diff --git a/Dockerfile b/Dockerfile
index 4df32f8fed937557c50fac4a586ece9d8b489dce..9d6727da7a843f83de6c3aa2ac2b7674245a4d68 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM python:3.8 AS builder
+FROM python:3.5 AS builder
ARG TWINE_USERNAME
ARG TWINE_PASSWORD
@@ -12,7 +12,7 @@ RUN pip install --no-cache-dir twine
ADD . /usr/src/app
-RUN cd /usr/src/app/gen && \
+RUN cd /usr/src/app/lib && \
./publish.sh
diff --git a/Dockerfile-Patchset-Txt4 b/Dockerfile-Patchset-Txt4
new file mode 100644
index 0000000000000000000000000000000000000000..f458393e1b7b8e6d0380a5819d1e301687ba2bb9
--- /dev/null
+++ b/Dockerfile-Patchset-Txt4
@@ -0,0 +1,13 @@
+FROM python:3.9.16
+
+ENV IP_ADDRESS="192.168.6.225"
+
+WORKDIR /usr/src/app
+
+RUN pip3 install --no-cache-dir twine fabric decorator
+
+ADD patchset/txt4/docker-entrypoint.sh /docker-entrypoint.sh
+ADD . /usr/src/app
+
+CMD /docker-entrypoint.sh
+
diff --git a/VERSION b/VERSION
deleted file mode 100644
index 48411e30bcc7c72d2a5602843023ba901a2da7c0..0000000000000000000000000000000000000000
--- a/VERSION
+++ /dev/null
@@ -1,8 +0,0 @@
-MAJOR=6
-MINOR=0
-PATCH=11
-COMMITS_AHEAD=
-COMMIT_HASH=885a135
-VERSION_NUM=6.0.11
-DEV_VERSION_NUM=6.0.11.
-FULL_VERSION_NUM=6.0.11.-885a135
diff --git a/createVersionNr.sh b/createVersionNr.sh
index 13370915dd755c2876ad4152422be85bfaaee966..0dea5a0ba337da9efee1e321268248b21abafc3a 100755
--- a/createVersionNr.sh
+++ b/createVersionNr.sh
@@ -41,15 +41,15 @@ DEV_VERSION_NUM=$dev_version_num
FULL_VERSION_NUM=$full_version_num
EOM
-cat $(pwd)/gen/setup.py | sed "/version=/ s/=.*/='${version_num}',/" > $(pwd)/gen/setup.new
-mv $(pwd)/gen/setup.new $(pwd)/gen/setup.py
+cat $(pwd)/lib/setup.py | sed "/version=/ s/=.*/='${version_num}',/" > $(pwd)/lib/setup.new
+mv $(pwd)/lib/setup.new $(pwd)/lib/setup.py
-cat $(pwd)/gen/fischertechnik/__init__.py | sed "/__version__ =/ s/= .*/= '${version_num}'/" > $(pwd)/gen/fischertechnik/__init__.new
-mv $(pwd)/gen/fischertechnik/__init__.new $(pwd)/gen/fischertechnik/__init__.py
+cat $(pwd)/lib/fischertechnik/__init__.py | sed "/__version__ =/ s/= .*/= '${version_num}'/" > $(pwd)/lib/fischertechnik/__init__.new
+mv $(pwd)/lib/fischertechnik/__init__.new $(pwd)/lib/fischertechnik/__init__.py
if [[ -z "$pre_release" ]]; then
echo "Commit main release to stable branch with jenkins user"
- git add $(pwd)/gen/setup.py $(pwd)/gen/fischertechnik/__init__.py $(pwd)/VERSION
+ git add $(pwd)/lib/setup.py $(pwd)/lib/fischertechnik/__init__.py $(pwd)/VERSION
git commit -am "release $version_num"
git push --force origin HEAD:stable
fi
diff --git a/fabric/txt/deploy/colorized_output.py b/fabric/txt/deploy/colorized_output.py
deleted file mode 100755
index cb1305c65172553a34aa9ad4539158cfaf027e88..0000000000000000000000000000000000000000
--- a/fabric/txt/deploy/colorized_output.py
+++ /dev/null
@@ -1,27 +0,0 @@
-class Color:
- HEADER = '\033[95m'
- OKBLUE = '\033[94m'
- OKGREEN = '\033[92m'
- WARNING = '\033[93m'
- FAIL = '\033[91m'
- ENDC = '\033[0m'
- BOLD = '\033[1m'
- UNDERLINE = '\033[4m'
-
-def print_colored(string, color):
- print(color + string + Color.ENDC)
-
-def print_bold(string):
- print_colored(string, Color.BOLD)
-
-def print_warning(string):
- print_colored(string, Color.WARNING)
-
-def print_success(string):
- print_colored(string, Color.OKGREEN)
-
-def print_info(string):
- print_colored(string, Color.OKBLUE)
-
-def print_error(string):
- print_colored(string, Color.FAIL)
\ No newline at end of file
diff --git a/fabric/txt/deploy/deployment.py b/fabric/txt/deploy/deployment.py
deleted file mode 100644
index 7a65e23f8cd1a6711026b9a0fc5726b80af146f2..0000000000000000000000000000000000000000
--- a/fabric/txt/deploy/deployment.py
+++ /dev/null
@@ -1,40 +0,0 @@
-import os
-
-from deploy import colorized_output as co
-from deploy.mounts import Mounts
-from deploy.python_environment import PythonEnvironment
-from deploy.repository import Repository
-
-from fabric import Connection
-
-USER = 'ftc'
-ROOT = 'root'
-
-
-class Deployment:
- def __init__(self, host):
- self.host = host
- self.con = Connection(host = host, user = USER)
-
- def copy_ssh_key(self):
- co.print_warning('Copying SSH credentials (scp)...')
- os.system("scp $HOME/.ssh/id_rsa.pub {0}@{1}:/tmp/credentials.pub".format(ROOT, self.host))
- co.print_warning('Establishing SSH connection (mkdir, chmod, mv)...')
- os.system("ssh {0}@{1} 'mkdir -p /home/ftc/.ssh && chmod 755 /tmp/credentials.pub &&"
- "mv /tmp/credentials.pub /home/ftc/.ssh/authorized_keys'".format(ROOT, self.host))
-
- def check_mounts(self):
- mnts = Mounts(self.con)
- mnts.check_mounts()
-
- def check_pip_and_libraries(self):
- pyenv = PythonEnvironment(self.con)
- pyenv.check_pip()
- pyenv.check_pip_libraries()
- pyenv.add_ftc_path()
-
- def run_tests(self):
- repo = Repository(self.con)
- repo.uploadFolder('../../tests')
- co.print_info("Starting tests...")
- self.con.run("python3 /home/ftc/tests/txt/main.py")
diff --git a/fabric/txt/deploy/mounts.py b/fabric/txt/deploy/mounts.py
deleted file mode 100755
index 0b962939a384a545635f928336984f06a9eea378..0000000000000000000000000000000000000000
--- a/fabric/txt/deploy/mounts.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from deploy import colorized_output as co
-
-class Mounts:
- MOUNTED_SUDO = '/home/ftc/mounts/usr/bin/sudo'
-
- def __init__(self, connection):
- self.connection = connection
- self.mounts = self.connection.run('cat /etc/mtab').stdout.strip().split()
-
- def create_mounts(self):
- co.print_info('Copying files to local mount folders')
- self.copy_folder_to_mounts('/usr/lib/python3.7/.', '~/mounts/python3.7')
- self.copy_folder_to_mounts('/usr/bin', '~/mounts/usr')
- self.chown_mounted_sudo()
-
- def copy_folder_to_mounts(self, src, dst):
- self.connection.run("mkdir -p {0}".format(dst))
- self.connection.run("cp -r {0} {1}".format(src, dst))
-
- def chown_mounted_sudo(self):
- self.connection.sudo("chown root:root {0}".format(Mounts.MOUNTED_SUDO))
- self.connection.sudo("chmod 4755 {0}".format(Mounts.MOUNTED_SUDO))
-
- def check_mounts(self):
- if not self.connection.run('ls mounts', warn=True):
- self.create_mounts()
- self.check_mount('/usr/lib/python3.7', '/home/ftc/mounts/python3.7')
- self.check_mount('/usr/bin', '/home/ftc/mounts/usr/bin')
-
- def check_mount(self, mnt, mnt_dir):
- co.print_info("Checking mount {0}".format(mnt))
- if mnt in self.mounts:
- co.print_success("--> Already mounted")
- else:
- co.print_warning("--> Not mounted. Please authorize sudo on txt to mount it")
- self.connection.sudo("mount {0} {1}".format(mnt_dir, mnt))
- co.print_success("--> Sucessfully mounted")
\ No newline at end of file
diff --git a/fabric/txt/deploy/python_environment.py b/fabric/txt/deploy/python_environment.py
deleted file mode 100755
index a7fc54212e1df4ba6d24b6326aaa98ad133b653f..0000000000000000000000000000000000000000
--- a/fabric/txt/deploy/python_environment.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from deploy import colorized_output as co
-import os
-
-class PythonEnvironment:
- def __init__(self, connection):
- self.connection = connection
-
- def add_ftc_path(self):
- co.print_info('Add /opt/ftc to PYTHONPATH')
- self.connection.run('echo "export PYTHONPATH=/opt/ftc" > /home/ftc/.profile', warn=True)
- co.print_success('--> Important for ui applications')
-
- def check_pip(self):
- co.print_info("Checking pip-installation")
- if self.connection.run('ls /usr/bin | grep pip3.7', warn=True):
- co.print_success('--> Already installed')
- else:
- co.print_warning('--> Not installed. Starting installation of pip')
- self.install_pip('~/tmp')
- co.print_success('--> Successfully installed pip')
-
- def install_pip(self, tmp_dir):
- self.connection.run("mkdir -p {0}".format(tmp_dir))
- self.connection.run("wget https://bootstrap.pypa.io/get-pip.py -O/home/ftc/tmp/get-pip.py".format(tmp_dir))
- self.connection.run("python {0}/get-pip.py".format(tmp_dir))
- self.connection.run("rm -rf {0}".format(tmp_dir))
-
- def check_pip_libraries(self):
- co.print_info('Checking pip libraries')
- requirements = self.get_requirements()
- pip_list = self.get_pip_list()
- for requirement in requirements:
- search = requirement.strip().replace(' ', '')
- self.check_pip_library(pip_list, search)
-
- def check_pip_library(self, dependencies, dependency):
- co.print_info("Checking {0}:".format(dependency))
- if dependency in dependencies:
- co.print_success("--> Already installed")
- else:
- co.print_warning("--> Not installed. Starting installation")
- if dependency.find('ft-') == -1 and dependency.find('ftrobopy') == -1:
- self.connection.run("pip install {0}".format(dependency))
- else:
- if dependency.find('ftrobopy') != -1:
- co.print_warning("--> Removing preinstalled ftrobopy.")
- self.connection.run("rm -rf /usr/lib/python3.7/ftrobopy /usr/lib/python3.7/ftrobopy-1.80-py3.7.egg-info /usr/lib/python3.7/ftrobopy.pyc")
- co.print_info("Downloading from custom repository")
- co.print_info("Enter credentials if needed")
- self.connection.run("pip install --index-url https://{0}:{1}@update.fischertechnik-cloud.com/repository/ft-txt-lib/simple/ --no-deps {2}".format(os.getenv('FT_USERNAME'), os.getenv('FT_PASSWORD'), dependency))
- co.print_success("--> Successfully installed")
-
- def get_pip_list(self):
- return self.connection.run('pip list --format=freeze').stdout.strip().split()
-
- def get_requirements(self):
- fd = open('requirements.txt', 'r')
- return fd.readlines()
diff --git a/fabric/txt/deploy/repository.py b/fabric/txt/deploy/repository.py
deleted file mode 100755
index 632c2e8bfb47745bbf7af39bb5bf9f5fadbfc791..0000000000000000000000000000000000000000
--- a/fabric/txt/deploy/repository.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import os
-from deploy import colorized_output as co
-
-class Repository:
- def __init__(self, connection):
- self.connection = connection
-
- def uploadFolder(self, folder):
- tar_folder = "{0}.tar".format(folder.split('/')[-1])
- os.system("tar -cf {0} {1}/".format(tar_folder, folder))
- self.connection.put("{0}".format(tar_folder))
- self.connection.run("tar -xf {0}".format(tar_folder))
- self.connection.run("rm {0}".format(tar_folder))
- os.system("rm {0}".format(tar_folder))
-
- def uploadAppFolder(self, folder):
- self.uploadFolder(folder)
- co.print_info('UploadAppFolder ' + folder)
- self.connection.run("mkdir -p apps", warn=True)
- self.connection.run("rm -rf apps/{0}/".format(folder), warn=True)
- self.connection.run("mv -f {0} apps/".format(folder))
- self.connection.run("chmod +x apps/{0}/start.py".format(folder))
- self.connection.run("python apps/{0}/refresh.py".format(folder))
-
- def replace_ip(self, ip):
- self.connection.run("cd txtapi/txtapi/openapi && sed -i 's/^host:.*$/host: \"{0}:8080\"/g' openapi.yaml".format(ip))
-
- def replace_env(self, env_file):
- self.connection.run("mv txtapi/txtapi/environment/{0} txtapi/txtapi/environment/environment.py".format(env_file))
\ No newline at end of file
diff --git a/fabric/txt/fabfile.py b/fabric/txt/fabfile.py
deleted file mode 100644
index 06df762e1bb83c8bb74464f1d51dbc2443e471b0..0000000000000000000000000000000000000000
--- a/fabric/txt/fabfile.py
+++ /dev/null
@@ -1,74 +0,0 @@
-import os
-
-from deploy import colorized_output as co
-from deploy.deployment import Deployment
-
-from invoke import task
-
-
-def set_ctx(ctx, host):
- deployment = Deployment(host)
- ctx.update({'deploy': deployment})
-
-
-@task(help={'host': "IP of the txt-controller"})
-def copy_ssh_key(ctx, host):
- """
- copy the own ssh-key to the txt-controller
- """
- set_ctx(ctx, host)
- ctx.deploy.copy_ssh_key()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def mount(ctx, host):
- """
- mounts the needed directories on the txt-controller
- """
- set_ctx(ctx, host)
- ctx.deploy.check_mounts()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def install_python(ctx, host):
- """
- installs pip and dependencies on the txt-controller
- """
- set_ctx(ctx, host)
- ctx.deploy.check_pip_and_libraries()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def run_tests(ctx, host):
- """
- Runs the tests
- """
- set_ctx(ctx, host)
- ctx.deploy.run_tests()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def deploySSH(ctx, host):
- """
- Deploy ssh credentials
- """
- set_ctx(ctx, host)
- co.print_info("Step 1/1 >> Copying SSH-Key to TXT")
- copy_ssh_key(ctx, host)
- co.print_success('Deployment successfully finished!')
-
-
-@task(help={'host': "IP of the txt-controller"})
-def deploy(ctx, host):
- """
- Setup and deploy controllerlib
- """
- set_ctx(ctx, host)
- co.print_info("Step 1/3 >> Creating mounts")
- mount(ctx, host)
- co.print_info("Step 2/3 >> Installing pip and dependencies")
- install_python(ctx, host)
- co.print_success('Deployment successfully finished!')
- set_ctx(ctx, host)
- co.print_info("Step 3/3 >> Copying 'tests' folder...")
- run_tests(ctx, host)
diff --git a/fabric/txt/requirements.txt b/fabric/txt/requirements.txt
deleted file mode 100644
index cb98873f5f63163d438f863579e2c66969bba86e..0000000000000000000000000000000000000000
--- a/fabric/txt/requirements.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-ft-controllerlib==1.0.37.5.sschulze
-ftrobopy==1.92
-imutils==0.5.3
-bme680==1.0.5
diff --git a/fabric/txt4/deploy/colorized_output.py b/fabric/txt4/deploy/colorized_output.py
deleted file mode 100755
index cb1305c65172553a34aa9ad4539158cfaf027e88..0000000000000000000000000000000000000000
--- a/fabric/txt4/deploy/colorized_output.py
+++ /dev/null
@@ -1,27 +0,0 @@
-class Color:
- HEADER = '\033[95m'
- OKBLUE = '\033[94m'
- OKGREEN = '\033[92m'
- WARNING = '\033[93m'
- FAIL = '\033[91m'
- ENDC = '\033[0m'
- BOLD = '\033[1m'
- UNDERLINE = '\033[4m'
-
-def print_colored(string, color):
- print(color + string + Color.ENDC)
-
-def print_bold(string):
- print_colored(string, Color.BOLD)
-
-def print_warning(string):
- print_colored(string, Color.WARNING)
-
-def print_success(string):
- print_colored(string, Color.OKGREEN)
-
-def print_info(string):
- print_colored(string, Color.OKBLUE)
-
-def print_error(string):
- print_colored(string, Color.FAIL)
\ No newline at end of file
diff --git a/fabric/txt4/deploy/deployment.py b/fabric/txt4/deploy/deployment.py
deleted file mode 100644
index 08e8e702854d37ab425d2dce31606fb9d128239c..0000000000000000000000000000000000000000
--- a/fabric/txt4/deploy/deployment.py
+++ /dev/null
@@ -1,38 +0,0 @@
-import os
-
-from deploy import colorized_output as co
-from fabric import Connection
-from invoke import env
-
-USER = 'root'
-PASSWORD = 'root'
-
-
-class Deployment:
- def __init__(self, host):
- self.host = host
- env.key_filename = "~/.ssh/id_rsa"
- self.connection = Connection(host=host, user=USER, connect_kwargs={
- "password": PASSWORD
- })
-
- def clean_up(self):
- self.connection.run("rm -rf /tests")
- os.system("cd ../../gen && rm -rf dist build ft_git ft-controllerlib.egg-info")
-
- def build_package(self):
- os.system('cd ../../gen && ./build.sh')
-
- def upload_package(self):
- os.system(
- "scp ../../gen/dist/ft-controllerlib-*.tar.gz {0}@{1}:/ft-controllerlib.tar.gz".format(USER, self.host))
-
- def install_package(self):
- self.connection.run("pip3 install -I /ft-controllerlib.tar.gz")
-
- def upload_tests(self, folder):
- os.system("scp -r {0} {1}@{2}:/tests".format(folder, USER, self.host))
-
- def run_tests(self):
- co.print_info("Starting tests...")
- self.connection.run("cd /tests/txt4 && python3 -m unittest discover -p '*Test.py' -v")
diff --git a/fabric/txt4/fabfile.py b/fabric/txt4/fabfile.py
deleted file mode 100644
index eb7300173ff0999fe2aa16b4152e1b877b4693b1..0000000000000000000000000000000000000000
--- a/fabric/txt4/fabfile.py
+++ /dev/null
@@ -1,61 +0,0 @@
-from deploy import colorized_output as co
-from deploy.deployment import Deployment
-from invoke import task
-
-
-def set_ctx(ctx, host):
- deployment = Deployment(host)
- ctx.update({'deploy': deployment})
-
-@task(help={'host': "IP of the txt-controller"})
-def build_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.build_package()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def upload_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.upload_package()
-
-@task(help={'host': "IP of the txt-controller"})
-def install_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.install_package()
-
-@task(help={'host': "IP of the txt-controller"})
-def upload_tests(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.upload_tests("../../tests")
-
-@task(help={'host': "IP of the txt-controller"})
-def run_tests(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.run_tests()
-
-@task(help={'host': "IP of the txt-controller"})
-def clean_up(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.clean_up()
-
-
-@task(help={'host': "IP of the txt-controller"})
-def deploy(ctx, host):
-
- """
- Setup and deploy controllerlib
- """
- set_ctx(ctx, host)
- set_ctx(ctx, host)
- co.print_info("Step 1/6 >> Clean up")
- clean_up(ctx, host)
- co.print_info("Step 2/6 >> Build Package")
- build_package(ctx, host)
- co.print_info("Step 3/6 >> Upload Package")
- upload_package(ctx, host)
- co.print_info("Step 4/6 >> Install Package")
- install_package(ctx, host)
- co.print_info("Step 5/6 >> Upload Tests")
- upload_tests(ctx, host)
- co.print_info("Step 6/6 >> Run Tests")
- run_tests(ctx, host)
diff --git a/gen/test_combined_sensor.py b/gen/test_combined_sensor.py
deleted file mode 100644
index 3648061456ea75ee227971972e8d9e49025e1ca1..0000000000000000000000000000000000000000
--- a/gen/test_combined_sensor.py
+++ /dev/null
@@ -1,43 +0,0 @@
-from fischertechnik.factories import controller_factory, input_factory, i2c_factory
-import os
-from time import sleep
-
-controller = controller_factory.create_graphical_controller()
-combined_sensor = i2c_factory.create_combined_sensor(controller, 0)
-
-filehandle = open('data.csv', 'w')
-filehandle.truncate(0)
-filehandle.close
-
-i = 0
-while i < 500:
- x_acceleration = combined_sensor.get_acceleration_x()
- y_acceleration = combined_sensor.get_acceleration_y()
- z_acceleration = combined_sensor.get_acceleration_z()
-
- x_rotation = combined_sensor.get_rotation_x()
- y_rotation = combined_sensor.get_rotation_y()
- z_rotation = combined_sensor.get_rotation_z()
-
- magnetic_field_x = combined_sensor.get_magnetic_field_x()
- magnetic_field_y = combined_sensor.get_magnetic_field_y()
- magnetic_field_z = combined_sensor.get_magnetic_field_z()
-
- print('X acceleration:', x_acceleration)
- print('Y acceleration:', y_acceleration)
- print('Z acceleration:', z_acceleration)
- print()
- print('X rotation:', x_rotation)
- print('Y rotation:', y_rotation)
- print('Z rotation:', z_rotation)
- print()
- print('Magnetic field in X direction:', magnetic_field_x)
- print('Magnetic field in Y direction:', magnetic_field_y)
- print('Magnetic field in Z direction:', magnetic_field_z)
-
- with open('data.csv', 'a') as filehandle:
- filehandle.write('{},{},{},{},{},{},{},{},{}\n'.format(x_acceleration, y_acceleration, z_acceleration, x_rotation, y_rotation, z_rotation, magnetic_field_x, magnetic_field_y, magnetic_field_z))
-
- sleep(1)
- os.system('clear')
- i += 1
diff --git a/gen/test_environment_sensor.py b/gen/test_environment_sensor.py
deleted file mode 100644
index 54797e4d0c914551b860b06012941ddc41b4b2da..0000000000000000000000000000000000000000
--- a/gen/test_environment_sensor.py
+++ /dev/null
@@ -1,60 +0,0 @@
-from fischertechnik.factories import controller_factory, input_factory, i2c_factory
-import os
-from time import sleep
-
-controller = controller_factory.create_graphical_controller()
-environment_sensor = i2c_factory.create_environment_sensor(controller, 0)
-
-# test needs_calibration()
-needs_calibration = environment_sensor.needs_calibration()
-
-if needs_calibration:
- print('Sensor needs calibration.')
-else:
- print('Sensor is calibrated')
-
-assert needs_calibration == True, 'Expected EnvironmentSensor.needs_calibration() to be True after initialization, but was {}'.format(needs_calibration)
-
-# test get_accuracy()
-accuracy = environment_sensor.get_accuracy()
-print('Accuracy: {}'.format(accuracy))
-assert accuracy == 0, 'Expected EnvironmentSensor.get_accuracy() to be 0 after initialization, but was {}'.format(accuracy)
-
-i = 0
-while i < 500:
- # test get_temperature()
- print('Temperature:', environment_sensor.get_temperature(), '°C')
- # test get_humidity()
- print('relative Humidity:', environment_sensor.get_humidity(), '%')
- # test get_pressure()
- print('Air pressure:', environment_sensor.get_pressure(), 'hPa')
-
- # test get_indoor_air_quality_as_number()
- air_quality = environment_sensor.get_indoor_air_quality_as_number()
- assert air_quality >= 0 and air_quality <= 500, 'Air quality should be within range(0, 500)'
-
- # test needs_calibration()
- needs_calibration = environment_sensor.needs_calibration()
-
- if needs_calibration:
- print('Sensor needs calibration.')
- else:
- print('Sensor is calibrated')
-
- assert needs_calibration == False, 'Expected sensor to be automatically calibrated after calling get_indoor_air_quality() for the first time, but it wasn\'t.'
-
- # test get_accuracy()
- accuracy = environment_sensor.get_accuracy()
- print('Accuracy: {}'.format(accuracy))
- assert accuracy == 3, 'Expected accuracy to be 3 (calibrated) after having called get_indoor_air_quality_*'
-
- # test get_indoor_air_quality_as_text()
- air_quality_text = environment_sensor.get_indoor_air_quality_as_text()
- assert air_quality_text in ('Good', 'Moderate', 'Not so good', 'Bad', 'Worse than Bad', 'Very bad')
- assert air_quality_text != 'Unknown'
-
- print('The air quality is', air_quality, 'which is', air_quality_text)
-
- sleep(1)
- os.system('clear')
- i += 1
diff --git a/gen/tests/ColorSensorTest.py b/gen/tests/ColorSensorTest.py
deleted file mode 100644
index 8bc6fa649f32aa0c6d9fc2003c4f8d60ae80657c..0000000000000000000000000000000000000000
--- a/gen/tests/ColorSensorTest.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_color_sensor(c,8)
-
-while True:
- color = b.get_color()
- print("Color", color)
- time.sleep(1)
-
diff --git a/gen/tests/DiscoveryTest.py b/gen/tests/DiscoveryTest.py
deleted file mode 100644
index 2121b5e01f6252092a7f01637d1720ac9da34b4b..0000000000000000000000000000000000000000
--- a/gen/tests/DiscoveryTest.py
+++ /dev/null
@@ -1,17 +0,0 @@
-import fischertechnik.factories as f
-
-c = f.controller_factory.create_graphical_controller()
-list = f.controller_factory.get_controller_info_list(c)
-
-for b in list:
- print("Controller :", b.get_name())
-
-if len(list) <= 1:
- exit()
-
-print("Check remote controller")
-
-c2 = f.controller_factory.create_graphical_controller_from_info(c, list[1])
-
-print("Remote controller access is OK")
-
diff --git a/gen/tests/EncodermotorSync2Test.py b/gen/tests/EncodermotorSync2Test.py
deleted file mode 100644
index 3cb62d74672138e480957a4a1c81d4818e194105..0000000000000000000000000000000000000000
--- a/gen/tests/EncodermotorSync2Test.py
+++ /dev/null
@@ -1,27 +0,0 @@
-import time
-import fischertechnik.factories as f
-
-c = f.controller_factory.create_graphical_controller()
-b1 = f.motor_factory.create_encodermotor(c,1)
-b2 = f.motor_factory.create_encodermotor(c,2)
-
-b1.stop()
-b2.stop()
-
-b1.set_speed(100)
-b2.set_speed(100)
-
-b1.set_distance(100, b2)
-while b1.is_running():
- print("Speed", b1.get_speed())
- print("Distance", b1.get_distance())
- time.sleep(0.1)
-
-b1.set_speed(-100)
-b2.set_speed(-100)
-
-b1.set_distance(100, b2)
-while b1.is_running():
- print("Speed", b1.get_speed())
- print("Distance", b1.get_distance())
- time.sleep(0.1)
diff --git a/gen/tests/EncodermotorSync4Test.py b/gen/tests/EncodermotorSync4Test.py
deleted file mode 100644
index deea344bb270c724668955d1bd6cf49b1a21429b..0000000000000000000000000000000000000000
--- a/gen/tests/EncodermotorSync4Test.py
+++ /dev/null
@@ -1,35 +0,0 @@
-import time
-import fischertechnik.factories as f
-
-c = f.controller_factory.create_graphical_controller()
-b1 = f.motor_factory.create_encodermotor(c,1)
-b2 = f.motor_factory.create_encodermotor(c,2)
-b3 = f.motor_factory.create_encodermotor(c,3)
-b4 = f.motor_factory.create_encodermotor(c,4)
-
-b1.stop()
-b2.stop()
-b3.stop()
-b4.stop()
-
-b1.set_speed(100)
-b2.set_speed(100)
-b3.set_speed(100)
-b4.set_speed(100)
-
-b1.set_distance(100, b2, b3, b4)
-while b1.is_running():
- print("Speed", b1.get_speed())
- print("Distance", b1.get_distance())
- time.sleep(0.1)
-
-b1.set_speed(-100)
-b2.set_speed(-100)
-b3.set_speed(-100)
-b4.set_speed(-100)
-
-b1.set_distance(100, b2, b3, b4)
-while b1.is_running():
- print("Speed", b1.get_speed())
- print("Distance", b1.get_distance())
- time.sleep(0.1)
diff --git a/gen/tests/EncodermotorTest.py b/gen/tests/EncodermotorTest.py
deleted file mode 100644
index 39c7f1b357ee4ae08069aac14ea22cd05f570599..0000000000000000000000000000000000000000
--- a/gen/tests/EncodermotorTest.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.motor_factory.create_encodermotor(c,1)
-
-b.stop()
-print("Stop speed", b.get_speed())
-
-# Use one direction
-b.set_speed(100)
-b.set_distance(100)
-b.start_sync()
-
-while b.is_running():
- print("Speed", b.get_speed())
- print("Distance", b.get_distance())
- time.sleep(0.1)
-
-print("Distance", b.get_distance())
-
-b.stop()
-b.set_speed(-100)
-b.set_distance(100)
-b.start_sync()
-
-while b.is_running():
- print("Speed", b.get_speed())
- print("Distance", b.get_distance())
- time.sleep(0.1)
-
-print("Distance", b.get_distance())
-
diff --git a/gen/tests/LampTest.py b/gen/tests/LampTest.py
deleted file mode 100644
index d64ff62194be1c6ec62986f6198d55de45b0898b..0000000000000000000000000000000000000000
--- a/gen/tests/LampTest.py
+++ /dev/null
@@ -1,16 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.output_factory.create_lamp(c,7)
-
-b.set_brightness(0)
-
-while True:
- if b.is_on():
- print("Lamp is on")
- if b.is_off():
- print("Lamp is off")
- b.set_brightness(b.get_brightness() ^ 512)
- time.sleep(1)
-
diff --git a/gen/tests/MagneticValveTest.py b/gen/tests/MagneticValveTest.py
deleted file mode 100644
index d0f2e295028fcd60cef5716cf4237811d14353bc..0000000000000000000000000000000000000000
--- a/gen/tests/MagneticValveTest.py
+++ /dev/null
@@ -1,18 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.output_factory.create_magnetic_valve(c,7)
-
-b.off()
-
-while True:
- if b.is_on():
- print("MV is on")
- if b.is_off():
- print("MV is off")
- b.on()
- else:
- b.off()
- time.sleep(1)
-
diff --git a/gen/tests/MiniSwitchTest.py b/gen/tests/MiniSwitchTest.py
deleted file mode 100644
index 320dc9eb8f62049c2d7e373604a5448b744e0de1..0000000000000000000000000000000000000000
--- a/gen/tests/MiniSwitchTest.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import fischertechnik.factories as f
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_mini_switch(c,8)
-
-while True:
- if b.get_state() == 1:
- print("Button gedrueckt")
\ No newline at end of file
diff --git a/gen/tests/MotorCounterTest.py b/gen/tests/MotorCounterTest.py
deleted file mode 100644
index ce1f69ec33bce000678555eeb1367bea22e2c252..0000000000000000000000000000000000000000
--- a/gen/tests/MotorCounterTest.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.motor_factory.create_encodermotor(c,1)
-d = f.counter_factory.create_encodermotor_counter(c,1)
-d.set_motor(b)
-
-b.stop()
-print("Stop speed", b.get_speed())
-
-# Use one direction
-b.set_speed(100)
-b.set_distance(100)
-
-while b.is_running():
- print("Speed", b.get_speed())
- print("Distance", d.get_distance())
- time.sleep(0.1)
-
-print("Distance", d.get_distance())
-
-b.stop()
-b.set_speed(-100)
-b.set_distance(100)
-
-while b.is_running():
- print("Speed", b.get_speed())
- print("Distance", d.get_distance())
- time.sleep(0.1)
-
-print("Distance", d.get_distance())
-
diff --git a/gen/tests/MotorTest.py b/gen/tests/MotorTest.py
deleted file mode 100644
index 256e27b5db8a56aad573cad11143e51f1e82e226..0000000000000000000000000000000000000000
--- a/gen/tests/MotorTest.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.motor_factory.create_motor(c,1)
-
-b.stop()
-print("Stop speed", b.get_speed(), b.is_running())
-
-# Use one direction
-b.set_speed(100)
-print("Speed100", b.get_speed(), b.is_running())
-time.sleep(1)
-b.set_speed(0)
-print("Speed0", b.get_speed(), b.is_running())
-time.sleep(1)
-b.set_speed(-100)
-print("Speed-100", b.get_speed(), b.is_running())
-time.sleep(1)
-b.stop()
-
-
diff --git a/gen/tests/NTCResistorTest.py b/gen/tests/NTCResistorTest.py
deleted file mode 100644
index 3142897031f89f8fde360daed861d2c180d3ab37..0000000000000000000000000000000000000000
--- a/gen/tests/NTCResistorTest.py
+++ /dev/null
@@ -1,10 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_ntc_resistor(c, 1)
-
-while True:
- print(b.get_temperature())
- time.sleep(1)
-
diff --git a/gen/tests/PhotoResistorTest.py b/gen/tests/PhotoResistorTest.py
deleted file mode 100644
index 2c6ced27b4d3f582a53e1d5fddba36119ff745cb..0000000000000000000000000000000000000000
--- a/gen/tests/PhotoResistorTest.py
+++ /dev/null
@@ -1,12 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_photo_resistor(c, 2)
-
-print(b.get_resistance())
-time.sleep(1)
-print(b.get_resistance())
-time.sleep(1)
-print(b.get_resistance())
-
diff --git a/gen/tests/PhotoTransistorTest.py b/gen/tests/PhotoTransistorTest.py
deleted file mode 100644
index d8e635d1a4acd1603dfdecb85dc96d3a7c99fdde..0000000000000000000000000000000000000000
--- a/gen/tests/PhotoTransistorTest.py
+++ /dev/null
@@ -1,10 +0,0 @@
-import fischertechnik.factories as f
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_photo_transistor(c,8)
-
-while True:
- if b.get_state() == 1:
- print("Sensor on" )
- else:
- print("Sensor off" )
\ No newline at end of file
diff --git a/gen/tests/README b/gen/tests/README
deleted file mode 100644
index 36006e22220683aae0f4c0da704402f2faf40ee4..0000000000000000000000000000000000000000
--- a/gen/tests/README
+++ /dev/null
@@ -1,11 +0,0 @@
-These tests can be used both for current and already installed package verification.
-
-For new sources Run tests from the directory above (gen) with the -m option, for example:
-
-python3 -m tests.DiscoveryTest
-
-Run immediately in the tests directory to verify the installed package, for example:
-
-cd tests
-python3 DiscoveryTest.py
-
diff --git a/gen/tests/TrailFollowerTest.py b/gen/tests/TrailFollowerTest.py
deleted file mode 100644
index ba80cfdb553e8ea18855a02ed2028618141d90aa..0000000000000000000000000000000000000000
--- a/gen/tests/TrailFollowerTest.py
+++ /dev/null
@@ -1,11 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-l = f.input_factory.create_trail_follower(c,3)
-r = f.input_factory.create_trail_follower(c,8)
-
-while True:
- print(l.get_state(),r.get_state())
- time.sleep(0.2)
-
diff --git a/gen/tests/UltrasonicDistanceMeterTest.py b/gen/tests/UltrasonicDistanceMeterTest.py
deleted file mode 100644
index 9472a2493fd3b8b8af5fcbb0f0f711b5fb6f7920..0000000000000000000000000000000000000000
--- a/gen/tests/UltrasonicDistanceMeterTest.py
+++ /dev/null
@@ -1,10 +0,0 @@
-import fischertechnik.factories as f
-import time
-
-c = f.controller_factory.create_graphical_controller()
-b = f.input_factory.create_ultrasonic_distance_meter(c,3)
-
-while True:
- print("Dustance", b.get_distance())
- time.sleep(0.2)
-
diff --git a/gen/build.sh b/lib/build.sh
similarity index 100%
rename from gen/build.sh
rename to lib/build.sh
diff --git a/gen/fischertechnik/__init__.py b/lib/fischertechnik/__init__.py
similarity index 70%
rename from gen/fischertechnik/__init__.py
rename to lib/fischertechnik/__init__.py
index 7750e2ab606f288a0dd5c55163488b057b149755..72eb915c3c1a1f56380032c097cf076b34c9b195 100644
--- a/gen/fischertechnik/__init__.py
+++ b/lib/fischertechnik/__init__.py
@@ -1,3 +1,3 @@
-__version__ = '6.0.11'
+__version__ = '0.0.0'
__author__ = 'beemo GmbH'
__email__ = 'info@beemo.eu'
diff --git a/gen/fischertechnik/camera/BallDetector.py b/lib/fischertechnik/camera/BallDetector.py
similarity index 100%
rename from gen/fischertechnik/camera/BallDetector.py
rename to lib/fischertechnik/camera/BallDetector.py
diff --git a/gen/fischertechnik/camera/CameraFactory.py b/lib/fischertechnik/camera/CameraFactory.py
similarity index 100%
rename from gen/fischertechnik/camera/CameraFactory.py
rename to lib/fischertechnik/camera/CameraFactory.py
diff --git a/gen/fischertechnik/camera/ColorDetector.py b/lib/fischertechnik/camera/ColorDetector.py
similarity index 100%
rename from gen/fischertechnik/camera/ColorDetector.py
rename to lib/fischertechnik/camera/ColorDetector.py
diff --git a/gen/fischertechnik/camera/Detector.py b/lib/fischertechnik/camera/Detector.py
similarity index 100%
rename from gen/fischertechnik/camera/Detector.py
rename to lib/fischertechnik/camera/Detector.py
diff --git a/gen/fischertechnik/camera/DetectorResult.py b/lib/fischertechnik/camera/DetectorResult.py
similarity index 100%
rename from gen/fischertechnik/camera/DetectorResult.py
rename to lib/fischertechnik/camera/DetectorResult.py
diff --git a/gen/fischertechnik/camera/LineDetector.py b/lib/fischertechnik/camera/LineDetector.py
similarity index 100%
rename from gen/fischertechnik/camera/LineDetector.py
rename to lib/fischertechnik/camera/LineDetector.py
diff --git a/gen/fischertechnik/camera/MotionDetector.py b/lib/fischertechnik/camera/MotionDetector.py
similarity index 100%
rename from gen/fischertechnik/camera/MotionDetector.py
rename to lib/fischertechnik/camera/MotionDetector.py
diff --git a/gen/fischertechnik/camera/VideoStream.py b/lib/fischertechnik/camera/VideoStream.py
similarity index 100%
rename from gen/fischertechnik/camera/VideoStream.py
rename to lib/fischertechnik/camera/VideoStream.py
diff --git a/gen/fischertechnik/camera/__init__.py b/lib/fischertechnik/camera/__init__.py
similarity index 100%
rename from gen/fischertechnik/camera/__init__.py
rename to lib/fischertechnik/camera/__init__.py
diff --git a/lib/fischertechnik/control/RemoteControl.py b/lib/fischertechnik/control/RemoteControl.py
new file mode 100644
index 0000000000000000000000000000000000000000..3d34ec3a1586f5a3d91d274e28398e716e7c492f
--- /dev/null
+++ b/lib/fischertechnik/control/RemoteControl.py
@@ -0,0 +1,160 @@
+import socket
+import threading
+import json
+import time
+
+class RemoteControl():
+
+ BUFFERSIZE = 1024 * 4
+ HOST = "0.0.0.0"
+ IN_PORT = 10010
+ OUT_PORT = 10011
+
+ def __init__(self):
+
+ self._stack = []
+ self._listeners = []
+ self._in_lock = threading.Lock()
+ self._out_lock = threading.Lock()
+
+ self._in_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self._in_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self._in_socket.bind((RemoteControl.HOST, RemoteControl.IN_PORT))
+ self._in_socket.listen(1)
+
+ self._out_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ self._out_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+ self._out_socket.bind((RemoteControl.HOST, RemoteControl.OUT_PORT))
+ self._out_socket.listen(1)
+
+ self._running = True
+ self._in_thread = threading.Thread(target=self._recv, args=(), daemon=True)
+ self._in_thread.start()
+
+ self._out_thread = threading.Thread(target=self._send, args=(), daemon=True)
+ self._out_thread.start()
+
+
+ def __del__(self):
+
+ self._running = False
+
+ try:
+ if self._in_socket is not None:
+ self._in_socket.shutdown()
+ self._in_socket.close()
+ except Exception as e:
+ pass
+ finally:
+ self._in_socket = None
+
+ try:
+ if self._out_socket is not None:
+ self._out_socket.shutdown()
+ self._out_socket.close()
+ except Exception as e:
+ pass
+ finally:
+ self._out_socket = None
+
+ try:
+ if self._in_thread is not None:
+ self._in_thread.join()
+ except Exception as e:
+ pass
+ finally:
+ self._in_thread = None
+
+ try:
+ if self._out_thread is not None:
+ self._out_thread.join()
+ except Exception as e:
+ pass
+ finally:
+ self._out_thread = None
+
+
+ def set_attr(self, id, name, value):
+ with self._out_lock:
+ message = {"id": id, "attributes": [{"name": name, "value": value}]}
+ self._stack.append(message)
+
+
+ def add_listener(self, id, callback):
+ with self._in_lock:
+ listener = self._get_listener(id, callback)
+ if listener is not None:
+ return
+ self._listeners.append({
+ "id": id,
+ "callback": callback
+ })
+
+
+ def remove_listener(self, id, callback):
+ with self._in_lock:
+ listener = self._get_listener(id, callback)
+ if listener is None:
+ return
+ self._listeners.remove(listener)
+
+
+ def _get_listener(self, id, callback):
+ for listener in self._listeners:
+ if listener["id"] == id and listener["callback"] == callback:
+ return listener
+ return None
+
+
+ def _recv(self):
+
+ while self._running:
+
+ # keep accepting connections from clients
+ conn, _ = self._in_socket.accept()
+
+ try:
+
+ full_msg = ''
+ while True:
+ data = conn.recv(RemoteControl.BUFFERSIZE)
+ if len(data) <= 0:
+ break
+ full_msg += data.decode("utf-8")
+
+ if len(full_msg) > 0:
+
+ message = json.loads(full_msg)
+
+ with self._in_lock:
+ for listener in self._listeners:
+ if listener["id"] == message["id"]:
+ # parse array of attributers to dictionary
+ attributes = {}
+ for attr in message["attributes"]:
+ attributes[attr["name"]] = attr["value"]
+ listener["callback"](attributes)
+
+ except Exception as e:
+ self._running = False
+ finally:
+ conn.close()
+
+ def _send(self):
+
+ # keep accepting connections from clients
+ conn, _ = self._out_socket.accept()
+
+ while self._running:
+
+ try:
+
+ with self._out_lock:
+ message = json.dumps(self._stack)
+ conn.send(message.encode('utf-8'))
+ self._stack = []
+
+ time.sleep(1)
+
+ except Exception as e:
+ conn, _ = self._out_socket.accept()
diff --git a/gen/fischertechnik/control/VoiceControl.py b/lib/fischertechnik/control/VoiceControl.py
similarity index 100%
rename from gen/fischertechnik/control/VoiceControl.py
rename to lib/fischertechnik/control/VoiceControl.py
diff --git a/gen/fischertechnik/control/__init__.py b/lib/fischertechnik/control/__init__.py
similarity index 100%
rename from gen/fischertechnik/control/__init__.py
rename to lib/fischertechnik/control/__init__.py
diff --git a/gen/fischertechnik/controller/BaseController.py b/lib/fischertechnik/controller/BaseController.py
similarity index 100%
rename from gen/fischertechnik/controller/BaseController.py
rename to lib/fischertechnik/controller/BaseController.py
diff --git a/gen/fischertechnik/controller/Camera.py b/lib/fischertechnik/controller/Camera.py
similarity index 100%
rename from gen/fischertechnik/controller/Camera.py
rename to lib/fischertechnik/controller/Camera.py
diff --git a/gen/fischertechnik/controller/ColorSensor.py b/lib/fischertechnik/controller/ColorSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/ColorSensor.py
rename to lib/fischertechnik/controller/ColorSensor.py
diff --git a/gen/fischertechnik/controller/CombinedSensor.py b/lib/fischertechnik/controller/CombinedSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/CombinedSensor.py
rename to lib/fischertechnik/controller/CombinedSensor.py
diff --git a/gen/fischertechnik/controller/Compressor.py b/lib/fischertechnik/controller/Compressor.py
similarity index 100%
rename from gen/fischertechnik/controller/Compressor.py
rename to lib/fischertechnik/controller/Compressor.py
diff --git a/gen/fischertechnik/controller/ControllerFactory.py b/lib/fischertechnik/controller/ControllerFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/ControllerFactory.py
rename to lib/fischertechnik/controller/ControllerFactory.py
diff --git a/gen/fischertechnik/controller/ControllerInfo.py b/lib/fischertechnik/controller/ControllerInfo.py
similarity index 100%
rename from gen/fischertechnik/controller/ControllerInfo.py
rename to lib/fischertechnik/controller/ControllerInfo.py
diff --git a/gen/fischertechnik/controller/Counter.py b/lib/fischertechnik/controller/Counter.py
similarity index 100%
rename from gen/fischertechnik/controller/Counter.py
rename to lib/fischertechnik/controller/Counter.py
diff --git a/gen/fischertechnik/controller/CounterFactory.py b/lib/fischertechnik/controller/CounterFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/CounterFactory.py
rename to lib/fischertechnik/controller/CounterFactory.py
diff --git a/gen/fischertechnik/controller/Encodermotor.py b/lib/fischertechnik/controller/Encodermotor.py
similarity index 100%
rename from gen/fischertechnik/controller/Encodermotor.py
rename to lib/fischertechnik/controller/Encodermotor.py
diff --git a/gen/fischertechnik/controller/EnvironmentSensor.py b/lib/fischertechnik/controller/EnvironmentSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/EnvironmentSensor.py
rename to lib/fischertechnik/controller/EnvironmentSensor.py
diff --git a/gen/fischertechnik/controller/GestureSensor.py b/lib/fischertechnik/controller/GestureSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/GestureSensor.py
rename to lib/fischertechnik/controller/GestureSensor.py
diff --git a/gen/fischertechnik/controller/GraphicalInputOutputController.py b/lib/fischertechnik/controller/GraphicalInputOutputController.py
similarity index 100%
rename from gen/fischertechnik/controller/GraphicalInputOutputController.py
rename to lib/fischertechnik/controller/GraphicalInputOutputController.py
diff --git a/gen/fischertechnik/controller/I2C.py b/lib/fischertechnik/controller/I2C.py
similarity index 100%
rename from gen/fischertechnik/controller/I2C.py
rename to lib/fischertechnik/controller/I2C.py
diff --git a/gen/fischertechnik/controller/I2CFactory.py b/lib/fischertechnik/controller/I2CFactory.py
similarity index 77%
rename from gen/fischertechnik/controller/I2CFactory.py
rename to lib/fischertechnik/controller/I2CFactory.py
index 8da1c331082032c3ed3d60ef0ed1714f84d07f41..b5d8d782909a331d3eb2867e0e386d39b151a8d8 100644
--- a/gen/fischertechnik/controller/I2CFactory.py
+++ b/lib/fischertechnik/controller/I2CFactory.py
@@ -11,6 +11,12 @@ class I2CFactory(object):
@ReturnType fischertechnik.controller.CombinedSensor"""
pass
+ def create_combined_sensor_6pin(self, controller, identifier):
+ """@ParamType controller fischertechnik.controller.GraphicalInputOutputController
+ @ParamType identifier int
+ @ReturnType fischertechnik.controller.CombinedSensor"""
+ pass
+
def create_environment_sensor(self, controller, identifier):
"""@ParamType controller fischertechnik.controller.GraphicalInputOutputController
@ParamType identifier int
diff --git a/gen/fischertechnik/controller/IOUnit.py b/lib/fischertechnik/controller/IOUnit.py
similarity index 100%
rename from gen/fischertechnik/controller/IOUnit.py
rename to lib/fischertechnik/controller/IOUnit.py
diff --git a/gen/fischertechnik/controller/IR.py b/lib/fischertechnik/controller/IR.py
similarity index 100%
rename from gen/fischertechnik/controller/IR.py
rename to lib/fischertechnik/controller/IR.py
diff --git a/gen/fischertechnik/controller/Input.py b/lib/fischertechnik/controller/Input.py
similarity index 100%
rename from gen/fischertechnik/controller/Input.py
rename to lib/fischertechnik/controller/Input.py
diff --git a/gen/fischertechnik/controller/InputFactory.py b/lib/fischertechnik/controller/InputFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/InputFactory.py
rename to lib/fischertechnik/controller/InputFactory.py
diff --git a/gen/fischertechnik/controller/InputOutputController.py b/lib/fischertechnik/controller/InputOutputController.py
similarity index 100%
rename from gen/fischertechnik/controller/InputOutputController.py
rename to lib/fischertechnik/controller/InputOutputController.py
diff --git a/gen/fischertechnik/controller/LightSource.py b/lib/fischertechnik/controller/LightSource.py
similarity index 100%
rename from gen/fischertechnik/controller/LightSource.py
rename to lib/fischertechnik/controller/LightSource.py
diff --git a/gen/fischertechnik/controller/Loudspeaker.py b/lib/fischertechnik/controller/Loudspeaker.py
similarity index 100%
rename from gen/fischertechnik/controller/Loudspeaker.py
rename to lib/fischertechnik/controller/Loudspeaker.py
diff --git a/gen/fischertechnik/controller/MagneticValve.py b/lib/fischertechnik/controller/MagneticValve.py
similarity index 100%
rename from gen/fischertechnik/controller/MagneticValve.py
rename to lib/fischertechnik/controller/MagneticValve.py
diff --git a/gen/fischertechnik/controller/Microphone.py b/lib/fischertechnik/controller/Microphone.py
similarity index 100%
rename from gen/fischertechnik/controller/Microphone.py
rename to lib/fischertechnik/controller/Microphone.py
diff --git a/gen/fischertechnik/controller/MiniSwitch.py b/lib/fischertechnik/controller/MiniSwitch.py
similarity index 100%
rename from gen/fischertechnik/controller/MiniSwitch.py
rename to lib/fischertechnik/controller/MiniSwitch.py
diff --git a/gen/fischertechnik/controller/Motor.py b/lib/fischertechnik/controller/Motor.py
similarity index 100%
rename from gen/fischertechnik/controller/Motor.py
rename to lib/fischertechnik/controller/Motor.py
diff --git a/gen/fischertechnik/controller/MotorFactory.py b/lib/fischertechnik/controller/MotorFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/MotorFactory.py
rename to lib/fischertechnik/controller/MotorFactory.py
diff --git a/gen/fischertechnik/controller/NTCResistor.py b/lib/fischertechnik/controller/NTCResistor.py
similarity index 100%
rename from gen/fischertechnik/controller/NTCResistor.py
rename to lib/fischertechnik/controller/NTCResistor.py
diff --git a/gen/fischertechnik/controller/Output.py b/lib/fischertechnik/controller/Output.py
similarity index 100%
rename from gen/fischertechnik/controller/Output.py
rename to lib/fischertechnik/controller/Output.py
diff --git a/gen/fischertechnik/controller/OutputFactory.py b/lib/fischertechnik/controller/OutputFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/OutputFactory.py
rename to lib/fischertechnik/controller/OutputFactory.py
diff --git a/gen/fischertechnik/controller/PhotoTransistor.py b/lib/fischertechnik/controller/PhotoTransistor.py
similarity index 100%
rename from gen/fischertechnik/controller/PhotoTransistor.py
rename to lib/fischertechnik/controller/PhotoTransistor.py
diff --git a/gen/fischertechnik/controller/Resistor.py b/lib/fischertechnik/controller/Resistor.py
similarity index 100%
rename from gen/fischertechnik/controller/Resistor.py
rename to lib/fischertechnik/controller/Resistor.py
diff --git a/gen/fischertechnik/controller/Servomotor.py b/lib/fischertechnik/controller/Servomotor.py
similarity index 100%
rename from gen/fischertechnik/controller/Servomotor.py
rename to lib/fischertechnik/controller/Servomotor.py
diff --git a/gen/fischertechnik/controller/ServomotorFactory.py b/lib/fischertechnik/controller/ServomotorFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/ServomotorFactory.py
rename to lib/fischertechnik/controller/ServomotorFactory.py
diff --git a/gen/fischertechnik/controller/TrailFollower.py b/lib/fischertechnik/controller/TrailFollower.py
similarity index 100%
rename from gen/fischertechnik/controller/TrailFollower.py
rename to lib/fischertechnik/controller/TrailFollower.py
diff --git a/gen/fischertechnik/controller/USB.py b/lib/fischertechnik/controller/USB.py
similarity index 100%
rename from gen/fischertechnik/controller/USB.py
rename to lib/fischertechnik/controller/USB.py
diff --git a/gen/fischertechnik/controller/USBFactory.py b/lib/fischertechnik/controller/USBFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/USBFactory.py
rename to lib/fischertechnik/controller/USBFactory.py
diff --git a/gen/fischertechnik/controller/UltrasonicDistanceMeter.py b/lib/fischertechnik/controller/UltrasonicDistanceMeter.py
similarity index 100%
rename from gen/fischertechnik/controller/UltrasonicDistanceMeter.py
rename to lib/fischertechnik/controller/UltrasonicDistanceMeter.py
diff --git a/gen/fischertechnik/controller/UnidirectionalMotor.py b/lib/fischertechnik/controller/UnidirectionalMotor.py
similarity index 100%
rename from gen/fischertechnik/controller/UnidirectionalMotor.py
rename to lib/fischertechnik/controller/UnidirectionalMotor.py
diff --git a/gen/fischertechnik/controller/Voltmeter.py b/lib/fischertechnik/controller/Voltmeter.py
similarity index 100%
rename from gen/fischertechnik/controller/Voltmeter.py
rename to lib/fischertechnik/controller/Voltmeter.py
diff --git a/gen/fischertechnik/controller/Window.py b/lib/fischertechnik/controller/Window.py
similarity index 100%
rename from gen/fischertechnik/controller/Window.py
rename to lib/fischertechnik/controller/Window.py
diff --git a/gen/fischertechnik/controller/__init__.py b/lib/fischertechnik/controller/__init__.py
similarity index 100%
rename from gen/fischertechnik/controller/__init__.py
rename to lib/fischertechnik/controller/__init__.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Camera.py b/lib/fischertechnik/controller/txt4/Txt4Camera.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Camera.py
rename to lib/fischertechnik/controller/txt4/Txt4Camera.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4ColorSensor.py b/lib/fischertechnik/controller/txt4/Txt4ColorSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4ColorSensor.py
rename to lib/fischertechnik/controller/txt4/Txt4ColorSensor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4CombinedSensor.py b/lib/fischertechnik/controller/txt4/Txt4CombinedSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4CombinedSensor.py
rename to lib/fischertechnik/controller/txt4/Txt4CombinedSensor.py
diff --git a/lib/fischertechnik/controller/txt4/Txt4CombinedSensor6Pin.py b/lib/fischertechnik/controller/txt4/Txt4CombinedSensor6Pin.py
new file mode 100644
index 0000000000000000000000000000000000000000..1186fdfd488d5ad15911647d2aa01b8b5da57ee5
--- /dev/null
+++ b/lib/fischertechnik/controller/txt4/Txt4CombinedSensor6Pin.py
@@ -0,0 +1,357 @@
+import smbus2
+from ..CombinedSensor import CombinedSensor
+
+class ICM_42670_P(object):
+ GYRO_ACC_ADDR = 0x68
+
+ GYRO_ACC_PWR_MGMT0_ADDR = 0x1F
+ GYRO_ACC_PWR_MGMT0_BITMASK = 0b00001111
+ PowerMode = {
+ 'Sleep': 0b0000, # Gyroscope: OFF, Accelerometer: OFF
+ 'Standby': 0b0100, # Gyroscope: DRIVE ON, Accelerometer: OFF
+ 'AccelLowPower': 0b0010, # Gyroscope: OFF, Accelerometer: DUTY - CYCLED
+ 'AccelLowNoise': 0b0011, # Gyroscope: OFF, Accelerometer: ON
+ 'GyroLowNoise': 0b1100, # Gyroscope: ON, Accelerometer: OFF
+ 'SixAxisLowNoise': 0b1111 # Gyroscope: ON, Accelerometer: ON
+ }
+
+ GYRO_CONFIG0_ADDR = 0x20
+ ACC_CONFIG0_ADDR = 0x21
+
+ GYRO_CONFIG0_RANGE_BITMASK = 0b01100000
+ GYRO_CONFIG0_ODR_BITMASK = 0b00001111
+ GYRO_CONFIG0_BITMASK = GYRO_CONFIG0_RANGE_BITMASK | GYRO_CONFIG0_ODR_BITMASK
+
+ ACC_CONFIG0_RANGE_BITMASK = 0b01100000
+ ACC_CONFIG0_ODR_BITMASK = 0b00001111
+ ACC_CONFIG0_BITMASK = ACC_CONFIG0_RANGE_BITMASK | ACC_CONFIG0_ODR_BITMASK
+
+ GYRO_CONFIG1_ADDR = 0x23
+ ACC_CONFIG1_ADDR = 0x24
+
+ GYRO_CONFIG1_BITMASK = 0b00000111
+
+ ACC_CONFIG1_AVG_FILTER_BITMASK = 0b01110000
+ ACC_CONFIG1_LOWPASS_FILTER_BITMASK = 0b00000111
+ ACC_CONFIG1_BITMASK = ACC_CONFIG1_AVG_FILTER_BITMASK | ACC_CONFIG1_LOWPASS_FILTER_BITMASK
+
+ GYRO_X_MSB = 0x11
+ GYRO_X_LSB = 0x12
+ GYRO_Y_MSB = 0x13
+ GYRO_Y_LSB = 0x14
+ GYRO_Z_MSB = 0x15
+ GYRO_Z_LSB = 0x16
+
+ ACC_X_MSB = 0x0B
+ ACC_X_LSB = 0x0C
+ ACC_Y_MSB = 0x0D
+ ACC_Y_LSB = 0x0E
+ ACC_Z_MSB = 0x0F
+ ACC_Z_LSB = 0x0E
+
+ GyroRange = {
+ 250: 131.0,
+ 500: 65.5,
+ 1000: 32.8,
+ 2000: 16.4
+ }
+
+ GyroRangeBits = {
+ 250: 0b01100000,
+ 500: 0b01000000,
+ 1000: 0b00100000,
+ 2000: 0b00000000
+ }
+
+ AccRange = {
+ 2: 16384.0,
+ 4: 8192.0,
+ 8: 4096.0,
+ 16: 2048.0
+ }
+
+ AccRangeBits = {
+ 2: 0b01100000,
+ 4: 0b01000000,
+ 8: 0b00100000,
+ 16: 0b00000000
+ }
+
+ AccOdrBits = {
+ 1600: 0b0101,
+ 800: 0b0110,
+ 400: 0b0111,
+ 200: 0b1000,
+ 100: 0b1001,
+ 50: 0b1010,
+ 25: 0b1011,
+ 12.5: 0b1100,
+ 6.25: 0b1101,
+ 3.125: 0b1110,
+ 1.5625: 0b1111
+ }
+
+ GyroOdrBits = {
+ 1600: 0b0101,
+ 800: 0b0110,
+ 400: 0b0111,
+ 200: 0b1000,
+ 100: 0b1001,
+ 50: 0b1010,
+ 25: 0b1011,
+ 12.5: 0b1100,
+ }
+
+ GyroLowPassFilterBits = {
+ 0: 0b0000,
+ 180: 0b0001,
+ 121: 0b0010,
+ 73: 0b0011,
+ 53: 0b0100,
+ 34: 0b0101,
+ 25: 0b0110,
+ 16: 0b0111
+ }
+
+ AccLowPassFilterBits = {
+ 0: 0b0000,
+ 180: 0b0001,
+ 121: 0b0010,
+ 73: 0b0011,
+ 53: 0b0100,
+ 34: 0b0101,
+ 25: 0b0110,
+ 16: 0b0111
+ }
+
+ AccAverageFilterBits = {
+ 2: 0b0000,
+ 4: 0b0001,
+ 8: 0b0010,
+ 16: 0b0011,
+ 32: 0b0100,
+ 64: 0b0101,
+ }
+
+class MMC5603NJ(object):
+ MAGNETOMETER_ADDRESS = 0x30
+
+ MMC56X3_PRODUCT_ID = 0x39
+ MMC56X3_CTRL0_REG = 0x1B
+ MMC56X3_CTRL1_REG = 0x1C
+ MMC56X3_CTRL2_REG = 0x1D
+ MMC56X3_STATUS_REG = 0x18
+ MMC56X3_OUT_TEMP = 0x09
+ MMC56X3_OUT_X_L = 0x00
+ MMC5603_ODR_REG = 0x1A
+
+ MAG_Xout_0 = 0x00
+ MAG_Xout_1 = 0x01
+ MAG_Yout_0 = 0x02
+ MAG_Yout_1 = 0x03
+ MAG_Zout_0 = 0x04
+ MAG_Zout_1 = 0x05
+ MAG_Xout_2 = 0x06
+ MAG_Yout_2 = 0x07
+ MAG_Zout_2 = 0x08
+
+
+class Txt4CombinedSensor6Pin(CombinedSensor):
+ def __init__(self, controller, identifier):
+ CombinedSensor.__init__(self, controller, identifier)
+ self.__gyro_resolution = 0
+ self.__acc_resolution = 0
+ self.__i2c = smbus2.SMBus(3)
+ self.__is_accelerometer_initialized = False
+ self.__is_magnetometer_initialized = False
+ self.__is_gyrometer_initialized = False
+ self.set_power_mode(ICM_42670_P.PowerMode['SixAxisLowNoise'])
+
+ def set_power_mode(self, mode=ICM_42670_P.PowerMode['SixAxisLowNoise']):
+ self.update_reg(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.GYRO_ACC_PWR_MGMT0_ADDR,
+ mode,
+ ICM_42670_P.GYRO_ACC_PWR_MGMT0_BITMASK)
+
+ def read_power_mode(self):
+ result = self.__i2c.read_byte_data(ICM_42670_P.GYRO_ACC_ADDR,
+ ICM_42670_P.GYRO_ACC_PWR_MGMT0_ADDR) & ICM_42670_P.GYRO_ACC_PWR_MGMT0_BITMASK
+ return [k for k, v in ICM_42670_P.PowerMode.items() if v == result][0]
+
+ def init_accelerometer(self, acc_range=16, odr=800):
+ self.__acc_resolution = 1 / ICM_42670_P.AccRange[acc_range]
+ self.update_reg(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.ACC_CONFIG0_ADDR,
+ ICM_42670_P.AccRangeBits[acc_range] | ICM_42670_P.AccOdrBits[odr],
+ ICM_42670_P.ACC_CONFIG0_BITMASK)
+ self.__is_accelerometer_initialized = True
+
+ def init_gyrometer(self, gyro_range=2000, odr=800):
+ self.__gyro_resolution = 1 / ICM_42670_P.GyroRange[gyro_range]
+ self.update_reg(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.GYRO_CONFIG0_ADDR,
+ ICM_42670_P.GyroRangeBits[gyro_range] | ICM_42670_P.GyroOdrBits[odr],
+ ICM_42670_P.GYRO_CONFIG0_BITMASK)
+ self.__is_gyrometer_initialized = True
+
+ def init_magnetometer(self, odr=255):
+ if not ((odr == 1000) or (0 <= odr <= 255)):
+ raise ValueError('Data rate must be 0-255 or 1000 Hz!')
+ mag_ctrl2_cache = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MMC56X3_CTRL2_REG)
+ if odr == 1000:
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MMC5603_ODR_REG, 255)
+ mag_ctrl2_cache |= 0x80
+ else:
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MMC5603_ODR_REG, odr)
+ mag_ctrl2_cache &= ~0x80
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MMC56X3_CTRL2_REG, mag_ctrl2_cache)
+ self.__is_magnetometer_initialized = True
+
+ def get_acceleration_x(self) -> float:
+ """
+ Returns the current acceleration in X direction in g. 1g = 9.81m/s^2.
+ @returns {float} acceleration in X direction in g
+ """
+ if self.__is_accelerometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.ACC_X_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__acc_resolution
+ return None
+
+ def get_acceleration_y(self) -> float:
+ """
+ Returns the current acceleration in X direction in g. 1g = 9.81m/s^2.
+ @returns {float} acceleration in X direction in g
+ """
+ if self.__is_accelerometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.ACC_Y_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__acc_resolution
+ return None
+
+ def get_acceleration_z(self) -> float:
+ """
+ Returns the current acceleration in X direction in g. 1g = 9.81m/s^2.
+ @returns {float} acceleration in X direction in g
+ """
+ if self.__is_accelerometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.ACC_Z_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__acc_resolution
+ return None
+
+ def get_rotation_x(self) -> float:
+ """
+ Returns the rotation speed around the X axis in degrees per second.
+ @returns {float} rotation speed around the X axis in degrees per second
+ """
+ if self.__is_gyrometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.GYRO_X_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__gyro_resolution
+ return None
+
+ def get_rotation_y(self) -> float:
+ """
+ Returns the rotation speed around the X axis in degrees per second.
+ @returns {float} rotation speed around the X axis in degrees per second
+ """
+ if self.__is_gyrometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.GYRO_Y_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__gyro_resolution
+ return None
+
+ def get_rotation_z(self) -> float:
+ """
+ Returns the rotation speed around the X axis in degrees per second.
+ @returns {float} rotation speed around the X axis in degrees per second
+ """
+ if self.__is_gyrometer_initialized:
+ """
+ On reading multiple bytes from i2c the register will be incremented.
+ Therefore the lower register value will be read which is the MSB.
+ The returned value is the most significant byte (MSB) and least significant byte (LSB) in reverse order.
+ """
+ result = self.__i2c.read_word_data(ICM_42670_P.GYRO_ACC_ADDR, ICM_42670_P.GYRO_Z_MSB)
+ result = result.from_bytes(result.to_bytes(2, byteorder='big'), byteorder='little', signed='True')
+ return result * self.__gyro_resolution
+ return None
+
+ def get_magnetic_field_x(self) -> float:
+ """
+ Returns the current magnetic flux density in X direction in microtesla.
+ @returns {float} mangnetic flux density in X direction in microtesla
+ """
+ if self.__is_magnetometer_initialized:
+ Xout0 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Xout_0) << 12
+ Xout1 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Xout_1) << 4
+ Xout2 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Xout_2) >> 4
+ x = Xout0 | Xout1 | Xout2
+ x -= 1 << 19
+ x *= 0.00625
+ # trigger next conversion
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, 0x1B, 0x21)
+ return x
+ return None
+
+ def get_magnetic_field_y(self) -> float:
+ """
+ Returns the current magnetic flux density in y direction in microtesla.
+ @returns {float} mangnetic flux density in y direction in microtesla
+ """
+ if self.__is_magnetometer_initialized:
+ Yout0 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Yout_0) << 12
+ Yout1 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Yout_1) << 4
+ Yout2 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Yout_2) >> 4
+ y = Yout0 | Yout1 | Yout2
+ y -= 1 << 19
+ y *= 0.00625
+ # trigger next conversion
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, 0x1B, 0x21)
+ return y
+ return None
+
+ def get_magnetic_field_z(self) -> float:
+ """
+ Returns the current magnetic flux density in z direction in microtesla.
+ @returns {float} mangnetic flux density in z direction in microtesla
+ """
+ if self.__is_magnetometer_initialized:
+ Zout0 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Zout_0) << 12
+ Zout1 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Zout_1) << 4
+ Zout2 = self.__i2c.read_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, MMC5603NJ.MAG_Zout_2) >> 4
+ z = Zout0 | Zout1 | Zout2
+ z -= 1 << 19
+ z *= 0.00625
+ # trigger next conversion
+ self.__i2c.write_byte_data(MMC5603NJ.MAGNETOMETER_ADDRESS, 0x1B, 0x21)
+ return z
+ return None
+
+ def update_reg(self, address, register, value, mask):
+ current = self.__i2c.read_word_data(address, register)
+ val = (current & ~mask) | (value & mask)
+ self.__i2c.write_byte_data(address, register, val)
diff --git a/gen/fischertechnik/controller/txt4/Txt4Compressor.py b/lib/fischertechnik/controller/txt4/Txt4Compressor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Compressor.py
rename to lib/fischertechnik/controller/txt4/Txt4Compressor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Controller.py b/lib/fischertechnik/controller/txt4/Txt4Controller.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Controller.py
rename to lib/fischertechnik/controller/txt4/Txt4Controller.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4ControllerFactory.py b/lib/fischertechnik/controller/txt4/Txt4ControllerFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4ControllerFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4ControllerFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4ControllerInfo.py b/lib/fischertechnik/controller/txt4/Txt4ControllerInfo.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4ControllerInfo.py
rename to lib/fischertechnik/controller/txt4/Txt4ControllerInfo.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Counter.py b/lib/fischertechnik/controller/txt4/Txt4Counter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Counter.py
rename to lib/fischertechnik/controller/txt4/Txt4Counter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4CounterFactory.py b/lib/fischertechnik/controller/txt4/Txt4CounterFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4CounterFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4CounterFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4DigitalCounter.py b/lib/fischertechnik/controller/txt4/Txt4DigitalCounter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4DigitalCounter.py
rename to lib/fischertechnik/controller/txt4/Txt4DigitalCounter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Encodermotor.py b/lib/fischertechnik/controller/txt4/Txt4Encodermotor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Encodermotor.py
rename to lib/fischertechnik/controller/txt4/Txt4Encodermotor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4EncodermotorCounter.py b/lib/fischertechnik/controller/txt4/Txt4EncodermotorCounter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4EncodermotorCounter.py
rename to lib/fischertechnik/controller/txt4/Txt4EncodermotorCounter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4EnvironmentSensor.py b/lib/fischertechnik/controller/txt4/Txt4EnvironmentSensor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4EnvironmentSensor.py
rename to lib/fischertechnik/controller/txt4/Txt4EnvironmentSensor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4GestureSensor.py b/lib/fischertechnik/controller/txt4/Txt4GestureSensor.py
similarity index 89%
rename from gen/fischertechnik/controller/txt4/Txt4GestureSensor.py
rename to lib/fischertechnik/controller/txt4/Txt4GestureSensor.py
index 9f16d2d9faf92eca0432dc4b0f0809d1b4ac8c08..0bad92b9cefc3efff64f46d174dd7eab1e80d6da 100644
--- a/gen/fischertechnik/controller/txt4/Txt4GestureSensor.py
+++ b/lib/fischertechnik/controller/txt4/Txt4GestureSensor.py
@@ -3,6 +3,7 @@ from apds9960 import APDS9960
from smbus import SMBus
import threading
+import time
from ...models.Color import Color
from ..GestureSensor import GestureSensor
@@ -15,6 +16,7 @@ class Txt4GestureSensor(GestureSensor):
self.__lock = threading.Lock()
self.__thread = None
self.__gesture = APDS9960_DIR_NONE
+ self.__last_gesture_time = time.time()
def enable_light(self):
self.__stop_read_gesture()
@@ -100,3 +102,10 @@ class Txt4GestureSensor(GestureSensor):
if self.__apds.isGestureAvailable():
with self.__lock:
self.__gesture = self.__apds.readGesture()
+ self.__last_gesture_time = time.time()
+ else:
+ current_time = time.time()
+ if (current_time - self.__last_gesture_time) > 0.7:
+ with self.__lock:
+ self.__gesture = APDS9960_DIR_NONE
+
diff --git a/gen/fischertechnik/controller/txt4/Txt4I2CFactory.py b/lib/fischertechnik/controller/txt4/Txt4I2CFactory.py
similarity index 76%
rename from gen/fischertechnik/controller/txt4/Txt4I2CFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4I2CFactory.py
index 2b92ff7b00d6116ce8c67149d9f31155ff040e7a..9e8e3a0ba640eb2c850d1da624199dd8ed684b90 100644
--- a/gen/fischertechnik/controller/txt4/Txt4I2CFactory.py
+++ b/lib/fischertechnik/controller/txt4/Txt4I2CFactory.py
@@ -1,6 +1,7 @@
#!/usr/bin/python
# -*- coding: UTF-8 -*-
from .Txt4CombinedSensor import Txt4CombinedSensor
+from .Txt4CombinedSensor6Pin import Txt4CombinedSensor6Pin
from .Txt4EnvironmentSensor import Txt4EnvironmentSensor
from .Txt4GestureSensor import Txt4GestureSensor
from ..I2CFactory import I2CFactory
@@ -19,6 +20,12 @@ class Txt4I2CFactory(I2CFactory):
@ReturnType fischertechnik.controller.CombinedSensor"""
return Txt4CombinedSensor(controller, identifier)
+ def create_combined_sensor_6pin(self, controller, identifier):
+ """@ParamType controller fischertechnik.controller.GraphicalInputOutputController
+ @ParamType identifier int
+ @ReturnType fischertechnik.controller.CombinedSensor"""
+ return Txt4CombinedSensor6Pin(controller, identifier)
+
def create_gesture_sensor(self, controller, identifier):
"""@ParamType controller fischertechnik.controller.GraphicalInputOutputController
@ParamType identifier int
diff --git a/gen/fischertechnik/controller/txt4/Txt4InputFactory.py b/lib/fischertechnik/controller/txt4/Txt4InputFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4InputFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4InputFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4LightSource.py b/lib/fischertechnik/controller/txt4/Txt4LightSource.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4LightSource.py
rename to lib/fischertechnik/controller/txt4/Txt4LightSource.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Loudspeaker.py b/lib/fischertechnik/controller/txt4/Txt4Loudspeaker.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Loudspeaker.py
rename to lib/fischertechnik/controller/txt4/Txt4Loudspeaker.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4MagneticValve.py b/lib/fischertechnik/controller/txt4/Txt4MagneticValve.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4MagneticValve.py
rename to lib/fischertechnik/controller/txt4/Txt4MagneticValve.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Microphone.py b/lib/fischertechnik/controller/txt4/Txt4Microphone.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Microphone.py
rename to lib/fischertechnik/controller/txt4/Txt4Microphone.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4MiniSwitch.py b/lib/fischertechnik/controller/txt4/Txt4MiniSwitch.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4MiniSwitch.py
rename to lib/fischertechnik/controller/txt4/Txt4MiniSwitch.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4MiniSwitchCounter.py b/lib/fischertechnik/controller/txt4/Txt4MiniSwitchCounter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4MiniSwitchCounter.py
rename to lib/fischertechnik/controller/txt4/Txt4MiniSwitchCounter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Motor.py b/lib/fischertechnik/controller/txt4/Txt4Motor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Motor.py
rename to lib/fischertechnik/controller/txt4/Txt4Motor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4MotorFactory.py b/lib/fischertechnik/controller/txt4/Txt4MotorFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4MotorFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4MotorFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4NTCResistor.py b/lib/fischertechnik/controller/txt4/Txt4NTCResistor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4NTCResistor.py
rename to lib/fischertechnik/controller/txt4/Txt4NTCResistor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4OutputFactory.py b/lib/fischertechnik/controller/txt4/Txt4OutputFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4OutputFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4OutputFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4PhotoTransistor.py b/lib/fischertechnik/controller/txt4/Txt4PhotoTransistor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4PhotoTransistor.py
rename to lib/fischertechnik/controller/txt4/Txt4PhotoTransistor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4PhotoTransistorCounter.py b/lib/fischertechnik/controller/txt4/Txt4PhotoTransistorCounter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4PhotoTransistorCounter.py
rename to lib/fischertechnik/controller/txt4/Txt4PhotoTransistorCounter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Resistor.py b/lib/fischertechnik/controller/txt4/Txt4Resistor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Resistor.py
rename to lib/fischertechnik/controller/txt4/Txt4Resistor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4Servomotor.py b/lib/fischertechnik/controller/txt4/Txt4Servomotor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4Servomotor.py
rename to lib/fischertechnik/controller/txt4/Txt4Servomotor.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4ServomotorFactory.py b/lib/fischertechnik/controller/txt4/Txt4ServomotorFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4ServomotorFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4ServomotorFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4TrailFollower.py b/lib/fischertechnik/controller/txt4/Txt4TrailFollower.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4TrailFollower.py
rename to lib/fischertechnik/controller/txt4/Txt4TrailFollower.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4USBFactory.py b/lib/fischertechnik/controller/txt4/Txt4USBFactory.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4USBFactory.py
rename to lib/fischertechnik/controller/txt4/Txt4USBFactory.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4UltrasonicDistanceMeter.py b/lib/fischertechnik/controller/txt4/Txt4UltrasonicDistanceMeter.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4UltrasonicDistanceMeter.py
rename to lib/fischertechnik/controller/txt4/Txt4UltrasonicDistanceMeter.py
diff --git a/gen/fischertechnik/controller/txt4/Txt4UnidirectionalMotor.py b/lib/fischertechnik/controller/txt4/Txt4UnidirectionalMotor.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/Txt4UnidirectionalMotor.py
rename to lib/fischertechnik/controller/txt4/Txt4UnidirectionalMotor.py
diff --git a/gen/fischertechnik/controller/txt4/__init__.py b/lib/fischertechnik/controller/txt4/__init__.py
similarity index 100%
rename from gen/fischertechnik/controller/txt4/__init__.py
rename to lib/fischertechnik/controller/txt4/__init__.py
diff --git a/gen/fischertechnik/events/Event.py b/lib/fischertechnik/events/Event.py
similarity index 100%
rename from gen/fischertechnik/events/Event.py
rename to lib/fischertechnik/events/Event.py
diff --git a/gen/fischertechnik/events/EventLoop.py b/lib/fischertechnik/events/EventLoop.py
similarity index 100%
rename from gen/fischertechnik/events/EventLoop.py
rename to lib/fischertechnik/events/EventLoop.py
diff --git a/gen/fischertechnik/events/EventWorker.py b/lib/fischertechnik/events/EventWorker.py
similarity index 100%
rename from gen/fischertechnik/events/EventWorker.py
rename to lib/fischertechnik/events/EventWorker.py
diff --git a/gen/fischertechnik/events/__init__.py b/lib/fischertechnik/events/__init__.py
similarity index 100%
rename from gen/fischertechnik/events/__init__.py
rename to lib/fischertechnik/events/__init__.py
diff --git a/gen/fischertechnik/factories/__init__.py b/lib/fischertechnik/factories/__init__.py
similarity index 100%
rename from gen/fischertechnik/factories/__init__.py
rename to lib/fischertechnik/factories/__init__.py
diff --git a/lib/fischertechnik/http/HttpRequests.py b/lib/fischertechnik/http/HttpRequests.py
new file mode 100644
index 0000000000000000000000000000000000000000..c3496735ae4b4d40472dd1227700bcbcc6d0a72e
--- /dev/null
+++ b/lib/fischertechnik/http/HttpRequests.py
@@ -0,0 +1,73 @@
+import requests
+import json
+
+
+class HttpRequests:
+
+ @staticmethod
+ def __http_request(url, headers, data, method):
+ try:
+ # The required format is: {"Header1": "Header1"}.
+ # The input value of headers is expected as string,
+ # the json.load operation removes the first quotation marks.
+ _headers = json.loads(headers)
+ _data = data
+ # Timeout-Tuple = (connect, read)
+ _timeout = (3, 20)
+
+ if method == "get":
+ r = requests.get(url, headers=_headers, timeout=_timeout)
+ elif method == "post":
+ r = requests.post(url, headers=_headers, data=_data, timeout=_timeout)
+ elif method == "put":
+ r = requests.put(url, headers=_headers, data=_data, timeout=_timeout)
+ elif method == "patch":
+ r = requests.patch(url, data=_data, headers=_headers, timeout=_timeout)
+ elif method == "delete":
+ r = requests.delete(url, headers=_headers, data=_data, timeout=_timeout)
+ else:
+ raise ValueError("Illegal Argument: Unknown HTTP-Method")
+
+ if r.status_code == 200:
+ return json.dumps(r.json())
+ else:
+ return json.dumps(r.status_code)
+
+ except Exception as exc:
+ raise ValueError("Something went wrong, please check your input values!") from exc
+
+ @staticmethod
+ def get_request(url, headers):
+ try:
+ return HttpRequests.__http_request(url, headers, None, "get")
+ except ValueError as ve:
+ return ve
+
+ @staticmethod
+ def post_request(url, headers, data):
+ try:
+ return HttpRequests.__http_request(url, headers, data, "post")
+ except ValueError as ve:
+ return ve
+
+ @staticmethod
+ def put_request(url, headers, data):
+ try:
+ return HttpRequests.__http_request(url, headers, data, "put")
+ except ValueError as ve:
+ return ve
+
+ @staticmethod
+ def patch_request(url, header, data):
+ try:
+ return HttpRequests.__http_request(url, header, data, "patch")
+ except ValueError as ve:
+ return ve
+
+ @staticmethod
+ def delete_request(url, header, data):
+ try:
+ return HttpRequests.__http_request(url, header, data, "delete")
+ except ValueError as ve:
+ return ve
+
diff --git a/gen/fischertechnik/machine_learning/__init__.py b/lib/fischertechnik/http/__init__.py
similarity index 100%
rename from gen/fischertechnik/machine_learning/__init__.py
rename to lib/fischertechnik/http/__init__.py
diff --git a/gen/fischertechnik/machine_learning/Detector.py b/lib/fischertechnik/machine_learning/Detector.py
similarity index 83%
rename from gen/fischertechnik/machine_learning/Detector.py
rename to lib/fischertechnik/machine_learning/Detector.py
index 1e4de7bb668e69c23e0e91c9a5c427db0f891eac..a254724d4e3ae523da10b1bfe2c00884af493e99 100644
--- a/gen/fischertechnik/machine_learning/Detector.py
+++ b/lib/fischertechnik/machine_learning/Detector.py
@@ -1,4 +1,5 @@
import base64
+import multiprocessing
import cv2
import numpy as np
@@ -26,7 +27,8 @@ class Detector(object):
def load_model(self, model_path):
r"""Load TFLite model, returns a Interpreter instance."""
- interpreter = tflite.Interpreter(model_path=model_path)
+ core_count = multiprocessing.cpu_count()
+ interpreter = tflite.Interpreter(model_path=model_path, num_threads=core_count)
interpreter.allocate_tensors()
return interpreter
@@ -34,7 +36,7 @@ class Detector(object):
pass
- def process_base64_image(self, encoded_image, k=3):
+ def process_base64_image(self, encoded_image):
decoded_data = base64.b64decode(encoded_image)
np_array = np.frombuffer(decoded_data, np.uint8)
image = cv2.imdecode(np_array, cv2.IMREAD_UNCHANGED)
diff --git a/gen/fischertechnik/machine_learning/ImageClassifier.py b/lib/fischertechnik/machine_learning/ImageClassifier.py
similarity index 57%
rename from gen/fischertechnik/machine_learning/ImageClassifier.py
rename to lib/fischertechnik/machine_learning/ImageClassifier.py
index 8c2c1a4a949982a07bfbd3de78c16874f735358c..890b043d228e9a56698a62bf0cc048d2df9d9e8e 100644
--- a/gen/fischertechnik/machine_learning/ImageClassifier.py
+++ b/lib/fischertechnik/machine_learning/ImageClassifier.py
@@ -6,33 +6,41 @@ from .Detector import Detector
class ImageClassifier(Detector):
- def process_image(self, image, k=0):
- r"""Process an image, Return top K result in a list of 2-Tuple(confidence_score, _id)"""
- result = dict()
+ def process_image(self, image):
+
+ result = []
if image is None:
- for label in self.labels:
- result[self.labels[label]] = 0
- return dict()
+ return result
+
+ orig_width = image.shape[1]
+ orig_height = image.shape[0]
+
input_details = self.interpreter.get_input_details()
input_shape = input_details[0]['shape']
height = input_shape[1]
width = input_shape[2]
+
image = cv2.resize(image, (width, height))
input_data = np.expand_dims(image, axis=0) # expand to 4-dim
- # Process
+ # analyse image
self.interpreter.set_tensor(self.interpreter.get_input_details()[0]['index'], input_data)
self.interpreter.invoke()
- # Get outputs
+ # result of the analysis
output_details = self.interpreter.get_output_details()
output_data = self.interpreter.get_tensor(output_details[0]['index'])
output_data = np.squeeze(output_data)
- # Get top K result
- top_k = output_data.argsort()[-k:][::-1] # Top_k index
- for _id in top_k:
+ k = 1 # only the first result is relevant
+ sorted_output = output_data.argsort()[-k:][::-1]
+ for _id in sorted_output:
score = float(output_data[_id] / 255.0)
- result[self.labels[_id]] = score
+ if score > 0.5:
+ result.append({
+ 'label': self.labels[_id],
+ 'position': [0, 0, orig_width, orig_height],
+ 'probability': score
+ })
return result
diff --git a/gen/fischertechnik/machine_learning/ObjectDetector.py b/lib/fischertechnik/machine_learning/ObjectDetector.py
similarity index 56%
rename from gen/fischertechnik/machine_learning/ObjectDetector.py
rename to lib/fischertechnik/machine_learning/ObjectDetector.py
index 014bdc8d3d4a6b4a85fb67c0ba601e285d03f9aa..d4f1e6a68424aef025935c6782ff22bed1be3d08 100644
--- a/gen/fischertechnik/machine_learning/ObjectDetector.py
+++ b/lib/fischertechnik/machine_learning/ObjectDetector.py
@@ -1,31 +1,34 @@
import cv2
import numpy as np
-from ..camera.VideoStream import VideoStream
from .Detector import Detector
class ObjectDetector(Detector):
def process_image(self, image):
- r"""Process an image, Return a list of detected class ids and positions"""
- result = dict()
+
+ result = []
if image is None:
- for label in self.labels:
- result[self.labels[label]] = 0
- return dict()
+ return result
+
+ orig_width = image.shape[1]
+ orig_height = image.shape[0]
+
input_details = self.interpreter.get_input_details()
input_shape = input_details[0]['shape']
height = input_shape[1]
width = input_shape[2]
+
image = cv2.resize(image, (width, height))
+ image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
input_data = np.expand_dims(image, axis=0) # expand to 4-dim
- # Process
+ # analyse image
self.interpreter.set_tensor(self.interpreter.get_input_details()[0]['index'], input_data)
self.interpreter.invoke()
- # Get outputs
+ # result of the analysis
output_details = self.interpreter.get_output_details()
# output_details[0] - position
# output_details[1] - class id
@@ -37,11 +40,16 @@ class ObjectDetector(Detector):
scores = np.squeeze(self.interpreter.get_tensor(output_details[2]['index']))
for idx, score in enumerate(scores):
- positions[idx][1] = int(max(0, positions[idx][1] * VideoStream.getInstance().get_width()))
- positions[idx][3] = int(min(width, positions[idx][3] * VideoStream.getInstance().get_width()))
- positions[idx][0] = int(max(0, positions[idx][0] * VideoStream.getInstance().get_height()))
- positions[idx][2] = int(min(height, positions[idx][2] * VideoStream.getInstance().get_height()))
- result[self.labels[int(classes[idx])]] = {'position': positions[idx], 'probability': score}
-
- return result
+ if score > 0.5:
+ x1 = int(max(0, positions[idx][1] * orig_width))
+ x2 = int(min(positions[idx][3] * orig_width, orig_width))
+ y1 = int(max(0, positions[idx][0] * orig_height))
+ y2 = int(min(positions[idx][2] * orig_height, orig_height))
+ result.append({
+ 'label': self.labels[int(classes[idx])],
+ 'position': [x1, y1, x2, y2],
+ 'probability': score
+ })
+
+ return sorted(result, key=lambda i: i['probability'], reverse=True)
diff --git a/gen/fischertechnik/models/__init__.py b/lib/fischertechnik/machine_learning/__init__.py
similarity index 100%
rename from gen/fischertechnik/models/__init__.py
rename to lib/fischertechnik/machine_learning/__init__.py
diff --git a/gen/fischertechnik/models/Ball.py b/lib/fischertechnik/models/Ball.py
similarity index 100%
rename from gen/fischertechnik/models/Ball.py
rename to lib/fischertechnik/models/Ball.py
diff --git a/gen/fischertechnik/models/Color.py b/lib/fischertechnik/models/Color.py
similarity index 100%
rename from gen/fischertechnik/models/Color.py
rename to lib/fischertechnik/models/Color.py
diff --git a/gen/fischertechnik/models/Line.py b/lib/fischertechnik/models/Line.py
similarity index 100%
rename from gen/fischertechnik/models/Line.py
rename to lib/fischertechnik/models/Line.py
diff --git a/gen/fischertechnik/models/Rectangle.py b/lib/fischertechnik/models/Rectangle.py
similarity index 100%
rename from gen/fischertechnik/models/Rectangle.py
rename to lib/fischertechnik/models/Rectangle.py
diff --git a/gen/fischertechnik/mqtt/__init__.py b/lib/fischertechnik/models/__init__.py
similarity index 100%
rename from gen/fischertechnik/mqtt/__init__.py
rename to lib/fischertechnik/models/__init__.py
diff --git a/gen/fischertechnik/mqtt/Client.py b/lib/fischertechnik/mqtt/Client.py
similarity index 57%
rename from gen/fischertechnik/mqtt/Client.py
rename to lib/fischertechnik/mqtt/Client.py
index 429d1c405aff490111544974cacbd6d52b00a9e0..1400e094faf9ad5e7a7f93f92567a6fe18cb1b60 100644
--- a/gen/fischertechnik/mqtt/Client.py
+++ b/lib/fischertechnik/mqtt/Client.py
@@ -6,10 +6,11 @@ import paho.mqtt.client as mqtt
class Client:
+ KEEP_ALIVE = 60
+
def __init__(self, client_id="", clean_session=True, userdata=None, protocol=mqtt.MQTTv311, transport="tcp",
path="/"):
- self.callbacks = {}
- self.subscribe_qos = 0
+ self.handler = {}
self.connected = False
self.paho_client = mqtt.Client(client_id, clean_session, userdata, protocol, transport)
if transport == 'websockets':
@@ -23,11 +24,14 @@ class Client:
def connect(self, host, port, keepalive, bind_address, user, password):
if 'beemo.eu' in host or 'fischertechnik-cloud.com' in host:
- context = ssl.create_default_context()
- s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
- context.wrap_socket(s, server_hostname="*.beemo.eu")
- self.paho_client.tls_set_context(context)
- if user:
+ try:
+ context = ssl.create_default_context()
+ s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+ context.wrap_socket(s, server_hostname="*.beemo.eu")
+ self.paho_client.tls_set_context(context)
+ except:
+ pass
+ if user and password:
self.paho_client.username_pw_set(user, password)
self.paho_client.connect(host, port, keepalive, bind_address)
self.paho_client.loop_start()
@@ -40,13 +44,16 @@ class Client:
return self.connected
def subscribe(self, topic, callback, qos=0):
- self.subscribe_qos = qos
- self.__add_callback(topic, callback)
+ self.handler[topic] = {"callback": callback, "qos": qos}
+ if self.connected == True:
+ self.paho_client.subscribe(topic, qos)
- def unsubscribe(self, topic, callback):
- self.__remove_callback(topic, callback)
+ def unsubscribe(self, topic):
+ del self.handler[topic]
+ if self.connected == True:
+ self.paho_client.unsubscribe(topic)
- def publish(self, topic, payload, qos, retain):
+ def publish(self, topic, payload=None, qos=0, retain=True):
return self.paho_client.publish(topic, payload, qos, retain)
def will_set(self, topic, payload=None, qos=0, retain=False):
@@ -56,8 +63,8 @@ class Client:
if rc != 0:
print("Unexpected connection.")
else:
- for topic in self.callbacks:
- self.paho_client.subscribe(topic, self.subscribe_qos)
+ for topic in self.handler:
+ self.paho_client.subscribe(topic, self.handler[topic]["qos"])
self.connected = True
def __on_disconnect(self, client, userdata, rc):
@@ -67,22 +74,6 @@ class Client:
self.connected = False
def __on_message(self, client, userdata, msg):
- for topic in self.callbacks:
+ for topic in self.handler:
if mqtt.topic_matches_sub(topic, msg.topic):
- for callback in self.callbacks[topic]:
- callback(msg)
-
- def __add_callback(self, topic, callback):
- if not self.__has_callback(topic, callback):
- if topic not in self.callbacks:
- self.callbacks[topic] = []
- self.callbacks[topic].append(callback)
-
- def __remove_callback(self, topic, callback):
- if self.__has_callback(topic, callback):
- self.callbacks[topic].remove(callback)
- if len(self.callbacks[topic]) == 0:
- del self.callbacks[topic]
-
- def __has_callback(self, topic, callback):
- return topic in self.callbacks and callback in self.callbacks[topic]
+ self.handler[topic]["callback"](msg)
diff --git a/gen/fischertechnik/mqtt/Constants.py b/lib/fischertechnik/mqtt/Constants.py
similarity index 80%
rename from gen/fischertechnik/mqtt/Constants.py
rename to lib/fischertechnik/mqtt/Constants.py
index 03d9cee1c832f437e2c587306c9d6d94ff2f0ef1..00177bcbf0c3dc55adda4d2c3c693b720b8a2012 100644
--- a/gen/fischertechnik/mqtt/Constants.py
+++ b/lib/fischertechnik/mqtt/Constants.py
@@ -5,10 +5,7 @@ def read_out(a, b):
configFilePath = r'/opt/ft/config/Fischertechnik/TXT_4.0_Menu.conf'
configParser.read(configFilePath)
value = configParser.get(a, b)
- if value != "":
- return value
- else:
- raise Exception('No value given for ' + b)
+ return value
MQTT_USER = read_out('FischertechnikCloud', 'ft_mqtt_user')
MQTT_PASSWORD = read_out('FischertechnikCloud', 'ft_mqtt_password')
diff --git a/gen/fischertechnik/mqtt/FTCloudClient.py b/lib/fischertechnik/mqtt/FTCloudClient.py
similarity index 85%
rename from gen/fischertechnik/mqtt/FTCloudClient.py
rename to lib/fischertechnik/mqtt/FTCloudClient.py
index 301c29fea02e9c59015f29fbfd7886f3f59e2000..2bbacfc0fe6ad6ee91d19c97b68a0369147aec85 100644
--- a/gen/fischertechnik/mqtt/FTCloudClient.py
+++ b/lib/fischertechnik/mqtt/FTCloudClient.py
@@ -6,7 +6,6 @@ class FTCloudClient(Client):
HOST = "rabbitmq-data-live.beemo.eu"
PORT = 443
- KEEP_ALIVE = 60
__instance = None
@@ -28,8 +27,7 @@ class FTCloudClient(Client):
def __del__(self):
Client.__del__(self)
- def connect(self, host=HOST, port=PORT, keepalive=KEEP_ALIVE, bind_address="", user=MQTT_USER,
- password=MQTT_PASSWORD):
+ def connect(self, host=HOST, port=PORT, keepalive=Client.KEEP_ALIVE, bind_address="", user=MQTT_USER, password=MQTT_PASSWORD):
Client.connect(self, host, port, keepalive, bind_address, user, password)
def publish(self, topic, payload=None, qos=2, retain=True):
diff --git a/gen/fischertechnik/mqtt/MqttClient.py b/lib/fischertechnik/mqtt/MqttClient.py
similarity index 59%
rename from gen/fischertechnik/mqtt/MqttClient.py
rename to lib/fischertechnik/mqtt/MqttClient.py
index fa5afa71608ffc4fd09dc8931db3d7ef85a9cfb0..96029657140a967ed65c18cc3f1367fc54c22410 100644
--- a/gen/fischertechnik/mqtt/MqttClient.py
+++ b/lib/fischertechnik/mqtt/MqttClient.py
@@ -1,7 +1,6 @@
import paho.mqtt.client as mqtt
from ..mqtt.Client import Client
-from ..mqtt.Constants import MQTT_USER, MQTT_PASSWORD
class MqttClient(Client):
@@ -13,8 +12,5 @@ class MqttClient(Client):
def __del__(self):
Client.__del__(self)
- def connect(self, host, port, keepalive=60, bind_address="", user=MQTT_USER, password=MQTT_PASSWORD):
- Client.connect(self, host, port, keepalive, bind_address, user, password)
-
- def publish(self, topic, payload=None, qos=0, retain=False):
- return Client.publish(self, topic, payload, qos, retain)
+ def connect(self, host, port, keepalive=Client.KEEP_ALIVE, bind_address="", user="", password=""):
+ Client.connect(self, host, port, keepalive, bind_address, user, password)
\ No newline at end of file
diff --git a/gen/fischertechnik/utility/__init__.py b/lib/fischertechnik/mqtt/__init__.py
similarity index 100%
rename from gen/fischertechnik/utility/__init__.py
rename to lib/fischertechnik/mqtt/__init__.py
diff --git a/lib/fischertechnik/utility/__init__.py b/lib/fischertechnik/utility/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/gen/fischertechnik/utility/math.py b/lib/fischertechnik/utility/math.py
similarity index 100%
rename from gen/fischertechnik/utility/math.py
rename to lib/fischertechnik/utility/math.py
diff --git a/gen/fischertechnik/utility/txt_state.py b/lib/fischertechnik/utility/txt_state.py
similarity index 100%
rename from gen/fischertechnik/utility/txt_state.py
rename to lib/fischertechnik/utility/txt_state.py
diff --git a/gen/publish.sh b/lib/publish.sh
similarity index 100%
rename from gen/publish.sh
rename to lib/publish.sh
diff --git a/gen/setup.py b/lib/setup.py
similarity index 67%
rename from gen/setup.py
rename to lib/setup.py
index 2988f2c398c12f680aebcc1b1ec2b15888b381de..5470d5955b92f558476147304662fc02c51aceb3 100644
--- a/gen/setup.py
+++ b/lib/setup.py
@@ -1,14 +1,22 @@
import setuptools
+REQUIRES = [
+ "setuptools==41.4.0",
+ "imutils==0.5.3",
+ "smbus2>=0.2.1",
+ "bme680==1.0.5",
+ "apds9960==0.2"
+]
+
setuptools.setup(
name='ft-controllerlib',
+ install_requires=REQUIRES,
packages=setuptools.find_packages(),
description='A Library for the fischertechnik controller',
- version='6.0.11',
+ version='0.0.0',
author='beemo GmbH',
author_email='info@beemo.eu',
url="https://www.fischertechnik-cloud.com",
keywords=['txt', 'fischertechnik', 'controller', 'lib'],
python_requires='>=3.5'
)
-
diff --git a/modelling/Fischertechnik.vpp b/modelling/Fischertechnik.vpp
deleted file mode 100644
index 72b11daedb1f6f75fd8814f39d5d6c6d9eb4ddca..0000000000000000000000000000000000000000
Binary files a/modelling/Fischertechnik.vpp and /dev/null differ
diff --git a/modelling/Fischertechnik.vux b/modelling/Fischertechnik.vux
deleted file mode 100644
index 6ba285c459ace90d444d7a98a7b39307f68d37bd..0000000000000000000000000000000000000000
Binary files a/modelling/Fischertechnik.vux and /dev/null differ
diff --git a/patchset/txt/deploy/colorized_output.py b/patchset/txt/deploy/colorized_output.py
deleted file mode 100755
index cb1305c65172553a34aa9ad4539158cfaf027e88..0000000000000000000000000000000000000000
--- a/patchset/txt/deploy/colorized_output.py
+++ /dev/null
@@ -1,27 +0,0 @@
-class Color:
- HEADER = '\033[95m'
- OKBLUE = '\033[94m'
- OKGREEN = '\033[92m'
- WARNING = '\033[93m'
- FAIL = '\033[91m'
- ENDC = '\033[0m'
- BOLD = '\033[1m'
- UNDERLINE = '\033[4m'
-
-def print_colored(string, color):
- print(color + string + Color.ENDC)
-
-def print_bold(string):
- print_colored(string, Color.BOLD)
-
-def print_warning(string):
- print_colored(string, Color.WARNING)
-
-def print_success(string):
- print_colored(string, Color.OKGREEN)
-
-def print_info(string):
- print_colored(string, Color.OKBLUE)
-
-def print_error(string):
- print_colored(string, Color.FAIL)
\ No newline at end of file
diff --git a/patchset/txt/deploy/deployment.py b/patchset/txt/deploy/deployment.py
deleted file mode 100644
index 01bdb36b5836efe942690e9b61cdefb336d3ac9b..0000000000000000000000000000000000000000
--- a/patchset/txt/deploy/deployment.py
+++ /dev/null
@@ -1,49 +0,0 @@
-import os
-
-from deploy import colorized_output as co
-from deploy.mounts import Mounts
-from deploy.python_environment import PythonEnvironment
-from deploy.repository import Repository
-
-from fabric import Connection
-
-USER = 'ftc'
-ROOT = 'root'
-
-class Deployment:
- def __init__(self, host):
- self.host = host
- self.connection = Connection(host = host, user = USER)
-
- def check_mounts(self):
- mnts = Mounts(self.connection)
- mnts.check_mounts()
-
- def check_pip_and_libraries(self):
- pyenv = PythonEnvironment(self.connection)
- pyenv.check_pip()
- pyenv.check_pip_libraries()
- pyenv.add_ftc_path()
-
- def run_tests(self):
- repo = Repository(self.connection)
- repo.uploadFolder('../../tests')
- co.print_info("Starting tests...")
- self.connection.run("python3 /home/ftc/tests/txt/main.py")
-
- def build_package(self):
- os.system('cd ../../gen && ./build.sh')
- os.system('mv ../../gen/dist/ft-controllerlib-*.tar.gz ../../gen/dist/ft-controllerlib.tar.gz')
-
- def upload_package(self):
- repo = Repository(self.connection)
- repo.uploadFolder('../../gen/dist')
-
- def install_package(self):
- self.connection.run("pip3 install -I /home/ftc/gen/dist/ft-controllerlib.tar.gz")
-
- def clean_up(self):
- self.connection.run("rm -rf /tests")
- os.system("cd ../../gen && rm -rf dist build ft_git ft-controllerlib.egg-info")
-
-
diff --git a/patchset/txt/deploy/mounts.py b/patchset/txt/deploy/mounts.py
deleted file mode 100755
index 0b962939a384a545635f928336984f06a9eea378..0000000000000000000000000000000000000000
--- a/patchset/txt/deploy/mounts.py
+++ /dev/null
@@ -1,37 +0,0 @@
-from deploy import colorized_output as co
-
-class Mounts:
- MOUNTED_SUDO = '/home/ftc/mounts/usr/bin/sudo'
-
- def __init__(self, connection):
- self.connection = connection
- self.mounts = self.connection.run('cat /etc/mtab').stdout.strip().split()
-
- def create_mounts(self):
- co.print_info('Copying files to local mount folders')
- self.copy_folder_to_mounts('/usr/lib/python3.7/.', '~/mounts/python3.7')
- self.copy_folder_to_mounts('/usr/bin', '~/mounts/usr')
- self.chown_mounted_sudo()
-
- def copy_folder_to_mounts(self, src, dst):
- self.connection.run("mkdir -p {0}".format(dst))
- self.connection.run("cp -r {0} {1}".format(src, dst))
-
- def chown_mounted_sudo(self):
- self.connection.sudo("chown root:root {0}".format(Mounts.MOUNTED_SUDO))
- self.connection.sudo("chmod 4755 {0}".format(Mounts.MOUNTED_SUDO))
-
- def check_mounts(self):
- if not self.connection.run('ls mounts', warn=True):
- self.create_mounts()
- self.check_mount('/usr/lib/python3.7', '/home/ftc/mounts/python3.7')
- self.check_mount('/usr/bin', '/home/ftc/mounts/usr/bin')
-
- def check_mount(self, mnt, mnt_dir):
- co.print_info("Checking mount {0}".format(mnt))
- if mnt in self.mounts:
- co.print_success("--> Already mounted")
- else:
- co.print_warning("--> Not mounted. Please authorize sudo on txt to mount it")
- self.connection.sudo("mount {0} {1}".format(mnt_dir, mnt))
- co.print_success("--> Sucessfully mounted")
\ No newline at end of file
diff --git a/patchset/txt/deploy/python_environment.py b/patchset/txt/deploy/python_environment.py
deleted file mode 100755
index a7fc54212e1df4ba6d24b6326aaa98ad133b653f..0000000000000000000000000000000000000000
--- a/patchset/txt/deploy/python_environment.py
+++ /dev/null
@@ -1,58 +0,0 @@
-from deploy import colorized_output as co
-import os
-
-class PythonEnvironment:
- def __init__(self, connection):
- self.connection = connection
-
- def add_ftc_path(self):
- co.print_info('Add /opt/ftc to PYTHONPATH')
- self.connection.run('echo "export PYTHONPATH=/opt/ftc" > /home/ftc/.profile', warn=True)
- co.print_success('--> Important for ui applications')
-
- def check_pip(self):
- co.print_info("Checking pip-installation")
- if self.connection.run('ls /usr/bin | grep pip3.7', warn=True):
- co.print_success('--> Already installed')
- else:
- co.print_warning('--> Not installed. Starting installation of pip')
- self.install_pip('~/tmp')
- co.print_success('--> Successfully installed pip')
-
- def install_pip(self, tmp_dir):
- self.connection.run("mkdir -p {0}".format(tmp_dir))
- self.connection.run("wget https://bootstrap.pypa.io/get-pip.py -O/home/ftc/tmp/get-pip.py".format(tmp_dir))
- self.connection.run("python {0}/get-pip.py".format(tmp_dir))
- self.connection.run("rm -rf {0}".format(tmp_dir))
-
- def check_pip_libraries(self):
- co.print_info('Checking pip libraries')
- requirements = self.get_requirements()
- pip_list = self.get_pip_list()
- for requirement in requirements:
- search = requirement.strip().replace(' ', '')
- self.check_pip_library(pip_list, search)
-
- def check_pip_library(self, dependencies, dependency):
- co.print_info("Checking {0}:".format(dependency))
- if dependency in dependencies:
- co.print_success("--> Already installed")
- else:
- co.print_warning("--> Not installed. Starting installation")
- if dependency.find('ft-') == -1 and dependency.find('ftrobopy') == -1:
- self.connection.run("pip install {0}".format(dependency))
- else:
- if dependency.find('ftrobopy') != -1:
- co.print_warning("--> Removing preinstalled ftrobopy.")
- self.connection.run("rm -rf /usr/lib/python3.7/ftrobopy /usr/lib/python3.7/ftrobopy-1.80-py3.7.egg-info /usr/lib/python3.7/ftrobopy.pyc")
- co.print_info("Downloading from custom repository")
- co.print_info("Enter credentials if needed")
- self.connection.run("pip install --index-url https://{0}:{1}@update.fischertechnik-cloud.com/repository/ft-txt-lib/simple/ --no-deps {2}".format(os.getenv('FT_USERNAME'), os.getenv('FT_PASSWORD'), dependency))
- co.print_success("--> Successfully installed")
-
- def get_pip_list(self):
- return self.connection.run('pip list --format=freeze').stdout.strip().split()
-
- def get_requirements(self):
- fd = open('requirements.txt', 'r')
- return fd.readlines()
diff --git a/patchset/txt/deploy/repository.py b/patchset/txt/deploy/repository.py
deleted file mode 100755
index 632c2e8bfb47745bbf7af39bb5bf9f5fadbfc791..0000000000000000000000000000000000000000
--- a/patchset/txt/deploy/repository.py
+++ /dev/null
@@ -1,29 +0,0 @@
-import os
-from deploy import colorized_output as co
-
-class Repository:
- def __init__(self, connection):
- self.connection = connection
-
- def uploadFolder(self, folder):
- tar_folder = "{0}.tar".format(folder.split('/')[-1])
- os.system("tar -cf {0} {1}/".format(tar_folder, folder))
- self.connection.put("{0}".format(tar_folder))
- self.connection.run("tar -xf {0}".format(tar_folder))
- self.connection.run("rm {0}".format(tar_folder))
- os.system("rm {0}".format(tar_folder))
-
- def uploadAppFolder(self, folder):
- self.uploadFolder(folder)
- co.print_info('UploadAppFolder ' + folder)
- self.connection.run("mkdir -p apps", warn=True)
- self.connection.run("rm -rf apps/{0}/".format(folder), warn=True)
- self.connection.run("mv -f {0} apps/".format(folder))
- self.connection.run("chmod +x apps/{0}/start.py".format(folder))
- self.connection.run("python apps/{0}/refresh.py".format(folder))
-
- def replace_ip(self, ip):
- self.connection.run("cd txtapi/txtapi/openapi && sed -i 's/^host:.*$/host: \"{0}:8080\"/g' openapi.yaml".format(ip))
-
- def replace_env(self, env_file):
- self.connection.run("mv txtapi/txtapi/environment/{0} txtapi/txtapi/environment/environment.py".format(env_file))
\ No newline at end of file
diff --git a/patchset/txt/fabfile.py b/patchset/txt/fabfile.py
deleted file mode 100644
index 471029b8bc95a159d4cf603e992ddf8b4683556f..0000000000000000000000000000000000000000
--- a/patchset/txt/fabfile.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import os
-
-from deploy import colorized_output as co
-from deploy.deployment import Deployment
-
-from invoke import task
-
-
-def set_ctx(ctx, host):
- deployment = Deployment(host)
- ctx.update({'deploy': deployment})
-
-@task(help={'host': "IP of the txt-controller"})
-def mount(ctx, host):
- """
- mounts the needed directories on the txt-controller
- """
- set_ctx(ctx, host)
- ctx.deploy.check_mounts()
-
-@task(help={'host': "IP of the txt-controller"})
-def install_python(ctx, host):
- """
- installs pip and dependencies on the txt-controller
- """
- set_ctx(ctx, host)
- ctx.deploy.check_pip_and_libraries()
-
-@task(help={'host': "IP of the txt-controller"})
-def run_tests(ctx, host):
- """
- Runs the tests
- """
- set_ctx(ctx, host)
- ctx.deploy.run_tests()
-
-@task(help={'host': "IP of the txt-controller"})
-def clean_up(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.clean_up()
-
-@task(help={'host': "IP of the txt-controller"})
-def build_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.build_package()
-
-@task(help={'host': "IP of the txt-controller"})
-def upload_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.upload_package()
-
-@task(help={'host': "IP of the txt-controller"})
-def install_package(ctx, host):
- set_ctx(ctx, host)
- ctx.deploy.install_package()
-
-@task(help={'host': "IP of the txt-controller"})
-def deploy(ctx, host):
- """
- Setup and deploy controllerlib
- """
- set_ctx(ctx, host)
- co.print_info("Step 1/7 >> Creating mounts")
- mount(ctx, host)
- co.print_info("Step 2/7 >> Installing pip and dependencies")
- install_python(ctx, host)
- co.print_info("Step 3/7 >> Clean up")
- clean_up(ctx, host)
- co.print_info("Step 4/7 >> Build Package")
- build_package(ctx, host)
- co.print_info("Step 5/7 >> Upload Package")
- upload_package(ctx, host)
- co.print_info("Step 6/7 >> Install Package")
- install_package(ctx, host)
- co.print_info("Step 7/7 >> Run Tests")
- run_tests(ctx, host)
diff --git a/patchset/txt/requirements.txt b/patchset/txt/requirements.txt
deleted file mode 100644
index 1c21ac96baecd7b14996cbac55df74110a9632f1..0000000000000000000000000000000000000000
--- a/patchset/txt/requirements.txt
+++ /dev/null
@@ -1,3 +0,0 @@
-ftrobopy==1.92
-bme680==1.0.5
-apds9960==0.2
diff --git a/patchset/txt4/deploy/deployment.py b/patchset/txt4/deploy/deployment.py
index 078025e1a99bfee66767988e8d4238c3fec283dc..d4899302e72ab883f131afa4d2bc688fc3b7419a 100644
--- a/patchset/txt4/deploy/deployment.py
+++ b/patchset/txt4/deploy/deployment.py
@@ -26,17 +26,17 @@ class Deployment:
def clean_up(self):
self.connection.run("rm -rf /tests")
- os.system("cd ../../gen && rm -rf dist build ft_git ft-controllerlib.egg-info")
+ os.system("cd ../../lib && rm -rf dist build ft_git ft-controllerlib.egg-info")
def build_package(self):
- os.system('cd ../../gen && ./build.sh')
+ os.system('cd ../../lib && ./build.sh')
def upload_package(self):
os.system(
- "scp ../../gen/dist/ft-controllerlib-*.tar.gz {0}@{1}:/ft-controllerlib.tar.gz".format(USER, self.host))
+ "scp ../../lib/dist/ft-controllerlib-*.tar.gz {0}@{1}:/ft-controllerlib.tar.gz".format(USER, self.host))
def install_package(self):
- self.connection.run("pip3 install -I /ft-controllerlib.tar.gz")
+ self.connection.run("export LC_ALL='en_US.UTF-8' && pip3 install -I /ft-controllerlib.tar.gz")
def upload_tests(self, folder):
os.system("scp -r {0} {1}@{2}:/tests".format(folder, USER, self.host))
diff --git a/patchset/txt4/docker-entrypoint.sh b/patchset/txt4/docker-entrypoint.sh
new file mode 100755
index 0000000000000000000000000000000000000000..c4bfe9be352d3de67f012c98f9221222334caf10
--- /dev/null
+++ b/patchset/txt4/docker-entrypoint.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+set -e
+
+mkdir -p ~/.ssh
+ssh-keyscan -t rsa -H $IP_ADDRESS >> ~/.ssh/known_hosts
+
+cd /usr/src/app/patchset/txt4
+fab deploy -h $IP_ADDRESS
\ No newline at end of file
diff --git a/patchset/txt4/requirements.txt b/patchset/txt4/requirements.txt
index e4c1983c6042e2b3131b19e03afd7ab9eb24de2b..4beadc4f39936c6eea3693c4f2c51ee6f62c4adf 100644
--- a/patchset/txt4/requirements.txt
+++ b/patchset/txt4/requirements.txt
@@ -1,2 +1,5 @@
bme680==1.0.5
apds9960==0.2
+setuptools==41.4.0
+imutils==0.5.3
+smbus2>=0.2.1
diff --git a/tests/txt/inputs/mini_switch_test.py b/tests/txt/inputs/mini_switch_test.py
deleted file mode 100644
index 1af8ee727818befa58a403dbb47e1e4a4449c5af..0000000000000000000000000000000000000000
--- a/tests/txt/inputs/mini_switch_test.py
+++ /dev/null
@@ -1,14 +0,0 @@
-import fischertechnik.factories as txtFactory
-import time
-
-
-class MiniSwitchTest:
- description = "Tests, if a push button pressed by a motor is working as intended."
- brief = "Checks, if a push button works."
-
- def __init__(self, txt):
- txtFactory.init_input_factory()
- self.mini_switch = txtFactory.input_factory.create_mini_switch(txt, 1)
-
- def does_pass(self):
- return self.mini_switch.is_open())
diff --git a/tests/txt/lamps/lamp_test.py b/tests/txt/lamps/lamp_test.py
deleted file mode 100644
index 94e741768f466483fd3048abf2f1d521d5e5d56f..0000000000000000000000000000000000000000
--- a/tests/txt/lamps/lamp_test.py
+++ /dev/null
@@ -1,19 +0,0 @@
-import fischertechnik.factories as txtFactory
-import time
-
-
-class SimpleLampTest:
- description = "Tests, if the LED is working."
- brief = "Checks LED."
-
- def __init__(self, txt):
- txtFactory.init_output_factory()
- self.lamp = txtFactory.output_factory.create_led(txt, 3)
-
- def does_pass(self):
- # Actual code
- self.lamp.set_brightness(255)
- time.sleep(1)
- self.lamp.set_brightness(0)
- return True
-
diff --git a/tests/txt/main.py b/tests/txt/main.py
deleted file mode 100644
index c5da63041ce4fe8f5d98b1015dad0701b52d168c..0000000000000000000000000000000000000000
--- a/tests/txt/main.py
+++ /dev/null
@@ -1,37 +0,0 @@
-import fischertechnik.factories as txtFactory
-from motors.encodermotor_test import EncodermotorTest
-from inputs.mini_switch_test import MiniSwitchTest
-from lamps.lamp_test import SimpleLampTest
-from sensors.photo_transistor_test import PhotoTransistorTest
-from sensors.environmental_sensor_test import EnvironmentSensorTest
-
-success = '\033[94m'
-failure = '\033[91m'
-info = '\033[93m'
-reset = '\033[0m'
-txtFactory.init_controller_factory()
-txt = txtFactory.controller_factory.create_graphical_controller()
-tests = []
-
-# Add tests
-tests.append(EncodermotorTest(txt))
-tests.append(MiniSwitchTest(txt))
-tests.append(SimpleLampTest(txt))
-tests.append(PhotoTransistorTest(txt))
-tests.append(EnvironmentSensorTest(txt))
-
-
-print(info + "--> Having a total of " + str(len(tests)) + " tasks.\n" + reset)
-for i in range(len(tests)):
- print(info + "Executing task " + str(i + 1) + "/" + str(len(tests)) + reset + "\n Info: " + tests[i].brief +
- " ... ", end="", flush=True)
- if not tests[i].does_pass():
- print(failure + "failed!\nDescription: " + tests[i].description + reset)
- print(failure + "\nTests were not successful." + reset)
- exit(1)
- break
- else:
- print(success + "success." + reset, flush=True)
-print(success + "\nTests were successful." + reset)
-exit(0)
-
diff --git a/tests/txt/motors/encodermotor_test.py b/tests/txt/motors/encodermotor_test.py
deleted file mode 100644
index 5ddffc8cc196ffe55f7c9fc9ab279f2af6702065..0000000000000000000000000000000000000000
--- a/tests/txt/motors/encodermotor_test.py
+++ /dev/null
@@ -1,41 +0,0 @@
-import fischertechnik.factories as txtFactory
-import time
-
-
-class EncodermotorTest:
- description = "Rotate an encoder motor at 50% and expect a constant rotational speed."
- brief = "Checks rotational speed of an encoder motor."
-
- def __init__(self, txt):
- txtFactory.init_motor_factory()
- txtFactory.init_counter_factory()
- self.encodermotor = txtFactory.motor_factory.create_encodermotor(txt, 1)
- self.counter = txtFactory.counter_factory.create_encodermotor_counter(txt, 1)
- self.counter.set_motor(self.encodermotor)
-
- def does_pass(self):
- self.encodermotor.set_speed(255)
- time.sleep(2)
- start_value = self.counter.get_count()
- step_count = 0
- last_steps = 0
- millis = time.time() * 1000
- last_millis = millis
- for i in range(10):
- # Accurately sleep for 1s
- while (millis + 1000) > last_millis:
- last_millis = time.time() * 1000
- tmp = self.counter.get_count()
- steps = tmp - start_value - step_count
- if last_steps is not 0:
- if abs(steps - last_steps) > 20:
- return False
- step_count += steps
- last_steps = steps
- millis = time.time() * 1000
- self.encodermotor.stop()
- end_value = self.counter.get_count()
- if end_value - start_value < 10:
- return False
- else:
- return True
diff --git a/tests/txt/sensors/environmental_sensor_test.py b/tests/txt/sensors/environmental_sensor_test.py
deleted file mode 100644
index 6288d6d28e448905988a91230c8846b07c6c13a0..0000000000000000000000000000000000000000
--- a/tests/txt/sensors/environmental_sensor_test.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import fischertechnik.factories as txtFactory
-import time
-
-
-class EnvironmentSensorTest:
- description = "Checks, if the environment sensor is working correctly with its values not fluctuating too much."
- brief = "Checks environment sensor for reasonable values."
-
- def __init__(self, txt):
- txtFactory.init_i2c_factory()
- self.env_sensor = txtFactory.i2c_factory.create_environment_sensor(txt, 0)
-
- def does_pass(self):
- temperature = self.env_sensor.get_temperature()
- humidity = self.env_sensor.get_humidity()
- pressure = self.env_sensor.get_pressure()
- for i in range(10):
- time.sleep(1)
- temperature_temp = self.env_sensor.get_temperature()
- humidity_temp = self.env_sensor.get_humidity()
- pressure_temp = self.env_sensor.get_pressure()
- if abs(temperature_temp - temperature) > 1 or abs(humidity_temp - humidity) > 5 or abs(pressure_temp - pressure) > 5:
- return False
- else:
- temperature = temperature_temp
- humidity = humidity_temp
- pressure = pressure_temp
- return True
diff --git a/tests/txt/sensors/photo_transistor_test.py b/tests/txt/sensors/photo_transistor_test.py
deleted file mode 100644
index c0abab5db7e30a8e3f1a1a9f61cbc5e2a50bfc0d..0000000000000000000000000000000000000000
--- a/tests/txt/sensors/photo_transistor_test.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import fischertechnik.factories as txtFactory
-import time
-
-
-class PhotoTransistorTest:
- description = "Checks, if a light sensor is working correctly."
- brief = "Checks a light sensor."
-
- def __init__(self, txt):
- txtFactory.init_input_factory()
- txtFactory.init_output_factory()
- self.photo_transistor = txtFactory.input_factory.create_photo_transistor(txt, 2)
- self.led = txtFactory.output_factory.create_led(txt, 3)
-
- def does_pass(self):
- self.led.set_brightness(255)
- time.sleep(1)
- state = self.photo_transistor.get_state()
- if state == 0:
- return False
- else:
- return True