flip develop to master branch for DexterOS (#304)

* Remove i2c_mutex, it is now residing in script_tools (#287)

* Feature/easygopigo refactoring (#288)

* read_position_str() is also needed here to keep in sync with easygopigo3

* Add init_<sensor> methods to the easygopigo class so the two robots are kept in sync

* add vscode to  .gitignore

* Feature/systemwide mutex (#290)

* read_position_str() is also needed here to keep in sync with easygopigo3

* support systemwide mutex

* Bug/line follower + overall mutex (#291)

* read_position_str() is also needed here to keep in sync with easygopigo3

* support systemwide mutex

* Fix import line to its more generic form

* Fix/overallmutexcheck (#292)

* read_position_str() is also needed here to keep in sync with easygopigo3

* Query overallmutex flag every single time

* fix - remove arduino support (#293)

* fix - IR receiver on Stretch (#295)

fix - IR receiver on Stretch

* make IR Receiver in easygopigo Python3 ready (#298)

.gitignore

@@ -216,3 +216,5 @@ pip-log.txt
 
 #ATOM
 .ftpconfig
+.vscode/sftp.json
+

Setup/install.sh

@@ -76,7 +76,7 @@ install_dependencies() {
  echo " "
  feedback "Installing Dependencies"
  feedback "======================="
- sudo apt-get install python-pip git libi2c-dev python-serial python-rpi.gpio i2c-tools python-smbus arduino minicom libnss-mdns python-dev build-essential libffi-dev -y
+ sudo apt-get install python-pip git libi2c-dev python-serial python-rpi.gpio i2c-tools python-smbus minicom libnss-mdns python-dev build-essential libffi-dev -y
  pip install -U RPi.GPIO
  pip install pyusb
  pip install numpy
@@ -286,7 +286,8 @@ python3 setup.py install --force
 install_DHT
 install_wiringpi
 install_spi_i2c
-install_avr
+# no longer installing avr for arduino
+# install_avr
 install_line_follower
 install_control_panel
 

Software/Python/easygopigo.py

@@ -23,15 +23,17 @@
 def _ifMutexAcquire(mutex_enabled = False):
  """
  Acquires the I2C if the ``use_mutex`` parameter of the constructor was set to ``True``.
+ Always acquires if system-wide mutex has been set.
+ 
  """
- if mutex_enabled:
+ if mutex_enabled or mutex.overall_mutex()==True:
  mutex.acquire()
 
 def _ifMutexRelease(mutex_enabled = False):
  """
  Releases the I2C if the ``use_mutex`` parameter of the constructor was set to ``True``.
  """
- if mutex_enabled:
+ if mutex_enabled or mutex.overall_mutex()==True:
  mutex.release()
 
 try:
@@ -194,6 +196,50 @@ def trim_write(self,set_trim_to):
  pass
  _ifMutexRelease(self.use_mutex)
 
+ def init_light_sensor(self, port="A1"):
+ return LightSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_sound_sensor(self, port="A1"):
+ return SoundSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_loudness_sensor(self, port="AD1"):
+ return LoudnessSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_ultrasonic_sensor(self, port="A1"):
+ return UltraSonicSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_buzzer(self, port="D11"):
+ return Buzzer(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_led(self, port="D11"):
+ return Led(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_button_sensor(self, port="D11"):
+ return ButtonSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_line_follower(self, port="I2C"):
+ return LineFollower(port, gpg=self, use_mutex=self.use_mutex )
+
+ def init_servo(self, port="SERVO"):
+ return Servo(port, gpg=self, use_mutex=self.use_mutex)
+
+ def init_distance_sensor(self, port="I2C"):
+ try:
+ from di_sensors import easy_distance_sensor
+ return DistanceSensor(port, gpg=self, use_mutex=self.use_mutex)
+ except:
+ print("DI Sensor library not found")
+ return None
+
+ def init_dht_sensor(self, port="SERIAL", sensor_type = 0):
+ return DHTSensor(port, self, sensor_type, use_mutex=self.use_mutex)
+
+ def init_remote(self, port="SERIAL"):
+ return Remote(port="SERIAL", gpg=self, use_mutex=self.use_mutex)
+
+ def init_motion_sensor(self, port="D11"):
+ return MotionSensor(port, gpg=self, use_mutex=self.use_mutex)
+
 
 
 #############################################################
@@ -273,6 +319,12 @@ def isDigital(self):
 
  def set_descriptor(self, descriptor):
  self.descriptor = descriptor
+
+ def reconfig_bus(self):
+ '''
+ Does nothing. Placeholder for compatibility with GoPiGo3
+ '''
+ pass
 ##########################
 
 
@@ -596,6 +648,12 @@ def get_remote_code(self):
  key = ir_receiver.nextcode(consume=False)
  else:
  key = ""
+ try:
+ # in python3, key will come in as a byte
+ key = key.decode("utf-8") 
+ except AttributeError:
+ # in python2, key will be a string, so no need to do anything
+ pass
 
  return key
 

Software/Python/ir_remote_control/README.md

@@ -26,9 +26,10 @@ Connect the `IR receiver` to the Serial port on the GoPiGo. This will act as a p
 ## Setup the Software
 
 In your `Raspberry Pi`, open up a terminal and enter the following commands:
-1. `sudo bash lirc/install.sh`.
-2. `sudo bash lirc/setup_older_version.sh` - run this script too only if your version of IR receiver `<= v1.0`.
-3. `sudo bash server/install.sh`.
+1. `sudo apt-get update && sudo apt-get install lirc=0.9.0~pre1-1.2 -y` - to install `lirc` package. Don't use more recent versions as the newer ones are buggy.
+2. `sudo bash lirc/install.sh`.
+3. `sudo bash lirc/setup_older_version.sh` - run this script too only if your version of IR receiver `<= v1.0`.
+4. `sudo bash server/install.sh`.
 
 ## Enabling / Disabling Service
 

Software/Python/ir_remote_control/examples/ir_recv_example.py

@@ -41,6 +41,8 @@
 while True:
  #Wait for the next IR code to arrive. The codes are queued in a buffer before printing
  a= ir_receiver.nextcode()
+ if not isinstance(a, str):
+ a = a.decode('utf-8')
  if len(a) !=0:
- print a
+ print (a)
  time.sleep(.1)

Software/Python/ir_remote_control/examples/lirc_example.py

@@ -42,4 +42,4 @@
  #Wait for the next IR code to arrive. The codes are queued in a buffer before printing
  a= lirc.nextcode() 
  if len(a) !=0:
- print a[0]
+ print (a[0])

Software/Python/ir_remote_control/server/di_ir_reader.py

@@ -8,7 +8,7 @@
 import os
 
 call("sudo /etc/init.d/lirc stop", shell=True)
-debug = 1
+debug = True
 
 # class for exiting gracefully
 # use as "with GracefullExiter as exiter:" and then keep on checking [exit_now]
@@ -322,15 +322,23 @@ def compare_with_button(inp):
 
  # print 'sending "%s"' % str(i)
  if found_flag:
- print keys[key]
- sock.sendall(keys[key])
+ print (keys[key])
+ try:
+ sock.sendall(keys[key]) # works with Python 2
+ except:
+ sock.sendall(keys[key].encode()) # works with Python 3
  global saved_previous_key
  saved_previous_key = keys[key]
  else:
- print "NO_MATCH"
- sock.sendall("NO_MATCH")
+ print ("NO_MATCH")
+ try:
+ sock.sendall("NO_MATCH")
+ except TypeError:
+ sock.sendall("NO_MATCH".encode())
  except socket.error:
- print "Unable to connect to the server"
+ print ("Unable to connect to the server")
+ except:
+ print("something happened")
  finally:
  # print 'Closing socket'
  sock.close()
@@ -339,7 +347,7 @@ def match_with_button(inp):
  list_to_parse=[]
  large_val_found=0
  if debug:
- print inp,len(inp)
+ print (inp,len(inp))
 
  #The ir signals are 65 bytes long with either a pulse length of ~500 us or ~1600us.
  #Sometime because of noise which cannot be filtered out, we have smaller chunks of signal also present in the bytearray
@@ -404,10 +412,18 @@ def main(process_ir):
 
  # Read the raw value from the IR receiver
  line = process_ir.stdout.readline()
+ if not isinstance(line, str):
+ line = line.decode('utf-8')
 
  # we also remove the trailing whitespace and newlines
  pulse_us_string = line[6:len(line)].rstrip()
 
+ # detect if pulse_us_string is a byte array - which implies python3
+ # transfer to str type if needed
+ if not isinstance(pulse_us_string, str):
+ pulse_us_string = pulse_us_string.decode('utf-8')
+ # print(type(pulse_us_string))
+
  # check if we got a positive integer number
  if str.isdigit(pulse_us_string):
  pulse_us= int(pulse_us_string) # signal length
@@ -424,7 +440,7 @@ def main(process_ir):
  # If noise was there in current pulse, just skip it
  if pulse_us < noise_thresh:
  if debug:
- print "noise:",pulse_us
+ print ("noise:", pulse_us)
  return
 
  # There are 3 checks to detect the keypresses
@@ -442,7 +458,7 @@ def main(process_ir):
  header_detected_flag=0
  before_header_flag=0
  if debug:
- print "de:",pulse_us
+ print ("de:", pulse_us)
  header_1_detected_flag=0
  #*********************************************
  match_with_button(detected_sig_buf)
@@ -452,21 +468,21 @@ def main(process_ir):
  add_next_flag = 0
  # remove last sig from buffer
  if debug:
- print "adding last",pulse_us,
+ print ("adding last", pulse_us)
  try:
  detected_sig_buf.pop()
  except IndexError:
  return
  pulse_us+=last_pulse_us
  if debug:
- print pulse_us
+ print (pulse_us)
 
  if last_sig_type == sig_type: # if a similar signal type was detected then add it in the next pulse
  add_next_flag=1
 
  if debug:
  if add_next_flag ==0:
- print "d:",pulse_us
+ print ("d:", pulse_us)
 
  detected_sig_buf.append(pulse_us)
  else:
@@ -476,42 +492,46 @@ def main(process_ir):
  sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 
  server_address = ('localhost', 21852)
- # print 'connecting to %s port %s' % server_address
+ # print ('connecting to %s port %s' % server_address)
  sock.connect(server_address)
 
- # print 'sending "%s"' % str(i)
- sock.sendall(saved_previous_key)
+ # on python2, sendall requires a str 
+ # on python3, if sendall receives a str it will fail, so send bytes instead
+ try:
+ sock.sendall(saved_previous_key)
+ except TypeError:
+ sock.sendall(saved_previous_key.encode())
 
  except socket.error:
- print "Unable to connect to the server"
+ print ("Unable to connect to the server")
  finally:
  # print 'Closing socket'
  sock.close()
  if debug:
- print "n:",pulse_us
+ print ("n:", pulse_us)
 
  #Third check for 4k pulse
  if header_detected_flag ==1 and header_1_detected_flag == 0:
  if debug:
- print "checking before_header1_flag==1",pulse_us,header_1_thresh-header_1_margin,header_1_thresh+header_1_margin
+ print ("checking before_header1_flag==1",pulse_us,header_1_thresh-header_1_margin,header_1_thresh+header_1_margin)
 
  if add_next_flag:
  if debug:
- print "adding 4k pulse"
- print pulse_us,last_pulse_us
+ print ("adding 4k pulse")
+ print (pulse_us, last_pulse_us)
  pulse_us+=last_pulse_us
 
  add_next_flag=0
 
  if pulse_us > header_1_thresh-header_1_margin and pulse_us < header_1_thresh+header_1_margin:
  # IR signal detected
  if debug:
- print "header_1_detected_flag=1"
+ print ("header_1_detected_flag=1")
  header_1_detected_flag=1
  else:
  if last_sig_type == sig_type:
  if debug:
- print "setting 4k pulse flag"
+ print ("setting 4k pulse flag")
  add_next_flag=1
  last_pulse_us=pulse_us
  return
@@ -522,19 +542,19 @@ def main(process_ir):
  #Second check for 9k pulse
  if before_header_flag==1 and header_detected_flag==0:
  if debug:
- print "checking before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin
+ print ("checking before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin)
 
  if add_next_flag:
  pulse_us+=last_pulse_us
 
  add_next_flag=0
  if debug:
- print "checking_again before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin,last_pulse_us
+ print ("checking_again before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin,last_pulse_us)
 
  if pulse_us > header_thresh-header_margin and pulse_us < header_thresh+header_margin:
  header_detected_flag=1
  if debug:
- print "header_detected_flag=1"
+ print ("header_detected_flag=1")
  else:
  if last_sig_type == sig_type:
  add_next_flag=1
@@ -545,7 +565,7 @@ def main(process_ir):
  if before_header_flag==0 and pulse_us>sig_thresh_len_before_header:
  before_header_flag=1
  if debug:
- print "before_header_flag=1",pulse_us
+ print ("before_header_flag=1",pulse_us)
 
  last_pulse_us=pulse_us
  last_sig_type= sig_type
@@ -556,7 +576,7 @@ def main(process_ir):
 
  process_ir = Popen('mode2 -d /dev/lirc0', stdout = PIPE, stderr = STDOUT, shell = True)
 
- print "Press any key on the remote to start"
+ print ("Press any key on the remote to start")
 
  try:
  with GracefullExiter() as exiter:

Software/Python/ir_remote_control/server/install.sh

@@ -12,10 +12,10 @@ GOPIGO_PATH=$DEXTER_PATH/GoPiGo
 
 #Install the ir_receiver library systemwide
 pushd $GOPIGO_PATH/Software/Python/ir_remote_control/server/
-sudo python setup.py install
-sudo rm -r build
-sudo rm -r dist
-sudo rm -r ir_receiver.egg-info
+python setup.py install
+rm -r build
+rm -r dist
+rm -r ir_receiver.egg-info
 
 sudo cp ir-server.service /etc/systemd/system/ir-server.service
 sudo systemctl daemon-reload