From c3b08270ada714738311808510ce170724e0ba9d Mon Sep 17 00:00:00 2001 From: Nick O'Leary Date: Tue, 1 Mar 2016 23:21:44 +0000 Subject: [PATCH] Add initial Sense HAT Input node --- hardware/sensehat/LICENSE | 177 +++++++++++++++++++++ hardware/sensehat/README.md | 65 ++++++++ hardware/sensehat/package.json | 24 +++ hardware/sensehat/scripts/checklib.sh | 14 ++ hardware/sensehat/sensehat | 17 ++ hardware/sensehat/sensehat.html | 103 ++++++++++++ hardware/sensehat/sensehat.js | 218 ++++++++++++++++++++++++++ hardware/sensehat/sensehat.py | 160 +++++++++++++++++++ 8 files changed, 778 insertions(+) create mode 100644 hardware/sensehat/LICENSE create mode 100644 hardware/sensehat/README.md create mode 100644 hardware/sensehat/package.json create mode 100755 hardware/sensehat/scripts/checklib.sh create mode 100755 hardware/sensehat/sensehat create mode 100644 hardware/sensehat/sensehat.html create mode 100644 hardware/sensehat/sensehat.js create mode 100644 hardware/sensehat/sensehat.py 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/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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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