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README.md

@@ -1,5 +0,0 @@
-# robocar-pca9685-python
-
-Python implementation of mqtt gateway for PCA9685 controller
-
-**Deprecated**, see [robocar-pca9685](https://git.cyrilix.bzh/robocars/robocar-pca9685)

donkeycar/parts/actuator.py

@@ -141,7 +141,6 @@ class PWMSteering:
         self.pulse = dk.utils.map_range(angle,
                                         self.LEFT_ANGLE, self.RIGHT_ANGLE,
                                         self.left_pulse, self.right_pulse)
-        logger.debug(f"new steering value {angle} -> {self.pulse}")
 
     def run(self, angle):
         self.run_threaded(angle)
@@ -198,7 +197,6 @@ class PWMThrottle:
         else:
             self.pulse = dk.utils.map_range(throttle, self.MIN_THROTTLE, 0,
                                             self.min_pulse, self.zero_pulse)
-        logger.debug(f"new steering value {throttle} -> {self.pulse}")
 
     def run(self, throttle):
         self.run_threaded(throttle)

pca9685/cli.py

@@ -5,7 +5,7 @@ Usage:
 rc-pca9685 [steering|throttle] [-u USERNAME | --mqtt-username=USERNAME] [--mqtt-password=PASSWORD] \
         [--mqtt-broker=HOSTNAME] [--mqtt-topic=TOPIC] [--mqtt-client-id=CLIENT_ID] [--i2c-bus=BUS] \
         [--i2c-address=ADDRESS] [--pca9685-channel=CHANNEL] [--left-pulse=LEFT_PULSE] [--right-pulse=RIGHT_PULSE] \
-        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE] [--debug]
+        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE]
 
 Options:
 -h --help                                                Show this screen.
@@ -13,7 +13,7 @@ Options:
 -p PASSWORD    --mqtt-password=PASSWORD                  MQTT password
 -b HOSTNAME    --mqtt-broker=HOSTNAME                    MQTT broker host
 -C CLIENT_ID   --mqtt-client-id=CLIENT_ID                MQTT client id
--t TOPIC       --mqtt-topic=TOPIC                        MQTT topic where to read instructions
+-t TOPIC       --mqtt-topic-camera=TOPIC                 MQTT topic where to read camera frames
 -b BUS         --i2c-bus=BUS                             I2C bus number
 -a ADDRESS     --i2c-address=ADDRESS                     I2C base address
 -c CHANNEL     --pca9685-channel=CHANNEL                 Device channel
@@ -22,11 +22,9 @@ Options:
 -M MAX_PULSE   --max-pulse=MAX_PULSE                     Max Pulse for throttle
 -m MIN_PULSE   --min-pulse=MIN_PULSE                     Min Pulse for throttle
 -z ZERO_PULE   --zero-pulse=ZEO_PULSE                    Zero Pulse for throttle
--d --debug                                               Debug logging
 """
 import logging
 import os
-import signal, sys
 
 from docopt import docopt
 import paho.mqtt.client as mqtt
@@ -43,22 +41,12 @@ logging.basicConfig(level=logging.INFO)
 default_client_id = "robocar-pca9685-python"
 
 
-class SignalHandler:
-    def __init__(self, client: mqtt.Client):
-        self._client = client
-
-    def sigterm_handler(self, _signo, _stack_frame):
-        logger.info("exit on SIG_TERM")
-        self._client.disconnect()
-        sys.exit(0)
-
-
 def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_host: str, user: str, password: str, client_id: str,
                      steering_topic: str) -> mqtt.Client:
     logger.info("Start steering part")
     client = mqtt.Client(client_id=client_id, clean_session=True, userdata=None, protocol=mqtt.MQTTv311)
 
-    def on_connect(client: mqtt.Client, userdata, flags, rc):
+    def on_connect(client, userdata, flags, rc):
         logger.info("Register callback on topic %s", steering_topic)
         # Subscribing in on_connect() means that if we lose the connection and
         # reconnect then subscriptions will be renewed.
@@ -68,9 +56,9 @@ def init_mqtt_steering_client(steering_controller: actuator.PWMSteering, broker_
         try:
             steering_msg = SteeringMessage()
             steering_msg.ParseFromString(msg.payload)
-            steering_controller.run_threaded(steering_msg.steering)
+            steering_controller.run_threaded(steering_msg.Steering)
         except:
-            logger.exception("unexpected error: unable to process steering, skip message")
+            logger.debug("unexpected error: unable to process steering, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -96,9 +84,9 @@ def init_mqtt_throttle_client(throttle_controller: actuator.PWMThrottle, broker_
         try:
             throttle_msg = ThrottleMessage()
             throttle_msg.ParseFromString(msg.payload)
-            throttle_controller.run_threaded(throttle_msg.throttle)
+            throttle_controller.run_threaded(throttle_msg.Throttle)
         except:
-            logger.exception("unexpected error: unable to process throttle, skip message")
+            logger.debug("unexpected error: unable to process throttle, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -121,33 +109,24 @@ def execute_from_command_line():
     topic = get_default_value(args["--mqtt-topic"], "MQTT_TOPIC", "/pca9685")
     i2c_bus = get_default_value(args["--i2c-bus"], "I2C_BUS", 0)
     i2c_address = get_default_value(args["--i2c-address"], "I2C_ADDRESS", 40)
-    pca9685_channel = get_default_value(args["--pca9685-channel"], "PCA9685_CHANNEL", 0)
+    pca9685_channel = get_default_value(args["--i2c-address"], "PCA9685_CHANNEL", 0)
-
-    debug = bool(args["--debug"])
-    if debug:
-        logging.basicConfig(level=logging.DEBUG)
 
     pin_id = "PCA9685.{bus}:{address}.{channel}".format(bus=i2c_bus, address=i2c_address,channel=pca9685_channel)
 
     if args["steering"]:
         steering_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
-        controller = actuator.PulseController(steering_pin)
+        steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
-        steering = actuator.PWMSteering(controller=controller, left_pulse=int(args["--left-pulse"]), right_pulse=int(args["--right-pulse"]))
         client = init_mqtt_steering_client(steering_controller=steering, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, steering_topic=topic)
     elif args["throttle"]:
-        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
+        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id("PCA9685.0:40.7")
-        controller = actuator.PulseController(throttle_pin)
+        throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
-        throttle = actuator.PWMThrottle(controller=controller, max_pulse=int(args["--max-pulse"]), min_pulse=int(args["--min-pulse"]),
+                                        zero_pulse=args["--zero-pulse"])
-                                        zero_pulse=int(args["--zero-pulse"]))
         client = init_mqtt_throttle_client(throttle_controller=throttle, broker_host=broker_host, user=user,
                                            password=password, client_id=client_id, throttle_topic=topic)
     else:
         raise Exception('invalid mode selected, must be steering or throttle')
 
-    sh = SignalHandler(client)
-    signal.signal(signal.SIGTERM, sh.sigterm_handler)
-
     client.loop_forever()
 
 

requirements.txt

@@ -4,5 +4,3 @@ google~=3.0.0
 google-api-core~=2.4.0
 setuptools==60.5.0
 adafruit-pca9685
-pigpio
-RPi.GPIO

setup.py

@@ -32,8 +32,6 @@ setup(name='robocar-pca9685-python',
                         'protobuf3',
                         'google',
                         'adafruit-pca9685',
-                        'pigpio',
-                        'RPi.GPIO',
                         ],
       tests_require=tests_require,
       extras_require={