Python RepeatedTimer.start方法代碼示例

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class DashieSampler:
    def __init__(self, app, interval):
        self._app = app
        self._timer = RepeatedTimer(interval, self._sample)

    def stop(self):
        self._timer.stop()

    def start(self):
        self._timer.start()

    def name(self):
        """
        Child class implements this function
        """
        return "UnknownSampler"

    def sample(self):
        """
        Child class implements this function
        """
        return {}

    def _send_event(self, widget_id, body):
        body["id"] = widget_id
        body["updatedAt"] = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S +0000")
        formatted_json = "data: %s\n\n" % (json.dumps(body))
        self._app.last_events[widget_id] = formatted_json
        for event_queue in self._app.events_queue.values():
            event_queue.put(formatted_json)

    def _sample(self):
        data = self.sample()
        if data:
            self._send_event(self.name(), data)

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class HandCockpit:

	MIN_VALUE = 0
	MAX_VALUE = 1
	INITIAL_SET = 0

	SCAN_INTERVAL_SEC = 0.1

	# 操作対象用インデックス
	WAIST = 0 # 左右に回転する部分
	BOOM = 1 # 台座から伸びる部分。left servo
	ARM = 2 # boomからcrawまでの部分。right servo
	CRAW = 3 # バケットに相當する部分。先端の爪


	# 物理的な可動範囲[min, max] 0〜180の範囲內であること
	# サンプルを參考にする
	# see: https://www.mearm.com/blogs/news/74739717-mearm-on-the-raspberry-pi-work-in-progress
	RANGE = (
		(0, 180), # waist
		(60, 165), # boom
		(40, 180), # arm
		(60, 180), # craw
	)

	# コントローラーの感度係數
	SENSITIVITY = (
		-50.0, # waist
		-50.0, # boom
		50.0, # arm
		50.0, # craw
	)

	# 定義済み位置(WAIST, BOOM, ARM, CRAW) 0〜180の範囲
	PRESET = (
		(90, 112, 90, 60), # initial position
		(20, 30, 40, 50), # topキー用
	)

	def __init__(self, controller, pad):
		# initial servo position
		self.position = list(HandCockpit.PRESET[HandCockpit.INITIAL_SET])
		# controllerはapplyメソッドを持っている必要がある
		self.controller = controller
		self.pad = pad

		self.lastUpdateAt = time.time()
		self.isStartedAxisScanThread = False
		self.isEnabledDebugPad = True

		# 初期位置設定
		self._apply()


	def update(self, powerList, delay):
		for index in self.controller.getIndexes():
			self.position[index] += powerList[index] * delay * HandCockpit.SENSITIVITY[index]
			if self.position[index] < HandCockpit.RANGE[index][HandCockpit.MIN_VALUE]:
				self.position[index] = HandCockpit.RANGE[index][HandCockpit.MIN_VALUE]
			elif self.position[index] > HandCockpit.RANGE[index][HandCockpit.MAX_VALUE]:
				self.position[index] = HandCockpit.RANGE[index][HandCockpit.MAX_VALUE]
		self._apply()

	def usePreset(self, number):
		self.position = list(HandCockpit.PRESET[number])
		self._apply()

	def _apply(self):
		self.controller.apply(self.position)

	def startAxisScanThread(self):
		pygame.event.set_blocked(pygame.JOYAXISMOTION)
		self.axisScanThread = RepeatedTimer(HandCockpit.SCAN_INTERVAL_SEC, self.scanAxis)
		self.axisScanThread.start()
		self.isStartedAxisScanThread = True

	def stopAxisScanThread(self):
		if True == self.isStartedAxisScanThread:
			self.isStartedAxisScanThread = False
			self.axisScanThread.cancel()
			pygame.event.set_blocked(None)

	def scanAxis(self):
		now = time.time()
		delay = now - self.lastUpdateAt
		self.lastUpdateAt = now

		x1 = self.pad.getAnalog(PS3PadPygame.L3_AX)
		y1 = self.pad.getAnalog(PS3PadPygame.L3_AY)
		x2 = self.pad.getAnalog(PS3PadPygame.R3_AX)
		y2 = self.pad.getAnalog(PS3PadPygame.R3_AY)
		if self.isEnabledDebugPad:
			log = ('delay: %.3f, x1: %.3f, y1: %.3f, x2: %.3f, y2: %.3f' % (delay, x1, y1, x2, y2))
			print log

		# バックホーの操作レバー割當はJIS方式だと以下のようになっている
		# 	（左レバー）			(右レバー)
		#	アーム伸ばし			ブーム下げ
		# 左旋回	○ 右旋回	 バケット掘削 ○ バケット開放
		#	アーム曲げ			ブーム上げ
#.........這裏部分代碼省略.........

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class BettingDisplay():
    
    def __init__(self, parent, meeting):
        
        self.parent = parent
        self.display_type = 'odds'
    
        self.date = datetime.date.today().strftime("%Y-%m-%d") #Currently will need to be restarted each day
        self.meeting = meeting #PLACEHOLDER
        self.schedule = Schedule(self.date, self.meeting)
        self.races = self.schedule.meetings[0].races
        self.next_race = None
        self.set_next_race()
        
        self.odds_var = StringVar()
        self.title_var = StringVar()
        self.dets_var = StringVar()
        
        self.build_display()
        self.start_timer()
        
        print("STARTED SUCCESSFULLY")
    
    def set_next_race(self):
        next_race = None
        found = False
        for race in self.races:
            cur_time = int(datetime.datetime.now().strftime("%H%M%S"))
            race_time = int(re.sub('[:]', '', race.time))
            if race_time > cur_time and not found:
                next_race = race
                found = True
        if next_race is not self.next_race:
            self.next_race = next_race
            
    def start_timer(self):
        self.threading_timer = RepeatedTimer(3, self.refresh)
        self.threading_timer.start() 
        
    def refresh(self):
        if self.display_type == 'odds':
            self.set_next_race()
            self.next_race.load_odds()
            
            #---TEMP---#
            horse_nums = ['']*20
            for i in range(min(20, len(self.next_race.entries))):
                horse_nums[i] = str(self.next_race.entries[i].number)
                
            horse_names = ['']*20
            for i in range(min(20, len(self.next_race.entries))):
                horse_names[i] = str(self.next_race.entries[i].name) 
    
            win_odds = ['']*20
            for i in range(min(20, len(self.next_race.entries))):
                win_odds[i] = str(self.next_race.entries[i].odds_win)        
            
            lst = horse_nums + horse_names + win_odds
            odds_str = TEST_TEMPLATE.format(lst)
            title_str = TITLE_TEMPLATE.format(name=self.next_race.name)
            dets_str = TIME_TEMPLATE.format(time=self.next_race.time, venue=self.next_race.meeting.venue, meet_no=self.next_race.meeting.number, country=self.next_race.meeting.country)
            self.title_var.set(title_str)
            self.dets_var.set(dets_str)
            self.odds_var.set(odds_str)        
            
            #---TEMP END---#
        
        elif self.display_type == 'test':
            self.title_var.set('test')
            self.dets_var.set('')
            self.odds_var.set('')
            
              
        
    
    def build_display(self):
         #----TEMP----
        self.cur_race_name = StringVar()
        self.cur_race_time = StringVar()
        
        self.title_text = Label(self.parent, fg="white", bg="black", font=("Courier", 40, "bold"), textvariable=self.title_var)
        self.title_text.place(relx = 0.5, rely = 0, anchor=N, height = 80, width=1100)   
        
        self.dets_text = Label(self.parent, textvariable=self.dets_var, fg="white", bg="black", font=("Courier", 20, "bold"))
        self.dets_text.place(relx = 0.5, y = 80, anchor=N, height = 30, width=1100)  
               
        
        self.odds_text = Label(self.parent, textvariable=self.odds_var, fg="white", bg="black", font=("Courier", 20, "bold"))
        self.odds_text.place(relx = 0.5, y = 110, anchor=N, width=1100, height = 600)
        

        self.quitbutton = Button(self.parent, text='quit', command=self.quitclick)
        self.quitbutton.place(relx = 0.5, rely = 1, anchor=S) 
        #---TEMP END ---#
    
    def quitclick(self):
        self.threading_timer.stop()
        self.parent.destroy()

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class OpenSlides(tk.Tk):

    cmd_runner = None

    server_running = False

    gui_settings_path = None
    gui_initialized = False

    backupdb_enabled = False
    backupdb_destination = ""
    backupdb_interval = 15
    backupdb_interval_unit = "minutes"
    last_backup = None
    backup_timer = None

    _host = "0.0.0.0"
    _port = "8000"

    def __init__(self, *args, **kwargs):
        tk.Tk.__init__(self, *args, **kwargs)
        tk.Tk.title(self, 'OpenSlides')
        tk.Tk.resizable(self, width=False, height=False)

        self.protocol('WM_DELETE_WINDOW', self.on_close_app)

        self.root = tk.Frame(self, bg=self.cget('bg'))
        self.root.pack(side="top", fill="both", expand = True)

        self.btn_settings = None
        self.btn_db_backup = None
        self.btn_sync_db = None
        self.btn_reset_admin = None
        self.chb_auto_svr = None
        self.btn_server = None

        self.backup_timer = RepeatedTimer(self.on_backup_timer)

        self.lbl_host = None
        self.lbl_port = None

        if not self.initialize_gui():
            self.quit()

        self.createMenuBar()
        self.createMainframe()


    def initialize_gui(self):
        # Set path for gui settings to default user data according to the
        # OpenSlides type. This does not depend on any argument the user might
        # type in.
        openslides_type = detect_openslides_type()
        try:
            default_user_data_path = get_default_user_data_path(openslides_type)
        except PortableDirNotWritable:
            messagebox.showerror(
                _("Error: Portable directory not writable"),
                _("The portable directory is not writable. Please copy the "
                "openslides portable to a writeable location and start it "
                "again from there")
                )
            return False

        self.gui_settings_path = os.path.join(
            default_user_data_path, 'openslides', 'gui_settings.json')
        self.load_gui_settings()
        self.apply_backup_settings()

        return True

    def load_gui_settings(self):
        if self.gui_settings_path is None:
            return

        try:
            f = open(self.gui_settings_path, "r", encoding="utf-8")
        except IOError as e:
            if e.errno == errno.ENOENT:
                return
            raise

        with f:
            settings = json.load(f)

        def setattr_unless_none(attr, value):
            if not value is None:
                setattr(self, attr, value)

        backup_settings = settings.get("database_backup", {})
        setattr_unless_none("backupdb_enabled", backup_settings.get("enabled"))
        setattr_unless_none(
            "backupdb_destination", backup_settings.get("destination"))
        setattr_unless_none(
            "backupdb_interval", backup_settings.get("interval"))
        setattr_unless_none(
            "backupdb_interval_unit", backup_settings.get("interval_unit"))
        last_backup = backup_settings.get("last_backup")
        if not last_backup is None:
            self.last_backup = datetime.datetime.strptime(
#.........這裏部分代碼省略.........

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
def main():
    global _motion_timer
    _motion_timer = RepeatedTimer(_motion_timer_period, _handle_motion_timer)
    _motion_timer.start()

    global _odom_timer
    _odom_timer = RepeatedTimer(_odom_timer_period, _handle_odom_timer)
    _odom_timer.start()

    global _ctrl_timer
    _ctrl_timer = RepeatedTimer(_ctrl_timer_period, _handle_ctrl_timer)
    _ctrl_timer.start()

    use_rcv3 = os.environ['USE_RCV3'] == 'true'
    w.init(use_rcv3=use_rcv3)

    # TODO: Okay, so Controller.init(None) will automagically load in some PID 
    # values for each of the x, y, theta position controllers. However, since
    # `teleop` is run in real life on different robots, really it should read
    # the correct YAML robot config file and load in the PID constants and
    # pass them into Controller.init(gains) as in the controller_node.py.
    # Two ways to do this: (1) do like os.environ['USE_RCV3'], where the odroid_setup.bash
    # script loads up the PID constants as environment variables (this seems messy).
    # (2) find a python YAML reading library and just read the file directly from here
    # based on which robot this is (you can use os.environ['ROBOT'])
    Controller.init()
    
    print 'Started.'


    global _velocities, _set_speed, _smooth, _odom_on, _previous_action, _ctrl_on

    while(1):
        action = get_action()
        if action == 'UP':
            _set_speed = True
            _velocities = (0, _vy, 0)

        elif action == 'DOWN':
            _set_speed = True
            _velocities = (0, -_vy, 0)

        elif action == 'RIGHT':
            _set_speed = True
            _velocities = (_vx, 0, 0)

        elif action == 'LEFT':
            _set_speed = True
            _velocities = (-_vx, 0, 0)

        elif action == 'SPIN_CW':
            _set_speed = True
            _velocities = (0, 0, _w)

        elif action == 'SPIN_CCW':
            _set_speed = True
            _velocities = (0, 0, -_w)

        elif action == 'SET_HOME':
            Odometry.init()

        elif action == 'GO_HOME':
            _motion_timer.stop()
            motion.stop()
            time.sleep(1)

            _go_home()

            time.sleep(1)
            _set_speed = True
            _velocities = (0, 0, 0)
            _motion_timer.start()

        elif action == 'GO_TO_POINT':
            _toggle_timers(False)
            motion.stop()
            time.sleep(1)

            _ask_for_point()

            time.sleep(1)
            _ctrl_on = True
            _odom_on = True
            _toggle_timers(True)

        elif action == 'TOGGLE_CNTRL':
            _ctrl_on = not _ctrl_on
            print("Controller: {}".format(_ctrl_on))

        elif action == 'TOGGLE_SMOOTH':
            _smooth = not _smooth
            print("Smooth: {}".format(_smooth))

        elif action == 'TOGGLE_ODOM':
            _odom_on = not _odom_on
            print("Odom: {}".format(_odom_on))

        elif action == 'BATTERY':
            print("\n\r*** Battery: {} ***\n\r".format(get_battery()))

#.........這裏部分代碼省略.........

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class RPiServoblasterController:

	# ServoBlasterへの反映間隔
	COMMIT_INTERVAL_SEC = 0.1

	# ./servodを実行した時のピン番號を使う(GPIOの番號でも、物理位置番號でもない)
	WAIST_SERVO_PIN = 7
	BOOM_SERVO_PIN = 6
	ARM_SERVO_PIN = 5
	CRAW_SERVO_PIN = 4

	# 操作対象とピン番號のマップ
	PIN_MAP = {
		0: WAIST_SERVO_PIN,
		1: BOOM_SERVO_PIN,
		2: ARM_SERVO_PIN,
		3: CRAW_SERVO_PIN,
	}

	def __init__(self):
		# GPIO番號でピンを指定
		# ServoBlasterの起動(rootで実行する必要あり)
		# 50%指定時の中間位置を--maxで調整する。--max=200がちょうどよかった
		os.system('sudo /home/pi/PiBits/ServoBlaster/user/servod --idle-timeout=2000 --max=200')

		self.servos = []
		for index in RPiServoblasterController.PIN_MAP.iterkeys():
			pin = RPiServoblasterController.PIN_MAP[index]
			# サーボを作る
			self.servos.append(SG90Servoblaster(pin, self.getPartName(index)))

		# self.positionの內容を定期的にcommit()を使ってservoblasterで反映する
		self.positions = []
		self.timer = RepeatedTimer(RPiServoblasterController.COMMIT_INTERVAL_SEC, self.commit)
		self.timer.start()

	# 直接同期的にservoblasterを呼ぶのではなく、
	# 一度內容をインスタンス変數に格納しておき、定期的にservoblasterで反映させる
	def apply(self, positions):
		self.positions = positions

	def shutdown(self):
		# if self.timer is not None:
		self.timer.cancel()

	def getIndexes(self):
		return RPiServoblasterController.PIN_MAP.keys()

	def switchDebugPosition(self):
		for index in RPiServoblasterController.PIN_MAP.iterkeys():
			self.servos[index].switchDebugPosition()


	# マルチスレッド下でタイマーから実行される
	def commit(self):
		if 0 == len(self.positions):
			return
		for index in RPiServoblasterController.PIN_MAP.iterkeys():
			degree = self.positions[index]
			self.servos[index].rotateTo(degree)

	def getPartName(self, index):
		if(0 == index):
			return 'WAIST'
		elif(1 == index):
			return 'BOOM'
		elif(2 == index):
			return 'ARM'
		elif(3 == index):
			return 'CRAW'
		else:
			return 'unknown'

# 需要導入模塊: from repeated_timer import RepeatedTimer [as 別名]
# 或者: from repeated_timer.RepeatedTimer import start [as 別名]
class RPiPCA9685Controller:



	# 反映間隔
	COMMIT_INTERVAL_SEC = 0.1

	# ./servodを実行した時のピン番號を使う(GPIOの番號でも、物理位置番號でもない)
	WAIST_SERVO_PIN = 0
	BOOM_SERVO_PIN = 1
	ARM_SERVO_PIN = 2
	CRAW_SERVO_PIN = 3

	# 操作対象とピン番號のマップ
	PIN_MAP = {
		0: WAIST_SERVO_PIN,
		1: BOOM_SERVO_PIN,
		2: ARM_SERVO_PIN,
		3: CRAW_SERVO_PIN,
	}

	def __init__(self, address=0x40):
		# I2C経由でのコントロール用ライブラリ
		# https://github.com/adafruit/Adafruit-Raspberry-Pi-Python-Code.git
		self.pwm = Adafruit_PCA9685.PCA9685(address, busnum=1)

		self.pwm.set_pwm_freq(SG90PCA9685.PWM_FREQ)

		self.servos = []
		for index in RPiPCA9685Controller.PIN_MAP.iterkeys():
			pin = RPiPCA9685Controller.PIN_MAP[index]
			# サーボを作る
			self.servos.append(SG90PCA9685(pin, self.getPartName(index), self.pwm))

		# self.positionの內容を定期的にcommit()を使ってservoblasterで反映する
		self.positions = []
		self.timer = RepeatedTimer(RPiPCA9685Controller.COMMIT_INTERVAL_SEC, self.commit)
		self.timer.start()

	# 直接同期的にservoblasterを呼ぶのではなく、
	# 一度內容をインスタンス変數に格納しておき、定期的にservoblasterで反映させる
	def apply(self, positions):
		self.positions = positions

	def shutdown(self):
		# if self.timer is not None:
		self.timer.cancel()

	def getIndexes(self):
		return RPiPCA9685Controller.PIN_MAP.keys()

	def switchDebugPosition(self):
		for index in RPiPCA9685Controller.PIN_MAP.iterkeys():
			self.servos[index].switchDebugPosition()

	# マルチスレッド下でタイマーから実行される
	def commit(self):
		if 0 == len(self.positions):
			return
		for index in RPiPCA9685Controller.PIN_MAP.iterkeys():
			degree = self.positions[index]
			self.servos[index].rotateTo(degree)

	def getPartName(self, index):
		if(0 == index):
			return 'WAIST'
		elif(1 == index):
			return 'BOOM'
		elif(2 == index):
			return 'ARM'
		elif(3 == index):
			return 'CRAW'
		else:
			return 'unknown'