import enum
import math
import time
from typing import Dict, List
from typing_extensions import override
from platypush.common.sensors import Numeric
from platypush.entities.devices import Device
from platypush.entities.distance import DistanceSensor
from platypush.entities.sensors import NumericSensor, RawSensor
from platypush.plugins import action
from platypush.plugins.sensor import SensorPlugin
[docs]class Rotation(enum.IntEnum):
"""
Enumerates the possible rotations of the sensor.
"""
ROTATE_0 = 0
ROTATE_90 = 90
ROTATE_180 = 180
ROTATE_270 = 270
[docs]class SPISlot(enum.Enum):
"""
Enumeration for the possible SPI slot positions of the sensor on the
Breakout Garden (front or back).
"""
FRONT = 'front'
BACK = 'back'
# pylint: disable=too-many-ancestors
[docs]class SensorPmw3901Plugin(SensorPlugin):
"""
Plugin to interact with an `PMW3901 <https://github.com/pimoroni/pmw3901-python>`_
optical flow and motion sensor
Requires:
* ``pmw3901`` (``pip install pmw3901``)
Triggers:
* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent`
* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent`
* :class:`platypush.message.event.sensor.SensorDataChangeEvent`
"""
[docs] def __init__(
self,
rotation=Rotation.ROTATE_0.value,
spi_slot=SPISlot.FRONT.value,
spi_port=0,
poll_interval=0.01,
**kwargs,
):
"""
:param rotation: Rotation angle for the captured optical flow. Possible options: 0, 90, 180, 270 (default: 0)
:type rotation: int
:param spi_slot: SPI slot where the sensor is connected if you're using a Breakout Garden interface.
Possible options: 'front', 'back' (default: 'front')
:type spi_slot: str
:param spi_port: SPI port (default: 0)
:type spi_slot: int
"""
from pmw3901 import BG_CS_FRONT_BCM, BG_CS_BACK_BCM
super().__init__(poll_interval=poll_interval, **kwargs)
self.spi_port = spi_port
self._sensor = None
self._events_per_sec = {}
self.x, self.y = (0, 0)
try:
if isinstance(rotation, int):
rotation = [r for r in Rotation if r.value == rotation][0]
self.rotation = rotation
except IndexError as e:
raise AssertionError(
f'{rotation} is not a valid value for rotation - '
f'possible values: {[r.value for r in Rotation]}'
) from e
try:
if isinstance(spi_slot, str):
spi_slot = [s for s in SPISlot if s.value == spi_slot][0]
if spi_slot == SPISlot.FRONT:
self.spi_slot = BG_CS_FRONT_BCM
else:
self.spi_slot = BG_CS_BACK_BCM
except IndexError as e:
raise AssertionError(
f'{spi_slot} is not a valid value for spi_slot - '
f'possible values: {[s.value for s in SPISlot]}'
) from e
def _get_sensor(self):
from pmw3901 import PMW3901
if not self._sensor:
self._sensor = PMW3901(
spi_port=self.spi_port, spi_cs=1, spi_cs_gpio=self.spi_slot
)
self._sensor.set_rotation(self.rotation)
return self._sensor
[docs] @override
@action
def get_measurement(self, *_, **__):
"""
:returns: dict. Example:
.. code-block:: python
output = {
"motion_x": 3, # Detected motion vector X-coord
"motion_y": 4, # Detected motion vector Y-coord
"motion_mod": 5 # Detected motion vector module
"motion_events_per_sec": 7 # Number of motion events detected in the last second
}
"""
sensor = self._get_sensor()
while True:
try:
x, y = sensor.get_motion()
break
except RuntimeError:
self.wait_stop(0.01)
secs = int(time.time())
if (x, y) != (self.x, self.y):
(self.x, self.y) = (x, y)
if secs not in self._events_per_sec:
self._events_per_sec = {secs: 1}
else:
self._events_per_sec[secs] += 1
return {
'motion_x': x,
'motion_y': y,
'motion_mod': math.sqrt(x * x + y * y),
'motion_events_per_sec': self._events_per_sec.get(secs, 0),
}
# vim:sw=4:ts=4:et: