From 962c55937dee8df53f49a8df345c2791063924bf Mon Sep 17 00:00:00 2001 From: Fabio Manganiello Date: Sun, 2 Apr 2023 14:20:12 +0200 Subject: [PATCH] Migrated `sensor.distance` integration. Remove `backend.sensor.distance` and `gpio.sensor.distance`. They are now replaced by the `sensor.hcsr04` integration, which is compatible with the new `SensorPlugin` API. --- platypush/backend/sensor/distance/__init__.py | 32 --- .../backend/sensor/distance/manifest.yaml | 13 -- platypush/plugins/gpio/__init__.py | 6 +- .../plugins/gpio/sensor/distance/__init__.py | 197 ------------------ .../gpio/sensor/distance/manifest.yaml | 9 - platypush/plugins/sensor/hcsr04/__init__.py | 192 +++++++++++++++++ platypush/plugins/sensor/hcsr04/manifest.yaml | 11 + 7 files changed, 204 insertions(+), 256 deletions(-) delete mode 100644 platypush/backend/sensor/distance/__init__.py delete mode 100644 platypush/backend/sensor/distance/manifest.yaml delete mode 100644 platypush/plugins/gpio/sensor/distance/__init__.py delete mode 100644 platypush/plugins/gpio/sensor/distance/manifest.yaml create mode 100644 platypush/plugins/sensor/hcsr04/__init__.py create mode 100644 platypush/plugins/sensor/hcsr04/manifest.yaml diff --git a/platypush/backend/sensor/distance/__init__.py b/platypush/backend/sensor/distance/__init__.py deleted file mode 100644 index 3c717183..00000000 --- a/platypush/backend/sensor/distance/__init__.py +++ /dev/null @@ -1,32 +0,0 @@ -from platypush.backend.sensor import SensorBackend -from platypush.context import get_plugin - - -class SensorDistanceBackend(SensorBackend): - """ - Backend to poll a distance sensor. - - Requires: - - * ``RPi.GPIO`` (``pip install RPi.GPIO``) - * The :mod:`platypush.plugins.gpio.sensor.distance` plugin configured - - Triggers: - - * :class:`platypush.message.event.sensor.SensorDataChangeEvent` if the measurements of a sensor have changed - * :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent` if the measurements of a sensor have - gone above a configured threshold - * :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent` if the measurements of a sensor have - gone below a configured threshold - - """ - - def get_measurement(self): - """ get_measurement implementation """ - plugin = get_plugin('gpio.sensor.distance') - return {"distance": plugin.get_data().output } - - -# vim:sw=4:ts=4:et: - - diff --git a/platypush/backend/sensor/distance/manifest.yaml b/platypush/backend/sensor/distance/manifest.yaml deleted file mode 100644 index 8a8cce48..00000000 --- a/platypush/backend/sensor/distance/manifest.yaml +++ /dev/null @@ -1,13 +0,0 @@ -manifest: - events: - platypush.message.event.sensor.SensorDataAboveThresholdEvent: if the measurements - of a sensor havegone above a configured threshold - platypush.message.event.sensor.SensorDataBelowThresholdEvent: if the measurements - of a sensor havegone below a configured threshold - platypush.message.event.sensor.SensorDataChangeEvent: if the measurements of a - sensor have changed - install: - pip: - - RPi.GPIO - package: platypush.backend.sensor.distance - type: backend diff --git a/platypush/plugins/gpio/__init__.py b/platypush/plugins/gpio/__init__.py index d312bfc0..07f18989 100644 --- a/platypush/plugins/gpio/__init__.py +++ b/platypush/plugins/gpio/__init__.py @@ -1,7 +1,3 @@ -""" -.. moduleauthor:: Fabio Manganiello -""" - import threading from typing import Any, Optional, Dict, Union, Collection @@ -216,7 +212,7 @@ class GpioPlugin(RunnablePlugin): raise RuntimeError("No PIN mappings were provided/configured") values = [] - for (pin, name) in self.pins_by_number.items(): + for pin, name in self.pins_by_number.items(): # noinspection PyUnresolvedReferences values.append(self.read(pin=pin, name=name).output) diff --git a/platypush/plugins/gpio/sensor/distance/__init__.py b/platypush/plugins/gpio/sensor/distance/__init__.py deleted file mode 100644 index 4945432a..00000000 --- a/platypush/plugins/gpio/sensor/distance/__init__.py +++ /dev/null @@ -1,197 +0,0 @@ -import threading -import time - -from typing import Optional - -from platypush.context import get_bus -from platypush.message.event.distance import DistanceSensorEvent -from platypush.plugins import action -from platypush.plugins.gpio import GpioPlugin -from platypush.plugins.gpio.sensor import GpioSensorPlugin - - -class GpioSensorDistancePlugin(GpioPlugin, GpioSensorPlugin): - """ - You can use this plugin to interact with a distance sensor on your Raspberry - Pi (tested with a HC-SR04 ultrasound sensor). - - Requires: - - * ``RPi.GPIO`` (``pip install RPi.GPIO``) - - Triggers: - - * :class:`platypush.message.event.distance.DistanceSensorEvent` when a new distance measurement is available - - """ - - def __init__(self, trigger_pin: int, echo_pin: int, measurement_interval: float = 0.15, - timeout: float = 2.0, warmup_time: float = 2.0, *args, **kwargs): - """ - :param trigger_pin: GPIO PIN where you connected your sensor trigger PIN (the one that triggers the - sensor to perform a measurement). - - :param echo_pin: GPIO PIN where you connected your sensor echo PIN (the one that will listen for the - signal to bounce back and therefore trigger the distance calculation). - - :param measurement_interval: When running in continuous mode (see - :func:`platypush.plugins.gpio.sensor.distance.GpioSensorDistancePlugin.start_measurement`) this parameter - indicates how long should be waited between two measurements (default: 0.15 seconds) - :param timeout: The echo-wait will terminate and the plugin will return null if no echo has been - received after this time (default: 1 second). - - :param warmup_time: Number of seconds that should be waited on plugin instantiation - for the sensor to be ready (default: 2 seconds). - """ - - GpioPlugin.__init__(self, pins={'trigger': trigger_pin, 'echo': echo_pin, }, *args, **kwargs) - - self.trigger_pin = trigger_pin - self.echo_pin = echo_pin - self.measurement_interval = measurement_interval - self.timeout = timeout - self.warmup_time = warmup_time - self._measurement_thread = None - self._measurement_thread_lock = threading.RLock() - self._measurement_thread_can_run = False - self._init_board() - - def _init_board(self): - import RPi.GPIO as GPIO - - with self._init_lock: - if self._initialized: - return - - GpioPlugin._init_board(self) - self._initialized = False - - GPIO.setup(self.trigger_pin, GPIO.OUT) - GPIO.setup(self.echo_pin, GPIO.IN) - GPIO.output(self.trigger_pin, GPIO.LOW) - - self.logger.info('Waiting {} seconds for the sensor to be ready'.format(self.warmup_time)) - time.sleep(self.warmup_time) - self.logger.info('Sensor ready') - self._initialized = True - - def _get_data(self): - import RPi.GPIO as GPIO - - pulse_start = pulse_on = time.time() - - self._init_board() - GPIO.output(self.trigger_pin, GPIO.HIGH) - time.sleep(0.00001) # 1 us pulse to trigger echo measurement - GPIO.output(self.trigger_pin, GPIO.LOW) - - while GPIO.input(self.echo_pin) == 0: - pulse_on = time.time() - if pulse_on - pulse_start > self.timeout: - raise TimeoutError('Distance sensor echo timeout after {} seconds: 0'. - format(self.timeout)) - - pulse_start = pulse_on - pulse_end = pulse_off = time.time() - - while GPIO.input(self.echo_pin) == 1: - pulse_off = time.time() - if pulse_off - pulse_end > self.timeout: - raise TimeoutError('Distance sensor echo timeout after {} seconds: 1'. - format(self.timeout)) - - pulse_end = pulse_off - pulse_duration = pulse_end - pulse_start - - # s = vt where v = 1/2 * avg speed of sound in mm/s - return round(pulse_duration * 171500.0, 2) - - @action - def get_measurement(self): - """ - Extends :func:`.GpioSensorPlugin.get_measurement` - - :returns: Distance measurement as a scalar (in mm): - """ - - try: - distance = self._get_data() - bus = get_bus() - bus.post(DistanceSensorEvent(distance=distance, unit='mm')) - return distance - except TimeoutError as e: - self.logger.warning(str(e)) - return - except Exception as e: - self.close() - raise e - - @action - def close(self): - return self.cleanup() - - def __enter__(self): - self._init_board() - - def __exit__(self, exc_type, exc_val, exc_tb): - self.close() - - def _get_measurement_thread(self, duration: float): - def _thread(): - with self: - self.logger.info('Started distance measurement thread') - start_time = time.time() - - try: - while self._measurement_thread_can_run and ( - not duration or time.time() - start_time <= duration): - self.get_measurement() - if self.measurement_interval: - time.sleep(self.measurement_interval) - finally: - self._measurement_thread = None - - return _thread - - def _is_measurement_thread_running(self): - with self._measurement_thread_lock: - return self._measurement_thread is not None - - @action - def start_measurement(self, duration: Optional[float] = None): - """ - Start the measurement thread. It will trigger :class:`platypush.message.event.distance.DistanceSensorEvent` - events when new measurements are available. - - :param duration: If set, then the thread will run for the specified amount of seconds (default: None) - """ - with self._measurement_thread_lock: - if self._is_measurement_thread_running(): - self.logger.warning('A measurement thread is already running') - return - - thread_func = self._get_measurement_thread(duration=duration) - self._measurement_thread = threading.Thread(target=thread_func) - self._measurement_thread_can_run = True - self._measurement_thread.start() - - @action - def stop_measurement(self): - """ - Stop the running measurement thread. - """ - with self._measurement_thread_lock: - if not self._is_measurement_thread_running(): - self.logger.warning('No measurement thread is running') - return - - self._measurement_thread_can_run = False - self.logger.info('Waiting for the measurement thread to end') - - if self._measurement_thread: - self._measurement_thread.join(timeout=self.timeout) - - self.logger.info('Measurement thread terminated') - - -# vim:sw=4:ts=4:et: diff --git a/platypush/plugins/gpio/sensor/distance/manifest.yaml b/platypush/plugins/gpio/sensor/distance/manifest.yaml deleted file mode 100644 index 3b739987..00000000 --- a/platypush/plugins/gpio/sensor/distance/manifest.yaml +++ /dev/null @@ -1,9 +0,0 @@ -manifest: - events: - platypush.message.event.distance.DistanceSensorEvent: when a new distance measurement - is available - install: - pip: - - RPi.GPIO - package: platypush.plugins.gpio.sensor.distance - type: plugin diff --git a/platypush/plugins/sensor/hcsr04/__init__.py b/platypush/plugins/sensor/hcsr04/__init__.py new file mode 100644 index 00000000..73dc3e2c --- /dev/null +++ b/platypush/plugins/sensor/hcsr04/__init__.py @@ -0,0 +1,192 @@ +from collections.abc import Collection +import time + +from typing import List, Optional, Union +from typing_extensions import override +import warnings + +from platypush.context import get_bus +from platypush.entities.distance import DistanceSensor +from platypush.message.event.distance import DistanceSensorEvent +from platypush.plugins import action +from platypush.plugins.gpio import GpioPlugin +from platypush.plugins.sensor import SensorPlugin + + +class SensorHcsr04Plugin(GpioPlugin, SensorPlugin): + """ + You can use this plugin to interact with a distance sensor on your + Raspberry Pi. It's been tested with a `HC-SR04 ultrasound sensor + `_, but it should be compatible + with any GPIO-compatible sensor that relies on the same trigger-and-echo + principle. + + Requires: + + * ``RPi.GPIO`` (``pip install RPi.GPIO``) + + Triggers: + + * :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent` + * :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent` + * :class:`platypush.message.event.sensor.SensorDataChangeEvent` + * :class:`platypush.message.event.distance.DistanceSensorEvent` when a + new distance measurement is available (legacy event) + + """ + + def __init__( + self, + trigger_pin: int, + echo_pin: int, + poll_interval: float = 0.25, + timeout: float = 2.0, + warmup_time: float = 2.0, + *args, + **kwargs, + ): + """ + :param trigger_pin: GPIO PIN where you connected your sensor trigger + PIN (the one that triggers the sensor to perform a measurement). + :param echo_pin: GPIO PIN where you connected your sensor echo PIN (the + one that will listen for the signal to bounce back and therefore + trigger the distance calculation). + :param timeout: The echo-wait will terminate and the plugin will return + null if no echo has been received after this time (default: 1 + second). + :param warmup_time: Number of seconds that should be waited on plugin + instantiation for the sensor to be ready (default: 2 seconds). + """ + + measurement_interval = kwargs.pop('measurement_interval', None) + if measurement_interval is not None: + warnings.warn( + 'measurement_interval is deprecated, use poll_interval instead', + DeprecationWarning, + stacklevel=2, + ) + poll_interval = measurement_interval + + SensorPlugin.__init__(self, poll_interval=poll_interval, *args, **kwargs) + GpioPlugin.__init__( + self, + pins={ + 'trigger': trigger_pin, + 'echo': echo_pin, + }, + *args, + **kwargs, + ) + + self.trigger_pin = trigger_pin + self.echo_pin = echo_pin + self.timeout = timeout + self.warmup_time = warmup_time + self._init_board() + + def _init_board(self): + import RPi.GPIO as GPIO + + with self._init_lock: + if self._initialized: + return + + GpioPlugin._init_board(self) + self._initialized = False + + GPIO.setup(self.trigger_pin, GPIO.OUT) + GPIO.setup(self.echo_pin, GPIO.IN) + GPIO.output(self.trigger_pin, GPIO.LOW) + + self.logger.info( + 'Waiting {} seconds for the sensor to be ready'.format(self.warmup_time) + ) + self.wait_stop(self.warmup_time) + self.logger.info('Sensor ready') + self._initialized = True + + def _get_data(self): + import RPi.GPIO as GPIO + + pulse_start = pulse_on = time.time() + + self._init_board() + GPIO.output(self.trigger_pin, GPIO.HIGH) + time.sleep(0.00001) # 1 us pulse to trigger echo measurement + GPIO.output(self.trigger_pin, GPIO.LOW) + + while GPIO.input(self.echo_pin) == 0: + pulse_on = time.time() + if pulse_on - pulse_start > self.timeout: + raise TimeoutError( + 'Distance sensor echo timeout after {} seconds: 0'.format( + self.timeout + ) + ) + + pulse_start = pulse_on + pulse_end = pulse_off = time.time() + + while GPIO.input(self.echo_pin) == 1: + pulse_off = time.time() + if pulse_off - pulse_end > self.timeout: + raise TimeoutError( + 'Distance sensor echo timeout after {} seconds: 1'.format( + self.timeout + ) + ) + + pulse_end = pulse_off + pulse_duration = pulse_end - pulse_start + + # s = vt where v = 1/2 * avg speed of sound in mm/s + return round(pulse_duration * 171500.0, 2) + + @override + @action + def get_measurement(self, *_, **__) -> Optional[float]: + """ + :returns: Distance measurement as a scalar (in mm): + """ + + try: + distance = self._get_data() + bus = get_bus() + bus.post(DistanceSensorEvent(distance=distance, unit='mm')) + return distance + except TimeoutError as e: + self.logger.warning(f'Read timeout: {e}') + return None + except Exception as e: + self.cleanup() + raise e + + @override + def transform_entities( + self, entities: Union[Optional[float], Collection[Optional[float]]] + ) -> List[DistanceSensor]: + value = ( + entities[0] + if isinstance(entities, (list, tuple)) and len(entities) + else entities + ) + + if value is None: + return [] + + return [ + DistanceSensor( + id='hcsr04', + name='HC-SR04 Distance Sensor', + value=value, + unit='mm', + ) + ] + + @action + def stop(self): + super().stop() + self.cleanup() + + +# vim:sw=4:ts=4:et: diff --git a/platypush/plugins/sensor/hcsr04/manifest.yaml b/platypush/plugins/sensor/hcsr04/manifest.yaml new file mode 100644 index 00000000..41f93b6c --- /dev/null +++ b/platypush/plugins/sensor/hcsr04/manifest.yaml @@ -0,0 +1,11 @@ +manifest: + events: + platypush.message.event.sensor.SensorDataAboveThresholdEvent: + platypush.message.event.sensor.SensorDataBelowThresholdEvent: + platypush.message.event.sensor.SensorDataChangeEvent: + platypush.message.event.distance.DistanceSensorEvent: + install: + pip: + - RPi.GPIO + package: platypush.plugins.sensor.hcsr04 + type: plugin