forked from cymplecy/scratch_gpio
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathscratchgpio_handler8.py
executable file
·6994 lines (6034 loc) · 364 KB
/
scratchgpio_handler8.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
#!/usr/bin/env python
# ScratchGPIO - control Raspberry Pi GPIO ports using Scratch.
# Copyright (C) 2013-2016 by Simon Walters based on original code for PiFace by Thomas Preston
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
#of the License, or (at your option) any later version.
#This program is distributed in the hope that it will be useful,
#but WITHOUT ANY WARRANTY; without even the implied warranty of
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#GNU General Public License for more details.
#You should have received a copy of the GNU General Public License
#along with this program; if not, write to the Free Software
#Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
# This code hosted on Github thanks to Ben Nuttall who taught me how to be a git(ter)
Version = 'v8.0.101' #16May16 still not made autolink work again!
print "Version:",Version
import threading
import socket
import time
import sys
import struct
import datetime as dt
import shlex
import os
import math
import re
import sgh_GPIOController
import sgh_PiGlow
import sgh_PiMatrix
import sgh_Stepper
import sgh_Minecraft
import sgh_pnbLCD
import logging
import subprocess
import sgh_RasPiCamera
#import pygame removed because causing random failures
import random
import Queue
from sgh_cheerlights import CheerLights
import urllib2
#import uinput
try:
from sgh_webcamcolour import ColourTracker
except:
print "webcam not imported"
pass
#ui = UInput()
sense = None
SH = None
try:
import meArm
#print "meArm imported OK"
except:
print "meArm NOT imported "
pass
try:
from sgh_MCP23008 import sgh_MCP23008
#print "MCP23008 imported OK"
except:
print "MCP23008 NOT imported"
pass
try:
from sgh_MCP230xx import Adafruit_MCP230XX
#print "sgh_MCP230xx imported OK"
except:
print "sgh_MCP230xx NOT imported "
pass
try:
import spidev
#print "spidev imported OK"
except:
print "Not imported "
pass
try:
from sgh_Adafruit_PWM_Servo_Driver import PWM
#print "PWM/Servo imported OK"
except:
print "PWM/Servo NOT imported "
pass
try:
from sgh_PCF8591P import sgh_PCF8591P
#print "ADC/DAC imported OK"
except:
print "ADC/DAC NOT imported "
pass
try:
from sgh_Adafruit_8x8 import sgh_EightByEight
from sgh_Adafruit_8x8 import ColorEightByEight
#print "8x8 imported OK"
except:
print "8x8 NOT imported"
pass
try:
from nunchuck import nunchuck
#print "nunchuck imported"
except:
print "nunchuck not imported - check I2c is setup"
try:
import mcpi.minecraft as minecraft
#print "Minecraft imported OK"
except:
print "Minecraft NOT imported OK"
pass
sghCT = None #reserve for captouch
class Compass:
__scales = {
0.88: [0, 0.73],
1.30: [1, 0.92],
1.90: [2, 1.22],
2.50: [3, 1.52],
4.00: [4, 2.27],
4.70: [5, 2.56],
5.60: [6, 3.03],
8.10: [7, 4.35],
}
def __init__(self, port=0, address=0x1E, gauss=1.3, declination=(0, 0)):
self.bus = SMBus(port)
self.address = address
(degrees, minutes) = declination
self.__declDegrees = degrees
self.__declMinutes = minutes
self.__declination = (degrees + minutes / 60) * math.pi / 180
(reg, self.__scale) = self.__scales[gauss]
self.bus.write_byte_data(self.address, 0x00, 0x70) # 8 Average, 15 Hz, normal measurement
self.bus.write_byte_data(self.address, 0x01, reg << 5) # Scale
self.bus.write_byte_data(self.address, 0x02, 0x00) # Continuous measurement
def declination(self):
return self.__declDegrees, self.__declMinutes
def twos_complement(self, val, len):
# Convert twos compliment to integer
if val & (1 << len - 1):
val -= 1 << len
return val
def __convert(self, data, offset):
val = self.twos_complement(data[offset] << 8 | data[offset + 1], 16)
if val == -4096:
return None
else:
return round(val * self.__scale, 4)
def axes(self):
data = self.bus.read_i2c_block_data(self.address, 0x00)
#print map(hex, data)
x = self.__convert(data, 3)
y = self.__convert(data, 7)
z = self.__convert(data, 5)
return (x, y, z)
def heading(self):
(x, y, z) = self.axes()
headingRad = float(math.atan2(y, x))
headingRad += self.__declination
# Correct for reversed heading
if headingRad < 0:
headingRad += 2 * math.pi
# Check for wrap and compensate
elif headingRad > 2 * math.pi:
headingRad -= 2 * math.pi
# Convert to degrees from radians
headingDeg = headingRad * 180 / math.pi
degrees = math.floor(headingDeg)
minutes = round((headingDeg - degrees) * 60)
return headingDeg
def degrees(self, (degrees, minutes)):
return str(degrees) + "*" + str(minutes) + "'"
def degreesdecimal(self, (degrees, minutes)):
return str(degrees + (minutes / 60.0)) if (degrees >= 0) else str(degrees - (minutes / 60.0))
def __str__(self):
(x, y, z) = self.axes()
return "Axis X: " + str(x) + "\n" \
"Axis Y: " + str(y) + "\n" \
"Axis Z: " + str(z) + "\n" \
"dec deg: " + str(
self.__declDegrees) + "\n" \
"dec min: " + str(self.__declMinutes) + "\n" \
"Declination: " + self.degreesdecimal(
self.declination()) + "\n" \
"Heading: " + str(self.heading()) + "\n"
### End Compasss ###################################################################################################
def isNumeric(s):
try:
float(s)
return True
except ValueError:
return False
def rtnNumeric(value, default):
try:
return float(value)
except ValueError:
return default
def rtnSign(s):
try:
if abs(s) == s:
return 1
else:
return -1
except ValueError:
return 0
def removeNonAscii(s):
return "".join(i for i in s if ord(i) < 128)
def getValue(searchString, dataString):
outputall_pos = dataString.find((searchString + ' '))
sensor_value = dataString[(outputall_pos + 1 + len(searchString)):].split()
return sensor_value[0]
def sign(number): return cmp(number, 0)
def parse_data(dataraw, search_string):
outputall_pos = dataraw.find(search_string)
return dataraw[(outputall_pos + 1 + search_string.length):].split()
class MyError(Exception):
def __init__(self, value):
self.value = value
def __str__(self):
return repr(self.value)
class ultra(threading.Thread):
def __init__(self, pinTrig, pinEcho, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self._stop = threading.Event()
self.pinTrig = pinTrig
self.pinEcho = pinEcho
def stop(self):
self._stop.set()
print "Ultra Stop Set"
def stopped(self):
return self._stop.isSet()
def run(self):
while not self.stopped():
startTime = time.time()
if self.pinEcho == 0:
distance = sghGC.pinSonar(self.pinTrig) # do a ping
sensor_name = 'ultra' + str(self.pinTrig)
if "pi2go" in ADDON:
sensor_name = 'ultra'
else:
distance = sghGC.pinSonar2(self.pinTrig, self.pinEcho)
sensor_name = 'ultra' + str(self.pinEcho)
bcast_str = 'sensor-update "%s" %s' % (sensor_name, str(distance))
#print 'sending: %s' % bcast_str
msgQueue.put(((5,bcast_str)))
timeTaken = time.time() - startTime
#print "time taken:",timeTaken
if timeTaken < sghGC.ultraFreq:
time.sleep(sghGC.ultraFreq - timeTaken)
print "ultra run ended for pin:", self.pinTrig
class ScratchSender(threading.Thread):
def __init__(self, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self.scratch_socket2 = None
self._stop = threading.Event()
self.time_last_ping = 0.0
self.time_last_compass = 0.0
self.distlist = [0.0, 0.0, 0.0]
self.sleepTime = 0.1
print "Sender Init"
def stop(self):
self._stop.set()
print "Sender Stop Set"
def stopped(self):
return self._stop.isSet()
def broadcast_pin_update(self, pin, value):
#print ADDON
#print "sending",pin,value
#sensor_name = "gpio" + str(GPIO_NUM[pin_index])
#bcast_str = 'sensor-update "%s" %d' % (sensor_name, value)
#print 'sending: %s' % bcast_str
#msgQueue.put(((5,bcast_str)))
#Normal action is to just send updates to pin values but this can be modified if known addon in use
sensor_name = "pin" + str(pin)
sensorValue = str(value)
if "ladder" in ADDON:
#do ladderboard stuff
sensor_name = "switch" + str([0, 21, 19, 24, 26].index(pin))
elif "motorpitx" in ADDON:
#do MotorPiTx stuff
if pin == 13:
sensor_name = "input1"
if pin == 7:
sensor_name = "input2"
sensorValue = ("off", "on")[value == 1]
elif "berry" in ADDON:
#do berryclip stuff
if pin == 26:
sensor_name = "switch"
if pin == 22:
sensor_name = "switch2"
elif "piringo" in ADDON:
#do PiRingo stuff
sensor_name = "switch" + str(1 + [19, 21].index(pin))
sensorValue = ("on", "off")[value == 1]
elif "pibrella" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = "Input" + ["NA", "A", "B", "C", "D", "E"][([0, 21, 26, 24, 19, 23].index(pin))]
if sensor_name == "InputE":
sensor_name = "switch"
except:
print "pibrella input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("off", "on")[value == 1]
elif "pidie" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = ["green", "red", "blue", "yellow"][([19, 21, 26, 24].index(pin))]
except:
print "pidie input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "playhat" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = ["red", "green", "yellow", "blue"][([7,11,13,15].index(pin))]
except:
print "parthat out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "p2g3" in ADDON:
#print pin
try:
sensor_name = ["left", "front", "right", "lineleft", "lineright", "switch1", "switch2", "switch3"][
([7, 15, 11, 12, 13, 16, 18, 22].index(pin))]
except:
print "p2g3 input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "pi2golite" in ADDON:
#print pin
try:
sensor_name = ["left", "right", "switch", "lineleft", "lineright"][([7, 11, 23, 12, 13].index(pin))]
except:
print "pi2golite input ", pin, " out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "pi2go" in ADDON:
#print pin
try:
sensor_name = ["irleft", "irfront", "irright", "lineleft", "lineright", "switch"][
([11, 13, 7, 12, 15, 16].index(pin))]
except:
print "pi2go input out of range"
sensor_name = "pin" + str(pin)
print sensor_name
pass
sensorValue = ("on", "off")[value == 1]
elif "apb01" in ADDON:
#print pin
try:
sensor_name = ["lineleft", "lineright"][([7, 11].index(pin))]
except:
print "agb01 input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "agobo" in ADDON:
#print pin
try:
sensor_name = ["lineleft", "lineright", "mode"][([7, 11, 16].index(pin))]
except:
#print "agobo input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 0]
if sensor_name == "mode":
sensorValue = ("on", "off")[value == 1]
elif "pizazz" in ADDON:
#print pin
try:
sensor_name = ["left", "right", ][([13, 12].index(pin))]
except:
print "pizazz input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "raspibot2" in ADDON:
sensor_name = ["switch1", "switch2"][([23, 21].index(pin))]
sensorValue = ("closed", "open")[value == 1]
elif "simpie" in ADDON:
sensor_name = ["red", "amber", "green"][([11, 13, 15].index(pin))]
sensorValue = ("on", "off")[value == 1]
elif "pitt" in ADDON:
sensorValue = ("1", "0")[value == 1]
elif "explorer" in ADDON:
sensor_name = ["input1", "input2", "input3", "input4"][([16,15,18,22].index(pin))]
sensorValue = ("0", "1")[value == 1]
if ("fishdish" in ADDON):
sensor_name = "switch"
sensorValue = ("on", "off")[value == 1]
if ("traffichat" in ADDON):
sensor_name = "switch"
sensorValue = ("on", "off")[value == 1]
bcast_str = '"' + sensor_name + '" ' + sensorValue
msgQueue.put(((5,"sensor-update " + bcast_str)))
#print pin , sghGC.pinTrigger[pin]
if sghGC.pinTrigger[pin] == 1:
#print dt.datetime.now()
print "trigger being sent for:", sensor_name
msgQueue.put((5,'broadcast "Trigger' + sensor_name + '"'))
sghGC.pinTriggerName[pin] = sensor_name
sghGC.pinTrigger[pin] = 2
if sghGC.anyTrigger == 0:
#print "Any trigger broadcast"
msgQueue.put((5,'broadcast "Trigger"'))
sghGC.anyTrigger = 2
# def send_scratch_command(self, cmd):
# n = len(cmd)
# b = (chr((n >> 24) & 0xFF)) + (chr((n >> 16) & 0xFF)) + (chr((n >> 8) & 0xFF)) + (chr(n & 0xFF))
# self.scratch_socket.send(b + cmd)
#time.sleep(2)
def setsleepTime(self, sleepTime):
self.sleepTime = sleepTime
#print("sleeptime:%s", self.sleepTime )
# Function to read SPI data from MCP3008 chip
# Channel must be an integer 0-7
def ReadChannel(self, channel):
global spi
#print spi
try:
adc = spi.xfer2([1, (8 + channel) << 4, 0])
data = ((adc[1] & 3) << 8) + adc[2]
#print "channel ok", channel
return data
except:
print "spi exception - one of these is normal"
spi = spidev.SpiDev()
spi.open(0, 0)
return 0
def run(self):
print "ScratchSender run started"
global firstRun, ADDON, compass, wii
print lock
# while firstRun:
# print "first run running"
#time.sleep(5)
# set last pin pattern to inverse of current state
pin_bit_pattern = [0] * len(sghGC.validPins)
last_bit_pattern = [1] * len(sghGC.validPins)
lastPinUpdateTime = time.time()
lastTimeSinceLastSleep = time.time()
lastTimeSinceMCPAnalogRead = time.time()
self.sleepTime = 0.1
tick = 0
lastADC = [256, 256, 256, 256, 256, 256, 256, 256]
lastpiAndBash = [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
joyx, joyy, accelx, accely, accelz, button = [0, 0, 0, 0, 0, 0]
lastAngle = 0
if wii is not None:
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(int(0))
msgQueue.put((5,"sensor-update " + bcast_str))
lastmcpInput = 0
if "pipiano" in ADDON:
with lock:
for digitalIO in range(0, 13):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
try:
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
except:
pass
while not self.stopped():
loopTime = time.time() - lastTimeSinceLastSleep
#print "how many millisecs since last loop", (loopTime * 1000)
if loopTime < self.sleepTime:
sleepdelay = self.sleepTime - loopTime
#print "add in sleep of milliesec:",(sleepdelay) * 1000
time.sleep(sleepdelay) # be kind to cpu :)
tick += 1
if tick == sys.maxint:
tick = 0
lastTimeSinceLastSleep = time.time()
#print "before lock"
with lock:
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
pin_bit_pattern[listIndex] = 0
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
#logging.debug("Checking event on pin:%s", pin )
pinEvent = sghGC.pinEvent(pin)
pinValue = sghGC.pinRead(pin)
pin_bit_pattern[listIndex] = pinValue
if pinEvent:
logging.debug(" ")
logging.debug("pinEvent Detected on pin:%s", pin)
#logging.debug("before updating pin patterm,last pattern :",pin_bit_pattern[listIndex],last_bit_pattern[listIndex] )
#logging.debug("afte uipdating pin patterm:",pin_bit_pattern[listIndex] )
if pin_bit_pattern[listIndex] == last_bit_pattern[listIndex]:
logging.debug("pinEvent but pin state the same as before...")
#pin_bit_pattern[listIndex] = 1 - pin_bit_pattern[listIndex] #change pin pattern - warning pin_bit_pattern now has !pin state
#logging.debug("after checking states pin patterm,last pattern:",pin_bit_pattern[listIndex],last_bit_pattern[listIndex])
if sghGC.pinTrigger[pin] == 0:
sghGC.pinTrigger[pin] = 1
#print " "
#print "pin trigged:",pin,sghGC.pinTrigger[pin]
#print " "
time.sleep(0)
if (pcfSensor is not None):
sensor_str = ""
if tick % 5 == 0:
for channel in range(0, 4): #loop thru all 4 inputs
adc = -1
try:
adc = pcfSensor.readADC(channel) / 2.56 # get each value
#print "adc",channel,adc
except:
pass
adc = int((adc + lastADC[channel]) / 2.0)
if adc <> lastADC[channel]:
#print "channel,adc:",(channel+1),adc
sensor_name = "adc" +str(channel + 1)
if "pi2go" in ADDON:
sensor_name = ['lightfrontright','lightfrontleft','lightbackleft','lightbackright'][channel]
sensor_value = str(adc)
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
lastADC[channel] = adc
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
if sghGC.lightInfo:
sghGC.lightDirection = math.degrees(math.atan2(lastADC[0] + lastADC[3] - lastADC[1] - lastADC[2], lastADC[0] + lastADC[1] - lastADC[2] - lastADC[3]))
sghGC.lightValue = max(lastADC[0],lastADC[1],lastADC[2],lastADC[3])
sensor_str = 'sensor-update "%s" %s "%s" %s' % ("lightdirection", str(int(sghGC.lightDirection)),"lightvalue", str(int(sghGC.lightValue)))
#print 'sending: %s' % bcast_str
msgQueue.put((0,sensor_str))
if "piandbash" in ADDON:
with lock:
bcast_str = ""
for digitalIO in range(0, 8):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
if mcp.input(digitalIO) != lastpiAndBash[digitalIO]:
sensor_name = 'input' + str(digitalIO)
bcast_str += '"' + sensor_name + '" ' + str(mcp.input(digitalIO)>>digitalIO) + " "
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
if bcast_str != "":
msgQueue.put((5,"sensor-update " + bcast_str))
if (mcp.input(15) + mcp.input(14)
+ mcp.input(13) + mcp.input(11) + mcp.input(9)) <> lastmcpInput:
dict2 = {15: 'botsel', 14: 'topsel', 13: 'down', 11: 'enter', 9: 'up'}
for i in dict2.keys():
sensor_name = dict2[i]
sensor_value = ("on", "off")[mcp.input(i) > 0]
bcast_str = '"' + sensor_name + '" ' + sensor_value
msgQueue.put((5,"sensor-update " + bcast_str))
lastmcpInput = (mcp.input(15) + mcp.input(14) + mcp.input(13) + mcp.input(11) + mcp.input(9))
if (time.time() - lastTimeSinceMCPAnalogRead) > 0.5:
bcast_str = ""
for channel in range(0, 8):
adc = (self.ReadChannel(channel) + (2 * lastADC[channel])) / 3
if adc != lastADC[channel]: # (lastADC[channel] - 2) <= adc <= (lastADC[channel] +2):
sensor_name = 'adc' + str(channel)
bcast_str += '"' + sensor_name + '" ' + str(adc) + " "
if channel == 0:
sensor_name = 'temperature'
bcast_str += '"' + sensor_name + '" ' + str(float("{0:.1f}".format(((adc * 500) / float(1023)) - 50)))
lastADC[channel] = adc
msgQueue.put((5,"sensor-update " + bcast_str))
lastTimeSinceMCPAnalogRead = time.time()
if "pipiano" in ADDON:
with lock:
bcast_str = ""
for digitalIO in range(0, 13):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
try:
if mcp.input(digitalIO) != lastpiAndBash[digitalIO]:
sensor_name = 'note'# + str([60,62,64,65,67,69,71,72,61,63,66,68,70][digitalIO])
if (mcp.input(digitalIO)>>digitalIO) == 1:
bcast_str += ' "' + sensor_name + '" 0'#str(mcp.input(digitalIO)>>digitalIO) + " "
else:
bcast_str += ' "' + sensor_name + '" ' + str([60,62,64,65,67,69,71,72,61,63,66,68,70][digitalIO]) +" "#str(mcp.input(digitalIO)>>digitalIO) + " "
msgQueue.put((5,"sensor-update" + bcast_str))
msgQueue.put((5,'broadcast "Trigger' + sensor_name + '"'))
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
except:
pass
#if bcast_str != "":
# msgQueue.put((5,"sensor-update" + bcast_str))
time.sleep(0.1)
#print wii
if wii is not None: #if wii found
#time.sleep(1)
try:
joyx, joyy, accelx, accely, accelz, button = wii.raw()
if (joyx == 255) or (joyy == 255) or (accelx == 255) or (accely == 255) or (accelz == 255):
print dt.datetime.now()
print "try ok but seems to have locked up"
print joyx, joyy, accelx, accely, accelz
print "restarting wii"
wii = nunchuck()
print "wii restarted"
print wii.raw()
raise Escape
except:
logging.debug(dt.datetime.now())
logging.debug("exception:Read from Nunchuck failed")
continue
#Always send button info
button &= 0x3
#print button, wii.button_c(),wii.button_z()
sensor_name = 'buttonc'
bcast_str = '"' + sensor_name + '" '
if (button == 1 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'buttonz'
bcast_str = '"' + sensor_name + '" '
if (button == 2 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
if sghGC.nunchuckLevel == 1: #If simple mode just reading joystick digitally
joyx -= 0x7E
joyy -= 0x7B
joyx = math.copysign(100, joyx) if abs(joyx) > 50 else 0
joyy = math.copysign(100, joyy) if abs(joyy) > 50 else 0
#if (abs(joyx) + abs(joyy)) == 200:
# joyx = math.copysign(70, joyx)
# joyy = math.copysign(70, joyy)
jx = "middle"
jy = "middle"
if joyx > 25:
jx = "right"
elif joyx < -25:
jx = "left"
if joyy > 25:
jy = "up"
elif joyy < -25:
jy = "down"
sensor_name = 'joystickx'
bcast_str = '"' + sensor_name + '" ' + jx
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'joysticky'
bcast_str = '"' + sensor_name + '" ' + jy
msgQueue.put((5,"sensor-update " + bcast_str))
if (abs(joyx) + abs(joyy)) != 0:
#print joyx,joyy
angle = (math.atan2(-joyy, -joyx) * 180.0 / math.pi)
angle += 180 # "Normal" non-scratch angle
angle -= 90
#angle = angle - 90
angle = (angle + 720) % 360
angle = (-angle) if (angle) < 180 else (360 - angle)
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(int(angle))
msgQueue.put((5,"sensor-update " + bcast_str))
accelx = int(min(max(1.8 * (accelx - 0x7F), -90), 90))
accely = - int(min(max(1.8 * (accely - 0x7F), -90), 90))
accelz = int(min(max(1.8 * (accelz - 0x7F), -90), 90))
#accelx = 45
#accely = 45
turnx = accelx
turny = accely
if accelz < 0:
if turnx >= 0:
turnx = 90
else:
turnx = -90
if abs(turny) > 80:
turnx = 0
leftright = turnx
sensor_name = 'tiltx'
bcast_str = '"' + sensor_name + '" ' + str(leftright)
msgQueue.put((5,"sensor-update " + bcast_str))
updown = turny
sensor_name = 'tilty'
bcast_str = '"' + sensor_name + '" ' + str(updown)
msgQueue.put((5,"sensor-update " + bcast_str))
if sghGC.nunchuckLevel == 2:
joyx -= 0x7E
joyy -= 0x7B
sensor_name = 'joystickx'
bcast_str = '"' + sensor_name + '" ' + str(joyx)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'joysticky'
bcast_str = '"' + sensor_name + '" ' + str(joyy)
msgQueue.put((5,"sensor-update " + bcast_str))
accelx = int(min(max(1.8 * (accelx - 0x7F), -90), 90))
accely = - int(min(max(1.8 * (accely - 0x7F), -90), 90))
accelz = int(min(max(1.8 * (accelz - 0x7F), -90), 90))
#accelx = 45
#accely = 45
turnx = accelx
turny = accely
if accelz < 0:
if turnx >= 0:
turnx = 90
else:
turnx = -90
if abs(turny) > 80:
turnx = 0
button &= 0x3
sensor_name = 'buttonc'
bcast_str = '"' + sensor_name + '" '
if (button == 1 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'buttonz'
bcast_str = '"' + sensor_name + '" '
if (button == 2 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
if (button == 2 or button == 0):
angle = 0 - (math.atan2(-turny, -turnx) * 180.0 / math.pi) - 90
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(angle)
msgQueue.put((5,"sensor-update " + bcast_str))
else:
angle = 0 - (math.atan2(-turny, -turnx) * 180.0 / math.pi) - 90
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(angle)
msgQueue.put((5,"sensor-update " + bcast_str))
leftright = turnx * 100 / 90
sensor_name = 'leftright'
bcast_str = '"' + sensor_name + '" ' + str(leftright)
msgQueue.put((5,"sensor-update " + bcast_str))
updown = turny * 100 / 90
sensor_name = 'updown'
bcast_str = '"' + sensor_name + '" ' + str(updown)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accelx'
bcast_str = '"' + sensor_name + '" ' + str(accelx)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accely'
bcast_str = '"' + sensor_name + '" ' + str(accely)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accelz'
bcast_str = '"' + sensor_name + '" ' + str(accelz)
msgQueue.put((5,"sensor-update " + bcast_str))
# if there is a change in the input pins
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
if (pin_bit_pattern[listIndex] != last_bit_pattern[listIndex]) or sghGC.pinTrigger[pin] == 1:
logging.debug("Change or triger detected in pin:%s changed to:%s, trigger val:%s", pin,
pin_bit_pattern[listIndex], sghGC.pinTrigger[pin])
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
#print pin , pin_value
self.broadcast_pin_update(pin, pin_bit_pattern[listIndex])
time.sleep(0.05) # just to give Scratch a better chance to react to event
last_bit_pattern = list(pin_bit_pattern)
#print ("last:%s",last_bit_pattern)
#print ("this:%s",pin_bit_pattern)
if ("pitt" in ADDON):
sensor_name = "input"
nibble = sghGC.pinRead(15) + 2 * sghGC.pinRead(19) + 4 * sghGC.pinRead(21) + 8 * sghGC.pinRead(23)
nibble = 15 - nibble
bcast_str = '"' + sensor_name + '" ' + str(nibble)
msgQueue.put((5,"sensor-update " + bcast_str))
if (time.time() - lastPinUpdateTime) > 3: #This is to force the pin names to be read out even if they don't change
#print int(time.time())
lastPinUpdateTime = time.time()
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
pin_bit_pattern[listIndex] = sghGC.pinRead(pin)
self.broadcast_pin_update(pin, pin_bit_pattern[listIndex])
#if ColourTracker.green[2] == True:
# with lock:
# print "green", ColourTracker.green
# bcast_str = 'sensor-update "greenx" %s' % ( ColourTracker.green[0] )
# msgQueue.put((5,bcast_str))
# bcast_str = 'sensor-update "greeny" %s' % ( ColourTracker.green[1] )
# msgQueue.put((5,bcast_str))
# bcast_str = 'sensor-update "greenfound" %s' % ( ColourTracker.green[2] )
# msgQueue.put((5,bcast_str))
# ColourTracker.green[2] = False
if (time.time() - self.time_last_compass) > 0.25:
#print "time up"
#print compass
#If Compass board truely present
if (compass is not None):
#print "compass code"
heading = compass.heading()
sensor_name = 'heading'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, heading)
#print 'sending: %s' % bcast_str
msgQueue.put((5,bcast_str))
self.time_last_compass = time.time()
if "explorer" in ADDON:
#print "explorer addon found"
if sghGC.capTouch is None:
import sgh_captouch
#print "SGH_captouch imported OK"
import sgh_captouch_helper
#print "SGH_captouch_helper imported OK"
sghGC.capTouch = sgh_captouch.Cap1208()
sghCT = sgh_captouch_helper.sgh_captouch_helper()
sghGC.capTouchHelper = sghCT
print "sghCT", sghCT
import sgh_explorer_analog
sghGC.ADS1015 = sgh_explorer_analog.ADS1015()
print "ADS1015", sghGC.ADS1015
sensor_str = ""
for loop in range(0,8):
sghGC.capTouch.on(loop,"press",sghCT.ctHandler)
#print "loop:",loop,sghCT.ctTrigStatus[loop]
sensor_value = "0"
sensor_name = "touch" + str(sghCT.ctTrigStatus[loop][0])
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
msgQueue.put((0,"sensor-update " + sensor_str))
else:
sensor_str = ""
for loop in range(0,8):
if sghCT.ctTrigStatus[loop][1] == 1:
#print "loop:",loop,sghCT.ctTrigStatus[loop]
#print dt.datetime.now()
sensor_name = "touch" + str(sghCT.ctTrigStatus[loop][0])
sensor_value = "1"
#print "trigger being sent for:", sensor_name
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
#print sensor_name,sensor_value
bcast_str = 'broadcast "%s"' % (sensor_name)
msgQueue.put((0, bcast_str))
sghCT.ctTrigStatus[loop][1] = 2
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
if sghCT.ctTrigStatus[8][1] == 1:
msgQueue.put((0,'broadcast "Touch"'))
sghCT.ctTrigStatus[8][1] = 2
sensor_str = ""
if tick % 5 == 0:
for loop in range(0,4):
sensor_name = "analog" + str(4 - loop)
sensor_value = str(sghGC.ADS1015.read_se_adc(loop))
#print sensor_name,sensor_value
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
print "Sender Stopped"
#time.sleep(2)
class ScratchListener(threading.Thread):
def __init__(self, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self.scratch_socket2 = None
self._stop = threading.Event()
self.dataraw = ''
self.value = None
self.valueNumeric = None
self.valueIsNumeric = None
self.OnOrOff = None
self.searchPos = 0
self.encoderDiff = 0
self.turnSpeed = 40
self.turnSpeedAdj = 0