Add initial Sense HAT Input node

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. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS

hardware/sensehat/README.md

@@ -0,0 +1,65 @@
+node-red-node-pi-sense-hat
+==========================
+
+A <a href="http://nodered.org" target="_new">Node-RED</a> 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 <a href="http://pythonhosted.org/sense-hat/" target="_new">driver documentation</a>
+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

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"
+    }
+}

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

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 $@

hardware/sensehat/sensehat.html

@@ -0,0 +1,103 @@
+<!--
+  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.
+-->
+
+<script type="text/x-red" data-template-name="rpi-sensehat in">
+<div class="form-row">
+    <label><i class="fa fa-arrow-right"></i> Outputs</label>
+    <label style="width: auto" for="node-input-motion"><input style="vertical-align: top; width: auto; margin-right: 5px;" type="checkbox" id="node-input-motion"> Motion events</label>
+    <div style="padding-left: 125px; margin-top: -5px; color: #bbb;">accelerometer, gyroscope, magnetometer, compass</div>
+</div>
+<div class="form-row">
+    <label></label>
+    <label style="width: auto" for="node-input-env"><input style="vertical-align: top; width: auto; margin-right: 5px;" type="checkbox" id="node-input-env"> Environment events</label>
+    <div style="padding-left: 125px; margin-top: -5px; color: #bbb;">temperature, humidity, pressure</div>
+</div>
+<div class="form-row">
+    <label></label>
+    <label style="width: auto" for="node-input-stick"><input style="vertical-align: top; width: auto; margin-right: 5px;" type="checkbox" id="node-input-stick"> Joystick events</label>
+</div>
+
+<div class="form-row">
+    <label for="node-input-name"><i class="fa fa-tag"></i> Name</label>
+    <input type="text" id="node-input-name">
+</div>
+</script>
+
+<script type="text/x-red" data-help-name="rpi-sensehat in">
+<p>Raspberry Pi Sense HAT input node.</p>
+<p>This node sends readings from the various sensors on the Sense HAT,
+grouped into three sets; motion events, environment events and joystick events.</p>
+<p><b>Motion events</b></p>
+<p>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 <code>topic</code> is set to <code>motion</code> and the
+<code>payload</code> is an object with the following values:</p>
+<ul>
+    <li><code>acceleration.x/y/z</code> : the acceleration intensity in Gs</li>
+    <li><code>gyroscope.x/y/z</code> : the rotational intensity in radians/s</li>
+    <li><code>orientation.roll/pitch/yaw</code> : the angle of the axis in degrees</li>
+    <li><code>compass</code> : the direction of North in degrees</li>
+</ul>
+<p><b>Environment events</b></p>
+<p>Environment events include readings from the temperature, humidity and pressure
+sensors. They are sent at a rate of approximately 1 per second.  The <code>topic</code>
+is set to <code>environment</code> and the <code>payload</code> is an object
+with the following values:</p>
+<ul>
+<li><code>temperature</code> : degrees Celsius</li>
+<li><code>humidity</code> : percentage of relative humidity</li>
+<li><code>pressure</code> : Millibars</li>
+</ul>
+<p><b>Joystick events</b></p>
+<p>Joystick events are sent when the Sense HAT joystick is interacted with. The
+<code>topic</code> is set to <code>joystick</code> and the <code>payload</code>
+is an object with the following values:</p>
+<ul>
+    <li><code>key</code> : one of <code>UP</code>, <code>DOWN</code>, <code>LEFT</code>, <code>RIGHT</code>, <code>ENTER</code></li>
+        <li><code>state</code> : the state of the key:
+        <ul>
+            <li><code>0</code> : the key has been released</li>
+            <li><code>1</code> : the key has been pressed</li>
+            <li><code>2</code> : the key is being held down</li>
+        </ul>
+</li>
+</ul>
+
+
+</script>
+
+<script type="text/javascript">
+    RED.nodes.registerType('rpi-sensehat in',{
+        category: 'Raspberry Pi',
+        paletteLabel: "Sense HAT",
+        color:"#c6dbef",
+        defaults: {
+            name: { value:"" },
+            motion: { value: true },
+            env: { value: true },
+            stick: { value: true }
+        },
+        inputs:0,
+        outputs:1,
+        icon: "rpi.png",
+        label: function() {
+            return this.name||"Sense HAT";
+        },
+        labelStyle: function() {
+            return this.name?"node_label_italic":"";
+        }
+    });
+</script>

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<lines.length;i++) {
+                    var line = lines[i];
+                    msg = null;
+                    if ((m = KEY_RE.exec(line)) !== null) {
+                        msg = {
+                            topic: "joystick",
+                            payload: {key: KEY_MAP[m[1]], state: Number(m[2])}
+                        }
+                    } else if ((m = LF_RE.exec(line)) !== null) {
+                        msg = {
+                            topic: "environment",
+                            payload: {temperature: Number(m[1]), humidity: Number(m[2]), pressure: Number(m[3])}
+                        }
+                    } else if ((m = HF_RE.exec(line)) !== null) {
+                        // Xaccel.x,y,z,gyro.x,y,z,orientation.roll,pitch,yaw,compass
+                        msg = {
+                            topic: "motion",
+                            payload: {
+                                acceleration: {
+                                    x: Number(m[1]),
+                                    y: Number(m[2]),
+                                    z: Number(m[3])
+                                },
+                                gyroscope: {
+                                    x: Number(m[4]),
+                                    y: Number(m[5]),
+                                    z: Number(m[6])
+                                },
+                                orientation: {
+                                    roll: Number(m[7]),
+                                    pitch: Number(m[8]),
+                                    yaw: Number(m[9])
+                                },
+                                compass: Number(m[10])
+                            }
+                        }
+                    }
+                    if (msg && !onclose) {
+                        for (var j=0;j<users.length;j++) {
+                            var node = users[j];
+                            if (node.motion && msg.topic === "motion") {
+                                node.send(msg);
+                            } else if (node.env && msg.topic === 'environment') {
+                                node.send(msg);
+                            } else if (node.stick && msg.topic === 'joystick') {
+                                node.send(msg);
+                            }
+                        }
+                    }
+                }
+            });
+
+            hat.stderr.on('data', function (data) {
+                if (RED.settings.verbose) { RED.log.error("err: "+data+" :"); }
+            });
+
+            hat.on('close', function (code) {
+                hat = null;
+                if (RED.settings.verbose) { RED.log.info(RED._("rpi-gpio.status.closed")); }
+                if (onclose) {
+                    onclose();
+                    onclose = null;
+                } else {
+                    reconnectTimer = setTimeout(function() {
+                        connect();
+                    },5000);
+                }
+            });
+
+            hat.on('error', function (err) {
+                if (err.errno === "ENOENT") { RED.log.error(RED._("rpi-gpio.errors.commandnotfound")); }
+                else if (err.errno === "EACCES") { RED.log.error(RED._("rpi-gpio.errors.commandnotexecutable")); }
+                else { RED.log.error(RED._("rpi-gpio.errors.error")+': ' + err.errno); }
+            });
+
+            if (motionUsers > 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);
+}

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