Python peripherals

launch/personal_food_computer_var_types.yaml

@@ -23,6 +23,11 @@ environment_variables:
     description: "The amount of Carbon Dioxide in the air"
     units: "ppm"
     type: "std_msgs/Float64"
+  air_oxygen:
+    name: air_oxygen
+    description: "Oxygen density in the air"
+    units: "percent"
+    type: "std_msgs/Float64"
   air_flush_on:
     name: air_flush_on
     description: "Turn on air flush (off by default)"

launch/python_peripherals_only.launch

@@ -0,0 +1,51 @@
+<launch>
+<arg name="environment_1" value="environments/environment_1" />
+
+<rosparam command="load" file="$(find openag_brain)/launch/personal_food_computer_var_types.yaml" ns="var_types"/>
+<group ns="$(arg environment_1)">
+  <param name="atlas/ready" value="True" type="bool"/>
+  <node pkg="openag_brain" type="topic_filter.py" name="topic_filter_1"/>
+  <node pkg="openag_brain" type="recipe_handler.py" name="recipe_handler_1"/>
+  <node pkg="openag_brain" type="sensor_persistence.py" name="sensor_persistence_1">
+    <param name="max_update_interval" value="600" type="int"/>
+    <param name="min_update_interval" value="5" type="int"/>
+  </node>
+  <node pkg="openag_brain" type="pid.py" name="air_temperature_controller_1">
+    <param name="Kp" value="1" type="double"/>
+    <param name="Ki" value="0" type="double"/>
+    <param name="Kd" value="0" type="double"/>
+    <param name="deadband_width" value="0.5" type="double"/>
+    <param name="windup_limit" value="1000" type="double"/>
+    <param name="upper_limit" value="1" type="double"/>
+    <param name="lower_limit" value="0" type="double"/>
+    <param name="variable" value="air_temperature" type="str"/>
+  </node>
+  <node pkg="openag_brain" type="pid.py" name="air_humidity_controller_1">
+    <param name="Kp" value="1" type="double"/>
+    <param name="Ki" value="0" type="double"/>
+    <param name="Kd" value="0" type="double"/>
+    <param name="deadband_width" value="0.5" type="double"/>
+    <param name="windup_limit" value="1000" type="double"/>
+    <param name="upper_limit" value="1" type="double"/>
+    <param name="lower_limit" value="0" type="double"/>
+    <param name="variable" value="air_humidity" type="str"/>
+  </node>
+  <node pkg="openag_brain" type="sensor_am2315.py" name="am2315_1" />
+  <node pkg="openag_brain" type="sensor_mhz16.py" name="mhz16_1" />
+  <node pkg="openag_brain" type="sensor_atlas_ph.py" name="atlas_ph_1" />
+  <node pkg="openag_brain" type="sensor_atlas_ec.py" name="atlas_ec_1" />
+  <node pkg="openag_brain" type="sensor_ds18b20.py" name="ds18b20_1" />
+  <node pkg="openag_brain" type="sensor_grove_o2.py" name="grove_o2_1" />
+  <node pkg="openag_brain" type="actuator_relay.py" name="relay_heater">
+    <param name="topic" value="air_temperature/commanded" type="str"/>
+    <param name="pin" value="23" type="int"/>
+  </node>
+  <node pkg="openag_brain" type="actuator_relay.py" name="relay_humidifier">
+    <param name="topic" value="air_humidity/commanded" type="str"/>
+    <param name="pin" value="24" type="int"/>
+  </node>
+  <node pkg="openag_brain" type="ui_touchscreen.py" name="touchscreen_1" />
+</group>
+
+<node pkg="openag_brain" type="api.py" name="api"/>
+</launch>

nodes/actuator_hid_relay_16.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+"""
+`actuator_hid_relay_16.py` handles communication with the
+`Sainsmart USB HID programmable control relay module
+<https://www.sainsmart.com/sainsmart-16-channel-controller-usb-hid-programmable-control-relay-module.html>
+that connects the the Sainsmart 16-channel relay module
+<https://www.amazon.com/SainSmart-101-70-103-16-Channel-Relay-Module/dp/B0057OC66U/ref=sr_1_1?ie=UTF8&qid=1497021207&sr=8-1&keywords=sainsmart+relay+16>`_.
+"""
+import rospy
+from std_msgs.msg import Bool
+from openag_brain.peripherals.hid_relay_16 import HidRelay16
+
+if __name__ == '__main__':
+    rospy.init_node("actuator_hid_relay_16")
+    default_relay_map = {"red_light_intensity/commanded": "2", # red light is connected to relay 1
+                         "white_light_intensity/commanded": "3",
+                         "blue_light_intensity/commanded": "4"}
+
+    relay_map = rospy.get_param("~relay_map", default_relay_map)
+
+    hid_relay_16 = HidRelay16()
+
+    def on_set(msg, relay_id):
+        hid_relay_16.set(int(relay_id), msg.data)
+
+    for topic in relay_map:
+        subscriber = rospy.Subscriber(topic, Bool, callback=on_set, callback_args=relay_map[topic])
+
+    rospy.spin()

nodes/actuator_relay.py

@@ -0,0 +1,22 @@
+#!/usr/bin/env python
+"""
+`actuator_relay.py` handles communication with an active low relay
+driven by GPIO pins
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.relay import Relay
+
+if __name__ == '__main__':
+    rospy.init_node("relay")
+    topic = rospy.get_param("~topic", "red_light_intensity/commanded")
+    pin = rospy.get_param("~pin", 27) # BCM pin
+    relay = Relay(pin)
+
+    def on_set(msg):
+        cmd = msg.data > 0.0
+        relay.set(cmd)
+
+    subscriber = rospy.Subscriber(topic, Float64, callback=on_set)
+
+    rospy.spin()

nodes/sensor_am2315.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+"""
+`sensor_am2315.py` handles communication with the
+`AM2315 temperature and humidity sensor <https://www.adafruit.com/products/1293>`_.
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.am2315 import AM2315
+
+if __name__ == '__main__':
+    rospy.init_node("sensor_am2315")
+    i2c_addr = rospy.get_param("~i2c_addr", 0x5c)
+    i2c_bus = rospy.get_param("~i2c_bus", "/dev/i2c-1")
+    temp_pub = rospy.Publisher("air_temperature/raw", Float64, queue_size=10)
+    humid_pub = rospy.Publisher("air_humidity/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    with AM2315(i2c_addr, i2c_bus) as am2315:
+        while not rospy.is_shutdown():
+            am2315.poll()
+            if am2315.temperature is not None:
+                temp_pub.publish(am2315.temperature)
+            if am2315.humidity is not None:
+                humid_pub.publish(am2315.humidity)
+
+            # Use rate timer instance to sleep until next turn
+            r.sleep()

nodes/sensor_atlas_ec.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python
+"""
+`sensor_atlas_ec.py` handles communication with the Atlas EC sensor
+`<https://www.atlas-scientific.com/product_pages/kits/ec_k1_0_kit.html> connected
+to the Atlas Isolated USB EZO Board <https://www.atlas-scientific.com/product_pages/components/usb-iso.html>`_.
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.atlas_ec import AtlasEc
+
+if __name__ == '__main__':
+    rospy.init_node("sensor_atlas_ec")
+    ec_pub = rospy.Publisher("water_electrical_conductivity/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    while not rospy.get_param("atlas/ready", False):
+        pass
+
+    rospy.set_param("atlas/ready", False)
+    with AtlasEc() as atlas_ec:
+        while not rospy.is_shutdown():
+            atlas_ec.poll()
+            if atlas_ec.ec is not None:
+                rospy.set_param("atlas/ready", True)
+                ec_pub.publish(atlas_ec.ec)
+
+            r.sleep()

nodes/sensor_atlas_ph.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+"""
+`sensor_atlas_ph.py` handles communication with the Atlas pH sensor
+`<https://www.atlas-scientific.com/product_pages/kits/ph-kit.html> connected
+to the Atlas Isolated USB EZO Board <https://www.atlas-scientific.com/product_pages/components/usb-iso.html>`_.
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.atlas_ph import AtlasPh
+
+if __name__ == '__main__':
+    rospy.init_node("sensor_atlas_ph")
+    ph_pub = rospy.Publisher("water_potential_hydrogen/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    while not rospy.get_param("atlas/ready", False):
+        pass
+
+    rospy.set_param("atlas/ready", False)
+    with AtlasPh() as atlas_ph:
+
+        while not rospy.is_shutdown():
+            atlas_ph.poll()
+            if atlas_ph.ph is not None:
+                rospy.set_param("atlas/ready", True)
+                ph_pub.publish(atlas_ph.ph)
+
+            r.sleep()

nodes/sensor_ds18b20.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python
+"""
+`sensor_ds18b20.py` handles communication with the
+`DS18B20 temperature sensor <https://www.adafruit.com/product/381>`_.
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.ds18b20 import DS18B20
+
+if __name__ == '__main__':
+    rospy.init_node("sensor_ds18b20")
+    temp_pub = rospy.Publisher("water_temperature/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    with DS18B20() as ds18b20:
+        while not rospy.is_shutdown():
+            ds18b20.poll()
+            if ds18b20.temperature is not None:
+                temp_pub.publish(ds18b20.temperature)
+            r.sleep()

nodes/sensor_grove_o2.py

@@ -0,0 +1,21 @@
+#!/usr/bin/python
+"""
+This module consists of code for interacting with a Grove O2 sensor.
+"""
+
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.grove_o2 import GroveO2
+
+if __name__ == "__main__":
+    rospy.init_node("sensor_grove_o2")
+    o2_pub = rospy.Publisher("air_oxygen/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    with GroveO2() as grove_o2:
+        while not rospy.is_shutdown():
+            grove_o2.poll()
+            if grove_o2.o2 is not None:
+                o2_pub.publish(grove_o2.o2)
+            r.sleep()

nodes/sensor_mhz16.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+"""
+`sensor_mhz16.py` handles communication with the
+`MHZ16 co2 sensor <http://sandboxelectronics.com/?product=mh-z16-ndir-co2-sensor-with-i2cuart-5v3-3v-interface-for-arduinoraspeberry-pi>`_.
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.mhz16 import MHZ16
+
+if __name__ == '__main__':
+    rospy.init_node("sensor_mhz16")
+    i2c_addr = 0x4d
+    i2c_bus = rospy.get_param("~i2c_bus", "/dev/i2c-1")
+    co2_pub = rospy.Publisher("air_carbon_dioxide/raw", Float64, queue_size=10)
+    rate = rospy.get_param("~rate_hz", 1)
+    r = rospy.Rate(rate)
+
+    with MHZ16(i2c_addr, i2c_bus) as mhz16:
+        while not rospy.is_shutdown():
+            mhz16.poll()
+            if mhz16.co2 is not None:
+                co2_pub.publish(mhz16.co2)
+
+            # Use rate timer instance to sleep until next turn
+            r.sleep()

nodes/ui_touchscreen.py

@@ -0,0 +1,81 @@
+#!/usr/bin/env python
+"""
+`ui_touchscreen.py` handles communication with an raspberry pi 7" touchcreen
+"""
+import rospy
+from std_msgs.msg import Float64
+from openag_brain.peripherals.touchscreen import Touchscreen
+
+if __name__ == '__main__':
+    rospy.init_node("touchscreen")
+
+
+    touchscreen = Touchscreen()
+
+    def set_air_temp(msg):
+        touchscreen.air_temp = msg.data
+
+    def set_humidity(msg):
+        touchscreen.humidity= msg.data
+
+    def set_co2(msg):
+        touchscreen.co2 = msg.data
+
+    def set_o2(msg):
+        touchscreen.o2 = msg.data
+
+    def set_water_temp(msg):
+        touchscreen.water_temp = msg.data
+
+    def set_ph(msg):
+        touchscreen.ph = msg.data
+
+    def set_ec(msg):
+        touchscreen.ec = msg.data
+
+    def set_cmd_temp(msg):
+        touchscreen.cmd_temp = msg.data
+
+    def set_cmd_hum(msg):
+        touchscreen.cmd_hum = msg.data
+
+
+    air_temp_sub = rospy.Subscriber("air_temperature/raw", Float64, callback=set_air_temp)
+    humidity_sub = rospy.Subscriber("air_humidity/raw", Float64, callback=set_humidity)
+    co2_sub = rospy.Subscriber("air_carbon_dioxide/raw", Float64, callback=set_co2)
+    o2_sub = rospy.Subscriber("air_oxygen/raw", Float64, callback=set_o2)
+    water_temp_sub = rospy.Subscriber("water_temperature/raw", Float64, callback=set_water_temp)
+    ph_sub = rospy.Subscriber("water_potential_hydrogen/raw", Float64, callback=set_ph)
+    ec_sub = rospy.Subscriber("water_electrical_conductivity/raw", Float64, callback=set_ec)
+
+    temp_pub = rospy.Publisher("air_temperature/desired", Float64, queue_size=10)
+    hum_pub  = rospy.Publisher("air_humidity/desired", Float64, queue_size=10)
+
+    temp_cmd_sub = rospy.Subscriber("air_temperature/commanded", Float64, callback=set_cmd_temp)
+    hum_cmd_sub  = rospy.Subscriber("air_humidity/commanded", Float64, callback=set_cmd_hum)
+
+    # Closures are passed by reference such that any new substitutions are interpreted
+    # as declarations, causing prev_time to be "Referenced before declaration".
+    # This can be bypassed using an object reference
+    # https://stackoverflow.com/questions/3190706/nonlocal-keyword-in-python-2-x
+    def ros_next(rate_hz):
+        ros_next.prev_time = rospy.get_time()
+        timeout = 1 / rate_hz
+        def closure():
+            curr_time = rospy.get_time()
+            if curr_time - ros_next.prev_time > timeout:
+                ros_next.prev_time = curr_time
+                return True
+            else:
+                return False
+        return closure
+    rate = rospy.get_param("~rate_hz", 1)
+    is_pub = ros_next(rate)
+    r = rospy.Rate(60) # Frame rate
+
+    while not rospy.is_shutdown():
+        if is_pub():
+            temp_pub.publish(Float64(touchscreen.desired_temp))
+            hum_pub.publish(Float64(touchscreen.desired_hum))
+        touchscreen.refresh()
+        r.sleep()

package.xml

@@ -53,8 +53,16 @@
   <run_depend>python-gevent</run_depend>
   <run_depend>python-flask</run_depend>
   <run_depend>python-couchdb</run_depend>
+  <run_depend>python-lxml</run_depend>
+  <run_depend>python-periphery-pip</run_depend>
+  <run_depend>python-pylibftdi-pip</run_depend>
+  <run_depend>python-w1thermsensor-pip</run_depend>
+  <run_depend>python-usb</run_depend>
+  <run_depend>python-numpy</run_depend>
+  <run_depend>python-pygame</run_depend>
   <test_depend>rosunit</test_depend>
   <test_depend>rostest</test_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

scripts/init_dev

@@ -48,7 +48,7 @@ sudo easy_install pip
 sudo pip install rosdep rosinstall_generator wstool rosinstall
 
 # Install some python dependencies that there aren't ros packages for.
-sudo pip install voluptuous HTTPretty pytest 
+sudo pip install voluptuous HTTPretty pytest
 
 # Initialize rosdep if it hasn't been already.
 # Checking for the .list file first makes this script idempotent.
@@ -81,4 +81,11 @@ echo "Installing binary dependencies with rosdep"
 # Install dependency binary deps
 rosdep install --from-paths ~/catkin_ws/src --ignore-src --rosdistro indigo -y -r --os=debian:jessie
 
+# Let pi user access hid relay device without having to be root
+sudo sh -c 'echo SUBSYSTEM=="usb", ATTR{idVendor}=="0416", ATTR{idProduct}=="5020", MODE="0666", GROUP="plugdev" > /etc/udev/rules.d/99-hidrelay.rules'
+
+# Let pi user access gpio without having to be root
+echo SUBSYSTEM=="gpio*", PROGRAM="/bin/sh -c 'chown -R root:gpio /sys/class/gpio && chmod -R 770 /sys/class/gpio; chown -R root:gpio /sys/devices/virtual/gpio && chmod -R 770 /sys/devices/virtual/gpio'"  | sudo tee -a /etc/udev/rules.d/99-com.rules > /dev/null
+sudo usermod -a -G gpio pi
+
 echo "Finished setting up development environment. Ready to build with catkin_make."