flip develop to master branch for DexterOS (#304)

* Remove i2c_mutex, it is now residing in script_tools (#287)

* Feature/easygopigo refactoring (#288)

* read_position_str() is also needed here to keep in sync with easygopigo3

* Add init_<sensor> methods to the easygopigo class so the two robots are kept in sync

* add vscode to  .gitignore

* Feature/systemwide mutex (#290)

* read_position_str() is also needed here to keep in sync with easygopigo3

* support systemwide mutex

* Bug/line follower + overall mutex (#291)

* read_position_str() is also needed here to keep in sync with easygopigo3

* support systemwide mutex

* Fix import line to its more generic form

* Fix/overallmutexcheck (#292)

* read_position_str() is also needed here to keep in sync with easygopigo3

* Query overallmutex flag every single time

* fix - remove arduino support (#293)

* fix - IR receiver on Stretch (#295)

fix - IR receiver on Stretch

* make IR Receiver in easygopigo Python3 ready (#298)

Author: RobertLucian

.gitignore

@@ -216,3 +216,5 @@ pip-log.txt
 
 #ATOM
 .ftpconfig
+.vscode/sftp.json
+

Setup/install.sh

@@ -76,7 +76,7 @@ install_dependencies() {
     echo " "
     feedback "Installing Dependencies"
     feedback "======================="
-    sudo apt-get install python-pip git libi2c-dev python-serial python-rpi.gpio i2c-tools python-smbus arduino minicom libnss-mdns python-dev build-essential libffi-dev -y
+    sudo apt-get install python-pip git libi2c-dev python-serial python-rpi.gpio i2c-tools python-smbus minicom libnss-mdns python-dev build-essential libffi-dev -y
     pip install -U RPi.GPIO
     pip install pyusb
     pip install numpy
@@ -286,7 +286,8 @@ python3 setup.py install --force
 install_DHT
 install_wiringpi
 install_spi_i2c
-install_avr
+# no longer installing avr for arduino
+# install_avr
 install_line_follower
 install_control_panel
 

Software/Python/easygopigo.py

@@ -23,15 +23,17 @@
 def _ifMutexAcquire(mutex_enabled = False):
     """
     Acquires the I2C if the ``use_mutex`` parameter of the constructor was set to ``True``.
+    Always acquires if system-wide mutex has been set.
+    
     """
-    if mutex_enabled:
+    if mutex_enabled or mutex.overall_mutex()==True:
         mutex.acquire()
 
 def _ifMutexRelease(mutex_enabled = False):
     """
     Releases the I2C if the ``use_mutex`` parameter of the constructor was set to ``True``.
     """
-    if mutex_enabled:
+    if mutex_enabled or mutex.overall_mutex()==True:
         mutex.release()
 
 try:
@@ -194,6 +196,50 @@ def trim_write(self,set_trim_to):
             pass
         _ifMutexRelease(self.use_mutex)
 
+    def init_light_sensor(self, port="A1"):
+        return LightSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_sound_sensor(self, port="A1"):
+        return SoundSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_loudness_sensor(self, port="AD1"):
+        return LoudnessSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_ultrasonic_sensor(self, port="A1"):
+        return UltraSonicSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_buzzer(self, port="D11"):
+        return Buzzer(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_led(self, port="D11"):
+        return Led(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_button_sensor(self, port="D11"):
+        return ButtonSensor(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_line_follower(self, port="I2C"):
+        return LineFollower(port, gpg=self, use_mutex=self.use_mutex )
+
+    def init_servo(self, port="SERVO"):
+        return Servo(port, gpg=self, use_mutex=self.use_mutex)
+
+    def init_distance_sensor(self, port="I2C"):
+        try:
+            from di_sensors import easy_distance_sensor
+            return DistanceSensor(port, gpg=self, use_mutex=self.use_mutex)
+        except:
+            print("DI Sensor library not found")
+            return None
+        
+    def init_dht_sensor(self, port="SERIAL", sensor_type = 0):
+        return DHTSensor(port, self, sensor_type, use_mutex=self.use_mutex)
+
+    def init_remote(self, port="SERIAL"):
+        return Remote(port="SERIAL", gpg=self, use_mutex=self.use_mutex)
+
+    def init_motion_sensor(self, port="D11"):
+        return MotionSensor(port, gpg=self, use_mutex=self.use_mutex)
+
 
 
 #############################################################
@@ -273,6 +319,12 @@ def isDigital(self):
 
     def set_descriptor(self, descriptor):
         self.descriptor = descriptor
+
+    def reconfig_bus(self):
+        '''
+        Does nothing. Placeholder for compatibility with GoPiGo3
+        '''
+        pass
 ##########################
 
 
@@ -596,6 +648,12 @@ def get_remote_code(self):
             key = ir_receiver.nextcode(consume=False)
         else:
             key = ""
+        try:
+            # in python3, key will come in as a byte
+            key = key.decode("utf-8") 
+        except AttributeError:
+            # in python2, key will be a string, so no need to do anything
+            pass
 
         return key
 

Software/Python/ir_remote_control/README.md

@@ -26,9 +26,10 @@ Connect the `IR receiver` to the Serial port on the GoPiGo. This will act as a p
 ## Setup the Software
 
 In your `Raspberry Pi`, open up a terminal and enter the following commands:
-1. `sudo bash lirc/install.sh`.
-2. `sudo bash lirc/setup_older_version.sh` - run this script too only if your version of IR receiver `<= v1.0`.
-3. `sudo bash server/install.sh`.
+1. `sudo apt-get update && sudo apt-get install lirc=0.9.0~pre1-1.2 -y` - to install `lirc` package. Don't use more recent versions as the newer ones are buggy.
+2. `sudo bash lirc/install.sh`.
+3. `sudo bash lirc/setup_older_version.sh` - run this script too only if your version of IR receiver `<= v1.0`.
+4. `sudo bash server/install.sh`.
 
 ## Enabling / Disabling Service
 

Software/Python/ir_remote_control/examples/ir_recv_example.py

@@ -41,6 +41,8 @@
 while True:
 	#Wait for the next IR code to arrive. The codes are queued in a buffer before printing
 	a= ir_receiver.nextcode()
+	if not isinstance(a, str):
+		a = a.decode('utf-8')
 	if len(a) !=0:
-		print a
+		print (a)
 	time.sleep(.1)

Software/Python/ir_remote_control/examples/lirc_example.py

@@ -42,4 +42,4 @@
 	#Wait for the next IR code to arrive. The codes are queued in a buffer before printing
 	a= lirc.nextcode()  
 	if len(a) !=0:
-		print a[0]
+		print (a[0])

Software/Python/ir_remote_control/server/di_ir_reader.py

@@ -8,7 +8,7 @@
 import os
 
 call("sudo /etc/init.d/lirc stop", shell=True)
-debug = 1
+debug = True
 
 # class for exiting gracefully
 # use as "with GracefullExiter as exiter:" and then keep on checking [exit_now]
@@ -322,15 +322,23 @@ def compare_with_button(inp):
 
         # print 'sending "%s"' % str(i)
         if found_flag:
-            print keys[key]
-            sock.sendall(keys[key])
+            print (keys[key])
+            try:
+                sock.sendall(keys[key])  # works with Python 2
+            except:
+                sock.sendall(keys[key].encode()) # works with Python 3
             global saved_previous_key
             saved_previous_key = keys[key]
         else:
-            print "NO_MATCH"
-            sock.sendall("NO_MATCH")
+            print ("NO_MATCH")
+            try:
+                sock.sendall("NO_MATCH")
+            except TypeError:
+                sock.sendall("NO_MATCH".encode())
     except socket.error:
-        print "Unable to connect to the server"
+        print ("Unable to connect to the server")
+    except:
+        print("something happened")
     finally:
         # print 'Closing socket'
         sock.close()
@@ -339,7 +347,7 @@ def match_with_button(inp):
     list_to_parse=[]
     large_val_found=0
     if debug:
-        print inp,len(inp)
+        print (inp,len(inp))
 
 	#The ir signals are 65 bytes long with either a pulse length of ~500 us or ~1600us.
 	#Sometime because of noise which cannot be filtered out, we have smaller chunks of signal also present in the bytearray
@@ -404,10 +412,18 @@ def main(process_ir):
 
     # Read the raw value from the IR receiver
     line = process_ir.stdout.readline()
+    if not isinstance(line, str):
+        line = line.decode('utf-8')
 
     # we also remove the trailing whitespace and newlines
     pulse_us_string = line[6:len(line)].rstrip()
 
+    # detect if pulse_us_string is a byte array - which implies python3
+    # transfer to str type if needed
+    if not isinstance(pulse_us_string, str):
+        pulse_us_string = pulse_us_string.decode('utf-8')
+    # print(type(pulse_us_string))
+
     # check if we got a positive integer number
     if str.isdigit(pulse_us_string):
         pulse_us= int(pulse_us_string) # signal length
@@ -424,7 +440,7 @@ def main(process_ir):
     # If noise was there in current pulse, just skip it
     if pulse_us < noise_thresh:
         if debug:
-            print "noise:",pulse_us
+            print ("noise:", pulse_us)
         return
 
     # There are 3 checks to detect the keypresses
@@ -442,7 +458,7 @@ def main(process_ir):
             header_detected_flag=0
             before_header_flag=0
             if debug:
-                print "de:",pulse_us
+                print ("de:", pulse_us)
             header_1_detected_flag=0
             #*********************************************
             match_with_button(detected_sig_buf)
@@ -452,21 +468,21 @@ def main(process_ir):
                 add_next_flag = 0
                 # remove last sig from buffer
                 if debug:
-                    print "adding last",pulse_us,
+                    print ("adding last", pulse_us)
                 try:
                     detected_sig_buf.pop()
                 except IndexError:
                     return
                 pulse_us+=last_pulse_us
                 if debug:
-                    print pulse_us
+                    print (pulse_us)
 
             if last_sig_type == sig_type: # if a similar signal type was detected then add it in the next pulse
                 add_next_flag=1
 
             if debug:
                 if add_next_flag ==0:
-                    print "d:",pulse_us
+                    print ("d:", pulse_us)
 
             detected_sig_buf.append(pulse_us)
     else:
@@ -476,42 +492,46 @@ def main(process_ir):
             sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 
             server_address = ('localhost', 21852)
-            # print 'connecting to %s port %s' % server_address
+            # print ('connecting to %s port %s' % server_address)
             sock.connect(server_address)
 
-            # print 'sending "%s"' % str(i)
-            sock.sendall(saved_previous_key)
+            # on python2, sendall requires a str 
+            # on python3, if sendall receives a str it will fail, so send bytes instead
+            try:
+                sock.sendall(saved_previous_key)
+            except TypeError:
+                sock.sendall(saved_previous_key.encode())
 
         except socket.error:
-            print "Unable to connect to the server"
+            print ("Unable to connect to the server")
         finally:
             # print 'Closing socket'
             sock.close()
         if debug:
-            print "n:",pulse_us
+            print ("n:", pulse_us)
 
     #Third check for 4k pulse
     if header_detected_flag ==1 and header_1_detected_flag == 0:
         if debug:
-            print "checking before_header1_flag==1",pulse_us,header_1_thresh-header_1_margin,header_1_thresh+header_1_margin
+            print ("checking before_header1_flag==1",pulse_us,header_1_thresh-header_1_margin,header_1_thresh+header_1_margin)
 
         if add_next_flag:
             if debug:
-                print "adding 4k pulse"
-                print pulse_us,last_pulse_us
+                print ("adding 4k pulse")
+                print (pulse_us, last_pulse_us)
             pulse_us+=last_pulse_us
 
             add_next_flag=0
 
         if pulse_us > header_1_thresh-header_1_margin and pulse_us < header_1_thresh+header_1_margin:
             # IR signal detected
             if debug:
-                print "header_1_detected_flag=1"
+                print ("header_1_detected_flag=1")
             header_1_detected_flag=1
         else:
             if last_sig_type == sig_type:
                 if debug:
-                    print "setting 4k pulse flag"
+                    print ("setting 4k pulse flag")
                 add_next_flag=1
                 last_pulse_us=pulse_us
                 return
@@ -522,19 +542,19 @@ def main(process_ir):
     #Second check for 9k pulse
     if before_header_flag==1 and header_detected_flag==0:
         if debug:
-            print "checking before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin
+            print ("checking before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin)
 
         if add_next_flag:
             pulse_us+=last_pulse_us
 
             add_next_flag=0
             if debug:
-                print "checking_again before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin,last_pulse_us
+                print ("checking_again before_header_flag==1",pulse_us,header_thresh-header_margin,header_thresh+header_margin,last_pulse_us)
 
         if pulse_us > header_thresh-header_margin and pulse_us < header_thresh+header_margin:
             header_detected_flag=1
             if debug:
-                print "header_detected_flag=1"
+                print ("header_detected_flag=1")
         else:
             if last_sig_type == sig_type:
                 add_next_flag=1
@@ -545,7 +565,7 @@ def main(process_ir):
     if before_header_flag==0 and pulse_us>sig_thresh_len_before_header:
         before_header_flag=1
         if debug:
-            print "before_header_flag=1",pulse_us
+            print ("before_header_flag=1",pulse_us)
 
     last_pulse_us=pulse_us
     last_sig_type= sig_type
@@ -556,7 +576,7 @@ def main(process_ir):
 
     process_ir = Popen('mode2 -d /dev/lirc0', stdout = PIPE, stderr = STDOUT, shell = True)
 
-    print "Press any key on the remote to start"
+    print ("Press any key on the remote to start")
 
     try:
         with GracefullExiter() as exiter:

Software/Python/ir_remote_control/server/install.sh

@@ -12,10 +12,10 @@ GOPIGO_PATH=$DEXTER_PATH/GoPiGo
 
 #Install the ir_receiver library systemwide
 pushd $GOPIGO_PATH/Software/Python/ir_remote_control/server/
-sudo python setup.py install
-sudo rm -r build
-sudo rm -r dist
-sudo rm -r ir_receiver.egg-info
+python setup.py install
+rm -r build
+rm -r dist
+rm -r ir_receiver.egg-info
 
 sudo cp ir-server.service /etc/systemd/system/ir-server.service
 sudo systemctl daemon-reload