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114 lines
3.9 KiB
114 lines
3.9 KiB
#!/usr/bin/env python3
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import shepherd.config
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import shepherd.module
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import sys
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import os
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import time
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import argparse
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from gpiozero import OutputDevice, Device
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from gpiozero.pins.pigpio import PiGPIOFactory
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from shepherd.modules.betterservo import BetterServo
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Device.pin_factory = PiGPIOFactory()
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MOTHTRAP_LED_PIN = 6
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MOTHTRAP_SERVO_PIN = 10
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MOTHTRAP_SERVO_POWER_PIN = 9
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class MothtrapConfDef(shepherd.config.ConfDefinition):
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def __init__(self):
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super().__init__()
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self.add_def('servo_open_pulse', shepherd.config.IntDef(default=1200))
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self.add_def('servo_closed_pulse', shepherd.config.IntDef(default=1800))
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self.add_def('servo_open_time', shepherd.config.IntDef(default=5))
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class MothtrapModule(shepherd.module.SimpleModule):
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conf_def = MothtrapConfDef()
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def setup(self):
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print("Mothtrap config:")
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print(self.config)
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servo_max = self.config["servo_open_pulse"] / 1000000
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servo_min = self.config["servo_closed_pulse"] / 1000000
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if servo_min > servo_max:
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servo_min, servo_max = servo_max, servo_min
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self.door_servo = BetterServo(MOTHTRAP_SERVO_PIN, initial_value=None,
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active_high=False,
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min_pulse_width=servo_min,
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max_pulse_width=servo_max)
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self.door_servo_power = OutputDevice(MOTHTRAP_SERVO_POWER_PIN,
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active_high=True,
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initial_value=False)
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self.led_power = OutputDevice(MOTHTRAP_LED_PIN,
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active_high=True,
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initial_value=False)
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def setup_other_modules(self):
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self.modules.picam.hook_pre_cam.attach(self.led_on)
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self.modules.picam.hook_post_cam.attach(self.led_off)
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self.modules.picam.hook_post_cam.attach(self.run_servo)
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def led_on(self):
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self.led_power.on()
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def led_off(self):
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self.led_power.off()
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def run_servo(self):
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self.door_servo_power.on()
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time.sleep(0.5)
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self.door_servo.pulse_width = self.config["servo_open_pulse"] / 1000000
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time.sleep(self.config["servo_open_time"])
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self.door_servo.pulse_width = self.config["servo_closed_pulse"] / 1000000
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time.sleep(self.config["servo_open_time"])
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self.door_servo.detach()
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self.door_servo_power.off()
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def main(argv):
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argparser = argparse.ArgumentParser(
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description='Module for mothtrap control functions. Run for testing')
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argparser.add_argument("configfile", nargs='?', metavar="configfile",
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help="Path to configfile", default="conf.toml")
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argparser.add_argument("test_function", nargs='?', choices=['servo'],
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help="test function to perform", default="servo")
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argparser.add_argument("-o", help="servo open position, in us", type=int, default=1200, dest="servo_open_pulse")
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argparser.add_argument("-c", help="servo closed position, in us", type=int, default=1800, dest="servo_closed_pulse")
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argparser.add_argument("-w", help="wait time, in seconds", type=int, default=5, dest="servo_open_time")
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args = argparser.parse_args()
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confman = shepherd.config.ConfigManager()
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srcdict = {"mothtrap": {"servo_open_pulse": args.servo_open_pulse,
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"servo_closed_pulse":args.servo_closed_pulse,
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"servo_open_time":args.servo_open_time}}
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if os.path.isfile(args.configfile):
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confman.load(args.configfile)
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else:
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confman.load(srcdict)
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mothtrap_mod = MothtrapModule(confman.get_config("mothtrap", MothtrapConfDef()),
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shepherd.module.Interface(None))
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mothtrap_mod.led_on()
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mothtrap_mod.run_servo()
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mothtrap_mod.led_off()
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if __name__ == "__main__":
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main(sys.argv[1:])
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