Docs, added layer system to config, updated plugins

setup.py

@@ -9,10 +9,11 @@ setup(
     install_requires=[
           'toml',
           'apscheduler',
-          'paramiko'
+          'paramiko',
+          'click'
       ],
     entry_points={
-        'console_scripts': ['shepherd=shepherd.core:main'],
+        'console_scripts': ['shepherd=shepherd.core:cli'],
     },
     license='MIT license',
     description='Herd your mob of physically remote nodes',

shepherd.toml

@@ -1,8 +1,9 @@
 [shepherd]
   plugin_path = "~/shepherd/"
-  plugins = ["picam"]
+  plugins = ["picam","test"]
   root_dir = "~/shepherd/"
   conf_edit_path = "~/shepherd.toml"
+  test =1
 [picam]
   [[picam.trigger]]
     hour = "00-23"

shepherd/config.py

@@ -38,6 +38,7 @@ Root items that are not dicts are not supported, for instance both the following
 import re
 import toml
 from abc import ABC, abstractmethod
+from copy import deepcopy
 
 from .freezedry import freezedryable, rehydrate
 
@@ -58,6 +59,10 @@ class _ConfigDefinition(ABC):
 
     @abstractmethod
     def validate(self, value):
+        """
+        Checks the supplied value to confirm that it complies with this ConfigDefinition.
+        Raises InvalidConfigError on failure.
+        """
         pass
         
 
@@ -121,7 +126,14 @@ class DictDef(_ConfigDefinition):
         self.def_dict[name] = newdef
         return newdef
 
-    def validate(self, value_dict):  # pylint: disable=W0221
+    def validate(self, value_dict):
+        """
+        Checks the supplied value to confirm that it complies with this ConfigDefinition.
+        Raises InvalidConfigError on failure.
+
+        This *can* modify the supplied value dict, inserting defaults for any child
+        ConfigDefinitions that are marked as optional.
+        """
         def_set = set(self.def_dict.keys())
         value_set = set(value_dict.keys())
 
@@ -210,6 +222,22 @@ class ConfigManager():
     def __init__(self):
         self.root_config = {}
         self.confdefs = {}
+        self.frozen_config = {}
+
+    @staticmethod
+    def _load_source(source):
+        """
+        Accept a filepath or opened file representing a TOML file, or a direct dict,
+        and return a plain parsed dict.
+        """
+        if isinstance(source, dict):  # load from dict
+           return source
+        elif isinstance(source, str):  # load from pathname
+            with open(source, 'r') as conf_file:
+                return toml.load(conf_file) 
+        else:  # load from file
+            return toml.load(source)
+
 
     def load(self, source):
         """
@@ -219,13 +247,8 @@ class ConfigManager():
             source: Either a dict config to load directly, a filepath to a TOML file,
                 or an open file.
         """
-        if isinstance(source, dict):  # load from dict
-            self.root_config = source
-        elif isinstance(source, str):  # load from pathname
-            with open(source, 'r') as conf_file:
-                self.root_config = toml.load(conf_file)
-        else:  # load from file
-            self.root_config = toml.load(source)
+        self.root_config = self._load_source(source)
+        self._overlay(self.frozen_config, self.root_config)
 
     def load_overlay(self, source):
         """
@@ -238,16 +261,39 @@ class ConfigManager():
             source: Either the root dict of a data structure to load directly, a filepath to a TOML file,
                 or an open TOML file.
         """        
+        self._overlay(self._load_source(source), self.root_config)
+        self._overlay(self.frozen_config, self.root_config)
+
+
+    def freeze_value(self, bundle_name, *field_names):
+        """
+        Freeze the given config field so that subsequent calls to ``load`` and ``load_overlay``
+        cannot change it. Can only be used for dict values or dict values nested in parent dicts.
+        
+        Args:
+            bundle_name: The name of the bundle to look for the field in.
+            *field_names: a series of strings that locate the config field, either a single
+                key or series of nested keys.
+        """
+
+        #Bundle names are really no different from any other nested dict
+        names = (bundle_name,) + field_names
+
+        target_field = self.root_config
+        frozen_value = self.frozen_config
+
+        # Cycle through nested names, creating frozen_config nested dicts as necessary
+        for name in names[:-1]:
+            target_field = target_field[name]
+            if name not in frozen_value:
+                frozen_value[name] = {}
+            frozen_value = frozen_value[name]
+
+
+        frozen_value[names[-1]] = target_field[names[-1]]
+
 
-        if isinstance(source, dict):  # load from dict
-             new_source = source
-        elif isinstance(source, str):  # load from pathname
-            with open(source, 'r') as conf_file:
-                new_source = toml.load(conf_file)
-        else:  # load from file
-            new_source = toml.load(source)
 
-        self._overlay(new_source, self.root_config)
 
     def add_confdef(self, bundle_name, confdef):
         """
@@ -293,7 +339,10 @@ class ConfigManager():
         config bundle dict. 
 
         Note that as part of validation, optional keys that are missing will be
-        filled in with their default values (see ``DictDef``).
+        filled in with their default values (see ``DictDef``). This function will copy
+        the config bundle *after* validation, and so config loaded in the ConfManager will
+        be modified, but future ConfigManager manipulations won't change the returned config
+        bundle.
 
         Args:
             config_name: (str) Name of the config dict to find.
@@ -308,14 +357,14 @@ class ConfigManager():
         try:
             conf_def.validate(self.root_config[bundle_name])
         except InvalidConfigError as e:
-            e.args = ("Module: " + bundle_name,) + e.args
+            e.args = ("Bundle: " + bundle_name,) + e.args
             raise
-        return self.root_config[bundle_name]
+        return deepcopy(self.root_config[bundle_name])
 
     def get_config_bundles(self, bundle_names):
         """
         Get multiple config bundles from the root dict at once, validating each one with the 
-        corresponding confdef stored in the ConfigManager.
+        corresponding confdef stored in the ConfigManager. See ``get_config_bundle``
 
         Args:
             bundle_names: A list of config bundle names to get. If dictionary is supplied, uses the values

shepherd/control.py

@@ -5,6 +5,7 @@ import requests
 import threading
 import json
 from urllib.parse import urlparse, urlunparse, urljoin
+from collections import namedtuple
 
 import shepherd.plugin
 # Check for shepherd.new file in edit conf dir. If there,
@@ -15,6 +16,35 @@ import shepherd.plugin
 
 #Start new thread, and push ID and core config to api.shepherd.distreon.net/client/update
 
+class UpdateManager():
+    def __init__(self):
+        pass
+
+class SequenceUpdate():
+    Item = namedtuple('Item', ['sequence_number', 'content'])
+    def __init__(self):
+        self.items = []
+        self._sequence_count = 0
+        self._dirty = False
+
+    def _next_sequence_number(self):
+        # TODO: need to establish a max sequence number, so that it can be compared to half
+        # that range and wrap around.
+        self._sequence_count +=1
+        return self._sequence_count
+
+    def mark_as_dirty(self):
+        self._dirty = True
+
+    def add_item(self, item):
+        self.items.append(self.Item(self._next_sequence_number(), item))
+        self.mark_as_dirty()
+
+    def get_payload():
+        pass
+    def process_ack():
+        pass
+
 client_id = None
 control_url = None
 api_key = None
@@ -52,6 +82,10 @@ def init_control(core_config, plugin_config):
     global control_url
     global api_key
 
+    # On init, need to be able to quickly return the cached shepherd control layer if necessary.
+    
+    # Create the /update endpoint structure
+
     root_dir = os.path.expanduser(core_config["root_dir"])
     editconf_dir = os.path.dirname(os.path.expanduser(core_config["conf_edit_path"]))
 
@@ -102,3 +136,4 @@ def _post_logs_job():
 def post_logs():
     post_logs_thread = threading.Thread(target=_post_logs_job, args=())
     post_logs_thread.start()
+

shepherd/core.py

@@ -1,19 +1,20 @@
-#!/usr/bin/env python3
+"""
+Core shepherd module, tying together main service functionality.
+"""
 
-# depends on:
-# python 3.4 (included in Raspbian Jessie)
-# APScheduler
 
-
-import argparse
 import os
+from pathlib import Path
 from datetime import datetime
 import toml
+import logging
+import click
+from copy import deepcopy
 
-import shepherd.scheduler
-import shepherd.config
-import shepherd.plugin
-import shepherd.control
+from . import scheduler
+from . import config
+from . import plugin
+from . import control
 
 
 # Future implementations of checking config differences should be done on
@@ -28,117 +29,191 @@ import shepherd.control
 # Fix this by saving the working config to /boot when new config applied
 # remotely.
 
+
+# Relative pathnames here are all relative to "root_dir"
 def define_core_config(confdef):
-    confdef.add_def("id", shepherd.config.StringDef())
-    confdef.add_def("hostname", shepherd.config.StringDef(default="", optional=True))
-    confdef.add_def("plugins", shepherd.config.StringArrayDef())
-    confdef.add_def("plugin_dir", shepherd.config.StringDef())
-    confdef.add_def("root_dir", shepherd.config.StringDef())
-    confdef.add_def("conf_edit_path", shepherd.config.StringDef())
-
-    confdef.add_def("control_server", shepherd.config.StringDef())
-    confdef.add_def("api_key", shepherd.config.StringDef())
-
-def load_config(config_path,load_editconf):
-    # Load config from default location
-    confman = shepherd.config.ConfigManager()
-    confman.load(os.path.expanduser(config_path))
+    """
+    Defines the config definition by populating the ConfigDefinition passed in ``confdef`` - the same pattern plugins use
+    """
+    confdef.add_def("name", config.StringDef(
+        helptext="Identifying name for this device"))
+
+    confdef.add_def("hostname",
+                    config.StringDef(default="", optional=True,
+                                     helptext="If set, changes the system hostname"))
+    confdef.add_def("plugin_dir",
+                    config.StringDef(default="~/shepherd-plugins", optional=True,
+                                     helptext="Optional directory for Shepherd to look for plugins in."))
+    confdef.add_def("root_dir",
+                    config.StringDef(default="~/shepherd", optional=True,
+                                     helptext="Operating directory for shepherd to place working files."))
+    confdef.add_def("custom_config_path",
+                    config.StringDef(optional=True,
+                                     helptext="Path to custom config layer TOML file."))
+    confdef.add_def("generated_config_path",
+                    config.StringDef(default="shepherd-generated.toml", optional=True,
+                                     helptext="Path to custom file Shepherd will generate to show compiled config that was used and any errors in validation."))
+
+    confdef.add_def("control_server", config.StringDef())
+    confdef.add_def("control_api_key", config.StringDef())
+
+
+def resolve_core_conf_paths(core_conf):
+    """
+    Set the cwd to ``root_dir`` and resolve other core config paths relative to that.
+    Also expands out any "~" user characters.
+    """
+    core_conf["root_dir"] = str(Path(core_conf["root_dir"]).expanduser().resolve())
+    os.chdir(core_conf["root_dir"])
+    core_conf["plugin_dir"] = str(Path(core_conf["plugin_dir"]).expanduser().resolve())
+    core_conf["custom_config_path"] = str(
+        Path(core_conf["custom_config_path"]).expanduser().resolve())
+    core_conf["generated_config_path"] = str(
+        Path(core_conf["generated_config_path"]).expanduser().resolve())
+
+
+def load_config_layer(confman, config_source):
+    """
+    Load a config layer, find the necessary plugin classes, then validate it.
+    """
+    # Load in config layer
+    confman.load_overlay(config_source)
+
+    # Get the core config so we can find the plugin directory
+    core_config = confman.get_config_bundle("shepherd")
+    plugin_dir = core_config["plugin_dir"]
+
+    # List other table names to get plugins we need to load
+    plugin_names = confman.get_bundle_names()
+    plugin_names.remove("shepherd")
+
+    # Load plugins to get their conf defs
+    plugin_classes = plugin.find_plugins(plugin_names, plugin_dir)
+    for plugin_name, plugin_class in plugin_classes.items():
+        new_conf_def = config.ConfDefinition()
+        plugin_class.define_config(new_conf_def)
+        confman.add_confdef(plugin_name, new_conf_def)
+
+    # Get plugin configs
+    plugin_configs = confman.get_config_bundles(plugin_classes.keys())
+    return (core_config, plugin_classes, plugin_configs)
+
+
+def compile_config(default_config_path):
+    """
+    Run through the process of assembling the various config layers, falling back to working
+    ones where necessary. Also gathers needed plugin classes in the process.
+    """
+
     # Create core confdef and populate it
-    core_confdef = shepherd.config.ConfDefinition()
+    core_confdef = config.ConfDefinition()
     define_core_config(core_confdef)
-    # attempt to retrive core config and validate it
-    core_conf = confman.get_config("shepherd", core_confdef)
-    edit_confman = None
-    conf_edit_message = None
-
-    if load_editconf:
-        # Check for an edit_conf file, and try to load it and plugin configs
-        try:
-            edit_confman = shepherd.config.ConfigManager()
-            edit_confman.load(os.path.expanduser(core_conf["conf_edit_path"]))
-            core_edit_conf = edit_confman.get_config("shepherd", core_confdef)
-
-            plugin_classes = shepherd.plugin.find_plugins(
-                core_edit_conf["plugins"])
-            plugin_configs = edit_confman.get_plugin_configs(plugin_classes)
-
-        except FileNotFoundError:
-            conf_edit_message = None
-        except shepherd.config.InvalidConfigError as e:
-            conf_edit_message = "Invalid config.\n " + str(e.args)
-        except toml.TomlDecodeError as e:
-            conf_edit_message = "TOML syntax error.\n" + str(e)
-        except Exception:
-            conf_edit_message = "Error processing new config"
-        else:
-            conf_edit_message = ("Successfully applied this config at:" +
-                                str(datetime.now()))
-            confman = edit_confman
-            core_conf = core_edit_conf
-
-        if conf_edit_message is not None:
-            shepherd.config.update_toml_message(
-                os.path.expanduser(core_conf["conf_edit_path"]), conf_edit_message)
-
-    # if editconf failed, load current config for plugins
-    if confman is not edit_confman:
-        plugin_classes = shepherd.plugin.find_plugins(core_conf["plugins"])
-        plugin_configs = confman.get_plugin_configs(plugin_classes)
-
-    # If no editconf file was found, write out the current config as a template
-    if (conf_edit_message is None) and load_editconf:
-        confman.dump_to_file(os.path.expanduser(core_conf["conf_edit_path"]),
-                             "Config generated at:" + str(datetime.now()))
-
-    return (core_conf, plugin_classes, plugin_configs)
-
-
-
-
-
-def main():
-    argparser = argparse.ArgumentParser(description="Keep track of a mob "
-                                                    "of roaming Pis")
-    argparser.add_argument("configfile", nargs='?', metavar="configfile",
-                           help="Path to configfile", default="shepherd.toml")
-    argparser.add_argument('-e', '--noedit',help="Disable the editable config temporarily", action="store_true", default=False)
-    argparser.add_argument("-t", "--test", help="Test and interface function of the from 'plugin:function'",
-                    default=None)
-
-    args = argparser.parse_args()
-
-    confman = shepherd.config.ConfigManager()
-    confman.load(os.path.expanduser(args.configfile))
 
-    (core_conf, plugin_classes, plugin_configs) = load_config(args.configfile, not args.noedit)
+    confman = config.ConfigManager()
+    confman.add_confdef("shepherd", core_confdef)
 
-    if args.test is None:
-        shepherd.control.init_control(core_conf, plugin_configs)
-
-    shepherd.scheduler.init_scheduler(core_conf)
-
-    shepherd.plugin.init_plugins(plugin_classes, plugin_configs, core_conf)
+    # Default config. This must validate to continue.
+    try:
+        core_conf, plugin_classes, plugin_configs = load_config_layer(
+            confman, Path(default_config_path).expanduser())
+        logging.info(F"Loaded default config from {default_config_path}")
+    except:
+        logging.error(F"Failed to load default config from {default_config_path}")
+        raise
+
+    # Resolve and freeze local install paths that shouldn't be changed or affect loading custom config
+    confman.freeze_value("shepherd", "root_dir")
+    confman.freeze_value("shepherd", "plugin_dir")
+    confman.freeze_value("shepherd", "custom_config_path")
+    confman.freeze_value("shepherd", "generated_config_path")
+    resolve_core_conf_paths(core_conf)
+
+    # Pull out custom config path and save current good root_config
+    custom_config_path = core_conf["custom_config_path"]
+    saved_root_config = deepcopy(confman.root_config)
+
+    # Custom config layer. If this fails, maintain default config but continue on to Control layer
+    try:
+        core_conf, plugin_classes, plugin_configs = load_config_layer(
+            confman, custom_config_path)
+        logging.info(F"Loaded custom config from {custom_config_path}")
+    except Exception as e:
+        logging.error(
+            F"Failed to load custom config from {custom_config_path}. Falling back to default config.", exc_info=e)
+        confman.root_config = saved_root_config
+
+    # Freeze Shepherd Control related config.
+    confman.freeze_value("shepherd", "control_server")
+    confman.freeze_value("shepherd", "control_api_key")
+    resolve_core_conf_paths(core_conf)
+
+    # Save current good root_config
+    saved_root_config = deepcopy(confman.root_config)
+
+    # Shepherd Control config layer. If this fails, maintain current local config.
+    try:
+        control_config = control.get_config(core_conf["root_dir"])
+        try:
+            core_conf, plugin_classes, plugin_configs = load_config_layer(
+                confman, control_config)
+            logging.info(F"Loaded cached Shepherd Control config")
+        except Exception as e:
+            logging.error(
+                F"Failed to load cached Shepherd Control config. Falling back to local config.", exc_info=e)
+            confman.root_config = saved_root_config
+    except:
+        logging.warning("No cached Shepherd Control config available.")
+
+    confman.dump_to_file(core_conf["generated_config_path"])
+
+    return core_conf, plugin_classes, plugin_configs
+
+
+@click.group(invoke_without_command = True)
+#help="Path to default config TOML file"
+
+@click.argument('default_config', default="shepherd-default.toml", type=click.Path())
+@click.pass_context
+def cli(ctx, default_config):
+    """
+    Core service. Expects the default config to be set as an argument.
+    """
+    #argparser = argparse.ArgumentParser(description="Keep track of a mob "
+    #                                                "of roaming Pis")
+    #argparser.add_argument("configfile", nargs='?', metavar="configfile",
+    #                       help="Path to configfile", default="shepherd.toml")
+    #argparser.add_argument(
+    #    '-e', '--noedit', help="Disable the editable config temporarily", action="store_true", default=False)
+    #argparser.add_argument("-t", "--test", help="Test and interface function of the from 'plugin:function'",
+    #                       default=None)
+
+    #args = argparser.parse_args()
+
+    core_conf, plugin_classes, plugin_configs = compile_config(default_config)
 
     if args.test is None:
-        shepherd.control.post_logs()
+        control.init_control(core_conf, plugin_configs)
 
-    shepherd.scheduler.restore_jobs()
+    scheduler.init_scheduler(core_conf)
+    plugin.init_plugins(plugin_classes, plugin_configs, core_conf)
+    scheduler.restore_jobs()
 
     print(str(datetime.now()))
 
-    if args.test is not None:
-        (test_plugin, test_func) = args.test.split(':')
-        func = getattr(shepherd.plugin.plugin_functions[test_plugin], test_func)
-        print(func())
+    if ctx.invoked_subcommand is not None:
         return
 
     print('Press Ctrl+{0} to exit'.format('Break' if os.name == 'nt' else 'C'))
-
     try:
-        shepherd.scheduler.start()
+        scheduler.start()
     except (KeyboardInterrupt, SystemExit):
         pass
 
-
-if __name__ == "__main__":
-    main()
+@click.argument('plugin_function')
+@cli.command()
+def test():
+    if args.test is not None:
+        (test_plugin, test_func) = args.test.split(':')
+        func = getattr(shepherd.plugin.plugin_functions[test_plugin], test_func)
+        print(func())
+        return

shepherd/plugin.py

@@ -153,9 +153,11 @@ HookAttachment = namedtuple(
 
 
 class PluginInterface():
-    # Class to handle the management of a single plugin.
-    # All interaction to or from the plugin to other Shepherd components or
-    # plugins should go through here.
+    '''
+    Class to handle the management of a single plugin.
+    All interaction to or from the plugin to other Shepherd components or
+    plugins should go through here.
+    '''
 
     def __init__(self, pluginname, pluginclass, pluginconfig, coreconfig):
         if not issubclass(pluginclass, Plugin):
@@ -211,6 +213,19 @@ be called by other modules (which generally run in a seperate thread)
 
 
 def find_plugins(plugin_names, plugin_dir=None):
+    """
+    Looks for the list of plugin names supplied and returns their classes.
+    Will first try for plugin modules and packages locally located in ``shepherd.plugins``,
+    then for modules and packages prefixed ``shepherd_`` located in the supplied ``plugin_dir`` 
+    and lastly in the global import path.
+    
+    Args:
+        plugin_names: List of plugin names to try and load
+        plugin_dir: optional search path
+    
+    Returns:
+        Dict of plugin classes, with their names as keys
+    """
     plugin_classes = {}
     for plugin_name in plugin_names:
         # First look for core plugins, then the plugin_dir, then in the general import path
@@ -218,6 +233,7 @@ def find_plugins(plugin_names, plugin_dir=None):
         try:
             #mod = importlib.import_module("shepherd.plugins." + plugin_name)
             mod = importlib.import_module('.'+plugin_name, "shepherd.plugins")
+            #TODO - ModuleNotFoundError is also triggered here if the plugin has a dependancy that can't be found
         except ModuleNotFoundError:
             try:
                 if (plugin_dir is not None) and (plugin_dir != ""):

shepherd/plugins/flytrap.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import shepherd.config as shconf
+import shepherd.plugin
+
+import sys
+import os
+import time
+import argparse
+
+
+
+class FlytrapPlugin(shepherd.plugin.Plugin):
+    @staticmethod
+    def define_config(confdef):
+        confdef.add_def('servo_open_pulse', shconf.IntDef(default=1200, minval=800, maxval=2200))
+        confdef.add_def('servo_closed_pulse', shconf.IntDef(default=1800, minval=800, maxval=2200))
+        confdef.add_def('servo_open_time', shconf.IntDef(default=5))
+
+    def __init__(self, pluginInterface, config):
+        super().__init__(pluginInterface, config)
+        self.config = config
+        self.interface = pluginInterface
+        self.plugins = pluginInterface.other_plugins
+        self.hooks = pluginInterface.hooks
+
+        self.root_dir = os.path.expanduser(pluginInterface.coreconfig["root_dir"])
+        self.id = pluginInterface.coreconfig["id"]
+
+        print("Flytrap config:")
+        print(self.config)
+
+        self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
+        self.interface.attach_hook("usbcam", "post_cam", self.uv_camera)
+
+        self.interface.register_function(self.test)
+    
+    def uv_camera(self):
+        self.led_off()
+        self.led_uv_on()
+        self.plugins["usbcam"].run_cameras(" UV")
+        self.led_uv_off()
+        self.run_servo()
+
+    def led_on(self):
+        self.plugins["scout"].set_out1(True)
+
+    def led_off(self):
+        self.plugins["scout"].set_out1(False)
+
+    def led_uv_on(self):
+        self.plugins["scout"].set_out2(True)
+
+    def led_uv_off(self):
+        self.plugins["scout"].set_out2(False)
+
+    def run_servo(self):
+        self.plugins["scout"].set_aux5v(True)
+        #self.door_servo_power.on()
+        time.sleep(0.5)
+        
+        self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
+        #self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
+        time.sleep(self.config["servo_open_time"])
+        
+        self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
+        #self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
+        time.sleep(self.config["servo_open_time"])
+        self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
+        #self.door_servo.detach()
+        self.plugins["scout"].set_aux5v(False)
+        #self.door_servo_power.off()
+
+    def test(self):
+        self.led_on()
+        time.sleep(1)
+        self.led_off()
+        self.run_servo()

shepherd/plugins/mothtrap.py

@@ -8,17 +8,6 @@ import os
 import time
 import argparse
 
-from gpiozero import OutputDevice, Device
-from gpiozero.pins.pigpio import PiGPIOFactory
-
-from shepherd.plugins.betterservo import BetterServo
-
-Device.pin_factory = PiGPIOFactory()
-
-
-MOTHTRAP_LED_PIN = 6
-MOTHTRAP_SERVO_PIN = 10
-MOTHTRAP_SERVO_POWER_PIN = 9
 
 
 class MothtrapPlugin(shepherd.plugin.Plugin):
@@ -41,50 +30,48 @@ class MothtrapPlugin(shepherd.plugin.Plugin):
         print("Mothtrap config:")
         print(self.config)
 
-        servo_max = self.config["servo_open_pulse"] / 1000000
-        servo_min = self.config["servo_closed_pulse"] / 1000000
         
-        if servo_min > servo_max:
-            servo_min, servo_max = servo_max, servo_min
         
-        self.door_servo = BetterServo(MOTHTRAP_SERVO_PIN, initial_value=None,
-                                      active_high=False,
-                                      min_pulse_width=servo_min-0.000001,
-                                      max_pulse_width=servo_max+0.000001)
+        #servo_max = self.config["servo_open_pulse"] / 1000000
+        #servo_min = self.config["servo_closed_pulse"] / 1000000
+
+        #if servo_min > servo_max:
+        #    servo_min, servo_max = servo_max, servo_min
 
-        print(F"Supplied min: {servo_min}, max: {servo_max}")
 
-        self.door_servo_power = OutputDevice(MOTHTRAP_SERVO_POWER_PIN,
-                                             active_high=True,
-                                             initial_value=False)
+        #print(F"Supplied min: {servo_min}, max: {servo_max}")
 
-        self.led_power = OutputDevice(MOTHTRAP_LED_PIN,
-                                      active_high=True,
-                                      initial_value=False)
 
-        self.interface.attach_hook("picam", "pre_cam", self.led_on)
-        self.interface.attach_hook("picam", "post_cam", self.led_off)
-        self.interface.attach_hook("picam", "post_cam", self.run_servo)
+        self.interface.attach_hook("usbcam", "pre_cam", self.led_on)
+        self.interface.attach_hook("usbcam", "post_cam", self.led_off)
+        self.interface.attach_hook("usbcam", "post_cam", self.run_servo)
 
         self.interface.register_function(self.test)
 
     def led_on(self):
-        self.led_power.on()
+        self.plugins["scout"].set_out1(True)
+        #self.led_power.on()
 
     def led_off(self):
-        self.led_power.off()
+        self.plugins["scout"].set_out1(False)
+        #self.led_power.off()
 
     def run_servo(self):
-        self.door_servo_power.on()
+        self.plugins["scout"].set_aux5v(True)
+        #self.door_servo_power.on()
         time.sleep(0.5)
         
-        self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
+        self.plugins["scout"].set_pwm1(True, self.config["servo_open_pulse"])
+        #self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
         time.sleep(self.config["servo_open_time"])
         
-        self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
+        self.plugins["scout"].set_pwm1(True, self.config["servo_closed_pulse"])
+        #self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
         time.sleep(self.config["servo_open_time"])
-        self.door_servo.detach()
-        self.door_servo_power.off()
+        self.plugins["scout"].set_pwm1(False, self.config["servo_closed_pulse"])
+        #self.door_servo.detach()
+        self.plugins["scout"].set_aux5v(False)
+        #self.door_servo_power.off()
 
     def test(self):
         self.led_on()

shepherd/plugins/usbcam.py

@@ -142,6 +142,7 @@ class USBCamPlugin(shepherd.plugin.Plugin):
         self.interface.register_hook("pre_cam")
         self.interface.register_hook("post_cam")
         self.interface.register_function(self.camera_job)
+        self.interface.register_function(self.run_cameras)
         # do some camera init stuff
 
         print("USBCamera config:")
@@ -292,16 +293,14 @@ class USBCamPlugin(shepherd.plugin.Plugin):
             print("Could not read camera "+camera_name +
                   " on USB port "+device_path)
 
-    def camera_job(self):
-        self.hooks.pre_cam()
-
+    def run_cameras(self, name_suffix = ""):
         connected_cams = OrderedDict(get_connected_cameras())
 
         for defined_name, defined_usb_path in self.defined_cams.items():
             if defined_usb_path in connected_cams:
 
                 self._capture_image(connected_cams.pop(
-                    defined_usb_path), defined_name)
+                    defined_usb_path), defined_name+name_suffix)
 
             else:
                 print("USB Camera "+defined_name+" on port " +
@@ -310,12 +309,15 @@ class USBCamPlugin(shepherd.plugin.Plugin):
         for cam_name in self.wildcard_cams:
             if len(connected_cams) > 0:
                 self._capture_image(connected_cams.popitem(
-                    last=False)[1], cam_name)
+                    last=False)[1], cam_name+name_suffix)
             else:
                 print(
                     "No connected USB cameras are currently left to match to "+cam_name+" ")
                 break
 
+    def camera_job(self):
+        self.hooks.pre_cam()
+        self.run_cameras()   
         self.hooks.post_cam()
 
 

test.toml

@@ -1,28 +1,13 @@
 [shepherd]
-  plugin_dir = "~/shepherd/"
-  plugins = ["scout"]
+  name = "test-node"
+  plugin_dir = "./"
   root_dir = "~/shepherd/"
-  conf_edit_path = "~/shepherd.toml"
-  id = "testnode"
   hostname = "shepherd-test"
   control_server = "api.shepherd.distreon.net"
   #control_server = "127.0.0.1:5000"
-  api_key = "v2EgvYzx79c8fCP4P7jlWxTZ3pc"
+  control_api_key = "v2EgvYzx79c8fCP4P7jlWxTZ3pc"
 [scout]
   boardver = "3"
   serialport = "/dev/ttyUSB0"
-[usbcam]
-  [[usbcam.camera]]
-    name = "USB1"
-    usb_port = "*"
-  [[usbcam.camera]]
-    name = "USB2"
-    usb_port = "*"
-  [[usbcam.camera]]
-    name = "USB3"
-    usb_port = "3.1.2.1"
-  [[usbcam.trigger]]
-    hour = "*"
-    minute ="*/10"
-    second = "1"
+
 

tests/test_config.py

@@ -0,0 +1,18 @@
+import shepherd.config as config
+
+def test_freeze():
+    confdef = config.ConfDefinition()
+    conf_def_dict = confdef.add_def('dictval', config.DictDef())
+    conf_def_dict.add_def('intval', config.IntDef())
+    conf_def_dict.add_def('strtval', config.StringDef())
+
+    confman = config.ConfigManager()
+    confman.add_confdef("test_bundle",confdef)
+    confman.load({"test_bundle": {'dictval': {'intval': 34, 'strval': "a"}}})
+
+    confman.freeze_value("test_bundle","dictval", "intval")
+
+    confman.load({"test_bundle": {'dictval': {'intval': 34, 'strval': "b"}}})
+    breakpoint()
+    print(confman.root_config)
+