diff --git a/hardware/sensehat/LICENSE b/hardware/sensehat/LICENSE
new file mode 100644
index 00000000..f433b1a5
--- /dev/null
+++ b/hardware/sensehat/LICENSE
@@ -0,0 +1,177 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
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+
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+ END OF TERMS AND CONDITIONS
diff --git a/hardware/sensehat/README.md b/hardware/sensehat/README.md
new file mode 100644
index 00000000..114a3bae
--- /dev/null
+++ b/hardware/sensehat/README.md
@@ -0,0 +1,65 @@
+node-red-node-pi-sense-hat
+==========================
+
+A Node-RED node to interact with
+a Raspberry Pi Sense HAT.
+
+## Pre-requisites
+
+The Sense HAT python drivers need to be installed manually:
+
+```
+sudo apt-get update
+sudo apt-get install sense-hat
+sudo pip-3.2 install pillow
+```
+
+See the driver documentation
+for more information.
+
+
+## Install
+
+Run the following command in your Node-RED user directory (typically `~/.node-red`):
+
+ npm install node-red-node-pi-sense-hat
+
+## Usage
+
+### Input Node
+
+This node sends readings from the various sensors on the Sense HAT, grouped into three sets; motion events, environment events and joystick events.
+
+#### Motion events
+
+Motion events include readings from the accelerometer, gyroscope and magnetometer,
+as well as the current compass heading. They are sent at a rate of approximately 10
+per second. The `topic` is set to `motion` and the `payload` is an object with the
+following values:
+
+ - `acceleration.x/y/z` : the acceleration intensity in Gs
+ -`gyroscope.x/y/z` : the rotational intensity in radians/s
+ -`orientation.roll/pitch/yaw` : the angle of the axis in degrees
+ -`compass` : the direction of North in degrees
+
+#### Environment events
+
+Environment events include readings from the temperature, humidity and pressure
+sensors. They are sent at a rate of approximately 1 per second. The `topic`
+is set to `environment` and the `payload` is an object
+with the following values:
+
+ -`temperature` : degrees Celsius
+ -`humidity` : percentage of relative humidity
+ -`pressure` : Millibars
+
+#### Joystick events
+
+Joystick events are sent when the Sense HAT joystick is interacted with. The
+`topic` is set to `joystick` and the `payload` is an object with the following values:
+
+ -`key` : one of `UP`, `DOWN`, `LEFT`, `RIGHT`, `ENTER`
+ -`state` : the state of the key:
+ -`0` : the key has been released
+ -`1` : the key has been pressed
+ -`2` : the key is being held down
diff --git a/hardware/sensehat/package.json b/hardware/sensehat/package.json
new file mode 100644
index 00000000..a8f6592f
--- /dev/null
+++ b/hardware/sensehat/package.json
@@ -0,0 +1,24 @@
+{
+ "name" : "node-red-node-pi-sense-hat",
+ "version" : "0.0.1",
+ "description" : "A Node-RED node to interact with a Raspberry Pi Sense HAT",
+ "repository" : {
+ "type":"git",
+ "url":"https://github.com/node-red/node-red-nodes/tree/master/hardware/sensehat"
+ },
+ "license": "Apache-2.0",
+ "keywords": [ "node-red", "sensehat", "astropi" ],
+ "node-red" : {
+ "nodes" : {
+ "sensehat": "sensehat.js"
+ }
+ },
+ "scripts" : {
+ "postinstall" : "scripts/checklib.sh"
+ },
+ "author": {
+ "name": "Nick O'Leary",
+ "email": "nick.oleary@gmail.com",
+ "url": "http://nodered.org"
+ }
+}
diff --git a/hardware/sensehat/scripts/checklib.sh b/hardware/sensehat/scripts/checklib.sh
new file mode 100755
index 00000000..7a126d89
--- /dev/null
+++ b/hardware/sensehat/scripts/checklib.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+
+python -c "import sense_hat" 2> /dev/null
+
+if [ $? -ne 0 ]
+then
+ echo "WARNING : Can't find Sense HAT python library"
+ echo "WARNING : Please install using the following commands"
+ echo "WARNING : sudo apt-get update"
+ echo "WARNING : sudo apt-get install sense-hat"
+ echo "WARNING : sudo pip-3.2 install pillow"
+else
+ echo "Sense HAT python library is installed"
+fi
diff --git a/hardware/sensehat/sensehat b/hardware/sensehat/sensehat
new file mode 100755
index 00000000..fcc05d93
--- /dev/null
+++ b/hardware/sensehat/sensehat
@@ -0,0 +1,17 @@
+#!/bin/bash
+#
+# Copyright 2016 IBM Corp.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# http://www.apache.org/licenses/LICENSE-2.0
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+BASEDIR=$(dirname $0)
+sudo python -u $BASEDIR/sensehat.py $@
diff --git a/hardware/sensehat/sensehat.html b/hardware/sensehat/sensehat.html
new file mode 100644
index 00000000..05d879f7
--- /dev/null
+++ b/hardware/sensehat/sensehat.html
@@ -0,0 +1,103 @@
+
+
+
+
+
+
+
diff --git a/hardware/sensehat/sensehat.js b/hardware/sensehat/sensehat.js
new file mode 100644
index 00000000..5ca20ca8
--- /dev/null
+++ b/hardware/sensehat/sensehat.js
@@ -0,0 +1,218 @@
+/**
+ * Copyright 2016 IBM Corp.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ **/
+
+module.exports = function(RED) {
+ "use strict";
+ var fs = require('fs');
+ var spawn = require('child_process').spawn;
+
+ var hatCommand = __dirname+'/sensehat';
+
+ if ( !(1 & parseInt ((fs.statSync(hatCommand).mode & parseInt ("777", 8)).toString (8)[0]) )) {
+ RED.log.error(hatCommand + " command is not executable");
+ throw "Error : "+RED._("rpi-gpio.errors.mustbeexecutable");
+ }
+
+ // the magic to make python print stuff immediately
+ process.env.PYTHONUNBUFFERED = 1;
+
+ // Xaccel.x,y,z,gyro.x,y,z,orientation.roll,pitch,yaw,compass
+ var HF_RE = /^X(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+)$/;
+ // Ytemperature,humidity,pressure
+ var LF_RE = /^Y(.+),(.+),(.+)$/;
+ // K[U|L|R|D|E][0|1|2] - joystick event: direction,state
+ var KEY_RE = /^K(.)(.)$/;
+ var KEY_MAP = {
+ "U":"UP",
+ "D":"DOWN",
+ "L":"LEFT",
+ "R":"RIGHT",
+ "E":"ENTER"
+ };
+
+ var HAT = (function() {
+ var hat = null;
+ var onclose = null;
+ var users = [];
+ var motionUsers = 0;
+ var envUsers = 0;
+ var reconnectTimer = null;
+
+ var connect = function() {
+ var buffer = "";
+ hat = spawn(hatCommand);
+ hat.stdout.on('data', function (data) {
+ buffer += data.toString();
+ var lines = buffer.split("\n");
+ if (lines.length == 1) {
+ return;
+ }
+ buffer = lines.pop();
+ var m,msg;
+ for (var i=0;i 0) {
+ hat.stdin.write('X1\n');
+ }
+ if (envUsers > 0) {
+ hat.stdin.write('Y1\n');
+ }
+
+ }
+
+ var disconnect = function(done) {
+ if (hat !== null) {
+ onclose = done;
+ hat.kill('SIGKILL');
+ hat = null;
+ }
+ if (reconnectTimer) {
+ clearTimeout(reconnectTimer);
+ }
+
+ }
+
+
+ return {
+ open: function(node) {
+ if (!hat) {
+ connect();
+ }
+
+ if (node.motion) {
+ if (motionUsers === 0) {
+ hat.stdin.write('X1\n');
+ }
+ motionUsers++;
+ }
+ if (node.env) {
+ if (envUsers === 0) {
+ hat.stdin.write('Y1\n');
+ }
+ envUsers++;
+ }
+ users.push(node);
+ },
+ close: function(node,done) {
+ if (node.motion) {
+ motionUsers--;
+ if (motionUsers === 0) {
+ hat.stdin.write('X0\n');
+ }
+ }
+ if (node.env) {
+ envUsers--;
+ if (envUsers === 0) {
+ hat.stdin.write('Y0\n');
+ }
+ }
+ users.splice(users.indexOf(node),1);
+ if (users.length === 0) {
+ disconnect(done);
+ } else {
+ done();
+ }
+ }
+ }
+ })();
+
+ function SenseHatInNode(n) {
+ RED.nodes.createNode(this,n);
+ this.motion = n.motion;
+ this.env = n.env;
+ this.stick = n.stick;
+ var node = this;
+ HAT.open(this);
+
+ node.on("close", function(done) {
+ HAT.close(this,done);
+ });
+ }
+ RED.nodes.registerType("rpi-sensehat in",SenseHatInNode);
+}
diff --git a/hardware/sensehat/sensehat.py b/hardware/sensehat/sensehat.py
new file mode 100644
index 00000000..9cc6396f
--- /dev/null
+++ b/hardware/sensehat/sensehat.py
@@ -0,0 +1,160 @@
+#! /usr/bin/python
+#
+# Copyright 2016 IBM Corp.
+#
+# 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.
+#
+# 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
+# T[R,G,B:]Message - scroll a message (nb: if message contains ':' it must be prefixed with ':')
+# 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
+#
+# 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
+import select
+import struct
+
+from sense_hat import SenseHat
+
+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:
+ if e.errno != errno.ENOENT:
+ raise
+ raise RuntimeError('unable to locate SenseHAT joystick device')
+
+
+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 = False
+
+
+def process_command(data):
+ global hf_enabled, lf_enabled
+ 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:].strip()
+ col = (255,255,255)
+ s = data.split(':',1)
+ if len(s) == 2:
+ data = s[1]
+ if len(s[0]) > 0:
+ c = s[0].split(",")
+ col = (int(c[0]),int(c[1]),int(c[2]))
+ SH.show_message(data,text_colour=col)
+ elif data[0] == "F":
+ if data[1] == "H":
+ SH.flip_h()
+ elif data[1] == "V":
+ SH.flip_v()
+ elif data[0] == "X":
+ 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
+
+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()
+ compass = SH.get_compass()
+ 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
+ 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()
+
+try:
+ main_loop()
+except KeyboardInterrupt:
+ pass