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Nov 25, 2017
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Encoder: do kernel check, PEP8 cleanup #201

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dplanella Nov 24, 2017
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Encoder: do kernel check, PEP8 cleanup
dplanella Nov 24, 2017
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373 changes: 183 additions & 190 deletions Adafruit_BBIO/Encoder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,13 @@
import os
import logging
import itertools
import platform

if not platform.release().startswith('4.4'):
raise ImportError(
'The Encoder module requires Linux kernel version >= 4.4.x.\n'
'Please upgrade your kernel to use this module.\n'
'Your Linux kernel version is {}.'.format(platform.release()))

eQEP0 = 0
eQEP1 = 1
Expand Down Expand Up @@ -60,193 +67,179 @@ def __init__(self, channel, pin_A, pin_B, sys_path):

class RotaryEncoder(object):

def _run_cmd(self, cmd):
'''Runs a command. If not successful (i.e. error code different than zero),
print the stderr output as a warning.
'''

try:
output = check_output(cmd, stderr=STDOUT)
self._logger.info("_run_cmd(): cmd='{}' return code={} output={}".format(
" ".join(cmd), 0, output))
except CalledProcessError as e:
self._logger.warning(
"_run_cmd(): cmd='{}' return code={} output={}".format(
" ".join(cmd), e.returncode, e.output))

def config_pin(self, pin):
'''
config_pin()
Config pin for QEP
'''

self._run_cmd(["config-pin", pin, "qep"])

def cat_file(self, path):
'''
cat_file()
Print contents of file
'''

self._run_cmd(["cat", path])

def __init__(self, eqep_num):
'''
RotaryEncoder(eqep_num)
Creates an instance of the class RotaryEncoder.
eqep_num determines which eQEP pins are set up.
eqep_num can be: EQEP0, EQEP1, EQEP2 or EQEP2b based on which pins \
the rotary encoder is connected to.
'''

self._logger = logging.getLogger(__name__)
self._logger.addHandler(logging.NullHandler())

# Configure eqep module
self._eqep = eQEP.fromdict(_eQEP_DEFS[eqep_num])
self._logger.info(
"Configuring: {}, pin A: {}, pin B: {}, sys path: {}".format(
self._eqep.channel, self._eqep.pin_A, self._eqep.pin_B,
self._eqep.sys_path))

self.config_pin(self._eqep.pin_A)
self.config_pin(self._eqep.pin_B)

self.base_dir = self._eqep.sys_path
self._logger.debug(
"RotaryEncoder(): self.base_dir: {0}".format(self.base_dir))

self.enable()

def enable(self):
'''
enable()
Turns the eQEP hardware ON
'''
enable_file = "%s/enabled" % self.base_dir
self._logger.debug("enable(): enable_file: {0}".format(enable_file))
self._logger.warning(
"enable(): TODO: not implemented, write 1 to {}".format(enable_file))
#return sysfs.kernelFileIO(enable_file, '1')

def disable(self):
'''
disable()
Turns the eQEP hardware OFF
'''
enable_file = "%s/enabled" % self.base_dir
self._logger.debug("disable(): enable_file: {0}".format(enable_file))
self._logger.warning(
"disable(): TODO: not implemented, write 0 to {}".format(enable_file))
#return sysfs.kernelFileIO(enable_file, '0')

def setAbsolute(self):
'''
setAbsolute()
Set mode as Absolute
The position starts at zero and is incremented or
decremented by the encoder's movement
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("setAbsolute(): mode_file: {0}".format(mode_file))
self._logger.warning(
"setAbsolute(): TODO: not implemented, write 0 to {}".format(mode_file))
#return sysfs.kernelFileIO(mode_file, '0')

def setRelative(self):
'''
setRelative()
Set mode as Relative
The position is reset when the unit timer overflows.
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("setRelative(): mode_file: {0}".format(mode_file))
self._logger.warning(
"setRelative(): TODO: not implemented, write 1 to {}".format(mode_file))
#return sysfs.kernelFileIO(mode_file, '1')

def getMode(self):
'''
getMode()
Returns the mode the eQEP hardware is in.
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("getMode(): mode_file: {0}".format(mode_file))
self._logger.warning("getMode(): TODO: read mode_file")
#return sysfs.kernelFileIO(mode_file)

def getPosition(self):
'''
getPosition()
Get the current position of the encoder.
In absolute mode, this attribute represents the current position
of the encoder.
In relative mode, this attribute represents the position of the
encoder at the last unit timer overflow.
'''
self._logger.debug("Channel: {}".format(self._eqep.channel))
position_file = "%s/position" % self.base_dir
self._logger.debug("getPosition(): position_file: {0}".format(position_file))
position_handle = open(position_file, 'r')
self._logger.debug("getPosition(): position_handle: {0}".format(position_handle))
position = position_handle.read()
self._logger.debug("getPosition(): position: {0}".format(position))
#return sysfs.kernelFileIO(position_file)

return position

def setFrequency(self, freq):
'''
setFrequency(freq)
Set the frequency in Hz at which the driver reports new positions.
'''
period_file = "%s/period" % self.base_dir
self._logger.debug("setFrequency(): period_file: {0}".format(period_file))
self._logger.debug("setFrequency(): freq: {0}".format(freq))
self._logger.debug("setFrequency(): 1000000000/freq: {0}".format(1000000000/freq))
self._logger.debug("setFrequency(): str(1000000000/freq)): {0}".format(str(1000000000/freq)))
self._logger.warning(
"setFrequency(): TODO: not implemented, set {} to {}".format(
period_file, str(1000000000/freq)))
#return sysfs.kernelFileIO(period_file, str(1000000000/freq))

def setPosition(self, val):
'''
setPosition(value)
Give a new value to the current position
'''
position_file = "%s/position" % self.base_dir
self._logger.warning(
"setPosition(): TODO: not implemented, write position to {}".format(
position_file))
#return sysfs.kernelFileIO(position_file, str(val))

def zero(self):
'''
zero()s
Set the current position to 0
'''
return self.setPosition(0)


#"""
# encoder_test.py
# Rekha Seethamraju
# An example to demonstrate the use of the eQEP library
# for PyBBIO.
# This example program is in the public domain.
#"""
#from bbio import *
#from bbio.libraries.RotaryEncoder import RotaryEncoder
#
#encoder = RotaryEncoder(RotaryEncoder.EQEP2b)
#
#def setup():
# encoder.setAbsolute()
# encoder.zero()
#
#def loop():
# print("encoder position : "+encoder.getPosition())
# delay(1000)
#
#run(setup, loop)
def _run_cmd(self, cmd):
'''Runs a command. If not successful (i.e. error code different than
zero), print the stderr output as a warning.
'''

try:
output = check_output(cmd, stderr=STDOUT)
self._logger.info(
"_run_cmd(): cmd='{}' return code={} output={}".format(
" ".join(cmd), 0, output))
except CalledProcessError as e:
self._logger.warning(
"_run_cmd(): cmd='{}' return code={} output={}".format(
" ".join(cmd), e.returncode, e.output))

def config_pin(self, pin):
'''
config_pin()
Config pin for QEP
'''

self._run_cmd(["config-pin", pin, "qep"])

def cat_file(self, path):
'''
cat_file()
Print contents of file
'''

self._run_cmd(["cat", path])

def __init__(self, eqep_num):
'''
RotaryEncoder(eqep_num)
Creates an instance of the class RotaryEncoder.
eqep_num determines which eQEP pins are set up.
eqep_num can be: EQEP0, EQEP1, EQEP2 or EQEP2b based on which pins \
the rotary encoder is connected to.
'''

self._logger = logging.getLogger(__name__)
self._logger.addHandler(logging.NullHandler())

# Configure eqep module
self._eqep = eQEP.fromdict(_eQEP_DEFS[eqep_num])
self._logger.info(
"Configuring: {}, pin A: {}, pin B: {}, sys path: {}".format(
self._eqep.channel, self._eqep.pin_A, self._eqep.pin_B,
self._eqep.sys_path))

self.config_pin(self._eqep.pin_A)
self.config_pin(self._eqep.pin_B)

self.base_dir = self._eqep.sys_path
self._logger.debug(
"RotaryEncoder(): self.base_dir: {0}".format(self.base_dir))

self.enable()

def enable(self):
'''
enable()
Turns the eQEP hardware ON
'''
enable_file = "%s/enabled" % self.base_dir
self._logger.debug("enable(): enable_file: {0}".format(enable_file))
self._logger.warning(
"enable(): TODO: not implemented, write 1 to {}".format(enable_file))
# return sysfs.kernelFileIO(enable_file, '1')

def disable(self):
'''
disable()
Turns the eQEP hardware OFF
'''
enable_file = "%s/enabled" % self.base_dir
self._logger.debug("disable(): enable_file: {0}".format(enable_file))
self._logger.warning(
"disable(): TODO: not implemented, write 0 to {}".format(
enable_file))
# return sysfs.kernelFileIO(enable_file, '0')

def setAbsolute(self):
'''
setAbsolute()
Set mode as Absolute
The position starts at zero and is incremented or
decremented by the encoder's movement
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("setAbsolute(): mode_file: {0}".format(mode_file))
self._logger.warning(
"setAbsolute(): TODO: not implemented, write 0 to {}".format(
mode_file))
# return sysfs.kernelFileIO(mode_file, '0')

def setRelative(self):
'''
setRelative()
Set mode as Relative
The position is reset when the unit timer overflows.
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("setRelative(): mode_file: {0}".format(mode_file))
self._logger.warning(
"setRelative(): TODO: not implemented, write 1 to {}".format(
mode_file))
# return sysfs.kernelFileIO(mode_file, '1')

def getMode(self):
'''
getMode()
Returns the mode the eQEP hardware is in.
'''
mode_file = "%s/mode" % self.base_dir
self._logger.debug("getMode(): mode_file: {0}".format(mode_file))
self._logger.warning("getMode(): TODO: read mode_file")
# return sysfs.kernelFileIO(mode_file)

def getPosition(self):
'''
getPosition()
Get the current position of the encoder.
In absolute mode, this attribute represents the current position
of the encoder.
In relative mode, this attribute represents the position of the
encoder at the last unit timer overflow.
'''
self._logger.debug("Channel: {}".format(self._eqep.channel))
position_file = "%s/position" % self.base_dir
self._logger.debug(
"getPosition(): position_file: {0}".format(position_file))
position_handle = open(position_file, 'r')
self._logger.debug(
"getPosition(): position_handle: {0}".format(position_handle))
position = position_handle.read()
self._logger.debug("getPosition(): position: {0}".format(position))
# return sysfs.kernelFileIO(position_file)

return position

def setFrequency(self, freq):
'''
setFrequency(freq)
Set the frequency in Hz at which the driver reports new positions.
'''
period_file = "%s/period" % self.base_dir
self._logger.debug(
"setFrequency(): period_file: {0}".format(period_file))
self._logger.debug("setFrequency(): freq: {0}".format(freq))
self._logger.debug(
"setFrequency(): 1000000000/freq: {0}".format(1000000000/freq))
self._logger.debug("setFrequency(): str(1000000000/freq)): {0}".format(
str(1000000000/freq)))
self._logger.warning(
"setFrequency(): TODO: not implemented, set {} to {}".format(
period_file, str(1000000000/freq)))
# return sysfs.kernelFileIO(period_file, str(1000000000/freq))

def setPosition(self, val):
'''
setPosition(value)
Give a new value to the current position
'''
position_file = "%s/position" % self.base_dir
self._logger.warning(
"setPosition(): TODO: not implemented, write position to {}".format(
position_file))
# return sysfs.kernelFileIO(position_file, str(val))

def zero(self):
'''
zero()s
Set the current position to 0
'''
return self.setPosition(0)
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