Merge remote-tracking branch 'origin/develop' into develop

.idea/für Robotototo.iml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="jdk" jdkName="Python 3.6 (spydian)" jdkType="Python SDK" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="TestRunnerService">
+    <option name="projectConfiguration" value="Nosetests" />
+    <option name="PROJECT_TEST_RUNNER" value="Nosetests" />
+  </component>
+</module>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

install.sh

@@ -3,8 +3,8 @@ sudo apt update
 sudo apt upgrade
 sudo apt dist-upgrade
 sudo pip3 install pygame
-sudo apt install python-smbus
-sudo apt install i2c-tools
+sudo apt-get install -y python-smbus
+sudo apt-get install -y i2c-tools
 sudo pip install adafruit-pca9685
 sudo apt install vsftpd
 sudo apt install vlc

lib/controllib.py

@@ -3,7 +3,6 @@ import pygame
 
 
 class Joystick():
-
     def __init__(self, navigator, light, configuration, camera):
         # joystick
         pygame.joystick.init()
@@ -40,13 +39,13 @@ class Joystick():
             button = self.joystick.get_button(i)
             dict['Button {}'.format(i)] = button
 
-            if i == c['LIGHT'] and button == 1 and button not in self.pressed:
+            if i == c['LIGHT'] and button == 1 and i not in self.pressed:
                 self.light.switch()
                 self.pressed.append(i)
-            elif i == c['LIGHT'] and button == 0 and button in self.pressed:
+            elif i == c['LIGHT'] and button == 0 and i in self.pressed:
                 self.pressed.remove(i)
 
-            elif i == c['MUSIC'] and button == 1 and button not in self.pressed:
+            elif i == c['MUSIC'] and button == 1 and i not in self.pressed:
                 if self.splaying:
                     self.sound.stop()
                     self.splaying = False
@@ -54,25 +53,25 @@ class Joystick():
                     self.sound.play()
                     self.splaying = True
                 self.pressed.append(i)
-            elif i == c['MUSIC'] and button == 0 and button in self.pressed:
+            elif i == c['MUSIC'] and button == 0 and i in self.pressed:
                 self.pressed.remove(i)
 
-            elif i == c['VOLIN'] and button == 1 and button not in self.pressed:
+            elif i == c['VOLIN'] and button == 1 and i not in self.pressed:
                 self.sound.set_volume(self.sound.get_volume() + 0.1)
                 self.pressed.append(i)
-            elif i == c['VOLIN'] and button == 0 and button in self.pressed:
+            elif i == c['VOLIN'] and button == 0 and i in self.pressed:
                 self.sound.set_volume(self.sound.get_volume() - 0.1)
                 self.pressed.remove(i)
 
-            elif i == c['VOLDE'] and button == 1 and button not in self.pressed:
+            elif i == c['VOLDE'] and button == 1 and i not in self.pressed:
                 self.pressed.append(i)
-            elif i == c['VOLDE'] and button == 0 and button in self.pressed:
+            elif i == c['VOLDE'] and button == 0 and i in self.pressed:
                 self.pressed.remove(i)
 
-            elif i == c['REC'] and button == 1 and button not in self.pressed:
+            elif i == c['REC'] and button == 1 and i not in self.pressed:
                 self._save_camimg()
                 self.pressed.append(i)
-            elif i == c['REC'] and button == 0 and button in self.pressed:
+            elif i == c['REC'] and button == 0 and i in self.pressed:
                 self.pressed.remove(i)
 
         # hats
@@ -91,6 +90,7 @@ class Joystick():
         return dict
 
     def _save_camimg(self):
+        self.camera.new_frame()
         img = self.camera.image
         if os.path.isfile('image.jpg'):
             count = 0

lib/graphiclib.py

@@ -1,5 +1,6 @@
-import pygame
-import pygame.camera
+import pygame, pygame.camera
+import picamera
+import picamera.array
 from pygame import *
 
 
@@ -54,6 +55,7 @@ class List(pygame.sprite.Sprite):
     def update(self):
         if self.updated:
             height = 0
+            self.image.fill((0, 0, 0))
 
             for key in self.dict.keys():
                 line = '{}: {}'.format(key, self.dict[key])
@@ -69,14 +71,22 @@ class PiCamera(pygame.sprite.Sprite):
     def __init__(self, position, size):
         pygame.sprite.Sprite.__init__(self)
         pygame.camera.init()
-        cam_list = pygame.camera.list_cameras()
-        camera = pygame.camera.Camera(cam_list[0], size)
+        camera = picamera.PiCamera()
+        self.camsize = (size[0], int(size[0]/2))
+        camera.resolution = self.camsize
         self.camera = camera
+        self.output = picamera.array.PiRGBArray(camera, size=self.camsize)
         self.size = size
         self.image = pygame.Surface(self.size)
         self.image.fill((0, 0, 0))
         self.rect = self.image.get_rect()
         self.rect.topleft = position
 
-    def update(self):
-        self.camera.get_image(self.image)
+    def update(self, *args):
+        pass
+
+    def new_frame(self):
+        self.output.truncate(0)
+        self.camera.capture(self.output, 'rgb', resize=self.camsize)
+        s = pygame.transform.rotate(pygame.surfarray.make_surface(self.output.array), 270)
+        self.image.blit(s, (0, 0))

lib/hardwarelib.py

@@ -1,6 +1,7 @@
 from subprocess import call, check_output
 from lib import ultrasonic
 import RPi.GPIO as GPIO
+import time
 
 
 class Navigator():
@@ -44,6 +45,7 @@ class Light:
         self.shine = False
 
     def switch(self):
+        print('light switch {}'.format(self.shine))
         GPIO.output(self.pin, not self.shine)
         self.shine = not self.shine
 
@@ -60,10 +62,14 @@ class Ultrasonic:
     def __init__(self, trigger, echo):
         self.sensor = ultrasonic.Sensor()
         self.sensor.init(trigger, echo)
+        self.time = 0
+        self.distance = 0
 
     def get_distance(self):
-        distance = self.sensor.echo()
-        return distance
+        if (time.time()-self.time)>1:
+            self.distance = self.sensor.echo()
+            self.time = time.time()
+        return self.distance
 
     def __del__(self):
         self.sensor.clean()

main.py

@@ -31,12 +31,15 @@ def main():
     running = True
 
     while running:
+
         clock.tick(25)
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
+                print('quit event')
                 running = False
 
         dict = jstick.handle()
+        dict['Distance'] = ultrasonic.get_distance()
         list.set_dict(dict)
         all_sprites.update()
         update_rects = all_sprites.draw(screen.screen)

update.sh

@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 cd ..
 if [ -d "spydian/" ];then
-    sudo git clone https://bitbucket.org/trivernis/spydian.git spydian_update
+    sudo git clone -b develop https://trivernis@bitbucket.org/trivernis/spydian.git spydian_update
     sudo rsync -a ./spydian_update/ ./spydian/
     sudo rm -r ./spydian_update/
     sudo chmod -R u+rw ./spydian/