Python InterfaceKit.closePhidget方法代码示例

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
class SensorThread(threading.Thread):
    def __init__(self):
        threading.Thread.__init__(self)
        # Create
        try:
            print "Setting up sensor interface"
            self.device = InterfaceKit()	
        except RuntimeError as e:
            print("Runtime Error: %s" % e.message)
         
        # Open
        try:
            # Hook our function above into the device object
            self.device.setOnSensorChangeHandler(sensorChanged)
            self.device.openPhidget()
        except PhidgetException as e:
            print ("Phidget Exception %i: %s" % (e.code, e.detail))		
            exit(1)

    def run(self):
        self.running = True
        print "Sensors> Waiting for attach"
        try:
            self.device.setOnAttachHandler(AttachHandler)
        except PhidgetException as e:
            print "Phidget Exception %i" % (e.code)		
        pass
    
    def stop(self):
        self.running = False
        self.device.closePhidget()

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
class phidget:
    def __init__(self, id, port):
        self.id = id
        self.port = port
        self.serial_numbers = (262305, # 4-port, shelf 6
                               262295, # 4-port, shelf 6
                               318471, # 8-port, shelf 2
                               312226, # 8-port, shelf 4
                               259764, # 4-port, shelf 8
                               319749, # 8-port, shelf 10
                               259763, # 4-port, shelf 6
                               )
        self.serial_num = self.serial_numbers[id]
        self.lockfile = "/var/run/lock/phidget-%s.lock" %self.id
        self.lock_fp = open(self.lockfile, "w")
        self.lock_fd = self.lock_fp.fileno()
        fcntl.lockf(self.lock_fd, fcntl.LOCK_EX)
        if debug:
            print "[%.2f] Aquired lock for Phidget %s" %(time.time(), self.id)

        try:
            self.device = InterfaceKit()	
        except RuntimeError as e:
            print("Runtime Error: %s" % e.message)
    
        try:
            self.device.openPhidget(serial=self.serial_num)
        except PhidgetException as e:
            print ("Phidget Exception %i: %s" % (e.code, e.detail))
            fcntl.lockf(self.lock_fd, fcntl.LOCK_UN)
            exit(1)

        self.device.waitForAttach(10000)

        #print ("Phidget %d attached!" % (self.device.getSerialNum()))
        #print ("Phidget has %d inputs, %d outputs, %d sensors"
        #       %(self.device.getInputCount(), self.device.getOutputCount(), self.device.getSensorCount()))

    def close(self):
        self.device.closePhidget()
        fcntl.lockf(self.lock_fd, fcntl.LOCK_UN)
        if debug:
            print "[%.2f] Released lock for Phidget %s" %(time.time(), self.id)

    def on(self):
        self.device.setOutputState(self.port, 1)

    def off(self):
        self.device.setOutputState(self.port, 0)

    def cmd(self, cmd):
        if cmd == 'on':
            self.on()
        if cmd == 'off':
            self.off()

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
def main():
	parser = argparse.ArgumentParser(description='read sensor values from a Phidgets device')
	
	group = parser.add_mutually_exclusive_group(required=True)
	
	group.add_argument('-d', '--digital', metavar='<input id>', type=int, help='read from a digital input')
	group.add_argument('-a', '--analog', metavar='<sensor id>', type=int, help='read from an analog sensor')
	
	parser.add_argument('-t', '--temperature-sensor', action='store_const', const=True, default=False, help='device is a temperature sensor, output in degrees celcius. must be reading an analog sensor')
	parser.add_argument('-m', '--precision-light-sensor-multiplier', metavar='<multiplier>', type=float, help='\'m\' value from the underside of the precision light sensor. must be reading an analog sensor')
	parser.add_argument('-b', '--precision-light-sensor-boost', metavar='<boost>', type=float, help='\'b\' value from the underside of the precision light sensor. must be reading an analog sensor')
	cli_args = parser.parse_args()
	
	try:
		device = InterfaceKit()
	except RuntimeError as e:
		print("Runtime Error: %s" % e.message)
		exit(2)
	
	try:
		device.openPhidget()
		device.waitForAttach(1000)
		
		if cli_args.digital != None:
			if cli_args.digital < device.getInputCount():
				print device.getInputState(cli_args.digital)
			else:
				parser.print_usage()
				print('%s: error: input id out of range (maximum is %d)' % (sys.argv[0], device.getInputCount()-1))
		elif cli_args.analog != None:
			if cli_args.analog < device.getSensorCount():
				if cli_args.temperature_sensor == True:
					print (float(device.getSensorValue(cli_args.analog)) * 0.2222) - 61.1111 
				elif (cli_args.precision_light_sensor_multiplier == None) != (cli_args.precision_light_sensor_boost == None):
					parser.print_usage()
					print('%s: error: you must supply both precision light sensor arguments')
				elif cli_args.precision_light_sensor_multiplier != None and cli_args.precision_light_sensor_boost != None:
					print (cli_args.precision_light_sensor_multiplier * float(device.getSensorValue(cli_args.analog)) + cli_args.precision_light_sensor_boost)
				else:
					print device.getSensorValue(cli_args.analog)
			else:
				parser.print_usage()
				print('%s: error: sensor id out of range (maximum is %d)' % (sys.argv[0], device.getSensorCount()-1))
		device.closePhidget()
	except PhidgetException as e:
		print("Phidget Exception %i: %s" % (e.code, e.details))
		try:
			device.closePhidget()
		except PhidgetException as e:
			print("Phidget Exception %i: %s" % (e.code, e.details))
		print("Exiting...")
		exit(1)
	exit(0)

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
try:
    interfaceKit.openPhidget()
except PhidgetException, e:
    print "Phidget Exception %i: %s" % (e.code, e.message)
    print "Exiting...."
    exit(1)

print "Waiting for attach...."

try:
    interfaceKit.waitForAttach(10000)
except PhidgetException, e:
    print "Phidget Exception %i: %s" % (e.code, e.message)
    try:
        interfaceKit.closePhidget()
    except PhidgetException, e:
        print "Phidget Exception %i: %s" % (e.code, e.message)
        print "Exiting...."
        exit(1)
    print "Exiting...."
    exit(1)


print "Output Count: "+str(interfaceKit.getOutputCount())

time.sleep(3)

print "Output 0 is currently in state "+str(interfaceKit.getOutputState(0))
print "Press Enter to toggle output 0"
chr = sys.stdin.read(1)

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
        device = InterfaceKit()	
    except RuntimeError as e:
        print("Runtime Error: %s" % e.message)
        
    try:
        device.setOnAttachHandler(AttachHandler)
        device.setOnDetachHandler(DetachHandler)
        device.openPhidget()
        device.setOnSensorChangeHandler(sensorChanged)
    except PhidgetException as e: 
        LocalErrorCatcher(e)

    try:
        pub = rospy.Publisher('sonar', Float32)
        rospy.init_node('sonar')
    except rospy.ROSInterruptException:
        pass

    print("Phidget Simple Playground (plug and unplug devices)");
    print("Press Enter to end anytime...");
    character = str(raw_input())
    
    print("Closing...")
 #   f = open('sonar.txt','a')
 #   f.write('********************************\n')
 #   f.close()
    try:
        device.closePhidget()
    except PhidgetException as e:
        LocalErrorCatcher(e)

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
print('</table></td><td>')

#Print the Digital Input values
print('<b>Digital Input Values</b>')
print('<table border="1"><tr><td>Input Number</td><td>Input Value</td></tr>\n')

for i in range (0,8):
    try:
        print ('<tr><td>'+str(i)+'</td><td>'+str(ifk.getInputState(i))+'</td></tr>\n')
    except:
        pint('<tr><td>'+str(i)+'</td><td>Could not Read Digital Input State </td></tr>\n')
print('</table></td><td>')

#Print the Digital Output States
print('<b>Digital Output States</b>')
print('<table border="1"><tr><td>Output Number</td><td>Output State</td><td>Set True</td><td>Set False</td></tr>\n')

for i in range (0,8):
    try:
        print ('<tr><td>'+str(i)+'</td><td>'+str(ifk.getOutputState(i))+'</td><td><a href="SetTrue'+str(i)+'.py">Set True</a></td><td><a href="SetFalse'+str(i)+'.py">Set False</a></td></tr>\n')
    except:
        pint('<tr><td>'+str(i)+'</td><td>Could not Read Digital Outputt State </td></tr>\n')
print('</table></td></tr></table>')

print ('<br><br>This page does not automaticly refresh')
print ('<br><br><a href="WebInterfaceKit.py">Refresh this page</a>')
print('</body></html>\n')
 
ifk.closePhidget()
exit(0)

# 需要导入模块: from Phidgets.Devices import InterfaceKit [as 别名]
# 或者: from Phidgets.Devices.InterfaceKit import closePhidget [as 别名]
class Sonar:
    def __init__(self):
        try:
            self.device = InterfaceKit()
        except RuntimeError as e:
            print("Runtime Error: %s" % e.message)

        self.height = 0
        self.vel = 0
        self.last_hit_time = 0
        self.lock = Lock()

        num = [0.0181,0.0543,0.0543,0.0181]
        den = [1,-1.76,1.1829,-0.2781]

        self.vzfilter = IIRfilter(num,den)

        try:
            self.device.setOnAttachHandler(self.AttachHandler)
            self.device.setOnDetachHandler(self.DetachHandler)
            self.device.openPhidget()
            self.device.setOnSensorChangeHandler(self.sensorChanged)
        except PhidgetException as e:
            self.LocalErrorCatcher(e)

    def AttachHandler(self,event):
        attachedDevice = event.device
        serialNumber = attachedDevice.getSerialNum()
        deviceName = attachedDevice.getDeviceName()
        attachedDevice.setRatiometric(True)
        attachedDevice.setSensorChangeTrigger(5,1)
        print("Hello to Device " + str(deviceName) + ", Serial Number: " + str(serialNumber))

    def DetachHandler(self,event):
        detachedDevice = event.device
        serialNumber = detachedDevice.getSerialNum()
        deviceName = detachedDevice.getDeviceName()
        print("Goodbye Device " + str(deviceName) + ", Serial Number: " + str(serialNumber))

    def sensorChanged(self,e):
    #    f = open('sonar.txt','a')
        with self.lock:
            current_hit = time.time()
            time_elapse = current_hit-self.last_hit_time
            if time_elapse > 0.1:
                #print ("Sensor height {0} cm vel {1} cm/s".format(self.height, self.vel))
                self.last_hit_time= current_hit
                self.vel = (e.value*1024.0/1000-self.height)/time_elapse
                self.vzfilter.add_raw_data(self.vel)
                self.vel = self.vzfilter.get_filter_data()
                self.height = e.value*1024.0/1000
            #    print ("Sensor %i: %i" % (e.index, height))
            #    f.write('Height at %.3f\n',height)
            #    f.close()
        return 0

    def LocalErrorCatcher(event):
        print("Phidget Exception: " + str(event.code) + " - " + str(event.details) + ", Exiting...")
        exit(1)

    def get_height(self):
        #with self.lock:
        return self.height

    def get_vel(self):
        #with self.lock:
        return self.vel

    def close_phidget(self):
        print("Closing...")
    #   f = open('sonar.txt','a')
    #   f.write('********************************\n')
    #   f.close()
        try:
            self.device.closePhidget()
        except PhidgetException as e:
            self.LocalErrorCatcher(e)