Implement lights using raspi gpio

playbooks/files/defaultConfig.yml

@@ -39,8 +39,8 @@ rov:
  toolingAMotorChannel: 11
  toolingBMotorChannel: 5
  toolingCMotorChannel: 22
- lightAChannel: 23
- lightBChannel: 22
+ lightAPin: 0
+ lightBPin: 2
  altImuSa0High: false
  i2cBus: 1
  shutdownTimeout: 1000

src/main/java/com/easternedgerobotics/rov/Rov.java

@@ -8,7 +8,7 @@
 import com.easternedgerobotics.rov.event.EventPublisher;
 import com.easternedgerobotics.rov.io.Bar30PressureSensor;
 import com.easternedgerobotics.rov.io.BluetoothReader;
-import com.easternedgerobotics.rov.io.Light;
+import com.easternedgerobotics.rov.io.DigitalLight;
 import com.easternedgerobotics.rov.io.Motor;
 import com.easternedgerobotics.rov.io.Thruster;
 import com.easternedgerobotics.rov.io.devices.ADC;
@@ -17,19 +17,22 @@
 import com.easternedgerobotics.rov.io.devices.Bluetooth;
 import com.easternedgerobotics.rov.io.devices.Gyroscope;
 import com.easternedgerobotics.rov.io.devices.I2C;
+import com.easternedgerobotics.rov.io.devices.Light;
 import com.easternedgerobotics.rov.io.devices.Magnetometer;
 import com.easternedgerobotics.rov.io.devices.PWM;
 import com.easternedgerobotics.rov.io.devices.Thermometer;
 import com.easternedgerobotics.rov.io.pololu.AltIMU10v3;
 import com.easternedgerobotics.rov.io.pololu.Maestro;
+import com.easternedgerobotics.rov.io.rpi.RPiGPIOLight;
 import com.easternedgerobotics.rov.io.rpi.RaspberryCpuInformation;
 import com.easternedgerobotics.rov.io.rpi.RaspberryI2CBus;
 import com.easternedgerobotics.rov.math.Range;
 import com.easternedgerobotics.rov.value.CameraSpeedValueA;
 import com.easternedgerobotics.rov.value.CameraSpeedValueB;
 import com.easternedgerobotics.rov.value.HeartbeatValue;
-import com.easternedgerobotics.rov.value.LightASpeedValue;
-import com.easternedgerobotics.rov.value.LightBSpeedValue;
+import com.easternedgerobotics.rov.value.LightAValue;
+import com.easternedgerobotics.rov.value.LightBValue;
+import com.easternedgerobotics.rov.value.LightValue;
 import com.easternedgerobotics.rov.value.PortAftSpeedValue;
 import com.easternedgerobotics.rov.value.PortForeSpeedValue;
 import com.easternedgerobotics.rov.value.RasprimeCpuValue;
@@ -80,7 +83,7 @@ final class Rov {
 
  private final List<Motor> motors;
 
- private final List<Light> lights;
+ private final List<DigitalLight> lights;
 
  private final Accelerometer accelerometer;
 
@@ -112,6 +115,7 @@ MaestroChannel extends ADC & PWM> Rov(
  final AltIMU imu,
  final PressureSensor externalPressure,
  final Bluetooth bluetooth,
+ final List<Light> lightDevices,
  final RovConfig rovConfig
  ) {
  this.eventPublisher = eventPublisher;
@@ -164,6 +168,21 @@ MaestroChannel extends ADC & PWM> Rov(
  .setOutputRange(new Range(Motor.MAX_REV, Motor.MAX_FWD)))
  ));
 
+ this.lights = Collections.unmodifiableList(Arrays.asList(
+ new DigitalLight(
+ eventPublisher
+ .valuesOfType(LightAValue.class)
+ .startWith(new LightAValue())
+ .cast(LightValue.class),
+ lightDevices.get(0)),
+ new DigitalLight(
+ eventPublisher
+ .valuesOfType(LightBValue.class)
+ .startWith(new LightBValue())
+ .cast(LightValue.class),
+ lightDevices.get(1))
+ ));
+
  this.thrusters = Collections.unmodifiableList(Arrays.asList(
  new Thruster(
  eventPublisher
@@ -209,21 +228,6 @@ MaestroChannel extends ADC & PWM> Rov(
  .setOutputRange(new Range(Thruster.MAX_REV, Thruster.MAX_FWD)))
  ));
 
- this.lights = Collections.unmodifiableList(Arrays.asList(
- new Light(
- eventPublisher
- .valuesOfType(LightASpeedValue.class)
- .startWith(new LightASpeedValue())
- .cast(SpeedValue.class),
- channels.get(config.lightAChannel()).setOutputRange(new Range(Light.MAX_REV, Light.MAX_FWD))),
- new Light(
- eventPublisher
- .valuesOfType(LightBSpeedValue.class)
- .startWith(new LightBSpeedValue())
- .cast(SpeedValue.class),
- channels.get(config.lightBChannel()).setOutputRange(new Range(Light.MAX_REV, Light.MAX_FWD)))
- ));
-
  internalBarometer = () -> imu.pressure();
  magnetometer = () -> imu.rotation();
  accelerometer = () -> imu.acceleration();
@@ -248,7 +252,7 @@ void shutdown() {
  }
 
  motors.forEach(Motor::writeZero);
- lights.forEach(Light::writeZero);
+ lights.forEach(DigitalLight::writeZero);
  thrusters.forEach(Thruster::writeZero);
  bluetooth.stop();
  eventPublisher.emit(new RasprimeHeartbeatValue(false));
@@ -324,12 +328,12 @@ private void doOnSubscribe() {
  private void onNext(final HeartbeatValue heartbeat) {
  if (heartbeat.getOperational()) {
  thrustersUpdate();
- lights.forEach(Light::write);
+ lights.forEach(DigitalLight::write);
  motors.forEach(Motor::write);
  eventPublisher.emit(new RasprimeHeartbeatValue(true));
  } else {
  softShutdown();
- lights.forEach(Light::flash);
+ lights.forEach(DigitalLight::flash);
  motors.forEach(Motor::writeZero);
  eventPublisher.emit(new RasprimeHeartbeatValue(false));
  }
@@ -404,6 +408,10 @@ public static void main(final String[] args) throws InterruptedException, IOExce
  rovConfig.bluetoothComPort(),
  rovConfig.bluetoothConnectionTimeout(),
  rovConfig.bluetoothBaudRate()),
+ Collections.unmodifiableList(Arrays.asList(
+ new RPiGPIOLight(rovConfig.lightAPin()),
+ new RPiGPIOLight(rovConfig.lightBPin())
+ )),
  rovConfig);
 
  Runtime.getRuntime().addShutdownHook(new Thread(rov::shutdown));

src/main/java/com/easternedgerobotics/rov/config/RovConfig.java

@@ -33,9 +33,9 @@ public interface RovConfig {
 
  byte toolingCMotorChannel();
 
- byte lightAChannel();
+ byte lightAPin();
 
- byte lightBChannel();
+ byte lightBPin();
 
  boolean altImuSa0High();
 

src/main/java/com/easternedgerobotics/rov/control/AnalogToPowerLevel.java

@@ -24,6 +24,11 @@ private AnalogToPowerLevel() {
  */
  private static final float MAXIMUM = 1.00f;
 
+ /**
+ * Centre of result range.
+ */
+ private static final float MIDDLE = 0.5f;
+
  /**
  * Transform an analog pin value into an appropriate power slider value
  * with dead-bands at the top and bottom of the slider.
@@ -46,6 +51,17 @@ public static float convertNeg(final float analogValue) {
  return 1f - convert(analogValue);
  }
 
+ /**
+ * Transform an analog pin value into an appropriate power slider value
+ * with dead-bands at the top and bottom of the slider, and 0v is max power.
+ *
+ * @param analogValue the input.
+ * @return power slider value.
+ */
+ public static boolean convertBool(final float analogValue) {
+ return analogValue > MIDDLE;
+ }
+
  /**
  * Clamp the value between the maximum and minimum supported power values.
  *

src/main/java/com/easternedgerobotics/rov/io/DigitalLight.java

@@ -0,0 +1,35 @@
+package com.easternedgerobotics.rov.io;
+
+import com.easternedgerobotics.rov.io.devices.Light;
+import com.easternedgerobotics.rov.value.LightValue;
+
+import rx.Observable;
+
+public class DigitalLight {
+ /**
+ * The raspi gpio pin being used.
+ */
+ private final Light light;
+
+ /**
+ * The latest value from the speed observable.
+ */
+ private LightValue value;
+
+ public DigitalLight(final Observable<LightValue> values, final Light light) {
+ this.light = light;
+ values.subscribe(v -> value = v);
+ }
+
+ public final void write() {
+ light.write(value.getActive());
+ }
+
+ public final void writeZero() {
+ light.write(false);
+ }
+
+ public final void flash() {
+ light.flash();
+ }
+}

src/main/java/com/easternedgerobotics/rov/io/devices/Light.java

@@ -0,0 +1,7 @@
+package com.easternedgerobotics.rov.io.devices;
+
+public interface Light {
+ void write(boolean active);
+
+ void flash();
+}

src/main/java/com/easternedgerobotics/rov/io/panel/SliderController.java

@@ -10,8 +10,8 @@
 import com.easternedgerobotics.rov.value.ForePowerValue;
 import com.easternedgerobotics.rov.value.GlobalPowerValue;
 import com.easternedgerobotics.rov.value.HeavePowerValue;
-import com.easternedgerobotics.rov.value.LightASpeedValue;
-import com.easternedgerobotics.rov.value.LightBSpeedValue;
+import com.easternedgerobotics.rov.value.LightAValue;
+import com.easternedgerobotics.rov.value.LightBValue;
 import com.easternedgerobotics.rov.value.PitchPowerValue;
 import com.easternedgerobotics.rov.value.SurgePowerValue;
 import com.easternedgerobotics.rov.value.SwayPowerValue;
@@ -55,11 +55,11 @@ public SliderController(
  final Observable<ForePowerValue> fore = io.analogPin(config.forePowerSliderAddress())
  .map(AnalogPinValue::getValue).map(AnalogToPowerLevel::convertNeg).map(ForePowerValue::new);
 
- final Observable<LightASpeedValue> lightA = io.analogPin(config.lightAPowerSliderAddress())
- .map(AnalogPinValue::getValue).map(AnalogToPowerLevel::convertNeg).map(LightASpeedValue::new);
+ final Observable<LightAValue> lightA = io.analogPin(config.lightAPowerSliderAddress())
+ .map(AnalogPinValue::getValue).map(AnalogToPowerLevel::convertBool).map(LightAValue::new);
 
- final Observable<LightBSpeedValue> lightB = io.analogPin(config.lightBPowerSliderAddress())
- .map(AnalogPinValue::getValue).map(AnalogToPowerLevel::convertNeg).map(LightBSpeedValue::new);
+ final Observable<LightBValue> lightB = io.analogPin(config.lightBPowerSliderAddress())
+ .map(AnalogPinValue::getValue).map(AnalogToPowerLevel::convertBool).map(LightBValue::new);
 
  subscription.addAll(
  SourceController.manageMultiViewModel(
@@ -87,10 +87,10 @@ public SliderController(
  eventPublisher.valuesOfType(ForePowerValue.class), v -> { }, scheduler,
  fore, eventPublisher::emit, Schedulers.io()),
  SourceController.manageMultiViewModel(
- eventPublisher.valuesOfType(LightASpeedValue.class), v -> { }, scheduler,
+ eventPublisher.valuesOfType(LightAValue.class), v -> { }, scheduler,
  lightA, eventPublisher::emit, Schedulers.io()),
  SourceController.manageMultiViewModel(
- eventPublisher.valuesOfType(LightBSpeedValue.class), v -> { }, scheduler,
+ eventPublisher.valuesOfType(LightBValue.class), v -> { }, scheduler,
  lightB, eventPublisher::emit, Schedulers.io()));
  }
 

src/main/java/com/easternedgerobotics/rov/io/rpi/RPiGPIOLight.java

@@ -0,0 +1,36 @@
+package com.easternedgerobotics.rov.io.rpi;
+
+import com.easternedgerobotics.rov.io.devices.Light;
+
+import com.pi4j.io.gpio.GpioController;
+import com.pi4j.io.gpio.GpioFactory;
+import com.pi4j.io.gpio.GpioPinDigitalOutput;
+import com.pi4j.io.gpio.RaspiPin;
+
+public final class RPiGPIOLight implements Light {
+ /**
+ * The raspi gpio pin being used.
+ */
+ private final GpioPinDigitalOutput pin;
+
+ /**
+ * Flashing period for the lights.
+ */
+ private static final int PERIOD = 600;
+
+ public RPiGPIOLight(final int pinNumber) {
+ final GpioController gpioController = GpioFactory.getInstance();
+ pin = gpioController.provisionDigitalOutputPin(RaspiPin.getPinByName("GPIO " + pinNumber));
+ }
+
+ @Override
+ public void write(final boolean value) {
+ pin.setState(value);
+ }
+
+ @Override
+ public void flash() {
+ pin.blink(PERIOD);
+ }
+
+}

src/main/kotlin/com/easternedgerobotics/rov/value/LightAValue.kt

@@ -0,0 +1,5 @@
+package com.easternedgerobotics.rov.value
+
+data class LightAValue(override val active: Boolean = false) : LightValue {
+ constructor() : this(false)
+}