diff --git a/platypush/backend/sensor/__init__.py b/platypush/backend/sensor/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/platypush/backend/sensor/distance/__init__.py b/platypush/backend/sensor/distance/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/platypush/backend/sensor/ir/__init__.py b/platypush/backend/sensor/ir/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/platypush/backend/sensor/ir/zeroborg.py b/platypush/backend/sensor/ir/zeroborg.py
new file mode 100644
index 00000000..74f4b640
--- /dev/null
+++ b/platypush/backend/sensor/ir/zeroborg.py
@@ -0,0 +1,48 @@
+import logging
+import time
+
+import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
+
+from platypush.backend import Backend
+from platypush.message.event.sensor.ir import IrKeyUpEvent, IrKeyDownEvent
+
+class SensorIrZeroborgBackend(Backend):
+ last_message =None
+ last_message_timestamp = None
+
+ def __init__(self, no_message_timeout=0.37, **kwargs):
+ super().__init__(**kwargs)
+ self.no_message_timeout = no_message_timeout
+ self.zb = ZeroBorg.ZeroBorg()
+ self.zb.Init()
+ logging.info('Initialized Zeroborg infrared sensor backend')
+
+
+ def send_message(self, message):
+ pass
+
+
+ def run(self):
+ 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))
+
+ self.last_message = message
+ self.last_message_timestamp = time.time()
+ elif 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))
+
+ self.last_message = None
+ self.last_message_timestamp = None
+
+
+# vim:sw=4:ts=4:et:
+
diff --git a/platypush/context/__init__.py b/platypush/context/__init__.py
index 874598be..bfe243b3 100644
--- a/platypush/context/__init__.py
+++ b/platypush/context/__init__.py
@@ -1,4 +1,3 @@
-import functools
import importlib
import logging
@@ -29,10 +28,10 @@ def register_backends(bus=None, global_scope=False, **kwargs):
module = importlib.import_module('platypush.backend.' + name)
# e.g. backend.pushbullet main class: PushbulletBackend
- cls_name = functools.reduce(
- lambda a,b: a.title() + b.title(),
- (module.__name__.title().split('.')[2:])
- ) + 'Backend'
+ cls_name = ''
+ for token in module.__name__.title().split('.')[2:]:
+ cls_name += token.title()
+ cls_name += 'Backend'
try:
b = getattr(module, cls_name)(bus=bus, **cfg, **kwargs)
diff --git a/platypush/message/event/sensor/__init__.py b/platypush/message/event/sensor/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/platypush/message/event/sensor/ir/__init__.py b/platypush/message/event/sensor/ir/__init__.py
new file mode 100644
index 00000000..a6f32e93
--- /dev/null
+++ b/platypush/message/event/sensor/ir/__init__.py
@@ -0,0 +1,20 @@
+from platypush.message.event import Event
+
+
+class IrSensorEvent(Event):
+ def __init__(self, *args, **kwargs):
+ super().__init__(*args, **kwargs)
+
+
+class IrKeyUpEvent(IrSensorEvent):
+ def __init__(self, *args, **kwargs):
+ super().__init__(*args, **kwargs)
+
+
+class IrKeyDownEvent(IrSensorEvent):
+ def __init__(self, *args, **kwargs):
+ super().__init__(*args, **kwargs)
+
+
+# vim:sw=4:ts=4:et:
+
diff --git a/platypush/plugins/gpio/zeroborg/__init__.py b/platypush/plugins/gpio/zeroborg/__init__.py
index e97ef3e8..ddd5a84b 100644
--- a/platypush/plugins/gpio/zeroborg/__init__.py
+++ b/platypush/plugins/gpio/zeroborg/__init__.py
@@ -23,7 +23,7 @@ class GpioZeroborgPlugin(Plugin):
_direction = None
_power_offsets = {
Direction.DIR_LEFT: {
- Direction.DIR_UP: 0.242,
+ Direction.DIR_UP: 0.315,
Direction.DIR_DOWN: 0.285,
},
@@ -76,8 +76,9 @@ class GpioZeroborgPlugin(Plugin):
distance = None
while distance is None:
distance = self.get_distance()
+ print(distance)
- if distance > 250.0: # distance in mm
+ if distance > 300.0: # distance in mm
self._direction = Direction.DIR_UP.value
else:
logging.info('Physical obstacle detected at {} mm'.
@@ -93,16 +94,16 @@ class GpioZeroborgPlugin(Plugin):
left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction == Direction.DIR_LEFT.value:
- left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
- right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
- elif self._direction == Direction.DIR_RIGHT.value:
left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
right = 2.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
+ elif self._direction == Direction.DIR_RIGHT.value:
+ left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
+ right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
elif self._direction is not None:
logging.warning('Invalid direction: {}'.format(direction))
self.stop()
- power = 0.6 # Still debugging the right power range
+ power = 0.75 # Still debugging the right power range
self.zb.SetMotor1(power * left * self.max_power)
self.zb.SetMotor2(power * left * self.max_power)