122 lines
3.6 KiB
Python
122 lines
3.6 KiB
Python
import enum
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import math
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import time
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# noinspection PyUnresolvedReferences,PyPackageRequirements
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from pmw3901 import PMW3901, BG_CS_FRONT_BCM, BG_CS_BACK_BCM
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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 GpioSensorMotionPwm3901Plugin(GpioSensorPlugin):
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"""
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Plugin to interact with an `PWM3901 <https://github.com/pimoroni/pmw3901-python>`_
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optical flow and motion sensor
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Requires:
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* ``pwm3901`` (``pip install pwm3901``)
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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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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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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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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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