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drone: Simplify led module by connection to clover SetLEDEffect service
This commit is contained in:
Arthur Golubtsov
@@ -1,259 +1,4 @@
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from __future__ import print_function
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import threading
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import time
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from rpi_ws281x import *
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from tasking_lib import wait as wait_until
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import logging
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logger = logging.getLogger(__name__)
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# LED strip configuration:
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LED_COUNT = 60 # Number of LED pixels.
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LED_PIN = 21 # GPIO pin connected to the pixels (18 uses PWM!) (10 uses SPI /dev/spidev0.0).
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LED_FREQ_HZ = 800000 # LED signal frequency in hertz (usually 800khz)
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LED_DMA = 10 # DMA channel to use for generating signal (try 10)
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LED_BRIGHTNESS = 255 # Set to 0 for darkest and 255 for brightest
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LED_INVERT = False # True to invert the signal (when using NPN transistor level shift)
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LED_CHANNEL = 0 # Set to '1' for GPIOs 13, 19, 41, 45 or 53
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import rospy
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from clover.srv import SetLEDEffect
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# define led strip
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strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ, LED_DMA, LED_INVERT, LED_BRIGHTNESS, LED_CHANNEL)
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# variables
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mode = ""
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r = 0
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g = 0
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b = 0
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r_prev = 0
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g_prev = 0
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b_prev = 0
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direct = False
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l = 0
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wait_ms = 5.0
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INTERRUPTER = threading.Event()
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INTERRUPTER_UNSET = threading.Event()
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def delay(delay_time, interrupter=INTERRUPTER, maxsleep=0.01):
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global mode
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wait_until(time.time()+delay_time, interrupter, maxsleep)
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if interrupter.is_set():
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mode = "off"
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# functions
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def math_wheel(pos):
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"""Generate rainbow colors across 0-255 positions."""
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if pos < 85:
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return Color(pos * 3, 255 - pos * 3, 0)
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elif pos < 170:
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pos -= 85
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return Color(255 - pos * 3, 0, pos * 3)
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else:
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pos -= 170
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return Color(0, pos * 3, 255 - pos * 3)
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def rainbow(wait=10, direction=False, interrupter=INTERRUPTER):
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global wait_ms, direct, mode, INTERRUPTER
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wait_ms = wait
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direct = direction
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mode = "rainbow"
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INTERRUPTER=interrupter
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def fill(red, green, blue, interrupter=INTERRUPTER):
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global r, g, b, mode, INTERRUPTER
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r = red
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g = green
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b = blue
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mode = "fill"
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INTERRUPTER=interrupter
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def blink(red, green, blue, wait=250, interrupter=INTERRUPTER):
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global r, g, b, wait_ms, mode, INTERRUPTER
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r = red
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g = green
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b = blue
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wait_ms = wait
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mode = "blink"
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INTERRUPTER=interrupter
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def chase(red, green, blue, wait=50, direction=False, interrupter=INTERRUPTER):
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global r, g, b, wait_ms, direct, mode, INTERRUPTER
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r = red
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g = green
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b = blue
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wait_ms = wait
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direct = direction
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mode = "chase"
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INTERRUPTER=interrupter
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def wipe_to(red, green, blue, wait=50, direction=False, interrupter=INTERRUPTER):
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global r, g, b, wait_ms, direct, mode, INTERRUPTER
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r = red
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g = green
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b = blue
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wait_ms = wait
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direct = direction
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mode = "wipe_to"
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INTERRUPTER=interrupter
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def fade_to(red, green, blue, wait=20, interrupter=INTERRUPTER): # do not working with rainbow (solid colors only)
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global r, g, b, r_prev, g_prev, b_prev, wait_ms, mode, INTERRUPTER
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r_prev = r
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g_prev = g
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b_prev = b
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r = red
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g = green
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b = blue
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wait_ms = wait
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mode = "fade_to"
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INTERRUPTER=interrupter
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def run(red, green, blue, length=strip.numPixels(), direction=False, wait=25, interrupter=INTERRUPTER):
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global r, g, b, l, wait_ms, direct, mode, INTERRUPTER
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r = red
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g = green
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b = blue
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l = length
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direct = direction
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wait_ms = wait
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mode = "run"
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INTERRUPTER=interrupter
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def off():
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global mode
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mode = "off"
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def strip_set(color):
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for i in range(strip.numPixels()):
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strip.setPixelColor(i, color)
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strip.show()
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def strip_rainbow_frame(iteration, direction):
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for i in range(strip.numPixels()):
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n = ((strip.numPixels()-1)*direction) - i
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strip.setPixelColor(abs(n), math_wheel((int(i * 256 / strip.numPixels()) + iteration) & 255))
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strip.show()
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def strip_chase_step(color, direction, interrupter=INTERRUPTER):
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for q in range(3):
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for i in range(0, strip.numPixels(), 3):
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n = ((strip.numPixels() - 1) * direction) - (i + q)
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strip.setPixelColor(abs(n), color)
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strip.show()
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delay(wait_ms / 1000.0, interrupter)
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for i in range(0, strip.numPixels(), 3):
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n = ((strip.numPixels() - 1) * direction) - (i + q)
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strip.setPixelColor(abs(n), 0)
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def strip_wipe(color, direction, interrupter=INTERRUPTER):
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for i in range(strip.numPixels()):
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n = ((strip.numPixels() - 1) * direction) - i
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strip.setPixelColor(abs(n), color)
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delay(wait_ms / 1000.0, interrupter)
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if interrupter.is_set():
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return
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strip.show()
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def strip_fade(r1, g1, b1, r2, g2, b2, frames=50, interrupter=INTERRUPTER):
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r_delta = (r2-r1)//frames
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g_delta = (g2-g1)//frames
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b_delta = (b2-b1)//frames
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for i in range(frames):
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red = r1 + (r_delta * i)
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green = g1 + (g_delta * i)
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blue = b1 + (b_delta * i)
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strip_set(Color(red, green, blue))
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delay(wait_ms / 1000.0, interrupter)
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if interrupter.is_set():
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return
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strip_set(Color(r2, g2, b2))
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def strip_run_step(red, green, blue, length, direction, iteration):
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r_delta = red // length
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g_delta = green // length
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b_delta = blue // length
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direction = not direction
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for i in range(strip.numPixels()):
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n = ((strip.numPixels()-1)*direction)-((i+iteration) % strip.numPixels())
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r_fin = max(0, (red - (r_delta * i)))
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g_fin = max(0, (green - (g_delta * i)))
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b_fin = max(0, (blue - (b_delta * i)))
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strip.setPixelColor(abs(n), Color(r_fin, g_fin, b_fin))
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strip.show()
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def strip_off():
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for i in range(strip.numPixels()):
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strip.setPixelColor(i, Color(0, 0, 0))
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strip.show()
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def led_thread():
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global mode
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logger.info("Starting led control thread")
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iteration = 0
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while True:
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if mode == "rainbow":
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if iteration >= 256:
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iteration = 0
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strip_rainbow_frame(iteration, direct)
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delay(wait_ms / 1000.0, INTERRUPTER)
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iteration += 1
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elif mode == "fill":
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strip_set(Color(r, g, b))
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mode = ""
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elif mode == "blink":
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strip_set(Color(r, g, b))
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delay(wait_ms / 1000.0, INTERRUPTER)
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strip_set(Color(0, 0, 0))
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delay(wait_ms / 1000.0, INTERRUPTER)
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elif mode == "chase":
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strip_chase_step(Color(r, g, b), direct)
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elif mode == "wipe_to":
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strip_wipe(Color(r, g, b,), direct, INTERRUPTER)
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mode = "fill"
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elif mode == "fade_to":
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strip_fade(r_prev, g_prev, b_prev, r, g, b, interrupter=INTERRUPTER)
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mode = ""
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elif mode == "run":
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strip_run_step(r, g, b, l, direct, iteration)
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delay(wait_ms / 1000.0, INTERRUPTER)
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iteration += 1
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elif mode == "off":
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strip_off()
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mode = ""
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else:
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delay(1 / 1000.0, interrupter=INTERRUPTER_UNSET)
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# init
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def init(led_pin = LED_PIN):
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global strip
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strip = Adafruit_NeoPixel(LED_COUNT, led_pin, LED_FREQ_HZ, LED_DMA, LED_INVERT, LED_BRIGHTNESS, LED_CHANNEL)
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strip.begin()
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t_l = threading.Thread(target=led_thread)
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t_l.daemon = True
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t_l.start()
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if __name__ == '__main__':
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init()
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try:
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rainbow()
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except KeyboardInterrupt:
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off()
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set_effect = rospy.ServiceProxy('led/set_effect', SetLEDEffect)
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