- Added IR sensor backend
- Fixed default power offsets - Changed threshold distance for ultrasound sensor - Fixed power multiplier coefficient
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0f97678a78
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8 changed files with 79 additions and 11 deletions
0
platypush/backend/sensor/__init__.py
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platypush/backend/sensor/__init__.py
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platypush/backend/sensor/distance/__init__.py
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platypush/backend/sensor/distance/__init__.py
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platypush/backend/sensor/ir/__init__.py
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platypush/backend/sensor/ir/__init__.py
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platypush/backend/sensor/ir/zeroborg.py
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platypush/backend/sensor/ir/zeroborg.py
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@ -0,0 +1,48 @@
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import logging
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import time
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import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
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from platypush.backend import Backend
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from platypush.message.event.sensor.ir import IrKeyUpEvent, IrKeyDownEvent
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class SensorIrZeroborgBackend(Backend):
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last_message =None
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last_message_timestamp = None
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def __init__(self, no_message_timeout=0.37, **kwargs):
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super().__init__(**kwargs)
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self.no_message_timeout = no_message_timeout
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self.zb = ZeroBorg.ZeroBorg()
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self.zb.Init()
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logging.info('Initialized Zeroborg infrared sensor backend')
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def send_message(self, message):
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pass
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def run(self):
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super().run()
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while True:
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self.zb.GetIrMessage()
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if self.zb.HasNewIrMessage():
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message = self.zb.GetIrMessage()
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if message != self.last_message:
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logging.info('Received key down event on the IR sensor: {}'.format(message))
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self.bus.post(IrKeyDownEvent(message=message))
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self.last_message = message
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self.last_message_timestamp = time.time()
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elif self.last_message_timestamp and \
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time.time() - self.last_message_timestamp > self.no_message_timeout:
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logging.info('Received key up event on the IR sensor')
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self.bus.post(IrKeyUpEvent(message=self.last_message))
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self.last_message = None
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self.last_message_timestamp = None
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# vim:sw=4:ts=4:et:
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@ -1,4 +1,3 @@
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import functools
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import importlib
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import logging
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@ -29,10 +28,10 @@ def register_backends(bus=None, global_scope=False, **kwargs):
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module = importlib.import_module('platypush.backend.' + name)
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# e.g. backend.pushbullet main class: PushbulletBackend
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cls_name = functools.reduce(
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lambda a,b: a.title() + b.title(),
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(module.__name__.title().split('.')[2:])
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) + 'Backend'
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cls_name = ''
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for token in module.__name__.title().split('.')[2:]:
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cls_name += token.title()
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cls_name += 'Backend'
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try:
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b = getattr(module, cls_name)(bus=bus, **cfg, **kwargs)
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platypush/message/event/sensor/__init__.py
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platypush/message/event/sensor/__init__.py
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platypush/message/event/sensor/ir/__init__.py
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platypush/message/event/sensor/ir/__init__.py
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@ -0,0 +1,20 @@
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from platypush.message.event import Event
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class IrSensorEvent(Event):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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class IrKeyUpEvent(IrSensorEvent):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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class IrKeyDownEvent(IrSensorEvent):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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# vim:sw=4:ts=4:et:
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@ -23,7 +23,7 @@ class GpioZeroborgPlugin(Plugin):
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_direction = None
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_power_offsets = {
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Direction.DIR_LEFT: {
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Direction.DIR_UP: 0.242,
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Direction.DIR_UP: 0.315,
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Direction.DIR_DOWN: 0.285,
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},
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@ -76,8 +76,9 @@ class GpioZeroborgPlugin(Plugin):
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distance = None
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while distance is None:
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distance = self.get_distance()
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print(distance)
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if distance > 250.0: # distance in mm
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if distance > 300.0: # distance in mm
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self._direction = Direction.DIR_UP.value
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else:
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logging.info('Physical obstacle detected at {} mm'.
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@ -93,16 +94,16 @@ class GpioZeroborgPlugin(Plugin):
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left = -1.0 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
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right = -1.0 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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elif self._direction == Direction.DIR_LEFT.value:
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left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
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right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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elif self._direction == Direction.DIR_RIGHT.value:
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left = -1.25 - self._power_offsets[Direction.DIR_LEFT][Direction.DIR_DOWN]
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right = 2.0 + self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_UP]
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elif self._direction == Direction.DIR_RIGHT.value:
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left = 2.0 + self._power_offsets[Direction.DIR_LEFT][Direction.DIR_UP]
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right = -1.25 - self._power_offsets[Direction.DIR_RIGHT][Direction.DIR_DOWN]
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elif self._direction is not None:
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logging.warning('Invalid direction: {}'.format(direction))
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self.stop()
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power = 0.6 # Still debugging the right power range
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power = 0.75 # Still debugging the right power range
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self.zb.SetMotor1(power * left * self.max_power)
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self.zb.SetMotor2(power * left * self.max_power)
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