Utility to quickly map servos on an adafruit I2C driver board, to proper names. Can produce a yaml output file, useful as input for other robotics applications.
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from adafruit_servokit import ServoKit
import getch
import logging
import os
import pprint
import sys
import time
import yaml
class MikesServoMapper:
__BASE_I2C_ADDRESS = 0x40
__CHANNELS_COUNT = 16
__DEFAULT_SERVO_DEGREES = 180
__DEFAULT_JIGGLE_DURATION = 2
__DEFAULT_JIGGLE_SLICES = 50
__ESCAPE_KEY = chr(27)
__DEFAULT_OUTPUT_FILE_NAME = "servo-mappings.yml"
__DEFAULT_SERVO_CHANNEL_MAPPING_KEY = "servo-to-channel"
def __init__(self, config_file: str = None, names=None, output_file: str = None):
# noinspection PyTypeChecker
self.__logger: logging.Logger = None
self.__logger_formatter = None
self.init_logging()
if names is None:
self.__names = list()
else:
self.__names = list(names)
self.__names.sort()
self.__config = None
self.load_config(config_file)
self.pull_config_names()
self.__logger.info("Names: %s" % (pprint.pformat(self.__names)))
self.__output_file_path = output_file
if self.__output_file_path is None:
self.__output_file_path = self.make_default_mappings_output_file_path()
self.__mappings = {}
def init_logging(self):
self.__logger = logging.Logger("Mikes Servo Mapper")
self.__logger_formatter = logging.Formatter(fmt="[%(asctime)s][%(name)s] %(message)s")
stream_handler = logging.StreamHandler(sys.stdout)
stream_handler.setFormatter(self.__logger_formatter)
self.__logger.addHandler(stream_handler)
self.__logger.info("Logging initialized")
def load_config(self, config_file):
if config_file is None:
return
with open(config_file) as f:
config = yaml.safe_load(f)
self.__logger.info("Loaded config: %s" % (pprint.pformat(config),))
self.__config = config
def pull_config_names(self):
if self.__config is None:
self.__logger.info("No config specified; Won't pull names")
return
self.__logger.info("Pulling names from config")
if "names" not in self.__config:
self.__logger.warning("Key \"names\" is not in config; Cannot pull names")
return
config_names = self.__config["names"]
if not isinstance(config_names, list):
self.__logger.warning("Config had key \"names\" but it wasn't a list; Won't pull names")
return
self.__logger.info("Names before pulling from config: %s" % (self.__names,))
for name in config_names:
self.__names.append(name)
self.__names.sort()
self.__logger.info("Names after pulling from config: %s" % (self.__names,))
def set_name_mapping(self, name, channel):
self.__mappings[name] = channel
def get_name_mapping(self, name):
if name in self.__mappings:
return self.__mappings[name]
return None
def determine_i2c_address(self):
return self.__BASE_I2C_ADDRESS
def run(self):
self.__logger.info("Running!")
while True:
self.__logger.info("")
self.__logger.info("Please choose a mode: ")
self.__logger.info("1. Edit mappings")
self.__logger.info("2. Test current mappings")
self.__logger.info("3. Write mappings to file")
self.__logger.info("4. Load previously saved mappings")
self.__logger.info("Q. Quit")
user_choice = getch.getch()
if user_choice == "q" or user_choice == "Q":
self.__logger.info("Quitting!")
break
if user_choice == "1":
self.edit_mappings()
elif user_choice == "2":
self.test_mappings()
elif user_choice == "3":
self.write_mappings()
elif user_choice == "4":
self.load_mappings()
else:
self.__logger.warning("Invalid choice: %s" % user_choice)
def edit_mappings(self):
self.__logger.info("Begin mapping mode !")
i2c_address = self.determine_i2c_address()
servo_kit = ServoKit(
address=i2c_address,
channels=self.__CHANNELS_COUNT
)
#
while True:
# Print all current mappings
self.__logger.info("")
self.__logger.info("Current Mappings:")
menu_number_to_name = {}
for name_index in range(len(self.__names)):
name = self.__names[name_index]
name_number = name_index + 1
menu_number_to_name[str(name_number)] = name
self.__logger.info(
"%s. %s ==> %s"
% (name_number, name, self.get_name_mapping(name=name))
)
self.__logger.info("")
self.__logger.info("Please enter a number to change the corresponding mapping, or Q to quit.")
user_input = getch.getch()
if user_input == "Q" or user_input == "q":
self.__logger.info("Quitting mapping mode")
break
elif user_input in menu_number_to_name:
name = menu_number_to_name[user_input]
channel = self.run_one_mapping(
servo_kit=servo_kit,
name=name,
default_channel=self.get_name_mapping(name)
)
self.set_name_mapping(name=name, channel=channel)
else:
self.__logger.warning("Invalid input: %s" % user_input)
def run_one_mapping(self, servo_kit, name, default_channel=None):
selected_channel = default_channel
while True:
self.__logger.info("")
self.__logger.info("Mapping channel for: %s" % (name,))
self.__logger.info(
"Press a key between 0-9 and A-F to try a channel."
)
self.__logger.info(
"Press the space bar when you've found the correct channel, or escape to abort."
)
self.__logger.info("Currently selected channel: %s" % selected_channel)
key = getch.getch().lower()
if key == self.__ESCAPE_KEY:
self.__logger.info("Aborting")
selected_channel = None
break
elif key == " ":
self.__logger.info("Selected channel: %s" % selected_channel)
break
else:
try:
channel = int(key, 16)
selected_channel = channel
self.jiggle_channel(servo_kit=servo_kit, channel=channel)
except ValueError:
self.__logger.warning("Invalid input!: %s" % (key,))
time.sleep(1)
return selected_channel
def test_mappings(self):
self.__logger.info("Testing mappings!")
for name in self.__mappings.keys():
channel = self.get_name_mapping(name=name)
self.__logger.info("Jiggling mapping: %s ==> %s" % (name, channel))
time.sleep(1)
self.__logger.info("Done testing mappings")
def jiggle_channel(self, servo_kit, channel):
duration = self.__DEFAULT_JIGGLE_DURATION
degrees_per_slice = self.__DEFAULT_SERVO_DEGREES / self.__DEFAULT_JIGGLE_SLICES
seconds_per_slice = duration / self.__DEFAULT_JIGGLE_SLICES
self.__logger.info(
"Jiggling servo on channel #%s using %s slices over %s seconds"
% (channel, self.__DEFAULT_JIGGLE_SLICES, duration)
)
servo = servo_kit.servo[channel]
# Jiggle
for slice_index in range(self.__DEFAULT_JIGGLE_SLICES):
angle = 0 + (degrees_per_slice * slice_index)
servo.angle = angle
time.sleep(seconds_per_slice)
# Center
servo.angle = 90
def make_default_mappings_output_file_path(self):
output_file_path = os.path.join(
"output",
self.__DEFAULT_OUTPUT_FILE_NAME
)
return output_file_path
def write_mappings(self):
output_file_path = self.__output_file_path
self.__logger.info("Writing mappings to output file: %s" % (output_file_path,))
data = {
self.__DEFAULT_SERVO_CHANNEL_MAPPING_KEY: self.__mappings
}
with open(output_file_path, 'w') as f:
yaml.dump(data, f, default_flow_style=False)
def load_mappings(self, file_path=None):
if file_path is None:
file_path = self.__output_file_path
self.__logger.info("Attempting to load mappings from: %s" % (file_path,))
with open(file_path) as f:
loaded_data = yaml.safe_load(f)
if self.__DEFAULT_SERVO_CHANNEL_MAPPING_KEY not in loaded_data.keys():
self.__logger.warning("Could not find key 'servo-mappings' in loaded data")
return
mappings = loaded_data[self.__DEFAULT_SERVO_CHANNEL_MAPPING_KEY]
if not isinstance(mappings, dict):
self.__logger.warning("Mappings aren't in dict format; Won't load")
return
for name in mappings.keys():
self.__logger.info("Examining mapping: %s" % (name,))
channel = mappings[name]
if not isinstance(channel, int):
self.__logger.warning("Mapping isn't an integer; Ignoring: %s" % channel)
continue
self.__logger.info("Loading mapping: %s ==> %s" % (name, channel))
self.set_name_mapping(name=name, channel=channel)
self.__logger.info("Done loading mappings")