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Add AIY common drivers. #90
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| # Copyright 2017 Google Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
| """This library provides common drivers for the AIY projects.""" | ||
|
|
||
| import itertools | ||
| import os | ||
| import threading | ||
| import time | ||
|
|
||
| import RPi.GPIO as GPIO | ||
|
|
||
|
|
||
| class Button(object): | ||
| """Detect edges on the given GPIO channel.""" | ||
|
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||
| def __init__(self, | ||
| channel, | ||
| polarity=GPIO.FALLING, | ||
| pull_up_down=GPIO.PUD_UP, | ||
| debounce_time=0.15): | ||
| """A simple GPIO-based button driver. | ||
|
|
||
| This driver supports a simple GPIO-based button. It works by detecting | ||
| edges on the given GPIO channel. Debouncing is automatic. | ||
|
|
||
| Args: | ||
| channel: the GPIO pin number to use (BCM mode) | ||
| polarity: the GPIO polarity to detect; either GPIO.FALLING or | ||
| GPIO.RISING. | ||
| pull_up_down: whether the port should be pulled up or down; defaults to | ||
| GPIO.PUD_UP. | ||
| debounce_time: the time used in debouncing the button in seconds. | ||
| """ | ||
|
|
||
| if polarity not in [GPIO.FALLING, GPIO.RISING]: | ||
| raise ValueError( | ||
| 'polarity must be one of: GPIO.FALLING or GPIO.RISING') | ||
|
|
||
| self.channel = int(channel) | ||
| self.polarity = polarity | ||
| self.expected_value = polarity == GPIO.RISING | ||
| self.debounce_time = debounce_time | ||
|
|
||
| GPIO.setmode(GPIO.BCM) | ||
| GPIO.setup(channel, GPIO.IN, pull_up_down=pull_up_down) | ||
|
|
||
| self.callback = None | ||
|
|
||
| def wait_for_press(self): | ||
| """Waits for the button to be pressed. | ||
|
|
||
| This method blocks until the button is pressed. | ||
| """ | ||
| GPIO.add_event_detect(self.channel, self.polarity) | ||
| while True: | ||
| if GPIO.event_detected(self.channel) and self._debounce(): | ||
| GPIO.remove_event_detect(self.channel) | ||
| return | ||
| else: | ||
| time.sleep(0.1) | ||
|
|
||
| def on_press(self, callback): | ||
| """Calls the callback whenever the button is pressed. | ||
|
|
||
| Args: | ||
| callback: a function to call whenever the button is pressed. It should | ||
| take a single channel number. | ||
|
|
||
| Example: | ||
| def MyButtonPressHandler(channel): | ||
| print "button pressed: channel = %d" % channel | ||
| my_button.on_press(MyButtonPressHandler) | ||
| """ | ||
| GPIO.remove_event_detect(self.channel) | ||
| self.callback = callback | ||
| GPIO.add_event_detect( | ||
| self.channel, self.polarity, callback=self._debounce_and_callback) | ||
|
|
||
| def _debounce_and_callback(self, _): | ||
| if self._debounce(): | ||
| self.callback() | ||
|
|
||
| def _debounce(self): | ||
| """Debounces the GPIO signal. | ||
|
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||
| Check that the input holds the expected value for the debounce | ||
| period, to avoid false trigger on short pulses. | ||
| """ | ||
| start = time.time() | ||
| while time.time() < start + self.debounce_time: | ||
| if GPIO.input(self.channel) != self.expected_value: | ||
| return False | ||
| time.sleep(0.01) | ||
| return True | ||
|
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||
|
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||
| class LED: | ||
| """Starts a background thread to show patterns with the LED. | ||
|
|
||
| Simple usage: | ||
| my_led = LED(channel = 25) | ||
| my_led.start() | ||
| my_led.set_state(LED_BEACON) | ||
| my_led.stop() | ||
| """ | ||
|
|
||
| LED_OFF = 0 | ||
| LED_ON = 1 | ||
| LED_BLINK = 2 | ||
| LED_BLINK_3 = 3 | ||
| LED_BEACON = 4 | ||
| LED_BEACON_DARK = 5 | ||
| LED_DECAY = 6 | ||
| LED_PULSE_SLOW = 7 | ||
| LED_PULSE_QUICK = 8 | ||
|
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||
| def __init__(self, channel): | ||
| self.animator = threading.Thread(target=self._animate) | ||
| self.channel = channel | ||
| self.iterator = None | ||
| self.running = False | ||
| self.state = None | ||
| self.sleep = 0 | ||
|
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| GPIO.setmode(GPIO.BCM) | ||
| GPIO.setup(channel, GPIO.OUT) | ||
| self.pwm = GPIO.PWM(channel, 100) | ||
|
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||
| self.lock = threading.Lock() | ||
|
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| def start(self): | ||
| """Starts the LED driver.""" | ||
| with self.lock: | ||
| if not self.running: | ||
| self.running = True | ||
| self.pwm.start(0) # off by default | ||
| self.animator.start() | ||
|
|
||
| def stop(self): | ||
| """Stops the LED driver and sets the LED to off.""" | ||
| with self.lock: | ||
| if self.running: | ||
| self.running = False | ||
| self.animator.join() | ||
| self.pwm.stop() | ||
|
|
||
| def set_state(self, state): | ||
| """Sets the LED driver's new state. | ||
|
|
||
| Note the LED driver must be started for this to have any effect. | ||
| """ | ||
| with self.lock: | ||
| self.state = state | ||
|
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||
| def _animate(self): | ||
| while True: | ||
| state = None | ||
| running = False | ||
| with self.lock: | ||
| state = self.state | ||
| self.state = None | ||
| running = self.running | ||
| if not running: | ||
| return | ||
| if state: | ||
| if not self._parse_state(state): | ||
| raise ValueError('unsupported state: %d' % state) | ||
| if self.iterator: | ||
| self.pwm.ChangeDutyCycle(next(self.iterator)) | ||
| time.sleep(self.sleep) | ||
| else: | ||
| # We can also wait for a state change here with a Condition. | ||
| time.sleep(1) | ||
|
|
||
| def _parse_state(self, state): | ||
| self.iterator = None | ||
| self.sleep = 0.0 | ||
| if state == self.LED_OFF: | ||
| self.pwm.ChangeDutyCycle(0) | ||
| return True | ||
| if state == self.LED_ON: | ||
| self.pwm.ChangeDutyCycle(100) | ||
| return True | ||
| if state == self.LED_BLINK: | ||
| self.iterator = itertools.cycle([0, 100]) | ||
| self.sleep = 0.5 | ||
| return True | ||
| if state == self.LED_BLINK_3: | ||
| self.iterator = itertools.cycle([0, 100] * 3 + [0, 0]) | ||
| self.sleep = 0.25 | ||
| return True | ||
| if state == self.LED_BEACON: | ||
| self.iterator = itertools.cycle( | ||
| itertools.chain([30] * 100, [100] * 8, range(100, 30, -5))) | ||
| self.sleep = 0.05 | ||
| return True | ||
| if state == self.LED_BEACON_DARK: | ||
| self.iterator = itertools.cycle( | ||
| itertools.chain([0] * 100, range(0, 30, 3), range(30, 0, -3))) | ||
| self.sleep = 0.05 | ||
| return True | ||
| if state == self.LED_DECAY: | ||
| self.iterator = itertools.cycle(range(100, 0, -2)) | ||
| self.sleep = 0.05 | ||
| return True | ||
| if state == self.LED_PULSE_SLOW: | ||
| self.iterator = itertools.cycle( | ||
| itertools.chain(range(0, 100, 2), range(100, 0, -2))) | ||
| self.sleep = 0.1 | ||
| return True | ||
| if state == self.LED_PULSE_QUICK: | ||
| self.iterator = itertools.cycle( | ||
| itertools.chain(range(0, 100, 5), range(100, 0, -5))) | ||
| self.sleep = 0.05 | ||
| return True | ||
| return False | ||
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Do you have a plan for how this will be used? Currently we have a
status-ledservice that animates even when the voice recognizer isn't running (eg during bootup). If we're going to keep that, maybe it would be better to have an API for the service here, instead of a second implementation.There was a problem hiding this comment.
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+1 for avoiding two implementations.
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My idea is to have the status-led service call this API instead. The benefit of having a standalone API for LEDs is potential users may utilize this API for their own app, not just a global LED service.
So no there won't be two implementations. And yes the status-led service will still be available.
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Done. status-led now calls into aiy.common directly, eliminating the duplicate implementation of the LED driver.