Migrated `pmw3901` integration.
Removed legacy `backend.sensor.motion.pmw3901` and `gpio.sensor.motion.pmw3901`. They have been merged in the new `sensor.pmw3901` integration, compatible with the new `SensorPlugin` API.
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GPG Key ID:
D90FBA7F76362774
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from platypush.backend.sensor import SensorBackend
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class SensorMotionPmw3901Backend(SensorBackend):
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"""
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Backend to poll an `PMW3901 <https://github.com/pimoroni/pmw3901-python>`_
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optical flow and motion sensor
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Requires:
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* ``pmw3901`` (``pip install pmw3901``)
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Triggers:
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* :class:`platypush.message.event.sensor.SensorDataChangeEvent` if the measurements of a sensor have changed
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* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent` if the measurements of a sensor have
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gone above a configured threshold
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* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent` if the measurements of a sensor have
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gone below a configured threshold
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"""
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_default_poll_seconds = 0.01
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def __init__(self, **kwargs):
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if 'poll_seconds' not in kwargs:
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# noinspection PyTypeChecker
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kwargs['poll_seconds'] = self._default_poll_seconds
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super().__init__(plugin='gpio.sensor.motion.pmw3901', **kwargs)
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# vim:sw=4:ts=4:et:
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manifest:
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events:
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platypush.message.event.sensor.SensorDataAboveThresholdEvent: if the measurements
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of a sensor havegone above a configured threshold
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platypush.message.event.sensor.SensorDataBelowThresholdEvent: if the measurements
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of a sensor havegone below a configured threshold
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platypush.message.event.sensor.SensorDataChangeEvent: if the measurements of a
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sensor have changed
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install:
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pip:
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- pmw3901
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package: platypush.backend.sensor.motion.pmw3901
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type: backend
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import enum
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import math
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import time
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from platypush.plugins import action
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from platypush.plugins.gpio.sensor import GpioSensorPlugin
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class Rotation(enum.IntEnum):
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ROTATE_0 = 0
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ROTATE_90 = 90
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ROTATE_180 = 180
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ROTATE_270 = 270
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class SPISlot(enum.Enum):
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FRONT = 'front'
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BACK = 'back'
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class GpioSensorMotionPmw3901Plugin(GpioSensorPlugin):
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"""
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Plugin to interact with an `PMW3901 <https://github.com/pimoroni/pmw3901-python>`_
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optical flow and motion sensor
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Requires:
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* ``pmw3901`` (``pip install pmw3901``)
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"""
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def __init__(self, rotation=Rotation.ROTATE_0.value, spi_slot=SPISlot.FRONT.value, spi_port=0, **kwargs):
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"""
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:param rotation: Rotation angle for the captured optical flow. Possible options: 0, 90, 180, 270 (default: 0)
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:type rotation: int
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:param spi_slot: SPI slot where the sensor is connected if you're using a Breakout Garden interface.
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Possible options: 'front', 'back' (default: 'front')
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:type spi_slot: str
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:param spi_port: SPI port (default: 0)
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:type spi_slot: int
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"""
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from pmw3901 import BG_CS_FRONT_BCM, BG_CS_BACK_BCM
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super().__init__(**kwargs)
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self.spi_port = spi_port
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self._sensor = None
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self._events_per_sec = {}
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self.x, self.y = (0, 0)
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try:
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if isinstance(rotation, int):
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rotation = [r for r in Rotation if r.value == rotation][0]
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self.rotation = rotation
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except IndexError:
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raise ValueError('{} is not a valid value for rotation - possible values: {}'.format(
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rotation, [r.value for r in Rotation]))
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try:
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if isinstance(spi_slot, str):
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spi_slot = [s for s in SPISlot if s.value == spi_slot][0]
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if spi_slot == SPISlot.FRONT:
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self.spi_slot = BG_CS_FRONT_BCM
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else:
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self.spi_slot = BG_CS_BACK_BCM
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except IndexError:
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raise ValueError('{} is not a valid value for spi_slot - possible values: {}'.format(
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spi_slot, [s.value for s in SPISlot]))
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def _get_sensor(self):
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from pmw3901 import PMW3901
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if not self._sensor:
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self._sensor = PMW3901(spi_port=self.spi_port,
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spi_cs=1,
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spi_cs_gpio=self.spi_slot)
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self._sensor.set_rotation(self.rotation)
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return self._sensor
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@action
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def get_measurement(self):
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"""
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:returns: dict. Example:
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.. code-block:: python
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output = {
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"motion_x": 3, # Detected motion vector X-coord
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"motion_y": 4, # Detected motion vector Y-coord
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"motion_mod": 5 # Detected motion vector module
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"motion_events_per_sec": 7 # Number of motion events detected in the last second
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}
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"""
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sensor = self._get_sensor()
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while True:
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try:
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x, y = sensor.get_motion()
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break
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except RuntimeError:
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time.sleep(0.01)
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secs = int(time.time())
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if (x, y) != (self.x, self.y):
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(self.x, self.y) = (x, y)
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if secs not in self._events_per_sec:
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self._events_per_sec = {secs: 1}
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else:
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self._events_per_sec[secs] += 1
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return {
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'motion_x': x,
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'motion_y': y,
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'motion_mod': math.sqrt(x * x + y * y),
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'motion_events_per_sec': self._events_per_sec.get(secs, 0),
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}
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# vim:sw=4:ts=4:et:
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@ -1,7 +0,0 @@
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manifest:
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events: {}
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install:
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pip:
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- pmw3901
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package: platypush.plugins.gpio.sensor.motion.pmw3901
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type: plugin
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@ -0,0 +1,190 @@
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import enum
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import math
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import time
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from typing import Dict, List
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from typing_extensions import override
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from platypush.common.sensors import Numeric
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from platypush.entities.devices import Device
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from platypush.entities.distance import DistanceSensor
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from platypush.entities.sensors import NumericSensor, RawSensor
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from platypush.plugins import action
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from platypush.plugins.sensor import SensorPlugin
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class Rotation(enum.IntEnum):
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"""
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Enumerates the possible rotations of the sensor.
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"""
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ROTATE_0 = 0
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ROTATE_90 = 90
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ROTATE_180 = 180
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ROTATE_270 = 270
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class SPISlot(enum.Enum):
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"""
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Enumeration for the possible SPI slot positions of the sensor on the
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Breakout Garden (front or back).
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"""
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FRONT = 'front'
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BACK = 'back'
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# pylint: disable=too-many-ancestors
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class SensorPmw3901Plugin(SensorPlugin):
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"""
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Plugin to interact with an `PMW3901 <https://github.com/pimoroni/pmw3901-python>`_
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optical flow and motion sensor
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Requires:
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* ``pmw3901`` (``pip install pmw3901``)
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Triggers:
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* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent`
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* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent`
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* :class:`platypush.message.event.sensor.SensorDataChangeEvent`
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"""
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def __init__(
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self,
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rotation=Rotation.ROTATE_0.value,
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spi_slot=SPISlot.FRONT.value,
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spi_port=0,
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poll_interval=0.01,
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**kwargs,
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):
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"""
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:param rotation: Rotation angle for the captured optical flow. Possible options: 0, 90, 180, 270 (default: 0)
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:type rotation: int
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:param spi_slot: SPI slot where the sensor is connected if you're using a Breakout Garden interface.
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Possible options: 'front', 'back' (default: 'front')
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:type spi_slot: str
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:param spi_port: SPI port (default: 0)
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:type spi_slot: int
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"""
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from pmw3901 import BG_CS_FRONT_BCM, BG_CS_BACK_BCM
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super().__init__(poll_interval=poll_interval, **kwargs)
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self.spi_port = spi_port
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self._sensor = None
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self._events_per_sec = {}
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self.x, self.y = (0, 0)
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try:
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if isinstance(rotation, int):
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rotation = [r for r in Rotation if r.value == rotation][0]
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self.rotation = rotation
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except IndexError as e:
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raise AssertionError(
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f'{rotation} is not a valid value for rotation - '
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f'possible values: {[r.value for r in Rotation]}'
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) from e
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try:
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if isinstance(spi_slot, str):
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spi_slot = [s for s in SPISlot if s.value == spi_slot][0]
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if spi_slot == SPISlot.FRONT:
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self.spi_slot = BG_CS_FRONT_BCM
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else:
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self.spi_slot = BG_CS_BACK_BCM
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except IndexError as e:
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raise AssertionError(
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f'{spi_slot} is not a valid value for spi_slot - '
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f'possible values: {[s.value for s in SPISlot]}'
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) from e
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def _get_sensor(self):
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from pmw3901 import PMW3901
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if not self._sensor:
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self._sensor = PMW3901(
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spi_port=self.spi_port, spi_cs=1, spi_cs_gpio=self.spi_slot
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)
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self._sensor.set_rotation(self.rotation)
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return self._sensor
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@override
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@action
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def get_measurement(self, *_, **__):
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"""
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:returns: dict. Example:
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.. code-block:: python
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output = {
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"motion_x": 3, # Detected motion vector X-coord
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"motion_y": 4, # Detected motion vector Y-coord
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"motion_mod": 5 # Detected motion vector module
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"motion_events_per_sec": 7 # Number of motion events detected in the last second
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}
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"""
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sensor = self._get_sensor()
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while True:
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try:
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x, y = sensor.get_motion()
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break
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except RuntimeError:
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self.wait_stop(0.01)
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secs = int(time.time())
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if (x, y) != (self.x, self.y):
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(self.x, self.y) = (x, y)
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if secs not in self._events_per_sec:
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self._events_per_sec = {secs: 1}
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else:
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self._events_per_sec[secs] += 1
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return {
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'motion_x': x,
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'motion_y': y,
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'motion_mod': math.sqrt(x * x + y * y),
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'motion_events_per_sec': self._events_per_sec.get(secs, 0),
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}
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@override
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def transform_entities(self, entities: Dict[str, Numeric]) -> List[Device]:
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return [
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Device(
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id='pmw3901',
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name='PMW3901',
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children=[
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RawSensor(
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id='pmw3901:motion',
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name='motion',
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description='Motion vector',
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value=[entities['motion_x'], entities['motion_y']],
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is_json=True,
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),
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DistanceSensor(
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id='pmw3901:module',
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name='module',
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description='Motion vector module',
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value=entities['motion_mod'],
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),
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NumericSensor(
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id='pmw3901:rate',
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name='rate',
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description='Events per second',
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value=entities['motion_events_per_sec'],
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),
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],
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)
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]
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# vim:sw=4:ts=4:et:
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@ -0,0 +1,10 @@
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manifest:
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events:
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platypush.message.event.sensor.SensorDataAboveThresholdEvent:
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platypush.message.event.sensor.SensorDataBelowThresholdEvent:
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platypush.message.event.sensor.SensorDataChangeEvent:
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install:
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pip:
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- pmw3901
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package: platypush.plugins.sensor.pmw3901
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type: plugin
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