Test scripts

tests/test_input.py

+import logging
+import time
+import RPi.GPIO as GPIO
+
+keyButtonBindings = {
+	16: 'up',
+	 6: 'left',
+	12: 'right',
+	13: 'down',
+	26: 'return',
+	20: 'del',
+	19: 'escape'
+}
+
+def fun(pin):
+	global last_input
+	arrival_time = time.time()
+	
+	if pin not in keyButtonBindings.keys():
+		print('Unknown button pin: {}'.format(pin))
+	elif arrival_time-last_input>0.5:
+		key = keyButtonBindings[pin]
+		print('Sending {} as {}'.format(pin, key))
+		last_input = arrival_time
+
+if __name__=='__main__':
+	GPIO.setmode(GPIO.BCM)
+	for pin in keyButtonBindings.keys():
+		GPIO.setup(pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+		GPIO.add_event_detect(pin, GPIO.RISING, callback=fun)
+
+	try:
+		last_input = time.time()
+		while True:
+			pass
+	finally:
+		GPIO.cleanup()

tests/test_sr04.py

+import time
+import RPi.GPIO as GPIO
+from threading import Thread
+
+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 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
+		self.last_goal = time.time()
+
+		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)
+
+	def run(self):
+		try:
+			# Waiting for sensor to settle
+			time.sleep(2)
+
+			while self.running():
+				# Trigger a scan with a 10us pulse
+				GPIO.output(self.pin_trig, GPIO.HIGH)
+				time.sleep(0.00001)
+				GPIO.output(self.pin_trig, GPIO.LOW)
+				timeout = False
+				start_read = time.time()
+
+				# Read the echo
+				while self.running() and GPIO.input(self.pin_echo)==0:
+					pulse_start_time = time.time()
+					# Prevent infinite loops, add timeout.
+					if (time.time() - start_read) > 0.06:
+						timeout = True
+						break
+				
+				while self.running() and GPIO.input(self.pin_echo)==1:
+					pulse_end_time = time.time()					
+					# Prevent infinite loops, add timeout.
+					if (time.time() - start_read) > 0.06:
+						timeout = True
+						break
+
+				if self.running() and not timeout:
+					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):
+		print('Distance: {}cm'.format(dist))
+		if dist<10:
+			if (time.time()-self.last_goal)>1:
+				print('goal') #self.parent.goalDetected.emit(self.parent.side)
+			
+			self.last_goal = time.time()
+
+if __name__=='__main__':
+	try:
+		_GoalPins = {
+			'pin_trig': 3,
+			'pin_echo': 2
+		}
+			
+		goalThread = GoalThread(None, **_GoalPins)
+		goalThread.start()
+		
+		while True:
+			pass
+			
+	finally:
+		goalThread.stop()

tests/testrfid.py

+from pirc522 import RFID
+import signal
+import time
+
+rf_reader = RFID()
+
+try:
+    print('Starting...')
+    while True:
+        print('Waiting for a tag')
+        rf_reader.wait_for_tag()
+        (error, tag_type) = rf_reader.request()
+        
+        if error:
+            print('Error: {}'.format(error))
+        else:
+            (error, id) = rf_reader.anticoll()
+            if error:
+                print('Error: {}'.format(error))
+            else:
+                (error, tag_type) = rf_reader.request()
+            print('RFID: {}'.format([hex(x) for x in id]))
+
+except KeyboardInterrupt:
+    print('Closing...')
+    rf_reader.cleanup()
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