Merge pull request #7 from Trivernis/develop

More Cleanup

lib/controllib.py

@@ -21,23 +21,10 @@ class Joystick:
         self.pressed = []
         self.splaying = False
 
-    def handle(self):
-        c = self.configuration
-        nav = self.navigator
-        dict = {}
-        # axes
-        for i in range(self.joystick.get_numaxes()):
-            axis = self.joystick.get_axis(i)
-            dict['Axis {}'.format(i)] = axis
-
-            if i == c['GAS'] and axis > 0.1:
-                nav.forward()
-            elif i == c['GAS'] and axis < 0.1:
-                nav.stop()
-        # buttons
+    def _handle_buttons(self, axis_dict, c):
         for i in range(self.joystick.get_numbuttons()):
             button = self.joystick.get_button(i)
-            dict['Button {}'.format(i)] = button
+            axis_dict['Button {}'.format(i)] = button
 
             if i == c['LIGHT'] and button == 1 and i not in self.pressed:
                 self.light.switch()
@@ -73,11 +60,26 @@ class Joystick:
                 self.pressed.append(i)
             elif i == c['REC'] and button == 0 and i in self.pressed:
                 self.pressed.remove(i)
+        return axis_dict
 
+    def handle(self):
+        c = self.configuration
+        nav = self.navigator
+        axis_dict = {}
+        # axes
+        for i in range(self.joystick.get_numaxes()):
+            axis = self.joystick.get_axis(i)
+            axis_dict['Axis {}'.format(i)] = axis
+
+            if i == c['GAS'] and axis > 0.1:
+                nav.forward()
+            elif i == c['GAS'] and axis < 0.1:
+                nav.stop()
+        axis_dict = self._handle_buttons(axis_dict, c)
         # hats
         for i in range(self.joystick.get_numhats()):
             hat = self.joystick.get_hat(i)
-            dict['Hat {}'.format(i)] = hat
+            axis_dict['Hat {}'.format(i)] = hat
 
             if hat == (-1, 0):
                 nav.left()
@@ -86,8 +88,8 @@ class Joystick:
             else:
                 nav.straight()
 
-        dict['Volume'] = self.sound.get_volume()
-        return dict
+        axis_dict['Volume'] = self.sound.get_volume()
+        return axis_dict
 
     def _save_camimg(self):
         self.camera.new_frame()

lib/graphiclib.py

@@ -2,12 +2,11 @@ import picamera
 import picamera.array
 import pygame
 import pygame.camera
-from pygame import *
 
 
-def render_text_line(image, color, font, text, pos=(0, 0)):
-    render_text = font.render(text, 1, color)
-    image.blit(render_text, pos)
+def render_text_line(rimage, rcolor, rfont, text, pos=(0, 0)):
+    render_text = rfont.render(text, 1, rcolor)
+    rimage.blit(render_text, pos)
 
 
 class Screen:
@@ -20,7 +19,8 @@ class Screen:
         self.screen = pygame.display.set_mode(self.size)
         pygame.display.set_caption(title)
 
-    def refresh(self, rectangles=None):
+    @staticmethod
+    def refresh(rectangles=None):
         pygame.display.update(rectangles)
 
     def toggle_fullscreen(self):
@@ -30,7 +30,7 @@ class Screen:
         else:
             displayinfo = pygame.display.Info()
             fullsize = (displayinfo.current_w, displayinfo.current_h)
-            pygame.display.set_mode(fullsize, FULLSCREEN | DOUBLEBUF)
+            pygame.display.set_mode(fullsize, pygame.FULLSCREEN | pygame.DOUBLEBUF)
 
 
 class List(pygame.sprite.Sprite):
@@ -45,12 +45,12 @@ class List(pygame.sprite.Sprite):
         self.rect = self.image.get_rect()
         self.rect.topleft = position
         self.font = pygame.font.SysFont('Arial', 25)
-        self.dict = {}
+        self.display_dict = {}
         self.updated = True
         self.txtsize = self.font.size('__||__')
 
-    def set_dict(self, dict):
-        self.dict = dict
+    def set_dict(self, dispdict):
+        self.display_dict = dispdict
         self.updated = True
 
     def update(self):
@@ -58,8 +58,8 @@ class List(pygame.sprite.Sprite):
             height = 0
             self.image.fill((0, 0, 0))
 
-            for key in self.dict.keys():
-                line = '{}: {}'.format(key, self.dict[key])
+            for dictkey in self.display_dict.keys():
+                line = '{}: {}'.format(dictkey, self.display_dict[dictkey])
                 render_text_line(self.image, (255, 255, 255), self.font, line, (0, height))
                 height += self.txtsize[1]
 

lib/gyro.py

@@ -17,8 +17,8 @@ def read_byte(reg):
 
 def read_word(reg):
     h = bus.read_byte_data(address, reg)
-    l = bus.read_byte_data(address, reg + 1)
-    value = (h << 8) + l
+    r_data = bus.read_byte_data(address, reg + 1)
+    value = (h << 8) + r_data
     return value
 
 
@@ -44,7 +44,7 @@ def get_x_rotation(x, y, z):
     return math.degrees(radians)
 
 
-def getAllOut():
+def get_all_gyro_data():
     acceleration_xout = read_word_2c(0x3b)
     acceleration_yout = read_word_2c(0x3d)
     acceleration_zout = read_word_2c(0x3f)

lib/hardwarelib.py

@@ -36,7 +36,7 @@ class Navigator:
 
 
 class Light:
-    """Light switched with a relais"""
+    """Light switched with a relays"""
 
     def __init__(self, lightpin):
         self.pin = lightpin
@@ -72,18 +72,23 @@ class Ultrasonic:
         return self.distance
 
     def __del__(self):
-        self.sensor.clean()
+        self.sensor.cleanup()
 
 
 class Temperature:
     """A temperature sensor"""
 
-    def get_Temperature(self):
+    def __init__(self):
+        pass
+
+    @staticmethod
+    def get_temperature():
         outp = check_output(['python', '-u', './lib/thermolib.py']).decode('ISO-8859-1')
         temp, hum = outp.split('|')
         return temp
 
-    def get_Humidity(self):
+    @staticmethod
+    def get_humidity():
         outp = check_output(['python', '-u', './lib/thermolib.py']).decode('ISO-8859-1')
         temp, hum = outp.split('|')
         return hum

lib/motors.py

@@ -17,7 +17,7 @@ class Motor(object):
             GPIO.setup(p, GPIO.OUT)
             GPIO.output(p, 0)
 
-    def __exit__(self, type, value, traceback):
+    def __exit__(self, type_of_motor, value, traceback):
         self.clean_pins_up()
 
     def _set_rpm(self, rpm):
@@ -54,7 +54,7 @@ class Motor(object):
 
     def _move_acw(self, big_steps):
         self.clean_pins_up()
-        for i in range(big_steps):
+        for _ in range(big_steps):
             GPIO.output(self.P1, 0)
             sleep(self._T)
             GPIO.output(self.P3, 1)
@@ -78,7 +78,7 @@ class Motor(object):
         GPIO.output(self.P2, 0)
         GPIO.output(self.P3, 0)
         GPIO.output(self.P4, 0)
-        for i in range(big_steps):
+        for _ in range(big_steps):
             GPIO.output(self.P3, 0)
             sleep(self._T)
             GPIO.output(self.P1, 1)

lib/ultrasonic.py

@@ -5,13 +5,11 @@ GPIO.setmode(GPIO.BOARD)
 
 
 class Sensor(object):
-    def __init__(self):
-        self.TRIGGER = TRIG
-        self.ECHO = ECHO
-        self.lastValues = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
-        self.lastValues = self.lastValues[1:]
-
-    def init(self, TRIG, ECHO):
+    def __init__(self, trigger, echo):
+        self.TRIGGER = trigger
+        self.ECHO = echo
+        self.lastValue = 0
+        self.lastValuesCount = 1
         GPIO.setup(self.TRIGGER, GPIO.OUT)
         GPIO.setup(self.ECHO, GPIO.IN)
         GPIO.output(self.TRIGGER, False)
@@ -25,12 +23,10 @@ class Sensor(object):
         abs_start = time.time()
 
         while GPIO.input(self.ECHO) == 0 and (time.time() - abs_start) < 0.02:
-            # print(time.time()-abs_start)
             pass
         pulse_start = time.time()
 
         while GPIO.input(self.ECHO) == 1 and (time.time() - abs_start) < 0.02:
-            # print(time.time()-abs_start)
             pass
         pulse_end = time.time()
 
@@ -38,11 +34,11 @@ class Sensor(object):
 
         distance = pulse_duration * 17150
         distance = round(distance, 2)
-        self.lastValues.append(distance)
-        distance = round((sum(self.lastValues)) / (len(self.lastValues)), 2)
-        # print(self.lastValues)
-        # print("Distance: {}".format(distance))
+        lastc = self.lastValuesCount
+        self.lastValue = (1/lastc) * distance + ((lastc-1)/lastc) * self.lastValue
+        distance = self.lastValue
         return distance
 
-    def clean(self):
+    @staticmethod
+    def cleanup():
         GPIO.cleanup()

main.py

@@ -24,8 +24,8 @@ def main():
     # pygame stuff
     screen = graphiclib.Screen(size=(1000, 1000))
     all_sprites = pygame.sprite.RenderUpdates()
-    list = graphiclib.List((0, 0), (500, 1000))
-    all_sprites.add(list)
+    glist = graphiclib.List((0, 0), (500, 1000))
+    all_sprites.add(glist)
     all_sprites.add(camera)
     clock = pygame.time.Clock()
     running = True
@@ -38,9 +38,9 @@ def main():
                 print('quit event')
                 running = False
 
-        dict = jstick.handle()
-        dict['Distance'] = ultrasonic.get_distance()
-        list.set_dict(dict)
+        gdict = jstick.handle()
+        gdict['Distance'] = ultrasonic.get_distance()
+        glist.set_dict(gdict)
         all_sprites.update()
         update_rects = all_sprites.draw(screen.screen)
         screen.refresh(rectangles=update_rects)

testscripts/ultrasonic_test.py

@@ -4,4 +4,4 @@ sensor = ultrasonic.Sensor()
 sensor.init(11, 7)
 print('Beginn der Messung')
 print(sensor.echo())
-sensor.clean()
+sensor.cleanup()