python-gpiozero/gpiozero/output_devices.py

from __future__ import (
    unicode_literals,
    print_function,
    absolute_import,
    division,
)

import warnings
from time import sleep
from threading import Lock
from itertools import repeat

from RPi import GPIO

from .devices import (
    GPIODeviceError,
    GPIODeviceClosed,
    GPIODevice,
    GPIOThread,
    CompositeDevice,
    SourceMixin,
)


class OutputDeviceError(GPIODeviceError):
    pass


class OutputDevice(SourceMixin, GPIODevice):
    """
    Represents a generic GPIO output device.

    This class extends `GPIODevice` to add facilities common to GPIO output
    devices: an `on` method to switch the device on, and a corresponding `off`
    method.

    active_high: `True`
        If `True` (the default), the `on` method will set the GPIO to HIGH. If
        `False`, the `on` method will set the GPIO to LOW (the `off` method
        always does the opposite).
    """
    def __init__(self, pin=None, active_high=True):
        self._active_high = active_high
        super(OutputDevice, self).__init__(pin)
        self._active_state = GPIO.HIGH if active_high else GPIO.LOW
        self._inactive_state = GPIO.LOW if active_high else GPIO.HIGH
        try:
            # NOTE: catch_warnings isn't thread-safe but hopefully no-one's
            # messing around with GPIO init within background threads...
            with warnings.catch_warnings(record=True) as w:
                GPIO.setup(pin, GPIO.OUT)
            # The only warning we want to squash is a RuntimeWarning that is
            # thrown when setting pins 2 or 3. Anything else should be replayed
            for warning in w:
                if warning.category != RuntimeWarning or pin not in (2, 3):
                    warnings.showwarning(
                        warning.message, warning.category, warning.filename,
                        warning.lineno, warning.file, warning.line
                    )
        except:
            self.close()
            raise

    def _write(self, value):
        try:
            GPIO.output(self.pin, bool(value))
        except ValueError:
            self._check_open()
            raise

    def on(self):
        """
        Turns the device on.
        """
        self._write(self._active_state)

    def off(self):
        """
        Turns the device off.
        """
        self._write(self._inactive_state)

    @property
    def value(self):
        return super(OutputDevice, self).value

    @value.setter
    def value(self, value):
        self._write(value)

    @property
    def active_high(self):
        return self._active_high

    def __repr__(self):
        try:
            return '<gpiozero.%s object on pin=%d, active_high=%s, is_active=%s>' % (
                self.__class__.__name__, self.pin, self.active_high, self.is_active)
        except:
            return super(OutputDevice, self).__repr__()


class DigitalOutputDevice(OutputDevice):
    """
    Represents a generic output device with typical on/off behaviour.

    This class extends `OutputDevice` with a `toggle` method to switch the
    device between its on and off states, and a `blink` method which uses an
    optional background thread to handle toggling the device state without
    further interaction.
    """
    def __init__(self, pin=None, active_high=True):
        self._blink_thread = None
        super(DigitalOutputDevice, self).__init__(pin, active_high)
        self._lock = Lock()

    def close(self):
        self._stop_blink()
        super(DigitalOutputDevice, self).close()

    def on(self):
        """
        Turns the device on.
        """
        self._stop_blink()
        self._write(self._active_state)

    def off(self):
        """
        Turns the device off.
        """
        self._stop_blink()
        self._write(self._inactive_state)

    def toggle(self):
        """
        Reverse the state of the device. If it's on, turn it off; if it's off,
        turn it on.
        """
        with self._lock:
            if self.is_active:
                self.off()
            else:
                self.on()

    def blink(self, on_time=1, off_time=1, n=None, background=True):
        """
        Make the device turn on and off repeatedly.

        on_time: `1`
            Number of seconds on

        off_time: `1`
            Number of seconds off

        n: `None`
            Number of times to blink; `None` means forever

        background: `True`
            If `True`, start a background thread to continue blinking and
            return immediately. If `False`, only return when the blink is
            finished (warning: the default value of n will result in this
            method never returning).
        """
        self._stop_blink()
        self._blink_thread = GPIOThread(
            target=self._blink_led, args=(on_time, off_time, n)
        )
        self._blink_thread.start()
        if not background:
            self._blink_thread.join()
            self._blink_thread = None

    def _stop_blink(self):
        if self._blink_thread:
            self._blink_thread.stop()
            self._blink_thread = None

    def _blink_led(self, on_time, off_time, n):
        iterable = repeat(0) if n is None else repeat(0, n)
        for i in iterable:
            self._write(self._active_state)
            if self._blink_thread.stopping.wait(on_time):
                break
            self._write(self._inactive_state)
            if self._blink_thread.stopping.wait(off_time):
                break


class LED(DigitalOutputDevice):
    """
    An LED (Light Emmitting Diode) component.

    A typical configuration of such a device is to connect a GPIO pin to the
    anode (long leg) of the LED, and the cathode (short leg) to ground, with
    an optional resistor to prevent the LED from burning out.
    """
    pass

LED.is_lit = LED.is_active


class Buzzer(DigitalOutputDevice):
    """
    A digital Buzzer component.

    A typical configuration of such a device is to connect a GPIO pin to the
    anode (long leg) of the buzzer, and the cathode (short leg) to ground.
    """
    pass

Buzzer.beep = Buzzer.blink


class PWMOutputDevice(DigitalOutputDevice):
    """
    Generic Output device configured for PWM (Pulse-Width Modulation).
    """
    def __init__(self, pin=None, frequency=100):
        self._pwm = None
        super(PWMOutputDevice, self).__init__(pin)
        try:
            self._pwm = GPIO.PWM(self.pin, frequency)
            self._pwm.start(0.0)
            self._frequency = frequency
            self._value = 0.0
        except:
            self.close()
            raise

    def close(self):
        if self._pwm:
            # Ensure we wipe out the PWM object so that re-runs don't attempt
            # to re-stop the PWM thread (otherwise, the fact that close is
            # called from __del__ can easily result in us stopping the PWM
            # on *another* instance on the same pin)
            p = self._pwm
            self._pwm = None
            p.stop()
        super(PWMOutputDevice, self).close()

    def _read(self):
        self._check_open()
        return self._value

    def _write(self, value):
        if not 0 <= value <= 1:
            raise OutputDeviceError("PWM value must be between 0 and 1")
        try:
            self._pwm.ChangeDutyCycle(value * 100)
        except AttributeError:
            self._check_open()
            raise
        self._value = value

    @property
    def value(self):
        """
        The duty cycle of the PWM device. 0.0 is off, 1.0 is fully on. Values
        in between may be specified for varying levels of power in the device.
        """
        return self._read()

    @value.setter
    def value(self, value):
        self._stop_blink()
        self._write(value)

    def toggle(self):
        """
        Toggle the state of the device. If the device is currently off
        (`value` is 0.0), this changes it to "fully" on (`value` is 1.0).  If
        the device has a duty cycle (`value`) of 0.1, this will toggle it to
        0.9, and so on.
        """
        self.value = 1.0 - self.value

    @property
    def is_active(self):
        """
        Returns `True` if the device is currently active and `False` otherwise.
        """
        return self.value > 0.0

    @property
    def frequency(self):
        """
        The frequency of the pulses used with the PWM device, in Hz. The
        default is 100.
        """
        return self._frequency

    @frequency.setter
    def frequency(self, value):
        self._pwm.ChangeFrequency(value)
        self._frequency = value


class PWMLED(PWMOutputDevice):
    """
    An LED (Light Emmitting Diode) component with variable brightness.

    A typical configuration of such a device is to connect a GPIO pin to the
    anode (long leg) of the LED, and the cathode (short leg) to ground, with
    an optional resistor to prevent the LED from burning out.
    """
    pass

PWMLED.is_lit = PWMLED.is_active


def _led_property(index, doc=None):
    return property(
        lambda self: getattr(self._leds[index], 'value'),
        lambda self, value: setattr(self._leds[index], 'value', value),
        doc
    )


class RGBLED(SourceMixin, CompositeDevice):
    """
    Single LED with individually controllable red, green and blue components.

    red: `None`
        The GPIO pin that controls the red component of the RGB LED.

    green: `None`
        The GPIO pin that controls the green component of the RGB LED.

    blue: `None`
        The GPIO pin that controls the blue component of the RGB LED.
    """
    def __init__(self, red=None, green=None, blue=None):
        if not all([red, green, blue]):
            raise OutputDeviceError('red, green, and blue pins must be provided')
        super(RGBLED, self).__init__()
        self._leds = tuple(PWMOutputDevice(pin) for pin in (red, green, blue))

    red = _led_property(0)
    green = _led_property(1)
    blue = _led_property(2)

    @property
    def value(self):
        """
        Represents the color of the LED as an RGB 3-tuple of `(red, green,
        blue)` where each value is between 0 and 1.

        For example, purple would be `(1, 0, 1)` and yellow would be `(1, 1,
        0)`, while orange would be `(1, 0.5, 0)`.
        """
        return (self.red, self.green, self.blue)

    @value.setter
    def value(self, value):
        self.red, self.green, self.blue = value

    @property
    def is_active(self):
        """
        Returns `True` if the LED is currently active and `False` otherwise.
        """
        return self.value != (0, 0, 0)

    color = value

    def on(self):
        """
        Turn the device on. This equivalent to setting the device color to
        white `(1, 1, 1)`.
        """
        self.value = (1, 1, 1)

    def off(self):
        """
        Turn the device off. This is equivalent to setting the device color
        to black `(0, 0, 0)`.
        """
        self.value = (0, 0, 0)

    def close(self):
        for led in self._leds:
            led.close()


class Motor(SourceMixin, CompositeDevice):
    """
    Generic bi-directional motor.
    """
    def __init__(self, forward=None, backward=None):
        if not all([forward, backward]):
            raise OutputDeviceError(
                'forward and backward pins must be provided'
            )
        super(Motor, self).__init__()
        self._forward = PWMOutputDevice(forward)
        self._backward = PWMOutputDevice(backward)

    def close(self):
        self._forward.close()
        self._backward.close()

    @property
    def closed(self):
        return self._forward.closed and self._backward.closed

    @property
    def forward_device(self):
        """
        Returns the `PWMOutputDevice` representing the forward pin of the motor
        controller.
        """
        return self._forward

    @property
    def backward_device(self):
        """
        Returns the `PWMOutputDevice` representing the backward pin of the
        motor controller.
        """
        return self._backward

    @property
    def value(self):
        """
        Represents the speed of the motor as a floating point value between -1
        (full speed backward) and 1 (full speed forward).
        """
        return self._forward.value - self._backward.value

    @value.setter
    def value(self, value):
        if not -1 <= value <= 1:
            raise OutputDeviceError("Motor value must be between -1 and 1")
        if value > 0:
            self.forward(value)
        elif value < 0:
            self.backward(-value)
        else:
            self.stop()

    @property
    def is_active(self):
        """
        Returns `True` if the motor is currently active and `False` otherwise.
        """
        return self.value != 0

    def forward(self, speed=1):
        """
        Drive the motor forwards
        """
        self._backward.off()
        self._forward.value = speed

    def backward(self, speed=1):
        """
        Drive the motor backwards
        """
        self._forward.off()
        self._backward.value = speed

    def reverse(self):
        """
        Reverse the current direction of the motor. If the motor is currently
        idle this does nothing. Otherwise, the motor's direction will be
        reversed at the current speed.
        """
        self.value = -self.value

    def stop(self):
        """
        Stop the motor
        """
        self._forward.off()
        self._backward.off()