Goal detection

babyfut.py

@@ -28,20 +28,18 @@ def getMainWin():
 
 ON_RASP = os.uname()[1] == 'raspberrypi'
 IMG_PATH = getContent('img')
-SIDE = None
 
 if __name__=='__main__':
 	__package__ = 'Babyfut'
 	from Babyfut.ui.mainwin import MainWin
 	from Babyfut.modules import GameModule
 	from Babyfut.core.player import Side
-	from Babyfut.core.input import GPIOThread
+	from Babyfut.core.input import Input
 	from Babyfut.core.downloader import Downloader
 	from Babyfut.core.database import Database
 	from Babyfut.core.replay import Replay as ReplayThread
 
 	try:
-		SIDE = Side.Left
 		#logging.basicConfig(filename='babyfoot.log', level=logging.DEBUG)
 		logging.basicConfig(level=logging.DEBUG)
 
@@ -56,9 +54,10 @@ if __name__=='__main__':
 			threadReplay.start()
 			myapp.dispatchMessage({'replayThread': threadReplay}, toType=GameModule)
 
-		threadGPIO = GPIOThread()
-		threadGPIO.rfidReceived.connect(myapp.rfidHandler)
-		threadGPIO.start()
+		input = Input()
+		input.rfidReceived.connect(lambda side: myapp.dispatchMessage({'rfid': rfid, 'source': side}))
+		input.goalDetected.connect(lambda side: myapp.dispatchMessage({'goal': True, 'source': side}))
+		input.start()
 
 		threadDownloader = Downloader.instance()
 		threadDownloader.start()
@@ -66,18 +65,16 @@ if __name__=='__main__':
 		myapp.show()
 		app.exec_()
 
-		threadDownloader.stop()
-		threadGPIO.stop()
 
 		if ReplayThread.isCamAvailable():
 			threadReplay.stop()
 			threadReplay.join()
 
-		threadGPIO.join()
+		input.stop()
+		threadDownloader.stop()
 		threadDownloader.join()
 
 	finally:
-		GPIOThread.clean()
 		Database.instance().close()
 		for f in glob.glob(join(IMG_PATH, '*')):
 			os.remove(f)

core/input.py

@@ -7,18 +7,34 @@
 import logging
 import time
 from threading import Thread
-import pyautogui # PyPi library
 
 from PyQt5.QtCore import QObject, pyqtSignal
 
 from Babyfut.babyfut import ON_RASP
 from Babyfut.core.player import Side
+from Babyfut.core.settings import Settings
 
 if ON_RASP:
 	import RPi.GPIO as GPIO
 	from pirc522 import RFID # PyPi library
+	import pyautogui # PyPi library
+
+class Input(QObject):
+	'''
+	Defines pins. Uses BCM pin identifiers
+	'''
+
+	_RFIDPins = {
+		'pin_rst': 25,
+		'pin_ce' :  8,
+		'pin_irq': 24
+	}
+
+	_GoalPins = {
+		'pin_trig':  4,
+		'pin_echo': 16
+	}
 
-class GPIOThread(Thread, QObject):
 	_keyButtonBindings = {
 		26: 'up',
 		22: 'left',
@@ -28,36 +44,75 @@ class GPIOThread(Thread, QObject):
 		18: 'escape'
 	}
 
-	rfidReceived = pyqtSignal(str)
+	rfidReceived = pyqtSignal(Side, str)
+	goalDetected = pyqtSignal(Side)
 
 	def __init__(self):
-		Thread.__init__(self)
 		QObject.__init__(self)
-		self.continueRunning = True
-		self.lastRFIDReception = 0
-
+		
 		if ON_RASP:
-			self.rf_reader = RFID(pin_rst=25, pin_ce=8, pin_irq=24, pin_mode=GPIO.BCM)
-			GPIO.setwarnings(False)
 			GPIO.setmode(GPIO.BCM)
-
-			for pin in GPIOThread._keyButtonBindings.keys():
-				print(pin)
+			for pin in Input._keyButtonBindings.keys():
 				GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
-				GPIO.add_event_detect(pin, GPIO.RISING, callback=self.handleButtonPress)
+				GPIO.add_event_detect(pin, GPIO.RISING, callback=self._handleButtonPress)
+
+			self.side = Side.Left if Settings['app.side']=='left' else Side.Right
+			print(self.side)
+			self.rfidThread = RFIDThread(self, **Input._RFIDPins)
+			self.goalThread = GoalThread(self, **Input._GoalPins)
+
+	def start(self):
+		self.rfidThread.start()
+		self.goalThread.start()
+
+	def stop(self):
+		self.rfidThread.stop(); self.rfidThread.join()
+		self.goalThread.stop(); self.goalThread.join()
+
+	def _handleButtonPress(self, button_pin):
+		if button_pin not in Input._keyButtonBindings.keys():
+			logging.warn('Unknown button pin: {}'.format(button_pin))
+		else:
+			key = Input._keyButtonBindings[button_pin]
+			logging.debug('Sending {} as {}'.format(button_pin, key))
+			pyautogui.press(key)
+
+class GPIOThread(Thread):
+	def __init__(self):
+		Thread.__init__(self)
+		self._running = True
+
+	def running(self):
+		return self._running
+
+	def start(self):
+		Thread.start(self)
+
+	def stop(self):
+		self._running = False
+
+	def clean(self):
+		GPIO.cleanup()
+
+class RFIDThread(GPIOThread):
+	def __init__(self, parent, **pins):
+		GPIOThread.__init__(self)
+		self.parent = parent
+		self.lastRFIDReception = 0
+		self.rf_reader = RFID(**pins, pin_mode=GPIO.BCM)
+		print(self.rf_reader.pin_rst, self.rf_reader.pin_ce, self.rf_reader.pin_irq)
 
 	def run(self):
-		if ON_RASP:
-			try:
-				while self.continueRunning:
-					self.rf_reader.wait_for_tag()
-					(error, tag_type) = self.rf_reader.request()
-					if not error:
-						self.handleRFID()
-			finally:
-				self.clean()
-
-	def handleRFID(self):
+		try:
+			while self.running():
+				self.rf_reader.wait_for_tag()
+				(error, tag_type) = self.rf_reader.request()
+				if not error:
+					self._handleRFID()
+		finally:
+			self.clean()
+
+	def _handleRFID(self):
 		(error, id) = self.rf_reader.anticoll()
 		if not error:
 			# Prevent RFID "spam" (one second removal delay)
@@ -65,30 +120,59 @@ class GPIOThread(Thread, QObject):
 			if self.lastRFIDReception!=0 and abs(self.lastRFIDReception-now)>1:
 				self.lastRFIDReception = 0
 				receivedRFID = ':'.join([str(x) for x in id])
-				self.rfidReceived.emit(receivedRFID)
+				self.input.emit(self.parent.side, receivedRFID)
 				logging.debug('Received RFID: {}'.format(receivedRFID))
 			else:
 				self.lastRFIDReception = now
 
-	def handleButtonPress(self, button_pin):
-		if button_pin not in GPIOThread._keyButtonBindings.keys():
-			logging.warn('Unknown button pin: {}'.format(button_pin))
-		else:
-			key = GPIOThread._keyButtonBindings[button_pin]
-			logging.debug('Sending {} as {}'.format(button_pin, key))
-			pyautogui.press(key)
-
 	def stop(self):
-		self.continueRunning = False
-		# Falsely trigger the rfid reader to stop it waiting
-		if ON_RASP:
-			self.rf_reader.irq.set()
+		GPIOThread.stop(self)
+
+		# Falsely trigger the rfid reader to stop it from waiting
+		self.rf_reader.irq.set()
 
 	def clean(self):
-		GPIOThread.clean()
+		GPIOThread.clean(self)
 		self.rf_reader.cleanup()
 
-	@staticmethod
-	def clean():
-		if ON_RASP:
-			GPIO.cleanup()
+class GoalThread(GPIOThread):
+	def __init__(self, parent, pin_trig, pin_echo):
+		GPIOThread.__init__(self)
+		self.parent = parent
+		self.pin_trig = pin_trig
+		self.pin_echo = pin_echo
+
+		GPIO.setmode(GPIO.BCM)
+		GPIO.setup (self.pin_echo, GPIO.IN)
+		GPIO.setup (self.pin_trig, GPIO.OUT)
+		GPIO.output(self.pin_trig, GPIO.LOW)
+		print(self.pin_trig, pin_echo)
+
+	def run(self):
+		try:
+			# Waiting for sensor to settle
+			time.sleep(2)
+
+			while self.running():
+				# Trigger a scan
+				GPIO.output(self.pin_trig, GPIO.HIGH)
+				time.sleep(0.00001)
+				GPIO.output(self.pin_trig, GPIO.LOW)
+
+				# Read the echo
+				while self.running() and GPIO.input(self.pin_echo)==0:
+					pulse_start_time = time.time()
+				while self.running() and GPIO.input(self.pin_echo)==1:
+					pulse_end_time = time.time()
+
+				if self.running():
+					pulse_duration = pulse_end_time - pulse_start_time
+					distance = round(pulse_duration * 17150, 2)
+					self._handle_dist(distance)
+		finally:
+			self.clean()
+
+	def _handle_dist(self, dist):
+		logging.debug('Distance: {}cm'.format(dist))
+		if dist<3:
+			self.parent.goalDetected.emit(self.parent.side)

core/player.py

@@ -63,8 +63,8 @@ class Player(QObject):
 
 	_placeholder_pic_path = ':ui/img/placeholder_head.jpg'
 
-	def __init__(self, id, rfid, fname, lname, pic_path, stats):
 	def __init__(self, id, rfid, fname, lname, pic_path, stats=None):
+		QObject.__init__(self)
 		self.id = id
 		self.rfid = rfid
 		self.fname = fname
@@ -94,7 +94,6 @@ class Player(QObject):
 
 		return player
 
-	def displayImg(self, container_widget):
 	@staticmethod
 	def _loadFromDB(rfid):
 		db = Database.instance()
@@ -132,6 +131,7 @@ class Player(QObject):
 
 		return Player._loadFromDB(rfid)
 
+	def displayImg(self, container_widget):
 		self.pic_container = container_widget
 
 		if self.pic_path.startswith('http'):

ui/mainwin.py

@@ -80,11 +80,6 @@ class MainWin(QtWidgets.QMainWindow):
 
 		for modIdx in modulesIdx:
 			self.modules[modIdx].other(**msg)
-
-	@pyqtSlot(str)
-	def rfidHandler(self, rfid):
-		side = Side.Left if Settings['app.side']=='left' else Side.Right
-		self.dispatchMessage({'rfid': rfid, 'source': side})
 		
 	def _loadSettings(self):
 		if Settings['ui.fullscreen']: