- Power offsets now passed through conf instead of source code

- More robust handling of temporary sensor failures
This commit is contained in:
Fabio Manganiello 2018-03-17 17:16:20 +01:00
parent dcd4f9eddf
commit 6309f5301e
3 changed files with 42 additions and 23 deletions

View file

@ -26,16 +26,20 @@ class SensorIrZeroborgBackend(Backend):
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))
try:
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 \
self.last_message = message
self.last_message_timestamp = time.time()
except OSError as e:
logging.warning('Failed reading IR sensor status')
if 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))

View file

@ -22,20 +22,12 @@ class GpioZeroborgPlugin(Plugin):
_drive_thread = None
_can_run = False
_direction = None
_power_offsets = {
Direction.DIR_LEFT: {
Direction.DIR_UP: 0.325,
Direction.DIR_DOWN: 0,
},
Direction.DIR_RIGHT: {
Direction.DIR_UP: -0.132,
Direction.DIR_DOWN: 0.387,
},
}
_power_offsets = {}
def __init__(self, v_in=8.4, v_out=6.0):
def __init__(self, v_in=8.4, v_out=6.0,
power_offset_left_up=0.0, power_offset_right_up=0.0,
power_offset_left_down=0.0, power_offset_right_down=0.0):
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
self.v_in = v_in
@ -43,6 +35,17 @@ class GpioZeroborgPlugin(Plugin):
self.max_power = v_out / float(v_in)
self.auto_mode = False
self._direction = None
self._power_offsets = {
Direction.DIR_LEFT: {
Direction.DIR_UP: power_offset_left_up,
Direction.DIR_DOWN: power_offset_left_down,
},
Direction.DIR_RIGHT: {
Direction.DIR_UP: power_offset_right_up,
Direction.DIR_DOWN: power_offset_right_down,
},
}
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
@ -83,10 +86,22 @@ class GpioZeroborgPlugin(Plugin):
if self.auto_mode:
distance = None
last_recorded_distance_timestamp = None
distance_record_timeout = 2.0
while distance is None:
distance = self.get_distance()
logging.info('Closest obstacle distance: {} mm'.format(distance))
if last_recorded_distance_timestamp and \
time.time() - last_recorded_distance_timestamp > distance_record_timeout:
# Stop the motors if we have been unable
# to access the distance sensor data
self._direction = None
break
last_recorded_distance_timestamp = time.time()
if distance > 400.0: # distance in mm
self._direction = Direction.DIR_UP.value
else:

View file

@ -758,9 +758,9 @@ If True there has been a new IR message which can be read using GetIrMessage().
i2cRecv = self.RawRead(COMMAND_GET_NEW_IR, I2C_NORM_LEN)
except KeyboardInterrupt:
raise
except:
except Exception as e:
self.Print('Failed reading new IR message received flag!')
return
raise e
if i2cRecv[1] == COMMAND_VALUE_OFF:
return False