module restructuring

Author: OldUser101

robocon/__init__.py

@@ -0,0 +1,18 @@
+from robocon.game import (
+    TEAM,
+    TARGET_TYPE,
+    MARKER,
+    TARGET_MARKER,
+    MARKER_TYPE,
+    BASE_MARKER,
+    ARENA_MARKER)
+
+__all__ = (
+    "TEAM",
+    "TARGET_TYPE",
+    "MARKER",
+    "TARGET_MARKER",
+    "MARKER_TYPE",
+    "BASE_MARKER",
+    "ARENA_MARKER",
+)

robocon/brain/__init__.py

@@ -0,0 +1,25 @@
+import importlib.util
+
+has_rpi = importlib.util.find_spec("RPi") is not None
+
+if not has_rpi:
+    import sys
+    import fake_rpi
+    sys.modules["RPi"] = fake_rpi.RPi
+    sys.modules["RPi.GPIO"] = fake_rpi.RPi.GPIO
+    sys.modules["smbus2"] = fake_rpi.smbus
+
+import sys
+
+# greengiant imports for users
+from robocon.brain.greengiant import OUTPUT, INPUT, INPUT_ANALOG, INPUT_PULLUP, PWM_SERVO
+from robocon.brain.io import IO
+
+__all__ = (
+    "IO",
+    "OUTPUT",
+    "INPUT",
+    "INPUT_ANALOG",
+    "INPUT_PULLUP",
+    "PWM_SERVO",
+)

robot/cytron.py robocon/brain/cytron.pyrobot/cytron.py renamed to robocon/brain/cytron.py

@@ -0,0 +1,129 @@
+import sys
+import logging
+from smbus2 import SMBus
+
+from robocon.brain.cytron import CytronBoard
+from robocon.brain.greengiant import (
+    GreenGiantInternal,
+    GreenGiantGPIOPinList,
+    GreenGiantMotors,
+    _GG_SERVO_PWM_BASE,
+    _GG_GPIO_PWM_BASE,
+    _GG_GPIO_GPIO_BASE,
+    _GG_SERVO_GPIO_BASE)
+
+_logger = logging.getLogger("robot_io")
+
+def setup_logging(level):
+    """Display the just the message when logging events
+    Sets the logging level to `level`"""
+    _logger.setLevel(level)
+
+    handler = logging.StreamHandler(sys.stdout)
+    handler.setLevel(level)
+
+    fmt = logging.Formatter("%(message)s")
+    handler.setFormatter(fmt)
+
+    _logger.addHandler(handler)
+
+class IO():
+    _initialised = False
+
+    def __init__(self, max_motor_voltage=6, enable_12v=True, enable_5v=True, log_level=logging.INFO):
+        self._max_motor_voltage = max_motor_voltage
+
+        self._initialised = False
+        self._warnings = []
+
+        setup_logging(log_level)
+
+        if type(self)._initialised:
+            raise RuntimeError("IO object acquires hardware locks for its"
+                               " sole use and so can only be used once.")
+
+        self.bus = SMBus(1)
+        self._green_giant = GreenGiantInternal(self.bus)
+        self._gg_version = self._green_giant.get_version()
+        if self._gg_version >= 10:
+            # enable power rails
+            self._green_giant.set_motor_power(True)
+            self.enable_12v = enable_12v
+            self.enable_5v = enable_5v
+            self._adc_max = 5
+            # configure User IO Ports
+            self.servos = GreenGiantGPIOPinList(self.bus, self._gg_version, self._adc_max, _GG_SERVO_GPIO_BASE, _GG_SERVO_PWM_BASE)
+            self.gpio   = GreenGiantGPIOPinList(self.bus, self._gg_version, self._adc_max, _GG_GPIO_GPIO_BASE, _GG_GPIO_PWM_BASE)
+            # configure motor drivers
+            self.motors = GreenGiantMotors(self.bus, self._max_motor_voltage)
+            ## thinks, perhaps this should be inherrent to using the motors and
+            ## open load detection can be in there?
+            self.motors.enable_motors(True)
+        else:
+            # power rails
+            self._green_giant.set_motor_power(True)
+            self._adc_max = self._green_giant.get_fvr_reading()
+            # user IO
+            self.servos = GreenGiantGPIOPinList(self.bus, self._gg_version, None,          None,           _GG_SERVO_PWM_BASE)
+            self.gpio   = GreenGiantGPIOPinList(self.bus, self._gg_version, self._adc_max, _GG_GPIO_GPIO_BASE    , None)
+            # configure motor drivers
+            self.motors = CytronBoard(self._max_motor_voltage)
+
+        type(self)._initialised = True
+
+    @property
+    def enable_motors(self):
+        """Return if motors are currently enabled
+
+        For the GG board this will be the state of the 12v line, which we cannot query,
+        so return what it was set to.
+
+        For the PiLow series the Motors have both a power control and a enable. Generally
+        the Power should not be switched on and off, just the enable bits. The power may
+        be tripped in extreme circumstances. I guess that here we want to report any
+        reason for  the motors not working, which includes power and enable
+
+        """
+        if self._gg_version < 10:
+            return self._green_giant.enable_12v
+        else:
+            return self._green_giant.get_motorpwr() and self._green_giant.get_enable()
+
+    @enable_motors.setter
+    def enable_motors(self, on):
+        """An nice alias for set_12v"""
+        if self._version < 10:
+            return self._green_giant.enable_motors(on)
+
+    @property
+    def enable_12v(self):
+        return self._green_giant.get_12v_acc_power()
+
+    @enable_12v.setter
+    def enable_12v(self, on):
+        self._green_giant.set_12v_acc_power(on)
+
+    @property
+    def enable_5v(self):
+        return self._green_giant.get_5v_acc_power()
+
+    @enable_5v.setter
+    def enable_5v(self, on):
+        self._green_giant.set_5v_acc_power(on)
+
+    def stop(self):
+        """Stops the robot and cuts power to the motors.
+
+        does not touch the servos position.
+        """
+        self.enable_12v = False
+        self.motors.stop()
+
+    def set_user_led(self, val=True):
+       self._green_giant.set_user_led(val)
+
+    def __del__(self):
+        """Frees hardware resources held by the vision object"""
+        logging.warning("Destroying robot object")
+        type(self)._initialised = False
+

robot/greengiant.py robocon/brain/greengiant.pyrobot/greengiant.py renamed to robocon/brain/greengiant.py

@@ -10,8 +10,8 @@
 https://stackoverflow.com/a/45799209/5006710
 """
 from smbus2 import SMBus
-import robot.cytron as c
-import robot.greengiant as gg
+import .cytron as c
+import .greengiant as gg
 
 
 def reset():