
""" """
funcList = [ZeroBorg.__dict__.get(a) for a in dir(ZeroBorg) if isinstance(ZeroBorg.__dict__.get(a), types.FunctionType)] funcList = [ZeroBorg.__dict__.get(a) for a in dir(ZeroBorg) if
funcListSorted = sorted(funcList, key = lambda x: x.func_code.co_firstlineno) isinstance(ZeroBorg.__dict__.get(a), types.FunctionType)]
funcListSorted = sorted(funcList, key=lambda x: x.func_code.co_firstlineno)
print(self.__doc__) print(self.__doc__)
print print()
for func in funcListSorted: for func in funcListSorted:
print('=== %s === %s' % (func.func_name, func.func_doc)) print('=== %s === %s' % (func.func_name, func.func_doc))