Fix readme format

Add deprecated notice

LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.

README.md

@@ -0,0 +1,5 @@
+# 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

@@ -141,6 +141,7 @@ 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)
@@ -197,6 +198,7 @@ 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]
+        [--max-pulse=MAX_PULSE] [--min-pulse=MIN_PULSE] [--zero-pulse=ZEO_PULSE] [--debug]
 
 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-camera=TOPIC                 MQTT topic where to read camera frames
+-t TOPIC       --mqtt-topic=TOPIC                        MQTT topic where to read instructions
 -b BUS         --i2c-bus=BUS                             I2C bus number
 -a ADDRESS     --i2c-address=ADDRESS                     I2C base address
 -c CHANNEL     --pca9685-channel=CHANNEL                 Device channel
@@ -22,9 +22,11 @@ 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
@@ -41,12 +43,22 @@ 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, userdata, flags, rc):
+    def on_connect(client: mqtt.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.
@@ -56,9 +68,9 @@ 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.debug("unexpected error: unable to process steering, skip message")
+            logger.exception("unexpected error: unable to process steering, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -84,9 +96,9 @@ 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.debug("unexpected error: unable to process throttle, skip message")
+            logger.exception("unexpected error: unable to process throttle, skip message")
 
     client.username_pw_set(user, password)
     client.on_connect = on_connect
@@ -109,24 +121,33 @@ 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["--i2c-address"], "PCA9685_CHANNEL", 0)
+    pca9685_channel = get_default_value(args["--pca9685-channel"], "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)
-        steering = actuator.PWMSteering(steering_pin, left_pulse=args["--left-pulse"], right_pulse=args["--right-pulse"])
+        controller = actuator.PulseController(steering_pin)
+        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("PCA9685.0:40.7")
-        throttle = actuator.PWMThrottle(throttle_pin, max_pulse=args["--max-pulse"], min_pulse=args["--min-pulse"],
-                                        zero_pulse=args["--zero-pulse"])
+        throttle_pin = donkeycar.parts.pins.pwm_pin_by_id(pin_id)
+        controller = actuator.PulseController(throttle_pin)
+        throttle = actuator.PWMThrottle(controller=controller, max_pulse=int(args["--max-pulse"]), min_pulse=int(args["--min-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

@@ -3,4 +3,6 @@ docopt~=0.6.2
 google~=3.0.0
 google-api-core~=2.4.0
 setuptools==60.5.0
-adafruit-pca9685
+adafruit-pca9685
+pigpio
+RPi.GPIO

setup.py

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