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Copy pathpossscratchgpio_handler8.py
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possscratchgpio_handler8.py
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#!/usr/bin/env python
# ScratchGPIO - control Raspberry Pi GPIO ports using Scratch.
# Copyright (C) 2013-2016 by Simon Walters based on original code for PiFace by Thomas Preston
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
#of the License, or (at your option) any later version.
#This program is distributed in the hope that it will be useful,
#but WITHOUT ANY WARRANTY; without even the implied warranty of
#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
#GNU General Public License for more details.
#You should have received a copy of the GNU General Public License
#along with this program; if not, write to the Free Software
#Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
# This code hosted on Github thanks to Ben Nuttall who taught me how to be a git(ter)
Version = 'v8.0.110' #16May16 2nd listening thread for autolink!
print "Version:",Version
import threading
import socket
import time
import sys
import struct
import datetime as dt
import shlex
import os
import math
import re
import sgh_GPIOController
import sgh_PiGlow
import sgh_PiMatrix
import sgh_Stepper
import sgh_Minecraft
import sgh_pnbLCD
import logging
import subprocess
import sgh_RasPiCamera
#import pygame removed because causing random failures
import random
import Queue
from sgh_cheerlights import CheerLights
import urllib2
#import uinput
try:
from sgh_webcamcolour import ColourTracker
except:
print "webcam not imported"
pass
#ui = UInput()
sense = None
SH = None
try:
import meArm
#print "meArm imported OK"
except:
print "meArm NOT imported "
pass
try:
from sgh_MCP23008 import sgh_MCP23008
#print "MCP23008 imported OK"
except:
print "MCP23008 NOT imported"
pass
try:
from sgh_MCP230xx import Adafruit_MCP230XX
#print "sgh_MCP230xx imported OK"
except:
print "sgh_MCP230xx NOT imported "
pass
try:
import spidev
#print "spidev imported OK"
except:
print "Not imported "
pass
try:
from sgh_Adafruit_PWM_Servo_Driver import PWM
#print "PWM/Servo imported OK"
except:
print "PWM/Servo NOT imported "
pass
try:
from sgh_PCF8591P import sgh_PCF8591P
#print "ADC/DAC imported OK"
except:
print "ADC/DAC NOT imported "
pass
try:
from sgh_Adafruit_8x8 import sgh_EightByEight
from sgh_Adafruit_8x8 import ColorEightByEight
#print "8x8 imported OK"
except:
print "8x8 NOT imported"
pass
try:
from nunchuck import nunchuck
#print "nunchuck imported"
except:
print "nunchuck not imported - check I2c is setup"
try:
import mcpi.minecraft as minecraft
#print "Minecraft imported OK"
except:
print "Minecraft NOT imported OK"
pass
sghCT = None #reserve for captouch
class Compass:
__scales = {
0.88: [0, 0.73],
1.30: [1, 0.92],
1.90: [2, 1.22],
2.50: [3, 1.52],
4.00: [4, 2.27],
4.70: [5, 2.56],
5.60: [6, 3.03],
8.10: [7, 4.35],
}
def __init__(self, port=0, address=0x1E, gauss=1.3, declination=(0, 0)):
self.bus = SMBus(port)
self.address = address
(degrees, minutes) = declination
self.__declDegrees = degrees
self.__declMinutes = minutes
self.__declination = (degrees + minutes / 60) * math.pi / 180
(reg, self.__scale) = self.__scales[gauss]
self.bus.write_byte_data(self.address, 0x00, 0x70) # 8 Average, 15 Hz, normal measurement
self.bus.write_byte_data(self.address, 0x01, reg << 5) # Scale
self.bus.write_byte_data(self.address, 0x02, 0x00) # Continuous measurement
def declination(self):
return self.__declDegrees, self.__declMinutes
def twos_complement(self, val, len):
# Convert twos compliment to integer
if val & (1 << len - 1):
val -= 1 << len
return val
def __convert(self, data, offset):
val = self.twos_complement(data[offset] << 8 | data[offset + 1], 16)
if val == -4096:
return None
else:
return round(val * self.__scale, 4)
def axes(self):
data = self.bus.read_i2c_block_data(self.address, 0x00)
#print map(hex, data)
x = self.__convert(data, 3)
y = self.__convert(data, 7)
z = self.__convert(data, 5)
return (x, y, z)
def heading(self):
(x, y, z) = self.axes()
headingRad = float(math.atan2(y, x))
headingRad += self.__declination
# Correct for reversed heading
if headingRad < 0:
headingRad += 2 * math.pi
# Check for wrap and compensate
elif headingRad > 2 * math.pi:
headingRad -= 2 * math.pi
# Convert to degrees from radians
headingDeg = headingRad * 180 / math.pi
degrees = math.floor(headingDeg)
minutes = round((headingDeg - degrees) * 60)
return headingDeg
def degrees(self, (degrees, minutes)):
return str(degrees) + "*" + str(minutes) + "'"
def degreesdecimal(self, (degrees, minutes)):
return str(degrees + (minutes / 60.0)) if (degrees >= 0) else str(degrees - (minutes / 60.0))
def __str__(self):
(x, y, z) = self.axes()
return "Axis X: " + str(x) + "\n" \
"Axis Y: " + str(y) + "\n" \
"Axis Z: " + str(z) + "\n" \
"dec deg: " + str(
self.__declDegrees) + "\n" \
"dec min: " + str(self.__declMinutes) + "\n" \
"Declination: " + self.degreesdecimal(
self.declination()) + "\n" \
"Heading: " + str(self.heading()) + "\n"
### End Compasss ###################################################################################################
def isNumeric(s):
try:
float(s)
return True
except ValueError:
return False
def rtnNumeric(value, default):
try:
return float(value)
except ValueError:
return default
def rtnSign(s):
try:
if abs(s) == s:
return 1
else:
return -1
except ValueError:
return 0
def removeNonAscii(s):
return "".join(i for i in s if ord(i) < 128)
def getValue(searchString, dataString):
outputall_pos = dataString.find((searchString + ' '))
sensor_value = dataString[(outputall_pos + 1 + len(searchString)):].split()
return sensor_value[0]
def sign(number): return cmp(number, 0)
def parse_data(dataraw, search_string):
outputall_pos = dataraw.find(search_string)
return dataraw[(outputall_pos + 1 + search_string.length):].split()
class MyError(Exception):
def __init__(self, value):
self.value = value
def __str__(self):
return repr(self.value)
class ultra(threading.Thread):
def __init__(self, pinTrig, pinEcho, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self._stop = threading.Event()
self.pinTrig = pinTrig
self.pinEcho = pinEcho
def stop(self):
self._stop.set()
print "Ultra Stop Set"
def stopped(self):
return self._stop.isSet()
def run(self):
while not self.stopped():
startTime = time.time()
if self.pinEcho == 0:
distance = sghGC.pinSonar(self.pinTrig) # do a ping
sensor_name = 'ultra' + str(self.pinTrig)
if "pi2go" in ADDON:
sensor_name = 'ultra'
else:
distance = sghGC.pinSonar2(self.pinTrig, self.pinEcho)
sensor_name = 'ultra' + str(self.pinEcho)
bcast_str = 'sensor-update "%s" %s' % (sensor_name, str(distance))
#print 'sending: %s' % bcast_str
msgQueue.put(((5,bcast_str)))
timeTaken = time.time() - startTime
#print "time taken:",timeTaken
if timeTaken < sghGC.ultraFreq:
time.sleep(sghGC.ultraFreq - timeTaken)
print "ultra run ended for pin:", self.pinTrig
class ScratchSender(threading.Thread):
def __init__(self, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self.scratch_socket2 = None
self._stop = threading.Event()
self.time_last_ping = 0.0
self.time_last_compass = 0.0
self.distlist = [0.0, 0.0, 0.0]
self.sleepTime = 0.1
print "Sender Init"
def stop(self):
self._stop.set()
print "Sender Stop Set"
def stopped(self):
return self._stop.isSet()
def broadcast_pin_update(self, pin, value):
#print ADDON
#print "sending",pin,value
#sensor_name = "gpio" + str(GPIO_NUM[pin_index])
#bcast_str = 'sensor-update "%s" %d' % (sensor_name, value)
#print 'sending: %s' % bcast_str
#msgQueue.put(((5,bcast_str)))
#Normal action is to just send updates to pin values but this can be modified if known addon in use
sensor_name = "pin" + str(pin)
sensorValue = str(value)
if "ladder" in ADDON:
#do ladderboard stuff
sensor_name = "switch" + str([0, 21, 19, 24, 26].index(pin))
elif "motorpitx" in ADDON:
#do MotorPiTx stuff
if pin == 13:
sensor_name = "input1"
if pin == 7:
sensor_name = "input2"
sensorValue = ("off", "on")[value == 1]
elif "berry" in ADDON:
#do berryclip stuff
if pin == 26:
sensor_name = "switch"
if pin == 22:
sensor_name = "switch2"
elif "piringo" in ADDON:
#do PiRingo stuff
sensor_name = "switch" + str(1 + [19, 21].index(pin))
sensorValue = ("on", "off")[value == 1]
elif "pibrella" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = "Input" + ["NA", "A", "B", "C", "D", "E"][([0, 21, 26, 24, 19, 23].index(pin))]
if sensor_name == "InputE":
sensor_name = "switch"
except:
print "pibrella input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("off", "on")[value == 1]
elif "pidie" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = ["green", "red", "blue", "yellow"][([19, 21, 26, 24].index(pin))]
except:
print "pidie input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "playhat" in ADDON:
#print pin
#sensor_name = "in" + str([0,19,21,24,26,23].index(pin))
try:
sensor_name = ["red", "green", "yellow", "blue"][([7,11,13,15].index(pin))]
except:
print "parthat out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "p2g3" in ADDON:
#print pin
try:
sensor_name = ["left", "front", "right", "lineleft", "lineright", "switch1", "switch2", "switch3"][
([7, 15, 11, 12, 13, 16, 18, 22].index(pin))]
except:
print "p2g3 input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "pi2golite" in ADDON:
#print pin
try:
sensor_name = ["left", "right", "switch", "lineleft", "lineright"][([7, 11, 23, 12, 13].index(pin))]
except:
print "pi2golite input ", pin, " out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "pi2go" in ADDON:
#print pin
try:
sensor_name = ["irleft", "irfront", "irright", "lineleft", "lineright", "switch"][
([11, 13, 7, 12, 15, 16].index(pin))]
except:
print "pi2go input out of range"
sensor_name = "pin" + str(pin)
print sensor_name
pass
sensorValue = ("on", "off")[value == 1]
elif "apb01" in ADDON:
#print pin
try:
sensor_name = ["lineleft", "lineright"][([7, 11].index(pin))]
except:
print "agb01 input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "agobo" in ADDON:
#print pin
try:
sensor_name = ["lineleft", "lineright", "mode"][([7, 11, 16].index(pin))]
except:
#print "agobo input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 0]
if sensor_name == "mode":
sensorValue = ("on", "off")[value == 1]
elif "pizazz" in ADDON:
#print pin
try:
sensor_name = ["left", "right", ][([13, 12].index(pin))]
except:
print "pizazz input out of range"
sensor_name = "pin" + str(pin)
pass
sensorValue = ("on", "off")[value == 1]
elif "raspibot2" in ADDON:
sensor_name = ["switch1", "switch2"][([23, 21].index(pin))]
sensorValue = ("closed", "open")[value == 1]
elif "simpie" in ADDON:
sensor_name = ["red", "amber", "green"][([11, 13, 15].index(pin))]
sensorValue = ("on", "off")[value == 1]
elif "pitt" in ADDON:
sensorValue = ("1", "0")[value == 1]
elif "explorer" in ADDON:
sensor_name = ["input1", "input2", "input3", "input4"][([16,15,18,22].index(pin))]
sensorValue = ("0", "1")[value == 1]
if ("fishdish" in ADDON):
sensor_name = "switch"
sensorValue = ("on", "off")[value == 1]
if ("traffichat" in ADDON):
sensor_name = "switch"
sensorValue = ("on", "off")[value == 1]
bcast_str = '"' + sensor_name + '" ' + sensorValue
msgQueue.put(((5,"sensor-update " + bcast_str)))
#print pin , sghGC.pinTrigger[pin]
if sghGC.pinTrigger[pin] == 1:
#print dt.datetime.now()
print "trigger being sent for:", sensor_name
msgQueue.put((5,'broadcast "Trigger' + sensor_name + '"'))
sghGC.pinTriggerName[pin] = sensor_name
sghGC.pinTrigger[pin] = 2
if sghGC.anyTrigger == 0:
#print "Any trigger broadcast"
msgQueue.put((5,'broadcast "Trigger"'))
sghGC.anyTrigger = 2
# def send_scratch_command(self, cmd):
# n = len(cmd)
# b = (chr((n >> 24) & 0xFF)) + (chr((n >> 16) & 0xFF)) + (chr((n >> 8) & 0xFF)) + (chr(n & 0xFF))
# self.scratch_socket.send(b + cmd)
#time.sleep(2)
def setsleepTime(self, sleepTime):
self.sleepTime = sleepTime
#print("sleeptime:%s", self.sleepTime )
# Function to read SPI data from MCP3008 chip
# Channel must be an integer 0-7
def ReadChannel(self, channel):
global spi
#print spi
try:
adc = spi.xfer2([1, (8 + channel) << 4, 0])
data = ((adc[1] & 3) << 8) + adc[2]
#print "channel ok", channel
return data
except:
print "spi exception - one of these is normal"
spi = spidev.SpiDev()
spi.open(0, 0)
return 0
def run(self):
print "ScratchSender run started"
global firstRun, ADDON, compass, wii
print lock
# while firstRun:
# print "first run running"
#time.sleep(5)
# set last pin pattern to inverse of current state
pin_bit_pattern = [0] * len(sghGC.validPins)
last_bit_pattern = [1] * len(sghGC.validPins)
lastPinUpdateTime = time.time()
lastTimeSinceLastSleep = time.time()
lastTimeSinceMCPAnalogRead = time.time()
self.sleepTime = 0.1
tick = 0
lastADC = [256, 256, 256, 256, 256, 256, 256, 256]
lastpiAndBash = [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1]
joyx, joyy, accelx, accely, accelz, button = [0, 0, 0, 0, 0, 0]
lastAngle = 0
if wii is not None:
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(int(0))
msgQueue.put((5,"sensor-update " + bcast_str))
lastmcpInput = 0
if "pipiano" in ADDON:
with lock:
for digitalIO in range(0, 13):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
try:
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
except:
pass
while not self.stopped():
loopTime = time.time() - lastTimeSinceLastSleep
#print "how many millisecs since last loop", (loopTime * 1000)
if loopTime < self.sleepTime:
sleepdelay = self.sleepTime - loopTime
#print "add in sleep of milliesec:",(sleepdelay) * 1000
time.sleep(sleepdelay) # be kind to cpu :)
tick += 1
if tick == sys.maxint:
tick = 0
lastTimeSinceLastSleep = time.time()
#print "before lock"
with lock:
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
pin_bit_pattern[listIndex] = 0
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
#logging.debug("Checking event on pin:%s", pin )
pinEvent = sghGC.pinEvent(pin)
pinValue = sghGC.pinRead(pin)
pin_bit_pattern[listIndex] = pinValue
if pinEvent:
logging.debug(" ")
logging.debug("pinEvent Detected on pin:%s", pin)
#logging.debug("before updating pin patterm,last pattern :",pin_bit_pattern[listIndex],last_bit_pattern[listIndex] )
#logging.debug("afte uipdating pin patterm:",pin_bit_pattern[listIndex] )
if pin_bit_pattern[listIndex] == last_bit_pattern[listIndex]:
logging.debug("pinEvent but pin state the same as before...")
#pin_bit_pattern[listIndex] = 1 - pin_bit_pattern[listIndex] #change pin pattern - warning pin_bit_pattern now has !pin state
#logging.debug("after checking states pin patterm,last pattern:",pin_bit_pattern[listIndex],last_bit_pattern[listIndex])
if sghGC.pinTrigger[pin] == 0:
sghGC.pinTrigger[pin] = 1
#print " "
#print "pin trigged:",pin,sghGC.pinTrigger[pin]
#print " "
time.sleep(0)
if (pcfSensor is not None):
sensor_str = ""
if tick % 5 == 0:
for channel in range(0, 4): #loop thru all 4 inputs
adc = -1
try:
adc = pcfSensor.readADC(channel) / 2.56 # get each value
#print "adc",channel,adc
except:
pass
adc = int((adc + lastADC[channel]) / 2.0)
if adc <> lastADC[channel]:
#print "channel,adc:",(channel+1),adc
sensor_name = "adc" +str(channel + 1)
if "pi2go" in ADDON:
sensor_name = ['lightfrontright','lightfrontleft','lightbackleft','lightbackright'][channel]
sensor_value = str(adc)
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
lastADC[channel] = adc
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
if sghGC.lightInfo:
sghGC.lightDirection = math.degrees(math.atan2(lastADC[0] + lastADC[3] - lastADC[1] - lastADC[2], lastADC[0] + lastADC[1] - lastADC[2] - lastADC[3]))
sghGC.lightValue = max(lastADC[0],lastADC[1],lastADC[2],lastADC[3])
sensor_str = 'sensor-update "%s" %s "%s" %s' % ("lightdirection", str(int(sghGC.lightDirection)),"lightvalue", str(int(sghGC.lightValue)))
#print 'sending: %s' % bcast_str
msgQueue.put((0,sensor_str))
if "piandbash" in ADDON:
with lock:
bcast_str = ""
for digitalIO in range(0, 8):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
if mcp.input(digitalIO) != lastpiAndBash[digitalIO]:
sensor_name = 'input' + str(digitalIO)
bcast_str += '"' + sensor_name + '" ' + str(mcp.input(digitalIO)>>digitalIO) + " "
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
if bcast_str != "":
msgQueue.put((5,"sensor-update " + bcast_str))
if (mcp.input(15) + mcp.input(14)
+ mcp.input(13) + mcp.input(11) + mcp.input(9)) <> lastmcpInput:
dict2 = {15: 'botsel', 14: 'topsel', 13: 'down', 11: 'enter', 9: 'up'}
for i in dict2.keys():
sensor_name = dict2[i]
sensor_value = ("on", "off")[mcp.input(i) > 0]
bcast_str = '"' + sensor_name + '" ' + sensor_value
msgQueue.put((5,"sensor-update " + bcast_str))
lastmcpInput = (mcp.input(15) + mcp.input(14) + mcp.input(13) + mcp.input(11) + mcp.input(9))
if (time.time() - lastTimeSinceMCPAnalogRead) > 0.5:
bcast_str = ""
for channel in range(0, 8):
adc = (self.ReadChannel(channel) + (2 * lastADC[channel])) / 3
if adc != lastADC[channel]: # (lastADC[channel] - 2) <= adc <= (lastADC[channel] +2):
sensor_name = 'adc' + str(channel)
bcast_str += '"' + sensor_name + '" ' + str(adc) + " "
if channel == 0:
sensor_name = 'temperature'
bcast_str += '"' + sensor_name + '" ' + str(float("{0:.1f}".format(((adc * 500) / float(1023)) - 50)))
lastADC[channel] = adc
msgQueue.put((5,"sensor-update " + bcast_str))
lastTimeSinceMCPAnalogRead = time.time()
if "pipiano" in ADDON:
with lock:
bcast_str = ""
for digitalIO in range(0, 13):
if (sghGC.piAndBash[digitalIO] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
try:
if mcp.input(digitalIO) != lastpiAndBash[digitalIO]:
sensor_name = 'note'# + str([60,62,64,65,67,69,71,72,61,63,66,68,70][digitalIO])
if (mcp.input(digitalIO)>>digitalIO) == 1:
bcast_str += ' "' + sensor_name + '" 0'#str(mcp.input(digitalIO)>>digitalIO) + " "
else:
bcast_str += ' "' + sensor_name + '" ' + str([60,62,64,65,67,69,71,72,61,63,66,68,70][digitalIO]) +" "#str(mcp.input(digitalIO)>>digitalIO) + " "
msgQueue.put((5,"sensor-update" + bcast_str))
msgQueue.put((5,'broadcast "Trigger' + sensor_name + '"'))
lastpiAndBash[digitalIO] = mcp.input(digitalIO)
except:
pass
#if bcast_str != "":
# msgQueue.put((5,"sensor-update" + bcast_str))
time.sleep(0.1)
#print wii
if wii is not None: #if wii found
#time.sleep(1)
try:
joyx, joyy, accelx, accely, accelz, button = wii.raw()
if (joyx == 255) or (joyy == 255) or (accelx == 255) or (accely == 255) or (accelz == 255):
print dt.datetime.now()
print "try ok but seems to have locked up"
print joyx, joyy, accelx, accely, accelz
print "restarting wii"
wii = nunchuck()
print "wii restarted"
print wii.raw()
raise Escape
except:
logging.debug(dt.datetime.now())
logging.debug("exception:Read from Nunchuck failed")
continue
#Always send button info
button &= 0x3
#print button, wii.button_c(),wii.button_z()
sensor_name = 'buttonc'
bcast_str = '"' + sensor_name + '" '
if (button == 1 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'buttonz'
bcast_str = '"' + sensor_name + '" '
if (button == 2 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
if sghGC.nunchuckLevel == 1: #If simple mode just reading joystick digitally
joyx -= 0x7E
joyy -= 0x7B
joyx = math.copysign(100, joyx) if abs(joyx) > 50 else 0
joyy = math.copysign(100, joyy) if abs(joyy) > 50 else 0
#if (abs(joyx) + abs(joyy)) == 200:
# joyx = math.copysign(70, joyx)
# joyy = math.copysign(70, joyy)
jx = "middle"
jy = "middle"
if joyx > 25:
jx = "right"
elif joyx < -25:
jx = "left"
if joyy > 25:
jy = "up"
elif joyy < -25:
jy = "down"
sensor_name = 'joystickx'
bcast_str = '"' + sensor_name + '" ' + jx
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'joysticky'
bcast_str = '"' + sensor_name + '" ' + jy
msgQueue.put((5,"sensor-update " + bcast_str))
if (abs(joyx) + abs(joyy)) != 0:
#print joyx,joyy
angle = (math.atan2(-joyy, -joyx) * 180.0 / math.pi)
angle += 180 # "Normal" non-scratch angle
angle -= 90
#angle = angle - 90
angle = (angle + 720) % 360
angle = (-angle) if (angle) < 180 else (360 - angle)
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(int(angle))
msgQueue.put((5,"sensor-update " + bcast_str))
accelx = int(min(max(1.8 * (accelx - 0x7F), -90), 90))
accely = - int(min(max(1.8 * (accely - 0x7F), -90), 90))
accelz = int(min(max(1.8 * (accelz - 0x7F), -90), 90))
#accelx = 45
#accely = 45
turnx = accelx
turny = accely
if accelz < 0:
if turnx >= 0:
turnx = 90
else:
turnx = -90
if abs(turny) > 80:
turnx = 0
leftright = turnx
sensor_name = 'tiltx'
bcast_str = '"' + sensor_name + '" ' + str(leftright)
msgQueue.put((5,"sensor-update " + bcast_str))
updown = turny
sensor_name = 'tilty'
bcast_str = '"' + sensor_name + '" ' + str(updown)
msgQueue.put((5,"sensor-update " + bcast_str))
if sghGC.nunchuckLevel == 2:
joyx -= 0x7E
joyy -= 0x7B
sensor_name = 'joystickx'
bcast_str = '"' + sensor_name + '" ' + str(joyx)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'joysticky'
bcast_str = '"' + sensor_name + '" ' + str(joyy)
msgQueue.put((5,"sensor-update " + bcast_str))
accelx = int(min(max(1.8 * (accelx - 0x7F), -90), 90))
accely = - int(min(max(1.8 * (accely - 0x7F), -90), 90))
accelz = int(min(max(1.8 * (accelz - 0x7F), -90), 90))
#accelx = 45
#accely = 45
turnx = accelx
turny = accely
if accelz < 0:
if turnx >= 0:
turnx = 90
else:
turnx = -90
if abs(turny) > 80:
turnx = 0
button &= 0x3
sensor_name = 'buttonc'
bcast_str = '"' + sensor_name + '" '
if (button == 1 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'buttonz'
bcast_str = '"' + sensor_name + '" '
if (button == 2 or button == 0):
bcast_str += "on"
else:
bcast_str += "off"
msgQueue.put((5,"sensor-update " + bcast_str))
if (button == 2 or button == 0):
angle = 0 - (math.atan2(-turny, -turnx) * 180.0 / math.pi) - 90
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(angle)
msgQueue.put((5,"sensor-update " + bcast_str))
else:
angle = 0 - (math.atan2(-turny, -turnx) * 180.0 / math.pi) - 90
sensor_name = 'angle'
bcast_str = '"' + sensor_name + '" ' + str(angle)
msgQueue.put((5,"sensor-update " + bcast_str))
leftright = turnx * 100 / 90
sensor_name = 'leftright'
bcast_str = '"' + sensor_name + '" ' + str(leftright)
msgQueue.put((5,"sensor-update " + bcast_str))
updown = turny * 100 / 90
sensor_name = 'updown'
bcast_str = '"' + sensor_name + '" ' + str(updown)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accelx'
bcast_str = '"' + sensor_name + '" ' + str(accelx)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accely'
bcast_str = '"' + sensor_name + '" ' + str(accely)
msgQueue.put((5,"sensor-update " + bcast_str))
sensor_name = 'accelz'
bcast_str = '"' + sensor_name + '" ' + str(accelz)
msgQueue.put((5,"sensor-update " + bcast_str))
# if there is a change in the input pins
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
if (pin_bit_pattern[listIndex] != last_bit_pattern[listIndex]) or sghGC.pinTrigger[pin] == 1:
logging.debug("Change or triger detected in pin:%s changed to:%s, trigger val:%s", pin,
pin_bit_pattern[listIndex], sghGC.pinTrigger[pin])
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
#print pin , pin_value
self.broadcast_pin_update(pin, pin_bit_pattern[listIndex])
time.sleep(0.05) # just to give Scratch a better chance to react to event
last_bit_pattern = list(pin_bit_pattern)
#print ("last:%s",last_bit_pattern)
#print ("this:%s",pin_bit_pattern)
if ("pitt" in ADDON):
sensor_name = "input"
nibble = sghGC.pinRead(15) + 2 * sghGC.pinRead(19) + 4 * sghGC.pinRead(21) + 8 * sghGC.pinRead(23)
nibble = 15 - nibble
bcast_str = '"' + sensor_name + '" ' + str(nibble)
msgQueue.put((5,"sensor-update " + bcast_str))
if (time.time() - lastPinUpdateTime) > 3: #This is to force the pin names to be read out even if they don't change
#print int(time.time())
lastPinUpdateTime = time.time()
for listIndex in range(len(sghGC.validPins)):
pin = sghGC.validPins[listIndex]
if (sghGC.pinUse[pin] in [sghGC.PINPUT, sghGC.PINPUTNONE, sghGC.PINPUTDOWN]):
pin_bit_pattern[listIndex] = sghGC.pinRead(pin)
self.broadcast_pin_update(pin, pin_bit_pattern[listIndex])
#if ColourTracker.green[2] == True:
# with lock:
# print "green", ColourTracker.green
# bcast_str = 'sensor-update "greenx" %s' % ( ColourTracker.green[0] )
# msgQueue.put((5,bcast_str))
# bcast_str = 'sensor-update "greeny" %s' % ( ColourTracker.green[1] )
# msgQueue.put((5,bcast_str))
# bcast_str = 'sensor-update "greenfound" %s' % ( ColourTracker.green[2] )
# msgQueue.put((5,bcast_str))
# ColourTracker.green[2] = False
if (time.time() - self.time_last_compass) > 0.25:
#print "time up"
#print compass
#If Compass board truely present
if (compass is not None):
#print "compass code"
heading = compass.heading()
sensor_name = 'heading'
bcast_str = 'sensor-update "%s" %d' % (sensor_name, heading)
#print 'sending: %s' % bcast_str
msgQueue.put((5,bcast_str))
self.time_last_compass = time.time()
if "explorer" in ADDON:
#print "explorer addon found"
if sghGC.capTouch is None:
import sgh_captouch
#print "SGH_captouch imported OK"
import sgh_captouch_helper
#print "SGH_captouch_helper imported OK"
sghGC.capTouch = sgh_captouch.Cap1208()
sghCT = sgh_captouch_helper.sgh_captouch_helper()
sghGC.capTouchHelper = sghCT
print "sghCT", sghCT
import sgh_explorer_analog
sghGC.ADS1015 = sgh_explorer_analog.ADS1015()
print "ADS1015", sghGC.ADS1015
sensor_str = ""
for loop in range(0,8):
sghGC.capTouch.on(loop,"press",sghCT.ctHandler)
#print "loop:",loop,sghCT.ctTrigStatus[loop]
sensor_value = "0"
sensor_name = "touch" + str(sghCT.ctTrigStatus[loop][0])
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
msgQueue.put((0,"sensor-update " + sensor_str))
else:
sensor_str = ""
for loop in range(0,8):
if sghCT.ctTrigStatus[loop][1] == 1:
#print "loop:",loop,sghCT.ctTrigStatus[loop]
#print dt.datetime.now()
sensor_name = "touch" + str(sghCT.ctTrigStatus[loop][0])
sensor_value = "1"
#print "trigger being sent for:", sensor_name
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
#print sensor_name,sensor_value
bcast_str = 'broadcast "%s"' % (sensor_name)
msgQueue.put((0, bcast_str))
sghCT.ctTrigStatus[loop][1] = 2
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
if sghCT.ctTrigStatus[8][1] == 1:
msgQueue.put((0,'broadcast "Touch"'))
sghCT.ctTrigStatus[8][1] = 2
sensor_str = ""
if tick % 5 == 0:
for loop in range(0,4):
sensor_name = "analog" + str(4 - loop)
sensor_value = str(sghGC.ADS1015.read_se_adc(loop))
#print sensor_name,sensor_value
sensor_str += '"%s" %s ' % (sensor_name, sensor_value)
if sensor_str != "":
msgQueue.put((0,"sensor-update " + sensor_str))
print "Sender Stopped"
#time.sleep(2)
class ScratchListener(threading.Thread):
def __init__(self, socket):
threading.Thread.__init__(self)
self.scratch_socket = socket
self.scratch_socket2 = None
self._stop = threading.Event()
self.dataraw = ''
self.value = None
self.valueNumeric = None
self.valueIsNumeric = None
self.OnOrOff = None
self.searchPos = 0
self.encoderDiff = 0
self.turnSpeed = 40
self.turnSpeedAdj = 0