Merge branch 'RaspberryPiFoundation:main' into main

Author: highflying

.github/workflows/python-app.yml

@@ -16,10 +16,10 @@ jobs:
 
     steps:
     - uses: actions/checkout@v2
-    - name: Set up Python 3.7
+    - name: Set up Python 3.9
       uses: actions/setup-python@v2
       with:
-        python-version: 3.7
+        python-version: 3.9
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip

.pre-commit-config.yaml

@@ -0,0 +1,17 @@
+repos:
+-   repo: https://github.com/PyCQA/flake8
+    rev: 6.0.0
+    hooks:
+    -  id: flake8
+       additional_dependencies: [
+        'flake8-bugbear>=22.10.27',
+        'flake8-comprehensions>=3.10',
+        'flake8-debugger',
+        'flake8-docstrings>=1.6.0',
+        'flake8-isort>=5.0',
+        'flake8-pylint',
+        'flake8-rst-docstrings',
+        'flake8-string-format',
+        'gpiozero',
+        'pyserial'
+       ]

CHANGELOG.md

@@ -1,5 +1,49 @@
 # Change Log
 
+## 0.5.12
+
+### Added
+
+* Ability to set custom device interval for callbacks
+
+### Changed
+
+* New firmware with mitigation for motor disconnecting and selrate command
+
+### Removed
+
+n/a
+
+## 0.5.11
+
+### Added
+
+* Expose release property to allow motor to hold position
+* Updated documentation
+
+### Changed
+
+n/a
+
+### Removed
+
+n/a
+
+## 0.5.10
+
+### Added
+
+* Support for 88008 motor
+* get_distance support for ColourDistanceSensor
+
+### Changed
+
+* Use debug log level for logging
+
+### Removed
+
+n/a
+
 ## 0.5.9
 
 ### Added

VERSION

@@ -1 +1 @@
-0.5.9
+0.5.12

buildhat/color.py

@@ -210,4 +210,4 @@ def wait_for_new_color(self):
 
     def on(self):
         """Turn on the sensor and LED"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self.reverse()

buildhat/colordistance.py

@@ -199,4 +199,4 @@ def wait_for_new_color(self):
 
     def on(self):
         """Turn on the sensor and LED"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self.reverse()

buildhat/data/firmware.bin

@@ -1,2 +1 @@
-�cF��̠�m���㰶vt�?�#��Y�FxQ
-�H�|#9�J��49����M�G�$
dIӛ
+Q#�E]��]-.T~�駶�e[yE�V}A5�L��}���A�$I!�u�9Nzw`��l�@eK��;�{E�

buildhat/data/signature.bin

@@ -1 +1 @@
-1643737936
+1674818421

buildhat/data/version

@@ -3,6 +3,7 @@
 import os
 import sys
 import weakref
+from concurrent.futures import Future
 
 from .exc import DeviceError
 from .serinterface import BuildHAT
@@ -57,7 +58,9 @@ def __init__(self, port):
         Device._setup()
         self._simplemode = -1
         self._combimode = -1
+        self._modestr = ""
         self._typeid = self._conn.typeid
+        self._interval = 10
         if (
             self._typeid in Device._device_names
             and Device._device_names[self._typeid][0] != type(self).__name__  # noqa: W503
@@ -185,7 +188,7 @@ def isconnected(self):
 
     def reverse(self):
         """Reverse polarity"""
-        self._write(f"port {self.port} ; plimit 1 ; set -1\r")
+        self._write(f"port {self.port} ; port_plimit 1 ; set -1\r")
 
     def get(self):
         """Extract information from device
@@ -194,18 +197,11 @@ def get(self):
         :raises DeviceError: Occurs if device not in valid mode
         """
         self.isconnected()
-        idx = -1
-        if self._simplemode != -1:
-            idx = self._simplemode
-        elif self._combimode != -1:
-            idx = self._combimode
-        else:
+        if self._simplemode == -1 and self._combimode == -1:
             raise DeviceError("Not in simple or combimode")
-        self._write(f"port {self.port} ; selonce {idx}\r")
-        # wait for data
-        with Device._instance.portcond[self.port]:
-            Device._instance.portcond[self.port].wait()
-        return self._conn.data
+        ftr = Future()
+        self._hat.portftr[self.port].append(ftr)
+        return ftr.result()
 
     def mode(self, modev):
         """Set combimode or simple mode
@@ -214,18 +210,32 @@ def mode(self, modev):
         """
         self.isconnected()
         if isinstance(modev, list):
-            self._combimode = 0
             modestr = ""
             for t in modev:
                 modestr += f"{t[0]} {t[1]} "
-            self._write(f"port {self.port} ; combi {self._combimode} {modestr}\r")
+            if self._simplemode == -1 and self._combimode == 0 and self._modestr == modestr:
+                return
+            self._write(f"port {self.port}; select\r")
+            self._combimode = 0
+            self._write((f"port {self.port} ; combi {self._combimode} {modestr} ; "
+                         f"select {self._combimode} ; "
+                         f"selrate {self._interval}\r"))
             self._simplemode = -1
+            self._modestr = modestr
+            self._conn.combimode = 0
+            self._conn.simplemode = -1
         else:
+            if self._combimode == -1 and self._simplemode == int(modev):
+                return
             # Remove combi mode
             if self._combimode != -1:
                 self._write(f"port {self.port} ; combi {self._combimode}\r")
+            self._write(f"port {self.port}; select\r")
             self._combimode = -1
             self._simplemode = int(modev)
+            self._write(f"port {self.port} ; select {int(modev)} ; selrate {self._interval}\r")
+            self._conn.combimode = -1
+            self._conn.simplemode = int(modev)
 
     def select(self):
         """Request data from mode
@@ -239,11 +249,11 @@ def select(self):
             idx = self._combimode
         else:
             raise DeviceError("Not in simple or combimode")
-        self._write(f"port {self.port} ; select {idx}\r")
+        self._write(f"port {self.port} ; select {idx} ; selrate {self._interval}\r")
 
     def on(self):
         """Turn on sensor"""
-        self._write(f"port {self.port} ; plimit 1 ; on\r")
+        self._write(f"port {self.port} ; port_plimit 1 ; on\r")
 
     def off(self):
         """Turn off sensor"""
@@ -274,3 +284,28 @@ def callback(self, func):
             self._conn.callit = None
         else:
             self._conn.callit = weakref.WeakMethod(func)
+
+    @property
+    def interval(self):
+        """Interval between data points in milliseconds
+
+        :getter: Gets interval
+        :setter: Sets interval
+        :return: Device interval
+        :rtype: int
+        """
+        return self._interval
+
+    @interval.setter
+    def interval(self, value):
+        """Interval between data points in milliseconds
+
+        :param value: Interval
+        :type value: int
+        :raises DeviceError: Occurs if invalid interval passed
+        """
+        if isinstance(value, int) and value >= 0 and value <= 1000000000:
+            self._interval = value
+            self._write(f"port {self.port} ; selrate {self._interval}\r")
+        else:
+            raise DeviceError("Invalid interval")

buildhat/devices.py

@@ -1,5 +1,7 @@
 """HAT handling functionality"""
 
+from concurrent.futures import Future
+
 from .devices import Device
 
 
@@ -45,11 +47,10 @@ def get_vin(self):
         :return: Voltage on the input power jack
         :rtype: float
         """
+        ftr = Future()
+        Device._instance.vinftr.append(ftr)
         Device._instance.write(b"vin\r")
-        with Device._instance.vincond:
-            Device._instance.vincond.wait()
-
-        return Device._instance.vin
+        return ftr.result()
 
     def _set_led(self, intmode):
         if isinstance(intmode, int) and intmode >= -1 and intmode <= 3:

buildhat/hat.py

@@ -30,4 +30,12 @@ def brightness(self, brightness):
         """
         if not (brightness >= 0 and brightness <= 100):
             raise LightError("Need brightness arg, of 0 to 100")
-        self._write(f"port {self.port} ; on ; plimit {brightness / 100.0}\r")
+        if brightness > 0:
+            self._write(f"port {self.port} ; on ; set {brightness / 100.0}\r")
+        else:
+            self.off()
+
+    def off(self):
+        """Turn off lights"""
+        # Using coast to turn off DIY lights completely
+        self._write(f"port {self.port} ; coast\r")