From 6f4364665b9c649bf2c2dcccc48bdd4cee88a96e Mon Sep 17 00:00:00 2001
From: Kevin Frantz <mail@kevin-frantz.de>
Date: Sun, 16 Apr 2017 21:44:12 +0000
Subject: [PATCH] Autopilotenklasse optimiert

---
 .gitignore                      |   1 +
 __pycache__/core.cpython-36.pyc | Bin 714 -> 845 bytes
 autopilot.py                    |  72 ++++++++++++++++----------------
 core.py                         |   2 +
 manual_controll.py              |  50 +++++++++++-----------
 vero.py                         |  32 +++++++++-----
 6 files changed, 87 insertions(+), 70 deletions(-)

diff --git a/.gitignore b/.gitignore
index 4a295fd..9f73cfa 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,4 @@
 __pycache__/autopilot.cpython-36.pyc
 __pycache__/vero.cpython-36.pyc
 sensoren/__pycache__/
+__pycache__/core.cpython-36.pyc
diff --git a/__pycache__/core.cpython-36.pyc b/__pycache__/core.cpython-36.pyc
index 00692c8cfd7e7efcd95775079f66a704712f5d53..629881f868d6e3d9e5feaa0ef63d4a4d322e99fd 100644
GIT binary patch
delta 153
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z!T=Ov^wVU##b2CS5}cY>oL>}{m{XcsJozG{ghEk%X-Q^YDjx#_LopMOU|_7`an3JF
w)q_e*p1~NwC@}dWqZA|CWF96hHeR5bBEHGyOp07=Kqdzx2MY(&<OHTH0QNg43;+NC

delta 70
zcmV-M0J;Co2Fe8qGYt(2qB!zcgpmn_0UVK!9RyPVDF(5)0s)gQ0zLr_lWhVT0R@wY
c0xAIvlN|#Wlg|PQ2m}BC00;pH1e4<eYMJ#A*8l(j

diff --git a/autopilot.py b/autopilot.py
index 2afa821..8740500 100644
--- a/autopilot.py
+++ b/autopilot.py
@@ -24,69 +24,69 @@ class ForwardMoveException(MoveException):
 
 #Hauptklasse
 from core import Core as CORE
-from threading import Thread as THREAD
 from time import sleep 
-class Autopilot(CORE,THREAD):
+class Autopilot(CORE):
 	def __init__(self):
 		CORE.__init__(self);
-		THREAD.__init__(self);
 		self.moveStatus=0; 
 		self.ultraschalminimum=10;
-		self.threadRun=True;
-		#self.start();
-	def run(self):
-		x=1
-		while self.threadRun:
-			self.statusTest();
-			print("Autopilot-Test #{0}".format(x));			
-			#sleep(0.2);
-			x+=1		
 	def statusTest(self):
 		switcher = {
 			1: lambda: self.testForward(),
 			3: lambda: self.testLeft(),
 			4: lambda: self.testRight(),
 		}
-		func = switcher.get(self.moveStatus, lambda:0)
+		func = switcher.get(self.moveStatus, lambda:"Error")
 		return func();		
 	def testLeft(self):
-		ultraschallLinks=self.ultraschallLinks.getValue();
-		if(ultraschallLinks<=self.ultraschalminimum or self.infarotLinks.getValue()):
+		if(self.ultraschallLinksValue<=self.ultraschalminimum or self.infarotLinks.getValue()):
 			self.stop();					
-			raise LeftMoveException("Abstand Ultraschall-Links betraegt {0}cm und Infarot-Links hat Wert {1}".format(ultraschallLinks,self.infarotLinks.getValue()));
+			raise LeftMoveException("Abstand Ultraschall-Links betraegt {0}cm und Infarot-Links hat Wert {1}"
+				.format(
+					self.ultraschallLinksValue,
+					self.infarotLinksValue
+				)
+			);
 	def testRight(self):
-		ultraschallRechts=self.ultraschallRechts.getValue();
-		if(ultraschallRechts<=self.ultraschalminimum or self.infarotRechts.getValue()):
+		if(self.infarotMitteRechtsValue<=self.ultraschalminimum or self.infarotRechtsValue):
 			self.stop();					
-			raise RightMoveException("Abstand Ultraschall-Rechts betraegt {0}cm und Infarot-Rechts hat Wert {1}".format(ultraschallRechts,self.infarotRechts.getValue()));
+			raise RightMoveException("Abstand Ultraschall-Rechts betraegt {0}cm und Infarot-Rechts hat Wert {1}".
+				format(
+					self.infarotMitteRechtsValue,
+					self.infarotRechtsValue
+				)
+			);
 	def testForward(self):
-		ultraschallMitte=self.ultraschallMitte.getValue();
-		if(ultraschallMitte<=self.ultraschalminimum 
-			#or self.ultraschallRechts.getValue()<=self.ultraschalminimum 
-			#or self.ultraschallLinks.getValue()<=self.ultraschalminimum 
-			or self.infarotMitteLinks.getValue() 
-			or self.infarotMitteRechts.getValue()):
+		if(self.ultraschallMitteValue<=self.ultraschalminimum 
+			or self.ultraschallRechtsValue<=self.ultraschalminimum 
+			or self.ultraschallLinksValue<=self.ultraschalminimum 
+			or self.infarotMitteLinksValue 
+			or self.infarotMitteRechtsValue):
 			self.stop();					
-			raise ForwardMoveException("Abstand Ultraschallmitte betraegt {0}cm. Infarot-Mitte-Links: {1}. Infarot-Mitte-Rechts:{2}".format(ultraschallMitte,self.infarotMitteLinks.getValue(),self.infarotMitteRechts.getValue()));	
+			raise ForwardMoveException("Abstand Ultraschallmitte betraegt {0}cm. Infarot-Mitte-Links: {1}. Infarot-Mitte-Rechts:{2}".
+				format(
+					self.ultraschallMitteValue,
+					self.infarotMitteLinksValue,
+					self.infarotMitteRechtsValue)
+			);	
 	def turnLeft(self):
-		self.statusTest();
 		self.moveStatus=3;
+		self.statusTest();
 		CORE.turnLeft(self);
 	def turnRight(self):
-		self.statusTest();
-		self.moveStatus=4;	
+		self.moveStatus=4;
+		self.statusTest();	
 		CORE.turnRight(self);
 	def forward(self):
-		self.statusTest();
-		self.moveStatus=1;		
+		
+		self.moveStatus=1;
+		self.statusTest();		
 		CORE.forward(self);
 	def backward(self):
+		self.moveStatus=2;		
 		self.statusTest();
-		self.moveStatus=2;
 		CORE.backward(self);
-	def stop(self):
-		self.statusTest();
+	def stop(self):		
 		self.moveStatus=0;
+		self.statusTest();
 		CORE.stop(self);
-	def __del__(self):
-		self.threadRun=False;
diff --git a/core.py b/core.py
index 8c35850..964db1f 100644
--- a/core.py
+++ b/core.py
@@ -11,5 +11,7 @@ class Core(MOTION,VERO):
 		GPIO.setmode(GPIO.BCM);
 		MOTION.__init__(self);
 		VERO.__init__(self);
+	def routine(self): #Routine welche vor jedem Arbeitsschritt ausgefuehrt werden soll
+		self.setSensorValues();
 	def __del__(self):
 		GPIO.cleanup();
diff --git a/manual_controll.py b/manual_controll.py
index c460861..acc91be 100644
--- a/manual_controll.py
+++ b/manual_controll.py
@@ -21,31 +21,34 @@ def help():
 	print("Manuell:         e")
 def autopilot():
 	try:
-		core=AUTOPILOT()
-		#core.start();
-		while True:			
-			try:	
-				core.printValues();			
-				if core.moveStatus!=1:			
-					core.forward();
-				else:
-					core.statusTest();
-			except ForwardMoveException:
-				if randint(0,1):			
-					core.backward();
-				else:
-					if randint(0,1):
-						core.turnLeft();				
+		autopilot=AUTOPILOT()
+		while True:						
+			try:			
+				try:	
+					autopilot.setSensorValues();
+					autopilot.printValues();
+					print("Richtung: {0}".format(autopilot.moveStatus));			
+					if autopilot.moveStatus!=1:			
+						autopilot.forward();
 					else:
-						core.turnRight();
-			except LeftMoveException:
-				core.turnLeft();
-			except RightMoveException:
-				core.turnRight();
-			sleep(1);
+						autopilot.statusTest();
+				except ForwardMoveException:				
+					if randint(0,1):			
+						autopilot.backward();
+					else:
+						if randint(0,1):
+							autopilot.turnLeft();				
+						else:
+							autopilot.turnRight();
+				except LeftMoveException:
+					core.turnLeft();
+				except RightMoveException:
+					core.turnRight();
+			except MoveException:
+				autopilot.stop();
+			sleep(0.5);
 	except KeyboardInterrupt:
 		print("Verlasse Autopilot...")
-		#core=CORE();
 def doIt(order):
 	switcher = {
         	'w': lambda: core.forward(),
@@ -62,11 +65,10 @@ def doIt(order):
 print("Herzlich Willkommen im manuellen Controll-Interface!\n") 
 try:	
 	while True:
+		core.setSensorValues()
 		input=getch.getch();
 		print("Erinaco>>{0}".format(input))
 		doIt(input);
-except MoveException:
-	print("Move Exception...")
 except KeyboardInterrupt:
 	print("Verlasse Erinaco...")
 	core.__del__();
diff --git a/vero.py b/vero.py
index 87d0bab..94b3d10 100644
--- a/vero.py
+++ b/vero.py
@@ -5,6 +5,7 @@
 """
 from sensoren.boolsensor import Boolsensor as BOOLSENSOR 
 from sensoren.ultraschall import Ultraschall as ULTRASCHALL
+import time
 #from sensoren.dht11 import Dht11 as DHT11
 class Vero(object):
 	def __init__(self):
@@ -18,18 +19,29 @@ class Vero(object):
 		self.infarotRechts=BOOLSENSOR(21);
 		self.infarotMitteLinks=BOOLSENSOR(16);
 		self.infarotMitteRechts=BOOLSENSOR(20);
-	def printValues(self):
+		self.timestampValue=0;
+	def printValues(self): 		
 		#self.dht.setValues();
-		print("PIR:			{0}".format(self.pir.getValue()));
+		print("PIR:			{0}".format(self.pirValue));
 		#print("Temperatur:		{0}".format(self.dht.getTemperatur()));
 		#print("Luftfeuchtigkeit:	{0}".format(self.dht.getLuftfeuchtigkeit()));
-		print("Ultraschall-Links:	{0}cm".format(self.ultraschallLinks.getValue()));
-		print("Ultraschall-Mitte:	{0}cm".format(self.ultraschallMitte.getValue()));
-		print("Ultraschall-Rechts:	{0}cm".format(self.ultraschallRechts.getValue()));
-		print("Infarot Links:		{0}".format(self.infarotLinks.getValue()));
-		print("Infarot Mitte-Links:	{0}".format(self.infarotMitteLinks.getValue()));
-		print("Infarot Mitte-Rechts:	{0}".format(self.infarotMitteRechts.getValue()));
-		print("Infarot Rechts:		{0}".format(self.infarotRechts.getValue()));
+		print("Ultraschall-Links:	{0}cm".format(self.ultraschallLinksValue));
+		print("Ultraschall-Mitte:	{0}cm".format(self.ultraschallMitteValue));
+		print("Ultraschall-Rechts:	{0}cm".format(self.ultraschallRechtsValue));
+		print("Infarot Links:		{0}".format(self.infarotLinksValue));
+		print("Infarot Mitte-Links:	{0}".format(self.infarotMitteLinksValue));
+		print("Infarot Mitte-Rechts:	{0}".format(self.infarotMitteRechtsValue));
+		print("Infarot Rechts:		{0}".format(self.infarotRechtsValue));
 	def saveToDB(self): #Speichert die Werte in der Datenbank
 		pass
-
+	def setSensorValues(self):
+		if(time.time() >= self.timestampValue+1): #Werte maximal jede Sekunde abspeichern
+			self.pirValue			= self.pir.getValue();
+			self.infarotMitteLinksValue  	= self.infarotMitteLinks.getValue();
+			self.infarotMitteRechtsValue 	= self.infarotMitteRechts.getValue();
+			self.infarotLinksValue  	= self.infarotLinks.getValue();
+			self.infarotRechtsValue  	= self.infarotRechts.getValue();
+			self.ultraschallLinksValue	= self.ultraschallLinks.getValue();
+			self.ultraschallMitteValue	= self.ultraschallMitte.getValue();
+			self.ultraschallRechtsValue	= self.ultraschallRechts.getValue();
+			self.timestampValue		= time.time();