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.RPiGPIOLightProvider;
 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(rovConfig.lightAPin())),
+            new DigitalLight(
+                    eventPublisher
+                        .valuesOfType(LightBValue.class)
+                        .startWith(new LightBValue())
+                        .cast(LightValue.class),
+                    lightDevices.get(rovConfig.lightBPin()))
+        ));
+
         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 +408,7 @@ public static void main(final String[] args) throws InterruptedException, IOExce
                     rovConfig.bluetoothComPort(),
                     rovConfig.bluetoothConnectionTimeout(),
                     rovConfig.bluetoothBaudRate()),
+                new RPiGPIOLightProvider(),
                 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/java/com/easternedgerobotics/rov/io/rpi/RPiGPIOLightProvider.java

@@ -0,0 +1,23 @@
+package com.easternedgerobotics.rov.io.rpi;
+
+import com.easternedgerobotics.rov.io.devices.Light;
+
+import java.util.AbstractList;
+import java.util.RandomAccess;
+
+public final class RPiGPIOLightProvider extends AbstractList<Light> implements RandomAccess {
+    private static final int PIN_COUNT = 32;
+
+    @Override
+    public Light get(final int index) {
+        if (index > PIN_COUNT) {
+            throw new IndexOutOfBoundsException(String.format("This device has only %d gpio pins", PIN_COUNT));
+        }
+        return new RPiGPIOLight(index);
+    }
+
+    @Override
+    public int size() {
+        return PIN_COUNT;
+    }
+}