197 lines
6.2 KiB
Python
197 lines
6.2 KiB
Python
from gpiod import request_lines, LineSettings, RequestReleasedError
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from gpiod.line import Direction, Value
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import asyncio
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from settings import settings
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class LedLineGpio:
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"""Класс для управления линией gpio для LED"""
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def __init__(self, line: int, gpio_path: str, consumer: str) -> None:
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self.line = line
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self._request = request_lines(
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path=gpio_path,
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consumer=consumer,
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config={
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self.line: LineSettings(
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direction=Direction.OUTPUT,
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output_value=Value.INACTIVE
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)
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}
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)
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self._task: asyncio.Task | None = None
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def on(self) -> None:
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"""Метод для включения LED"""
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self._request.set_value(self.line, Value.ACTIVE)
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def off(self) -> None:
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"""Метод для выключения LED"""
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self._request.set_value(self.line, Value.INACTIVE)
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async def _blinking(self) -> None:
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"""Метод для мигания LED"""
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try:
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while True:
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self._request.set_value(self.line, Value.ACTIVE)
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await asyncio.sleep(0.2)
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self._request.set_value(self.line, Value.INACTIVE)
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await asyncio.sleep(0.2)
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except RequestReleasedError:
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pass
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def start_blinking(self) -> None:
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"""Метод для добавления асинхронной задачи мигания LED"""
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if not self._task or self._task.done():
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self._task = asyncio.create_task(self._blinking())
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def stop_blinking(self) -> None:
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"""Метод для остановки мигания LED"""
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if self._task:
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self._task.cancel()
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self._request.set_value(self.line, Value.INACTIVE)
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def close(self) -> None:
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"""Метод для освобождения ресурса"""
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self._request.release()
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class MotorDCLineGpio:
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"""Класс для управления линией GPIO для DC мотора"""
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def __init__(self, line_in1: int, line_in2: int, gpio_path: str, consumer: str) -> None:
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self.line_in1 = line_in1
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self._request_in1 = request_lines(
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path=gpio_path,
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consumer=consumer,
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config={
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self.line_in1: LineSettings(
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direction=Direction.OUTPUT,
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output_value=Value.INACTIVE
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)
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}
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)
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self.line_in2 = line_in2
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self._request_in2 = request_lines(
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path=gpio_path,
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consumer=consumer,
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config={
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self.line_in2: LineSettings(
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direction=Direction.OUTPUT,
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output_value=Value.INACTIVE
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)
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}
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)
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def forward_motor(self) -> None:
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"""Метод для вращения мотора вперёд"""
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self._request_in1.set_value(self.line_in1, Value.ACTIVE)
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self._request_in2.set_value(self.line_in2, Value.INACTIVE)
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def backward_motor(self) -> None:
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"""Метод для вращения мотора назад"""
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self._request_in1.set_value(self.line_in1, Value.INACTIVE)
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self._request_in2.set_value(self.line_in2, Value.ACTIVE)
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def stop_motor(self) -> None:
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"""Метод для остановки мотора"""
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self._request_in1.set_value(self.line_in1, Value.INACTIVE)
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self._request_in2.set_value(self.line_in2, Value.INACTIVE)
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def close(self) -> None:
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"""Метод для освобождения ресурса"""
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self._request_in1.release()
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self._request_in2.release()
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class RobotControl:
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"""Класс для управления роботом"""
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def __init__(self) -> None:
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self._left_motor = MotorDCLineGpio(
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line_in1=settings.gpio_lines.left_motor_line_in1,
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line_in2=settings.gpio_lines.left_motor_line_in2,
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gpio_path=settings.gpio_lines.gpio_path,
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consumer=settings.gpio_lines.left_motor_consumer
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)
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self._right_motor = MotorDCLineGpio(
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line_in1=settings.gpio_lines.right_motor_line_in1,
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line_in2=settings.gpio_lines.right_motor_line_in2,
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gpio_path=settings.gpio_lines.gpio_path,
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consumer=settings.gpio_lines.right_motor_consumer
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)
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self._led_indicator = LedLineGpio(
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line=settings.gpio_lines.led_line,
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gpio_path=settings.gpio_lines.gpio_path,
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consumer=settings.gpio_lines.led_consumer
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)
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self.stop()
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self.ready_to_connect()
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def ready_to_connect(self) -> None:
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"""Готовность робота к подключению (индикация)"""
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self._led_indicator.start_blinking()
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def connected(self) -> None:
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"""Робот подключен (индикация)"""
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self._led_indicator.on()
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def blinking_off(self) -> None:
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"""Выключение моргания LED"""
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self._led_indicator.stop_blinking()
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def forward(self) -> None:
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"""Движение робота вперёд"""
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self._left_motor.forward_motor()
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self._right_motor.forward_motor()
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def backward(self) -> None:
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"""Движение робота назад"""
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self._left_motor.backward_motor()
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self._right_motor.backward_motor()
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def left(self) -> None:
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"""Поворот робота налево"""
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self._right_motor.backward_motor()
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self._left_motor.forward_motor()
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def right(self) -> None:
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"""Поворот робота направо"""
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self._right_motor.forward_motor()
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self._left_motor.backward_motor()
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def stop(self) -> None:
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"""Остановка робота"""
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self._left_motor.stop_motor()
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self._right_motor.stop_motor()
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def close(self) -> None:
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"""Освобождение ресурса"""
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self._left_motor.close()
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self._right_motor.close()
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self._led_indicator.close()
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