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node-red-nodes/hardware/sensehat/sensehat.py

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#! /usr/bin/python
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# Commands:
# C[R,G,B] - clear to colour (or off if no RGB provided)
# R[rot] - rotate by rot (0,90,180,270)
# P[x,y,R,G,B]+ - set individual pixel(s) to a colour
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# T[R,G,B[,R,G,B][,S]:]Message - scroll a message (nb: if message contains ':' it must be prefixed with ':')
# if message is a single char, uses show_letter instead
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# F[H|V] - flip horizontal|vertical
# X[0|1] - high frequency reporting (accel/gyro/orientation/compass) off|on
# Y[0|1] - low frequency reporting (temperature/humidity/pressure) off|on
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# D[0|1] - Set light level low|high
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#
# Outputs:
# Xaccel.x,y,z,gyro.x,y,z,orientation.roll,pitch,yaw,compass
# Ytemperature,humidity,pressure
# K[U|L|R|D|E][0|1|2] - joystick event: direction,state
import io
import os
import sys
import glob
import time
import errno
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import ctypes
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import select
import struct
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import inspect
import threading
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from sense_hat import SenseHat
try:
StandardError # Python 2
except NameError:
StandardError = Exception # Python 3
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EVENT_FORMAT = 'llHHI'
EVENT_SIZE = struct.calcsize(EVENT_FORMAT)
EVENT_NAMES = {103:'U',105:'L',106:'R',108:'D',28:'E'}
def get_stick():
for evdev in glob.glob('/sys/class/input/event*'):
try:
with io.open(os.path.join(evdev, 'device', 'name'), 'r') as f:
if f.read().strip() == 'Raspberry Pi Sense HAT Joystick':
return os.path.join('/dev', 'input', os.path.basename(evdev))
except IOError as e:
sys.exit(1)
sys.exit(1)
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stick_file = io.open(get_stick(),'rb')
SH = SenseHat()
SH.set_rotation(0)
SH.clear()
files = [sys.stdin,stick_file]
last_hf_time = time.time()
last_lf_time = time.time()
hf_interval = 0.09 # Approx 10/s
lf_interval = 1
hf_enabled = False
lf_enabled = True
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scroll = None
class ScrollThread(threading.Thread):
def __init__(self,fcol,bcol,speed,message):
threading.Thread.__init__(self)
self.fcol = fcol
self.bcol = bcol
self.message = message
self.speed = speed
def run(self):
global SH
old_rotation = SH.rotation
try:
SH.show_message(self.message,text_colour=self.fcol,back_colour=self.bcol,scroll_speed=self.speed)
except:
try:
SH.set_rotation(old_rotation,False)
SH.clear(self.bcol);
except:
pass
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def interrupt(self):
if not self.isAlive():
raise threading.ThreadError()
for thread_id, thread_object in threading._active.items():
if thread_object == self:
r = ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id,ctypes.py_object(StandardError))
if r == 1:
pass
else:
if r > 1:
ctypes.pythonapi.PyThreadState_SetAsyncExc(thread_id, 0)
raise SystemError()
return
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def process_command(data):
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global hf_enabled, lf_enabled,scroll
if data[0] == "X":
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if data[1] == '0':
hf_enabled = False
else:
hf_enabled = True
elif data[0] == "Y":
if data[1] == '0':
lf_enabled = False
else:
lf_enabled = True
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elif data[0] == "D":
if data[1] == '0':
SH.low_light = True
else:
SH.low_light = False
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else:
if threading.activeCount() == 2:
scroll.interrupt()
while scroll.isAlive():
time.sleep(0.01)
try:
scroll.interrupt()
except:
pass
if data[0] == "R":
SH.set_rotation(float(data[1:]))
elif data[0] == "C":
data = data[1:].strip()
if len(data) > 0:
s = data.split(",")
col = (int(s[0]),int(s[1]),int(s[2]))
else:
col = (0,0,0)
SH.clear(col)
elif data[0] == "P":
data = data[1:].strip()
s = data.split(',')
for p in range(0,len(s),5):
SH.set_pixel(int(s[p]),int(s[p+1]),int(s[p+2]),int(s[p+3]),int(s[p+4]))
elif data[0] == "T":
data = data[1:]
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tcol = (255,255,255)
bcol = (0,0,0)
speed = 0.1
s = data.split(':',1)
if len(s) == 2:
data = s[1][0:-1]
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if len(s[0]) > 0:
c = s[0].split(",")
if len(c) == 1:
speed = float(c[0])
elif len(c) == 3:
tcol = (int(c[0]),int(c[1]),int(c[2]))
if len(c) == 4:
tcol = (int(c[0]),int(c[1]),int(c[2]))
speed = float(c[3])
elif len(c) == 6:
tcol = (int(c[0]),int(c[1]),int(c[2]))
bcol = (int(c[3]),int(c[4]),int(c[5]))
elif len(c) == 7:
tcol = (int(c[0]),int(c[1]),int(c[2]))
bcol = (int(c[3]),int(c[4]),int(c[5]))
speed = float(c[6])
if len(data) > 1:
scroll = ScrollThread(tcol,bcol,speed,data);
scroll.start()
else:
SH.show_letter(data,text_colour=tcol,back_colour=bcol)
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elif data[0] == "F":
if data[1] == "H":
SH.flip_h()
elif data[1] == "V":
SH.flip_v()
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def idle_work():
global last_hf_time, last_lf_time
now = time.time()
if hf_enabled and (now-last_hf_time > hf_interval):
orientation = SH.get_orientation()
# Calling get_compass interferes with get_orientation - so just reuse its value
compass = orientation['yaw']
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gyro = SH.get_gyroscope_raw()
accel = SH.get_accelerometer_raw()
print("X%0.4f,%0.4f,%0.4f,%0.4f,%0.4f,%0.4f,%0.4f,%0.4f,%0.4f,%0.0f"%(accel['x'],accel['y'],accel['z'],gyro['x'],gyro['y'],gyro['z'],orientation['roll'],orientation['pitch'],orientation['yaw'],compass))
last_hf_time = now
if lf_enabled and (now-last_lf_time > lf_interval):
temperature = SH.get_temperature();
humidity = SH.get_humidity();
pressure = SH.get_pressure();
print("Y%0.2f,%0.2f,%0.2f"%(temperature,humidity,pressure))
last_lf_time = now
def process_joystick():
event = stick_file.read(EVENT_SIZE)
(tv_sec, tv_usec, type, code, value) = struct.unpack(EVENT_FORMAT, event)
if type == 0x01:
print ("K%s%s"%(EVENT_NAMES[code],value))
def main_loop():
# while still waiting for input on at least one file
try:
while files:
ready = select.select(files, [], [], 0.01)[0]
if not ready:
idle_work()
else:
for file in ready:
if file == sys.stdin:
line = file.readline()
if not line: # EOF, remove file from input list
sys.exit(0)
elif line.rstrip(): # optional: skipping empty lines
process_command(line)
else:
process_joystick()
except:
sys.exit(0)
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try:
main_loop()
except KeyboardInterrupt:
pass