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Removed auto mode from Zeroborg plugin

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This commit is contained in:
Fabio Manganiello 2019-12-23 17:57:35 +01:00
parent 50a7746bf0
commit 9ffa04c666
1 changed files with 27 additions and 104 deletions
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129
platypush/plugins/gpio/zeroborg/__init__.py
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@ -2,12 +2,11 @@ import enum
import threading
import time
from typing import Optional
from typing import Optional, Dict, List
from platypush.context import get_bus
from platypush.message.event.zeroborg import ZeroborgDriveEvent, ZeroborgStopEvent
from platypush.plugins import Plugin, action
from platypush.context import get_plugin
class Direction(enum.Enum):
@ -15,8 +14,6 @@ class Direction(enum.Enum):
DIR_DOWN = 'down'
DIR_LEFT = 'left'
DIR_RIGHT = 'right'
DIR_AUTO = 'auto'
DIR_AUTO_TOGGLE = 'auto_toggle'
# noinspection PyPep8Naming
@ -33,7 +30,7 @@ class GpioZeroborgPlugin(Plugin):
"""
def __init__(self, directions=None, **kwargs):
def __init__(self, directions: Dict[str, List[float]] = None, **kwargs):
"""
:param directions: Configuration for the motor directions. A direction is basically a configuration of the
power delivered to each motor to allow whichever object you're controlling (wheels, robotic arms etc.) to
@ -43,53 +40,32 @@ class GpioZeroborgPlugin(Plugin):
Example configuration that I use to control a simple 4WD robot::
directions = {
"up": {
"motor_1_power": 0.4821428571428572,
"motor_2_power": 0.4821428571428572,
"motor_3_power": -0.6707142857142858,
"motor_4_power": -0.6707142857142858
},
"down": {
"motor_1_power": -0.4821428571428572,
"motor_2_power": -0.4821428571428572,
"motor_3_power": 0.825,
"motor_4_power": 0.825
},
"left": {
"motor_1_power": -0.1392857142857143,
"motor_2_power": -0.1392857142857143,
"motor_3_power": -1.0553571428571429,
"motor_4_power": -1.0553571428571429
},
"right": {
"motor_1_power": 1.0017857142857143,
"motor_2_power": 1.0017857142857143,
"motor_3_power": 0.6214285714285713,
"motor_4_power": 0.6214285714285713
},
"auto": {
"sensors": [
{
"plugin": "gpio.sensor.distance",
"threshold": 400.0,
"timeout": 2.0,
"above_threshold_direction": "up",
"below_threshold_direction": "left"
}
"up": [
0.4821428571428572, # Motor 1 power
0.4821428571428572, # Motor 2 power
-0.6707142857142858, # Motor 3 power
-0.6707142857142858 # Motor 4 power
],
"down": [
-0.4821428571428572,
-0.4821428571428572,
0.825,
0.825
],
"left": [
-0.1392857142857143,
-0.1392857142857143,
-1.0553571428571429,
-1.0553571428571429
],
"right": [
1.0017857142857143,
1.0017857142857143,
0.6214285714285713,
0.6214285714285713
]
}
}
Note that the special direction "auto" can contain a configuration that allows your device to move autonomously
based on the inputs it gets from some sensors. In this case, I set the sensors configuration (a list) to
periodically poll a GPIO-based ultrasound distance sensor plugin. ``timeout`` says after how long a poll
attempt should fail. The plugin package is specified through ``plugin`` (``gpio.sensor.distance``) in this
case, note that the plugin must be configured as well in order to work). The ``threshold`` value says
around which value your logic should trigger. In this case, threshold=400 (40 cm). When the distance value
is above that threshold (``above_threshold_direction``), then go "up" (no obstacles ahead). Otherwise
(``below_threshold_direction``), turn "left" (avoid the obstacle).
:type directions: dict
"""
if directions is None:
@ -99,7 +75,6 @@ class GpioZeroborgPlugin(Plugin):
super().__init__(**kwargs)
self.directions = directions
self.auto_mode = False
self._direction = None
self._drive_thread: Optional[threading.Thread] = None
self._motors = [0, 0, 0, 0]
@ -121,67 +96,17 @@ class GpioZeroborgPlugin(Plugin):
return value
def _get_direction_from_sensors(self):
if Direction.DIR_AUTO.value not in self.directions:
raise RuntimeError("Can't start auto pilot: " +
"no sensor configured in gpio.zeroborg.directions.auto")
direction = None
for sensor in self.directions[Direction.DIR_AUTO.value]['sensors']:
plugin = get_plugin(sensor['plugin'])
if not sensor:
raise RuntimeError('No such sensor: ' + sensor['plugin'])
value = self._get_measurement(plugin=plugin, timeout=sensor['timeout'])
threshold = sensor['threshold']
if value is None:
self.logger.warning('Read timeout from sensor {}'.format(sensor['plugin']))
return Direction.DIR_AUTO.value
if value >= threshold and 'above_threshold_direction' in sensor:
direction = sensor['above_threshold_direction']
elif 'below_threshold_direction' in sensor:
direction = sensor['below_threshold_direction']
self.logger.info('Sensor: {}\tMeasurement: {}\tDirection: {}'
.format(sensor['plugin'], value, direction))
return direction
@action
def drive(self, direction):
"""
Drive the motors in a certain direction.
:param direction: Direction name (note: it must be a configured direction). Special directions:
* ``auto`` - Enter automatic drive mode
* ``auto_toggle`` - Toggle automatic drive mode (on or off)
* ``stop`` - Turn off the motors
"""
def _run():
try:
while self._direction:
if self._direction == Direction.DIR_AUTO_TOGGLE.value:
if self.auto_mode:
self._direction = None
self.auto_mode = False
else:
self._direction = Direction.DIR_AUTO
self.auto_mode = True
if self._direction == Direction.DIR_AUTO.value:
self.auto_mode = True
try:
if self.auto_mode:
self._direction = self._get_direction_from_sensors()
time.sleep(0.1)
if self._direction in self.directions and self._direction != Direction.DIR_AUTO.value:
if self._direction in self.directions:
self._motors = self.directions[self._direction]
else:
self.logger.warning('Invalid direction {}: stopping motors'.format(self._direction))
@ -212,9 +137,7 @@ class GpioZeroborgPlugin(Plugin):
Turns off the motors
"""
self.auto_mode = False
self._direction = None
if self._drive_thread:
self._drive_thread.join()