Python examples rework

Python/ADC.py

@@ -1,17 +1,30 @@
-import sys, time
+import sys, signal, time
+import navio.Common.util
 
-import navio.adc
-import navio.util
 
-navio.util.check_apm()
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.ADC as ADC
+else:
+ import navio.Navio.ADC as ADC
 
-adc = navio.adc.ADC()
+navio.Common.util.check_apm()
+
+
+def signal_handler(signal, frame):
+ print "You pressed Ctrl+C!"
+ sys.exit(0)
+
+
+signal.signal(signal.SIGINT, signal_handler)
+# print 'Press Ctrl+C to exit'
+
+adc = ADC()
 results = [0] * adc.channel_count
 
-while (True):
- s = ''
- for i in range (0, adc.channel_count):
+while True:
+ s = ""
+ for i in range(0, adc.channel_count):
  results[i] = adc.read(i)
- s += 'A{0}: {1:6.4f}V '.format(i, results[i] / 1000)
- print(s)
+ s += "A{0}: {1:6.4f}V ".format(i, results[i] / 1000)
+ print (s)
  time.sleep(0.5)

Python/AccelGyroMag.py

@@ -26,38 +26,51 @@
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 """
 
-import spidev
 import time
-import argparse 
+import argparse
 import sys
-import navio.mpu9250
-import navio.util
 
-navio.util.check_apm()
+import navio.Common.mpu9250
+import navio.Common.util
+import navio.Navio2.lsm9ds1
 
-parser = argparse.ArgumentParser()
-parser.add_argument("-i", help = "Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1")
+navio.Common.util.check_apm()
 
-if len(sys.argv) == 1:
- print "Enter parameter"
- parser.print_help()
- sys.exit(1)
-elif len(sys.argv) == 2:
- sys.exit("Enter sensor name: mpu or lsm")
 
-args = parser.parse_args()
+def get_inertial_sensor():
 
-if args.i == 'mpu':
- print "Selected: MPU9250"
- imu = navio.mpu9250.MPU9250()
-elif args.i == 'lsm':
- print "Selected: LSM9DS1"
- imu = navio.lsm9ds1.LSM9DS1()
-else:
- print "Wrong sensor name. Select: mpu or lsm"
- sys.exit(1)
+ if navio.Common.util.get_navio_version() == "NAVIO2":
+
+ parser = argparse.ArgumentParser()
+ parser.add_argument(
+ "-i",
+ help="Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1",
+ )
+
+ if len(sys.argv) == 1:
+ print "Enter parameter"
+ parser.print_help()
+ sys.exit(1)
+ elif len(sys.argv) == 2:
+ sys.exit("Enter sensor name: mpu or lsm")
+
+ args = parser.parse_args()
+
+ if args.i == "mpu":
+ print "Selected: MPU9250"
+ return navio.Common.mpu9250.MPU9250()
+ elif args.i == "lsm":
+ print "Selected: LSM9DS1"
+ return navio.Navio2.lsm9ds1.LSM9DS1()
+ else:
+ print "Wrong sensor name. Select: mpu or lsm"
+ sys.exit(1)
+ else:
+ print "Selected: MPU9250"
+ return navio.Common.mpu9250.MPU9250()
 
 
+imu = get_inertial_sensor()
 
 if imu.testConnection():
  print "Connection established: True"
@@ -69,23 +82,29 @@
 time.sleep(1)
 
 while True:
- # imu.read_all()
- # imu.read_gyro()
- # imu.read_acc()
- # imu.read_temp()
- # imu.read_mag()
-
- # print "Accelerometer: ", imu.accelerometer_data
- # print "Gyroscope: ", imu.gyroscope_data
- # print "Temperature: ", imu.temperature
- # print "Magnetometer: ", imu.magnetometer_data
-
- # time.sleep(0.1)
-
- m9a, m9g, m9m = imu.getMotion9()
-
- print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]),
- print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]),
- print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2])
-
- time.sleep(0.5)
+ # imu.read_all()
+ # imu.read_gyro()
+ # imu.read_acc()
+ # imu.read_temp()
+ # imu.read_mag()
+
+ # print "Accelerometer: ", imu.accelerometer_data
+ # print "Gyroscope: ", imu.gyroscope_data
+ # print "Temperature: ", imu.temperature
+ # print "Magnetometer: ", imu.magnetometer_data
+
+ # time.sleep(0.1)
+
+ m9a, m9g, m9m = imu.getMotion9()
+
+ print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(
+ m9a[1]
+ ), "{:+7.3f}".format(m9a[2]),
+ print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(
+ m9g[1]
+ ), "{:+8.3f}".format(m9g[2]),
+ print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(
+ m9m[1]
+ ), "{:+7.3f}".format(m9m[2])
+
+ time.sleep(0.5)

Python/Barometer.py

@@ -10,25 +10,26 @@
 
 import time
 
-import navio.ms5611
-import navio.util
+import navio.Common.util
 
-navio.util.check_apm()
+import navio.Common.ms5611
 
-baro = navio.ms5611.MS5611()
+navio.Common.util.check_apm()
+
+baro = navio.Common.ms5611.MS5611()
 baro.initialize()
 
-while(True):
- baro.refreshPressure()
- time.sleep(0.01) # Waiting for pressure data ready 10ms
- baro.readPressure()
+while True:
+ baro.refreshPressure()
+ time.sleep(0.01)  # Waiting for pressure data ready 10ms
+ baro.readPressure()
 
- baro.refreshTemperature()
- time.sleep(0.01) # Waiting for temperature data ready 10ms
- baro.readTemperature()
+ baro.refreshTemperature()
+ time.sleep(0.01)  # Waiting for temperature data ready 10ms
+ baro.readTemperature()
 
- baro.calculatePressureAndTemperature()
+ baro.calculatePressureAndTemperature()
 
- print "Temperature(C): %.6f" % (baro.TEMP), "Pressure(millibar): %.6f" % (baro.PRES)
+ print "Temperature(C): %.6f" % (baro.TEMP), "Pressure(millibar): %.6f" % (baro.PRES)
 
- time.sleep(1)
+ time.sleep(1)

Python/GPS.py

@@ -1,54 +1,82 @@
-import navio.util
-import navio.ublox
-
+import navio.Common.ublox
 
 if __name__ == "__main__":
 
- ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+ ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
 
  ubl.configure_poll_port()
- ubl.configure_poll(navio.ublox.CLASS_CFG, navio.ublox.MSG_CFG_USB)
- #ubl.configure_poll(navio.ublox.CLASS_MON, navio.ublox.MSG_MON_HW)
+ ubl.configure_poll(navio.Common.ublox.CLASS_CFG, navio.Common.ublox.MSG_CFG_USB)
+ # ubl.configure_poll(navio.ublox.CLASS_MON, navio.ublox.MSG_MON_HW)
 
- ubl.configure_port(port=navio.ublox.PORT_SERIAL1, inMask=1, outMask=0)
- ubl.configure_port(port=navio.ublox.PORT_USB, inMask=1, outMask=1)
- ubl.configure_port(port=navio.ublox.PORT_SERIAL2, inMask=1, outMask=0)
+ ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL1, inMask=1, outMask=0)
+ ubl.configure_port(port=navio.Common.ublox.PORT_USB, inMask=1, outMask=1)
+ ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL2, inMask=1, outMask=0)
  ubl.configure_poll_port()
- ubl.configure_poll_port(navio.ublox.PORT_SERIAL1)
- ubl.configure_poll_port(navio.ublox.PORT_SERIAL2)
- ubl.configure_poll_port(navio.ublox.PORT_USB)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL1)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL2)
+ ubl.configure_poll_port(navio.Common.ublox.PORT_USB)
  ubl.configure_solution_rate(rate_ms=1000)
 
  ubl.set_preferred_dynamic_model(None)
  ubl.set_preferred_usePPP(None)
 
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSLLH, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_PVT, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_STATUS, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SOL, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELNED, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SVINFO, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELECEF, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSECEF, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_RAW, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SFRB, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SVSI, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_ALM, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_EPH, 1)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_TIMEGPS, 5)
- ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_CLOCK, 5)
- #ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_DGPS, 5)
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSLLH, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_PVT, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_STATUS, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SOL, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELNED, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SVINFO, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELECEF, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSECEF, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_RAW, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SFRB, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SVSI, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_ALM, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_EPH, 1
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_TIMEGPS, 5
+ )
+ ubl.configure_message_rate(
+ navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_CLOCK, 5
+ )
+ # ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_DGPS, 5)
 
  while True:
  msg = ubl.receive_message()
  if msg is None:
  if opts.reopen:
  ubl.close()
- ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+ ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
  continue
  print(empty)
  break
- #print(msg.name())
+ # print(msg.name())
  if msg.name() == "NAV_POSLLH":
  outstr = str(msg).split(",")[1:]
  outstr = "".join(outstr)
@@ -57,4 +85,4 @@
  outstr = str(msg).split(",")[1:2]
  outstr = "".join(outstr)
  print(outstr)
- #print(str(msg))
+ # print(str(msg))

Python/LED.py

@@ -1,39 +1,48 @@
-import sys
-
-import navio.leds
 import time
-import navio.util
+import os
+
+import navio.Common.util
+
+if navio.Common.util.get_navio_version() == "NAVIO2":
+ import navio.Navio2.Led as Led
+else:
+ import navio.Navio.Led as Led
+
+
+if os.getuid() != 0:
+ print "Not root. Please, launch like this: sudo python LED.py"
+ exit(-1)
 
-navio.util.check_apm()
+navio.Common.util.check_apm()
 
-led = navio.leds.Led()
+led = Led()
 
-led.setColor('Yellow')
+led.setColor("Yellow")
 print "LED is yellow"
 time.sleep(1)
 
-while (True):
+while True:
 
- led.setColor('Green')
+ led.setColor("Green")
  print "LED is green"
  time.sleep(1)
 
- led.setColor('Cyan')
+ led.setColor("Cyan")
  print "LED is cyan"
  time.sleep(1)
 
- led.setColor('Blue')
+ led.setColor("Blue")
  print "LED is blue"
  time.sleep(1)
 
- led.setColor('Magenta')
+ led.setColor("Magenta")
  print "LED is magenta"
  time.sleep(1)
 
- led.setColor('Red')
+ led.setColor("Red")
  print "LED is red"
  time.sleep(1)
 
- led.setColor('Yellow')
+ led.setColor("Yellow")
  print "LED is yellow"
  time.sleep(1)