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# Copyright 2019 Virantha N. Ekanayake |
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# |
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# Licensed under the Apache License, Version 2.0 (the "License"); |
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# you may not use this file except in compliance with the License. |
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# You may obtain a copy of the License at |
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# |
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# http://www.apache.org/licenses/LICENSE-2.0 |
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# |
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# Unless required by applicable law or agreed to in writing, software |
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# distributed under the License is distributed on an "AS IS" BASIS, |
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
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# See the License for the specific language governing permissions and |
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# limitations under the License. |
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"""Actual sensor and motor peripheral definitions from Boost and PoweredUp |
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""" |
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from curio import sleep, current_task, spawn # Needed for motor speed ramp |
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from enum import Enum, IntEnum |
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from .const import Color |
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from .peripheral import Peripheral |
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class InternalMotor(Peripheral): |
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""" Access the internal motor(s) in the Boost Move Hub. |
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Unlike the train motors, these motors have a built-in sensor for sending back |
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the motor's current speed and position. You don't need to use the sensors, and |
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can treat this as strictly an output. |
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.. graphviz:: |
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digraph { |
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"from" -> "to" |
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} |
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Examples:: |
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# Basic connection to the motor on Port A |
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@attach(InternalMotor, 'left_motor', port=InternalMotor.Port.A) |
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# Basic connection to both motors at the same time (virtual I/O port). |
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# Any speed command will cause both motors to rotate at the same speed |
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@attach(InternalMotor, 'motors', port=InternalMotor.Port.AB) |
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# Report back when motor speed changes. You must have a motors_change method defined |
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@attach(InternalMotor, 'motors', port=InternalMotor.Port.A, capabilities=['sense_speed']) |
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# Only report back when speed change exceeds 5 units |
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@attach(InternalMotor, 'motors', port=InternalMotor.Port.A, capabilities=[('sense_speed', 5)]) |
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See Also: |
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:class:`TrainMotor` for connecting to a train motor |
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""" |
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_sensor_id = 0x0027 |
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_DEFAULT_THRESHOLD=2 |
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"""Set to 2 to avoid a lot of updates since the speed seems to oscillate a lot""" |
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capability = Enum("capability", {"sense_speed":1, "sense_pos":2}) |
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Port = Enum('Port', 'A B AB', start=0) |
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"""Address either motor A or Motor B, or both AB at the same time""" |
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# Dict of cap: (num_datasets, bytes_per_dataset) |
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datasets = { capability.sense_speed: (1, 1), |
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capability.sense_pos: (1, 4), |
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} |
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""" Dict of (num_datasets, bytes_per_dataset). |
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`sense_speed` (1-byte), and `sense_pos` (uint32)""" |
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allowed_combo = [ capability.sense_speed, |
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capability.sense_pos, |
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] |
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def __init__(self, name, port=None, capabilities=[]): |
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"""Maps the port names `A`, `B`, `AB` to hard-coded port numbers""" |
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if port: |
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port_map = [55, 56, 57] |
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port = port_map[port.value] |
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self.speed = 0 |
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super().__init__(name, port, capabilities) |
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async def set_speed(self, speed): |
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"""Sets the speed of the motor, and calls the :func:`bricknil.peripheral.Peripheral._convert_speed_to_val` method |
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to do some sanity checking and bounding. |
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Args: |
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speed (int) : -100 to 100 (I believe this is a percentage) |
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""" |
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self.speed = speed |
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speed = self._convert_speed_to_val(speed) |
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mode = 0 |
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await self.set_output(mode, speed) |
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async def ramp_speed2(self, target_speed, ramp_time_ms): |
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# Set acceleration profile |
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delta_speed = target_speed - self.speed |
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zero_100_ramp_time_ms = int(ramp_time_ms/delta_speed * 100.0) |
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zero_100_ramp_time_ms = zero_100_ramp_time_ms % 10000 # limit time to 10s |
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hi = (zero_100_ramp_time_ms >> 8) & 255 |
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lo = zero_100_ramp_time_ms & 255 |
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profile = 1 |
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b = [0x00, 0x81, self.port, 0x01, 0x05, 10, 10, profile] |
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await self.send_message(f'set accel profile {zero_100_ramp_time_ms} {hi} {lo} ', b) |
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b = [0x00, 0x81, self.port, 0x01, 0x07, self._convert_speed_to_val(target_speed), 80, 1] |
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await self.send_message('set speed', b) |
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class VisionSensor(Peripheral): |
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""" Access the Boost Vision/Distance Sensor |
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Only the sensing capabilities of this sensor is supported right now. |
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- *sense_color*: Returns one of the 10 predefined colors |
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- *sense_distance*: Distance from 0-7 in roughly inches |
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- *sense_count*: Running count of waving your hand/item over the sensor (32-bit) |
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- *sense_reflectivity*: Under distances of one inch, the inverse of the distance |
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- *sense_ambient*: Distance under one inch (so inverse of the preceeding) |
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- *sense_rgb*: R, G, B values (3 sets of uint16) |
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Any combination of sense_color, sense_distance, sense_count, sense_reflectivity, |
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and sense_rgb is supported. |
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Examples:: |
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# Basic distance sensor |
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@attach(VisionSensor, 'vision', capabilities=['sense_color']) |
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# Or use the capability Enum |
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@attach(VisionSensor, 'vision', capabilities=[VisionSensor.capability.sense_color]) |
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# Distance and color sensor |
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@attach(VisionSensor, 'vision', capabilities=['sense_color', 'sense_distance']) |
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# Distance and rgb sensor with different thresholds to trigger updates |
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@attach(VisionSensor, 'vision', capabilities=[('sense_color', 1), ('sense_rgb', 5)]) |
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The values returned by the sensor will always be available in the instance variable |
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`self.value`. For example, when the `sense_color` and `sense_rgb` capabilities are |
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enabled, the following values will be stored and updated:: |
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self.value = { VisionSensor.capability.sense_color: uint8, |
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VisionSensor.capability.sense_rgb: |
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[ uint16, uint16, uint16 ] |
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} |
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Notes: |
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The actual modes supported by the sensor are as follows: |
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- 0 = color (0-10) |
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- 1 = IR proximity (0-7) |
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- 2 = count (32-bit int) |
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- 3 = Reflt (inverse of distance when closer than 1") |
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- 4 = Amb (distance when closer than 1") |
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- 5 = COL (output) ? |
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- 6 = RGB I |
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- 7 = IR tx (output) ? |
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- 8 = combined: Color byte, Distance byte, 0xFF, Reflected light |
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""" |
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_sensor_id = 0x0025 |
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capability = Enum("capability", |
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[('sense_color', 0), |
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('sense_distance', 1), |
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('sense_count', 2), |
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('sense_reflectivity', 3), |
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('sense_ambient', 4), |
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('sense_rgb', 6), |
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]) |
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datasets = { capability.sense_color: (1, 1), |
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capability.sense_distance: (1, 1), |
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capability.sense_count: (1, 4), # 4-bytes (32-bit) |
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capability.sense_reflectivity: (1, 1), |
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capability.sense_ambient: (1, 1), |
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capability.sense_rgb: (3, 2) # 3 16-bit values |
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} |
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allowed_combo = [ capability.sense_color, |
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capability.sense_distance, |
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capability.sense_count, |
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capability.sense_reflectivity, |
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capability.sense_rgb, |
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] |
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class InternalTiltSensor(Peripheral): |
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""" |
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Access the internal tilt sensor in the Boost Move Hub. |
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The various modes are: |
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- **sense_angle** - X, Y angles. Both are 0 if hub is lying flat with button up |
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- **sense_tilt** - value from 0-9 if hub is tilted around any of its axis. Seems to be |
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a rough mesaure of how much the hub is tilted away from lying flat. |
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There is no update for just a translation along an axis |
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- **sense_orientation** - returns one of the nine orientations below (0-9) |
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- `InternalTiltSensor.orientation`.up = flat with button on top |
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- `InternalTiltSensor.orientation`.right - standing up on side closest to button |
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- `InternalTiltSensor.orientation`.left - standing up on side furthest from button |
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- `InternalTiltSensor.orientation`.far_side - on long face facing away |
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- `InternalTiltSensor.orientation`.near_side - on long face facing you |
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- `InternalTiltSensor.orientation`.down - upside down |
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- **sense_impact** - 32-bit count of impacts to sensor |
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- **sense_acceleration_3_axis** - 3 bytes of raw accelerometer data. |
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Any combination of the above modes are allowed. |
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Examples:: |
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# Basic tilt sensor |
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@attach(InternalTiltSensor, 'tilt', capabilities=['sense_tilt']) |
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# Or use the capability Enum |
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@attach(InternalTiltSensor, 'tilt', capabilities=[InternalTiltSensor.sense_tilt]) |
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# Tilt and orientation sensor |
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@attach(InternalTiltSensor, 'tilt', capabilities=['sense_tilt, sense_orientation']) |
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The values returned by the sensor will always be available in the |
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instance variable `self.value`. For example, when the `sense_angle` |
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and `sense_orientation` capabilities are enabled, the following values |
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will be stored and updated:: |
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self.value = { InternalTiltSensor.capability.sense_angle: [uint8, uint8], |
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InternalTiltSensor.capability.sense_orientation: |
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Enum(InternalTiltSensor.orientation) |
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} |
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""" |
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_sensor_id = 0x0028 |
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capability = Enum("capability", |
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[('sense_angle', 0), |
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('sense_tilt', 1), |
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('sense_orientation', 2), |
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('sense_impact', 3), |
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('sense_acceleration_3_axis', 4), |
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]) |
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datasets = { capability.sense_angle: (2, 1), |
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capability.sense_tilt: (1, 1), |
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capability.sense_orientation: (1, 1), |
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capability.sense_impact: (1, 4), |
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capability.sense_acceleration_3_axis: (3, 1), |
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} |
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allowed_combo = [ capability.sense_angle, |
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capability.sense_tilt, |
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capability.sense_orientation, |
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capability.sense_impact, |
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capability.sense_acceleration_3_axis, |
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] |
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orientation = Enum('orientation', |
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{ 'up': 0, |
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'right': 1, |
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'left': 2, |
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'far_side':3, |
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'near_side':4, |
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'down':5, |
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}) |
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def update_value(self, msg_bytes): |
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"""If sense_orientation, then substitute the `IntenalTiltSensor.orientation` |
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enumeration value into the self.value dict. Otherwise, don't do anything |
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special to the self.value dict. |
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""" |
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super().update_value(msg_bytes) |
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so = self.capability.sense_orientation |
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if so in self.value: |
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self.value[so] = self.orientation(self.value[so]) |
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class LED(Peripheral): |
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""" Changes the LED color on the Hubs:: |
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@attach(LED, 'hub_led') |
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self.hub_led.set_output(Color.red) |
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Warnings: |
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No support yet for the standalone LEDs that connect to the Hub ports. |
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""" |
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_sensor_id = 0x0017 |
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async def set_color(self, color: Color): |
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""" Converts a Color enumeration to a color value""" |
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# For now, only support preset colors |
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assert isinstance(color, Color) |
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col = color.value |
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assert col < 11 |
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mode = 0 |
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await self.set_output(mode, col) |
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#b = [0x00, 0x81, self.port, 0x11, 0x51, mode, col ] |
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#await self.message_info(f'set color to {color}') |
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class TrainMotor(Peripheral): |
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""" |
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Connects to the train motors. |
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TrainMotor has no sensing capabilities and only supports a single output mode that |
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sets the speed. |
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Examples:: |
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@attach(TrainMotor, 'train') |
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312
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And then within the run body, use:: |
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self.train.set_speed(speed) |
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Attributes: |
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speed (int) : Keep track of the current speed in order to ramp it |
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See Also: |
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`InternalMotor` |
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""" |
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_sensor_id = 0x0002 |
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def __init__(self, name, port=None, capabilities=[]): |
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"""Initialize current speed to 0""" |
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self.speed = 0 |
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self.ramp_in_progress_task = None |
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super().__init__(name, port, capabilities) |
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async def set_speed(self, speed): |
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""" Validate and set the train speed |
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If there is an in-progress ramp, and this command is not part of that ramp, |
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then cancel that in-progress ramp first, before issuing this set_speed command. |
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336
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Args: |
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speed (int) : Range -100 to 100 where negative numbers are reverse. |
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Use 0 to put the motor into neutral. |
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255 will do a hard brake |
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340
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""" |
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342
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await self._cancel_existing_differet_ramp() |
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self.speed = speed |
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self.message_info(f'Setting speed to {speed}') |
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await self.set_output(0, self._convert_speed_to_val(speed)) |
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347
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async def _cancel_existing_differet_ramp(self): |
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"""Cancel the existing speed ramp if it was from a different task |
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350
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Remember that speed ramps must be a task with daemon=True, so there is no |
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one awaiting its future. |
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""" |
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# Check if there's a ramp task in progress |
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if self.ramp_in_progress_task: |
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# Check if it's this current task or not |
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current = await current_task() |
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if current != self.ramp_in_progress_task: |
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358
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# We're trying to set the speed |
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359
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# outside a previously in-progress ramp, so cancel the previous ramp |
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360
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await self.ramp_in_progress_task.cancel() |
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self.ramp_in_progress_task = None |
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self.message_info(f'Canceling previous speed ramp in progress') |
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364
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365
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366
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367
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async def ramp_speed(self, target_speed, ramp_time_ms): |
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368
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"""Ramp the speed by 10 units in the time given |
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369
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370
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""" |
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TIME_STEP_MS = 100 |
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await self._cancel_existing_differet_ramp() |
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374
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# 500ms ramp time, 100ms per step |
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375
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# Therefore, number of steps = 500/100 = 5 |
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376
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# Therefore speed_step = speed_diff/5 |
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number_of_steps = ramp_time_ms/TIME_STEP_MS |
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378
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speed_diff = target_speed - self.speed |
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379
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speed_step = speed_diff/number_of_steps |
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380
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start_speed = self.speed |
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381
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self.message(f'ramp_speed steps: {number_of_steps}, speed_diff: {speed_diff}, speed_step: {speed_step}') |
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382
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current_step = 0 |
|
383
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async def _ramp_speed(): |
|
384
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nonlocal current_step # Since this is being assigned to, we need to mark it as coming from the enclosed scope |
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|
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|
|
385
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while current_step < number_of_steps: |
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386
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next_speed = int(start_speed + current_step*speed_step) |
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387
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self.message(f'Setting next_speed: {next_speed}') |
|
388
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current_step +=1 |
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389
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if current_step == number_of_steps: |
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390
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next_speed = target_speed |
|
391
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await self.set_speed(next_speed) |
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392
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|
await sleep(TIME_STEP_MS/1000) |
|
393
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|
self.ramp_in_progress_task = None |
|
394
|
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|
|
395
|
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|
self.message_info(f'Starting ramp of speed: {start_speed} -> {target_speed} ({ramp_time_ms/1000}s)') |
|
396
|
|
|
self.ramp_in_progress_task = await spawn(_ramp_speed, daemon = True) |
|
397
|
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|
398
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|
399
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|
class RemoteButtons(Peripheral): |
|
400
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|
"""Represents one set of '+', '-', 'red' buttons on the PoweredHub Remote |
|
401
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|
|
402
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|
|
Each remote has two sets of buttons, on the left and right side. Pick the one |
|
403
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|
|
your want to attach to by using the port argument with either Port.L or Port.R. |
|
404
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|
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|
|
405
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|
|
There are actually a few different modes that the hardware supports, but we are |
|
406
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|
|
only going to use one of them called 'KEYSD' (see the notes in the documentation on the |
|
407
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|
|
raw values reported by the hub). This mode makes the remote send three values back |
|
408
|
|
|
in a list. To access each button state, there are three helper methods provided |
|
409
|
|
|
(see below) |
|
410
|
|
|
|
|
411
|
|
|
Examples:: |
|
412
|
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|
|
|
413
|
|
|
# Basic connection to the left buttons |
|
414
|
|
|
@attach(RemoteButtons, 'left_buttons', port=RemoteButtons.Port.L) |
|
415
|
|
|
|
|
416
|
|
|
# Getting values back in the handler |
|
417
|
|
|
async def left_buttons_change(self): |
|
418
|
|
|
|
|
419
|
|
|
is_plus_pressed = self.left_buttons.plus_pressed() |
|
420
|
|
|
is_minus_pressed = self.left_buttons.minus_pressed() |
|
421
|
|
|
is_red_pressed = self.left_buttons.red_pressed() |
|
422
|
|
|
|
|
423
|
|
|
""" |
|
424
|
|
|
|
|
425
|
|
|
_sensor_id = 0x0037 |
|
426
|
|
|
Port = Enum('Port', 'L R', start=0) |
|
427
|
|
|
Button = IntEnum('Button', 'PLUS RED MINUS', start=0) |
|
428
|
|
|
"""The button index in the value list returned by the sensor""" |
|
429
|
|
|
|
|
430
|
|
|
capability = Enum('capability', {'sense_press':4},) |
|
431
|
|
|
|
|
432
|
|
|
datasets = { capability.sense_press: (3,1) } |
|
433
|
|
|
allowed_combo = [] |
|
434
|
|
|
|
|
435
|
|
|
def __init__(self, name, port=None, capabilities=[]): |
|
436
|
|
|
"""Maps the port names `L`, `R`""" |
|
437
|
|
|
if port: |
|
438
|
|
|
port = port.value |
|
439
|
|
|
super().__init__(name, port, capabilities) |
|
440
|
|
|
|
|
441
|
|
|
def plus_pressed(self): |
|
442
|
|
|
"""Return whether `value` reflects that the PLUS button is pressed""" |
|
443
|
|
|
button_list = self.value[self.capability.sense_press] |
|
444
|
|
|
return button_list[self.Button.PLUS] == 1 |
|
445
|
|
|
def minus_pressed(self): |
|
446
|
|
|
"""Return whether `value` reflects that the MINUS button is pressed""" |
|
447
|
|
|
button_list = self.value[self.capability.sense_press] |
|
448
|
|
|
return button_list[self.Button.MINUS] == 1 |
|
449
|
|
|
def red_pressed(self): |
|
450
|
|
|
"""Return whether `value` reflects that the RED button is pressed""" |
|
451
|
|
|
button_list = self.value[self.capability.sense_press] |
|
452
|
|
|
return button_list[self.Button.RED] == 1 |
|
453
|
|
|
|
|
454
|
|
|
class Button(Peripheral): |
|
455
|
|
|
""" Register to be notified of button presses on the Hub (Boost or PoweredUp) |
|
456
|
|
|
|
|
457
|
|
|
This is actually a slight hack, since the Hub button is not a peripheral that is |
|
458
|
|
|
attached like other sensors in the Lego protocol. Instead, the buttons are accessed |
|
459
|
|
|
through Hub property messages. We abstract away these special messages to make the |
|
460
|
|
|
button appear to be like any other peripheral sensor. |
|
461
|
|
|
|
|
462
|
|
|
Examples:: |
|
463
|
|
|
|
|
464
|
|
|
@attach(Button, 'hub_btn') |
|
465
|
|
|
|
|
466
|
|
|
Notes: |
|
467
|
|
|
Since there is no attach I/O message from the hub to trigger the |
|
468
|
|
|
:func:`activate_updates` method, we instead insert a fake |
|
469
|
|
|
"attaach" message from this fake sensor on port 255 in the |
|
470
|
|
|
`BLEventQ.get_messages` method that is used to register for updates |
|
471
|
|
|
from a given sensor. |
|
472
|
|
|
|
|
473
|
|
|
""" |
|
474
|
|
|
_sensor_id = 0x0005 |
|
475
|
|
|
"""Piggy back the hub button off the normal peripheral button id 0x0005. |
|
476
|
|
|
Might need to change this in the future""" |
|
477
|
|
|
|
|
478
|
|
|
capability = Enum('capability', {'sense_press':0}) |
|
479
|
|
|
|
|
480
|
|
|
datasets = { capability.sense_press: (1,1) |
|
481
|
|
|
} |
|
482
|
|
|
allowed_combo = [capability.sense_press] |
|
483
|
|
|
|
|
484
|
|
|
def __init__(self, name, port=None, capabilities=[]): |
|
485
|
|
|
"""Call super-class with port set to 255 """ |
|
486
|
|
|
super().__init__(name, 255, capabilities) |
|
487
|
|
|
|
|
488
|
|
|
async def activate_updates(self): |
|
489
|
|
|
"""Use a special Hub Properties button message updates activation message""" |
|
490
|
|
|
self.value = {} |
|
491
|
|
|
for cap in self.capabilities: |
|
492
|
|
|
self.value[cap] = [None]*self.datasets[cap][0] |
|
493
|
|
|
|
|
494
|
|
|
b = [0x00, 0x01, 0x02, 0x02] # Button reports from "Hub Properties Message Type" |
|
495
|
|
|
await self.send_message(f'Activate button reports: port {self.port}', b) |
|
496
|
|
|
|
|
497
|
|
|
class DuploTrainMotor(Peripheral): |
|
498
|
|
|
_sensor_id = 0x0029 |
|
499
|
|
|
|
|
500
|
|
|
def __init__(self, name, port=None, capabilities=[]): |
|
501
|
|
|
"""Initialize current speed to 0""" |
|
502
|
|
|
self.speed = 0 |
|
503
|
|
|
self.ramp_in_progress_task = None |
|
504
|
|
|
super().__init__(name, port, capabilities) |
|
505
|
|
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|
|
506
|
|
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|
507
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virantha /
bricknil
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