Sensor route initial working version, less ugly code
This commit is contained in:
Philip Trauner
parent
60b9b26d28
commit
5d1aba5e55
1 changed files with 65 additions and 53 deletions
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@ -1,7 +1,7 @@
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from Highway import Route, Pipe, Client
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import Logging
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import Config
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from Utils import is_wallaby, set_hostname, get_hostname
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import Utils
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import socket
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@ -9,10 +9,11 @@ import time
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import os
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import sys
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import subprocess
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import _thread
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from random import randint
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from _thread import start_new_thread
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CHANNEL = 2
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IS_WALLABY = is_wallaby()
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IS_WALLABY = Utils.is_wallaby()
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PATH = "/home/root/Documents/KISS/bin/" if IS_WALLABY else (sys.argv[1] if len(sys.argv) > 1 else None)
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LIB_WALLABY = "/usr/lib/libwallaby.so"
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@ -28,12 +29,18 @@ if not IS_WALLABY:
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class SensorReadout:
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ANALOG = 1
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DIGITAL = 2
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NAMED_MODES = {ANALOG : "analog", DIGITAL : "digital"}
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MODES = tuple(NAMED_MODES.keys())
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def __init__(self, handler, poll_rate=0.2):
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self.poll_rate = poll_rate
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self.handler = handler
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self.peers = {}
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self.readout_required = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.generate_random_values = False
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# Running on actual hardware?
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if Utils.is_wallaby():
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if not os.path.exists(LIB_WALLABY):
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Logging.error("The Wallaby library should normally exist on "
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@ -43,6 +50,7 @@ class SensorReadout:
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Logging.warning("Sensor data can not be read on a dev-system. "
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"Generating random values instead.")
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self.generate_random_values = True
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# Generate random values?
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if not self.generate_random_values:
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self.wallaby_library = cdll.LoadLibrary(LIB_WALLABY)
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self.get_sensor_value = self.__get_sensor_value
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@ -51,17 +59,26 @@ class SensorReadout:
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start_new_thread(self._sensor_fetcher, ())
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def subscribe(self, port, peer, mode):
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def subscribe(self, port, mode, peer):
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if port not in self.readout_required[mode]:
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self.readout_required[mode].append(port)
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if not peer in self.peers:
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self.peers[peer] = {SensorReadout.ANALOG : [], SensorReadout.DIGITAL : []}
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else:
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self.peers[peer][mode].append(port)
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self.peers[peer] = {SensorReadout.ANALOG : [],
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SensorReadout.DIGITAL : []}
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self.peers[peer][mode].append(port)
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def unsubscribe(self, port, peer, mode):
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def unsubscribe(self, port, mode, peer):
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if peer in self.peers:
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if port in self.peers[peer][mode]:
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del self.peers[peer][mode][self.peers[peer][mode].index(port)]
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readout_still_required = False
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for peer in self.peers:
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if port in self.peers[peer][mode]:
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readout_required = True
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break
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if not readout_required:
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del self.readout_required[mode][self.readout_required[mode].index(port)]
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def __get_sensor_value(self, port, mode):
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@ -74,33 +91,34 @@ class SensorReadout:
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def __get_random_value(self, port, mode):
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if mode == SensorReadout.ANALOG:
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return randint(0, 4095)
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elif mode == DIGITAL:
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elif mode == SensorReadout.DIGITAL:
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return randint(0, 1)
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def _sensor_fetcher(self, handler):
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def _sensor_fetcher(self):
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while True:
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current_values = {"analog" : {}, "digital" : {}}
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current_values = {SensorReadout.ANALOG : {},
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SensorReadout.DIGITAL : {}}
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for mode in SensorReadout.MODES:
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for port in self.readout_required[mode]:
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current_values[mode][port] = self.get_sensor_value(port, mode)
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for peer in self.peers:
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response = {"analog" : {}, "digital" : {}}
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for port in self.peers[peer][SensorReadout.ANALOG]:
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if not port in current_values["analog"]:
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sensor_value = get_sensor_value(port, ANALOG)
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response["analog"][port] = sensor_value
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current_values["analog"][port] = sensor_value
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else:
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response["analog"][port] = current_values["analog"][port]
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for port in self.peers[peer][SensorReadout.DIGITAL]:
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if not port in current_values["digital"]:
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sensor_value = get_sensor_value(port, DIGITAL)
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response["digital"][port] = sensor_value
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current_values["digital"][port] = sensor_value
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else:
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response["digital"][port] = current_values["digital"][port]
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for mode in SensorReadout.NAMED_MODES:
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for port in self.peers[peer][mode]:
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response[SensorReadout.NAMED_MODES[mode]][port] = current_values[mode][port]
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self.handler.pipe(response, "sensor", peer)
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time.sleep(self.poll_rate)
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@staticmethod
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def valid_port(port, mode):
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if mode == SensorReadout.ANALOG:
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return port >= 0 and port <= 5
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elif mode == SensorReadout.DIGITAL:
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return port >= 0 and port <= 9
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return False
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class Sensor(Pipe):
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@ -110,32 +128,26 @@ class Sensor(Pipe):
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"""
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def run(self, data, peer, handler):
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if type(data) is dict:
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if "subscribe" in data:
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if "analog" in data["subscribe"]:
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for port in data["subscribe"]["analog"]:
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if type(port) is int:
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if port >= 0 and port <= 10:
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sensor_readout.subscribe(port, handler,
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SensorReadout.ANALOG)
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if "digital" in data["subscribe"]:
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for port in data["subscribe"]["digital"]:
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if type(port) is int:
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if port >= 0 and port <= 10:
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sensor_readout.subscribe(port, handler,
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SensorReadout.DIGITAL)
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if "unsubscribe" in data:
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if "analog" in data["unsubscribe"]:
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for port in data["unsubscribe"]["analog"]:
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if type(port) is int:
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if port >= 0 and port <= 10:
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sensor_readout.unsubscribe(port, handler,
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SensorReadout.ANALOG)
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if "digital" in data["unsubscribe"]:
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for port in data["unsubscribe"]["digital"]:
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if type(port) is int:
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if port >= 0 and port <= 10:
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sensor_readout.unsubscribe(port, handler,
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SensorReadout.DIGITAL)
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for event in ("subscribe", "unsubscribe"):
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if event in data:
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for mode in ("analog", "digital"):
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if mode in data[event]:
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for port in data[event][mode]:
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if type(port) is int:
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if mode == "analog":
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mode = SensorReadout.ANALOG
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elif mode == "digital":
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mode = SensorReadout.DIGITAL
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if SensorReadout.valid_port(port, mode):
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if event == "subscribe":
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self.sensor_readout.subscribe(port, mode, peer)
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elif event == "unsubscribe":
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self.sensor_readout.unsubscribe(port, mode, peer)
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def start(self, handler):
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self.sensor_readout = SensorReadout(handler)
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class WallabyControl(Route):
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def __init__(self, output_unbuffer):
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@ -194,7 +206,7 @@ class WallabyControl(Route):
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class Subscribe(Route):
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def start(self, handler):
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handler.send({"name" : get_hostname(), "channel" : CHANNEL}, "subscribe")
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handler.send({"name" : Utils.get_hostname(), "channel" : CHANNEL}, "subscribe")
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class Hostname(Pipe):
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@ -236,7 +248,7 @@ try:
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ws = Handler(config.server_address)
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# setup has to be called before the connection is established
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ws.setup({"subscribe" : Subscribe(), "hostname" : Hostname(),
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"processes" : Processes()},
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"processes" : Processes(), "sensor" : Sensor()},
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debug=config.debug)
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ws.connect()
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ws.run_forever()
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