- Added IR sensor backend

- Fixed default power offsets
- Changed threshold distance for ultrasound sensor
- Fixed power multiplier coefficient

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:
+

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)

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:
+

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)