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Add initial Sense HAT Input node

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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

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{
"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"
}
}

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#!/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

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#!/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 $@

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<!--
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>

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/**
* 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);
}

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#! /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