wip #66

Author: previ

MPU6050.py

@@ -256,15 +256,15 @@ def get_all_data(self):
 		return [accel, gyro, temp]
 
 if __name__ == "__main__":
-        z = 0.0
-        t = time.time()
+	z = 0.0
+	t = time.time()
 	mpu = MPU6050(0x68)
 	mpu.set_gyro_range(mpu.GYRO_RANGE_250DEG)
 	while True:
 		gyro_data = mpu.get_gyro_data()
-                dt = time.time() - t
-                t = time.time()
-                if abs(gyro_data['z']) > mpu.GYRO_THRESHOLD_Z:
-                	dz = gyro_data['z'] * dt
-                        z = z + dz
-                	print( "z: ", z, end="\r")
+		dt = time.time() - t
+		t = time.time()
+		if abs(gyro_data['z']) > mpu.GYRO_THRESHOLD_Z:
+			dz = gyro_data['z'] * dt
+			z = z + dz
+			print( "z: ", z, end="\r")

camera.py

@@ -24,7 +24,10 @@
 import math
 import json
 from PIL import Image as PILImage
-from StringIO import StringIO
+try:
+    from StringIO import StringIO
+except ImportError:
+    from io import StringIO
 from threading import Thread, Lock
 import logging
 
@@ -58,7 +61,7 @@ def get_instance(cls):
 
   def __init__(self):
     logging.info("starting camera")
-    cam_props = {"width":640, "height":480, "cv_image_factor":config.Config.get().get("cv_image_factor", 4), "exposure_mode": config.Config.get().get("camera_exposure_mode"), "jpeg_quality": int(config.Config.get().get("camera_jpeg_quality", 20))}
+    cam_props = {"width":640, "height":512, "cv_image_factor":config.Config.get().get("cv_image_factor", 4), "exposure_mode": config.Config.get().get("camera_exposure_mode"), "jpeg_quality": int(config.Config.get().get("camera_jpeg_quality", 20))}
     self._camera = camera.Camera(props=cam_props)
     self.recording = False
     self.video_start_time = time.time() + 8640000
@@ -256,7 +259,7 @@ def find_line(self):
       blobs[idx] = slice.find_blobs(minsize=480/(self._cv_image_factor * self._cv_image_factor), maxsize=6400/(self._cv_image_factor * self._cv_image_factor))
       if len(blobs[idx]):
         coords[idx] = (blobs[idx][0].center[0] * 100) / self._camera.out_rgb_resolution[0]
-	logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
+        logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
 
     self._image_lock.release()
     return coords[0]

coderbot.py

@@ -245,7 +245,7 @@ def callback(self, gpio, level, tick):
           self.pi.set_PWM_dutycycle(PIN_LEFT_BACKWARD, 100)
         else:
           self.pi.set_PWM_dutycycle(PIN_LEFT_FORWARD, 100) 
-	  self.pi.write(PIN_LEFT_BACKWARD, 0)
+          self.pi.write(PIN_LEFT_BACKWARD, 0)
       elif (self._encoder_motor_stopped_left == False and
             ((self._encoder_motor_stopping_left and 
              self._encoder_speed_left < self._encoder_k_v_1) or
@@ -255,7 +255,7 @@ def callback(self, gpio, level, tick):
         self.pi.write(PIN_LEFT_BACKWARD, 0)
         self._encoder_motor_stopped_left = True
         self._encoder_check_stopped_and_notify()
-        print "LEFT: " + str(self._encoder_cur_left) + " speed: " + str(self._encoder_speed_left) 
+        print( "LEFT: " + str(self._encoder_cur_left) + " speed: " + str(self._encoder_speed_left)) 
     elif gpio == PIN_ENCODER_RIGHT and self._encoder_target_right >= 0:
       self._encoder_cur_right += 1
       delta_ticks_right = tick - self._encoder_last_tick_time_right if tick > self._encoder_last_tick_time_right else tick - self._encoder_last_tick_time_right + 4294967295
@@ -280,7 +280,7 @@ def callback(self, gpio, level, tick):
         self.pi.write(PIN_RIGHT_BACKWARD, 0)
         self._encoder_motor_stopped_right = True
         self._encoder_check_stopped_and_notify()
-        print "RIGHT: " + str(self._encoder_cur_right) + " speed: " + str(self._encoder_speed_right)
+        print("RIGHT: " + str(self._encoder_cur_right) + " speed: " + str(self._encoder_speed_right))
     else:
       cb = self._cb.get(gpio)
       if cb:
@@ -289,7 +289,7 @@ def callback(self, gpio, level, tick):
           self._cb_last_tick[gpio] = tick
         elif tick - self._cb_last_tick[gpio] > elapse: 
           self._cb_last_tick[gpio] = tick
-          print "pushed: ", level, tick
+          print( "pushed: ", level, tick )
           cb()
 
   def _encoder_check_stopped_and_notify(self):

cv/camera.py

@@ -35,7 +35,7 @@ class Camera():
   def __init__(self, props):
     logging.info("camera init")
     self.camera = picamera.PiCamera()
-    self.camera.resolution = (props.get('width', 640), props.get('height', 480))
+    self.camera.resolution = (props.get('width', 640), props.get('height', 512))
     self.out_rgb_resolution = (self.camera.resolution[0] / int(props.get('cv_image_factor', 4)), self.camera.resolution[1] / int(props.get('cv_image_factor', 4)))
     self.camera.framerate = 30
     self.camera.exposure_mode = props.get('exposure_mode')

cv/streamer.py

@@ -1,5 +1,5 @@
-from SimpleHTTPServer import SimpleHTTPRequestHandler
-from SocketServer import ThreadingMixIn, TCPServer
+from http.server import SimpleHTTPRequestHandler
+from socketserver import ThreadingMixIn, TCPServer
 import threading
 import time
 import re
@@ -71,25 +71,20 @@ def do_GET(self):
                         #_jpegstreamers[port]._lock.release()
                         self.wfile.write("\r\n")
                         lasttimeserved = time.time()
-                    except socket.error, e:
-			print "send_response socket.error: " + str(e)
+                    except socket.error as e:
+                        logging.warning("send_response socket.error: " + str(e))
                         return    
-                    except IOError, e:
-			print "send_response generic IOError: " + str(e)
+                    except IOError as  e:
+                        logging.error("send_response generic IOError: " + str(e))
                         return
                     count = count + 1
 
-
                 time.sleep(_jpegstreamers[port].sleeptime)
 
-
-
-
 class JpegTCPServer(ThreadingMixIn, TCPServer):
     allow_reuse_address = True
     daemon_threads = True
 
-
 #factory class for jpegtcpservers
 class JpegStreamer():
     """

main.py

@@ -127,7 +127,7 @@ def handle_bot():
           pass
     elif cmd == "take_photo":
         try:
-	  cam.photo_take()
+          cam.photo_take()
           audio.say(app.bot_config.get("sound_shutter"))
         except:
           logging.warning("Camera not present")
@@ -148,12 +148,11 @@ def handle_bot():
           pass
     elif cmd == "say":
         logging.info("say: " + str(param1) + " in: " + str(get_locale()))
-	audio.say(param1, get_locale())
-
+        audio.say(param1, get_locale())
     elif cmd == "halt":
         logging.info("shutting down")
         audio.say(app.bot_config.get("sound_stop"))
-	bot.halt()
+        bot.halt()
     elif cmd == "restart":
         logging.info("restarting bot")
         bot.restart()
@@ -356,7 +355,7 @@ def run_server():
       audio = Audio.get_instance()
       audio.say(app.bot_config.get("sound_start"))
       try:
-	cam = Camera.get_instance()
+        cam = Camera.get_instance()
         motion = Motion.get_instance()
       except picamera.exc.PiCameraError:
         logging.error("Camera not present")
@@ -373,7 +372,6 @@ def run_server():
       logging.error(e)
 
     bot.set_callback(PIN_PUSHBUTTON, button_pushed, 100)
-    print "run"
     app.run(host="0.0.0.0", port=8080, debug=False, use_reloader=False, threaded=True)
   finally:
     if cam:

program.py

@@ -130,6 +130,9 @@ def execute(self):
       self._thread.start()
     except RuntimeError as re:
       logging.error("RuntimeError:" + str(re))
+    except Exception as e:
+      logging.error("Exception:" + str(e))
+
     return "ok"
 
   def end(self):

sonar.py

@@ -59,7 +59,6 @@ def _cbf(self, gpio, level, tick):
                   self._high = None
                   self._ping = True
                   self._triggered = False
-                  print "elapsed: " + str(self._time)
    def read(self):
       """
       Triggers a reading.  The returned reading is the number