Python examples rework

Python/ADC.py

@@ -1,17 +1,30 @@
-import sys, time
+import sys, signal, time
+import navio.Common.util
 
-import navio.adc
-import navio.util
 
-navio.util.check_apm()
+if navio.Common.util.get_navio_version() == "NAVIO2":
+    import navio.Navio2.ADC as ADC
+else:
+    import navio.Navio.ADC as ADC
 
-adc = navio.adc.ADC()
+navio.Common.util.check_apm()
+
+
+def signal_handler(signal, frame):
+    print "You pressed Ctrl+C!"
+    sys.exit(0)
+
+
+signal.signal(signal.SIGINT, signal_handler)
+# print 'Press Ctrl+C to exit'
+
+adc = ADC()
 results = [0] * adc.channel_count
 
-while (True):
-    s = ''
-    for i in range (0, adc.channel_count):
+while True:
+    s = ""
+    for i in range(0, adc.channel_count):
         results[i] = adc.read(i)
-        s += 'A{0}: {1:6.4f}V '.format(i, results[i] / 1000)
-    print(s)
+        s += "A{0}: {1:6.4f}V ".format(i, results[i] / 1000)
+    print (s)
     time.sleep(0.5)

Python/AccelGyroMag.py

@@ -26,38 +26,51 @@
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 """
 
-import spidev
 import time
-import argparse 
+import argparse
 import sys
-import navio.mpu9250
-import navio.util
 
-navio.util.check_apm()
+import navio.Common.mpu9250
+import navio.Common.util
+import navio.Navio2.lsm9ds1
 
-parser = argparse.ArgumentParser()
-parser.add_argument("-i", help = "Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1")
+navio.Common.util.check_apm()
 
-if len(sys.argv) == 1:
-    print "Enter parameter"
-    parser.print_help()
-    sys.exit(1)
-elif len(sys.argv) == 2:
-    sys.exit("Enter sensor name: mpu or lsm")
 
-args = parser.parse_args()
+def get_inertial_sensor():
 
-if args.i == 'mpu':
-    print "Selected: MPU9250"
-    imu = navio.mpu9250.MPU9250()
-elif args.i == 'lsm':
-    print "Selected: LSM9DS1"
-    imu = navio.lsm9ds1.LSM9DS1()
-else:
-    print "Wrong sensor name. Select: mpu or lsm"
-    sys.exit(1)
+    if navio.Common.util.get_navio_version() == "NAVIO2":
+
+        parser = argparse.ArgumentParser()
+        parser.add_argument(
+            "-i",
+            help="Sensor selection: -i [sensor name]. Sensors names: mpu is MPU9250, lsm is LSM9DS1",
+        )
+
+        if len(sys.argv) == 1:
+            print "Enter parameter"
+            parser.print_help()
+            sys.exit(1)
+        elif len(sys.argv) == 2:
+            sys.exit("Enter sensor name: mpu or lsm")
+
+        args = parser.parse_args()
+
+        if args.i == "mpu":
+            print "Selected: MPU9250"
+            return navio.Common.mpu9250.MPU9250()
+        elif args.i == "lsm":
+            print "Selected: LSM9DS1"
+            return navio.Navio2.lsm9ds1.LSM9DS1()
+        else:
+            print "Wrong sensor name. Select: mpu or lsm"
+            sys.exit(1)
+    else:
+        print "Selected: MPU9250"
+        return navio.Common.mpu9250.MPU9250()
 
 
+imu = get_inertial_sensor()
 
 if imu.testConnection():
     print "Connection established: True"
@@ -69,23 +82,29 @@
 time.sleep(1)
 
 while True:
-	# imu.read_all()
-	# imu.read_gyro()
-	# imu.read_acc()
-	# imu.read_temp()
-	# imu.read_mag()
-
-	# print "Accelerometer: ", imu.accelerometer_data
-	# print "Gyroscope:     ", imu.gyroscope_data
-	# print "Temperature:   ", imu.temperature
-	# print "Magnetometer:  ", imu.magnetometer_data
-
-	# time.sleep(0.1)
-
-	m9a, m9g, m9m = imu.getMotion9()
-
-	print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(m9a[1]), "{:+7.3f}".format(m9a[2]),
-	print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(m9g[1]), "{:+8.3f}".format(m9g[2]),
-	print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(m9m[1]), "{:+7.3f}".format(m9m[2])
-
-	time.sleep(0.5)
+    # imu.read_all()
+    # imu.read_gyro()
+    # imu.read_acc()
+    # imu.read_temp()
+    # imu.read_mag()
+
+    # print "Accelerometer: ", imu.accelerometer_data
+    # print "Gyroscope:     ", imu.gyroscope_data
+    # print "Temperature:   ", imu.temperature
+    # print "Magnetometer:  ", imu.magnetometer_data
+
+    # time.sleep(0.1)
+
+    m9a, m9g, m9m = imu.getMotion9()
+
+    print "Acc:", "{:+7.3f}".format(m9a[0]), "{:+7.3f}".format(
+        m9a[1]
+    ), "{:+7.3f}".format(m9a[2]),
+    print " Gyr:", "{:+8.3f}".format(m9g[0]), "{:+8.3f}".format(
+        m9g[1]
+    ), "{:+8.3f}".format(m9g[2]),
+    print " Mag:", "{:+7.3f}".format(m9m[0]), "{:+7.3f}".format(
+        m9m[1]
+    ), "{:+7.3f}".format(m9m[2])
+
+    time.sleep(0.5)

Python/Barometer.py

@@ -10,25 +10,26 @@
 
 import time
 
-import navio.ms5611
-import navio.util
+import navio.Common.util
 
-navio.util.check_apm()
+import navio.Common.ms5611
 
-baro = navio.ms5611.MS5611()
+navio.Common.util.check_apm()
+
+baro = navio.Common.ms5611.MS5611()
 baro.initialize()
 
-while(True):
-	baro.refreshPressure()
-	time.sleep(0.01) # Waiting for pressure data ready 10ms
-	baro.readPressure()
+while True:
+    baro.refreshPressure()
+    time.sleep(0.01)  # Waiting for pressure data ready 10ms
+    baro.readPressure()
 
-	baro.refreshTemperature()
-	time.sleep(0.01) # Waiting for temperature data ready 10ms
-	baro.readTemperature()
+    baro.refreshTemperature()
+    time.sleep(0.01)  # Waiting for temperature data ready 10ms
+    baro.readTemperature()
 
-	baro.calculatePressureAndTemperature()
+    baro.calculatePressureAndTemperature()
 
-	print "Temperature(C): %.6f" % (baro.TEMP), "Pressure(millibar): %.6f" % (baro.PRES)
+    print "Temperature(C): %.6f" % (baro.TEMP), "Pressure(millibar): %.6f" % (baro.PRES)
 
-	time.sleep(1)
+    time.sleep(1)

Python/GPS.py

@@ -1,54 +1,82 @@
-import navio.util
-import navio.ublox
-
+import navio.Common.ublox
 
 if __name__ == "__main__":
 
-    ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+    ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
 
     ubl.configure_poll_port()
-    ubl.configure_poll(navio.ublox.CLASS_CFG, navio.ublox.MSG_CFG_USB)
-    #ubl.configure_poll(navio.ublox.CLASS_MON, navio.ublox.MSG_MON_HW)
+    ubl.configure_poll(navio.Common.ublox.CLASS_CFG, navio.Common.ublox.MSG_CFG_USB)
+    # ubl.configure_poll(navio.ublox.CLASS_MON, navio.ublox.MSG_MON_HW)
 
-    ubl.configure_port(port=navio.ublox.PORT_SERIAL1, inMask=1, outMask=0)
-    ubl.configure_port(port=navio.ublox.PORT_USB, inMask=1, outMask=1)
-    ubl.configure_port(port=navio.ublox.PORT_SERIAL2, inMask=1, outMask=0)
+    ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL1, inMask=1, outMask=0)
+    ubl.configure_port(port=navio.Common.ublox.PORT_USB, inMask=1, outMask=1)
+    ubl.configure_port(port=navio.Common.ublox.PORT_SERIAL2, inMask=1, outMask=0)
     ubl.configure_poll_port()
-    ubl.configure_poll_port(navio.ublox.PORT_SERIAL1)
-    ubl.configure_poll_port(navio.ublox.PORT_SERIAL2)
-    ubl.configure_poll_port(navio.ublox.PORT_USB)
+    ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL1)
+    ubl.configure_poll_port(navio.Common.ublox.PORT_SERIAL2)
+    ubl.configure_poll_port(navio.Common.ublox.PORT_USB)
     ubl.configure_solution_rate(rate_ms=1000)
 
     ubl.set_preferred_dynamic_model(None)
     ubl.set_preferred_usePPP(None)
 
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSLLH, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_PVT, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_STATUS, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SOL, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELNED, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_SVINFO, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_VELECEF, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_POSECEF, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_RAW, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SFRB, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_SVSI, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_ALM, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_RXM, navio.ublox.MSG_RXM_EPH, 1)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_TIMEGPS, 5)
-    ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_CLOCK, 5)
-    #ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_DGPS, 5)
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSLLH, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_PVT, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_STATUS, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SOL, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELNED, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_SVINFO, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_VELECEF, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_POSECEF, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_RAW, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SFRB, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_SVSI, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_ALM, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_RXM, navio.Common.ublox.MSG_RXM_EPH, 1
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_TIMEGPS, 5
+    )
+    ubl.configure_message_rate(
+        navio.Common.ublox.CLASS_NAV, navio.Common.ublox.MSG_NAV_CLOCK, 5
+    )
+    # ubl.configure_message_rate(navio.ublox.CLASS_NAV, navio.ublox.MSG_NAV_DGPS, 5)
 
     while True:
         msg = ubl.receive_message()
         if msg is None:
             if opts.reopen:
                 ubl.close()
-                ubl = navio.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
+                ubl = navio.Common.ublox.UBlox("spi:0.0", baudrate=5000000, timeout=2)
                 continue
             print(empty)
             break
-        #print(msg.name())
+        # print(msg.name())
         if msg.name() == "NAV_POSLLH":
             outstr = str(msg).split(",")[1:]
             outstr = "".join(outstr)
@@ -57,4 +85,4 @@
             outstr = str(msg).split(",")[1:2]
             outstr = "".join(outstr)
             print(outstr)
-        #print(str(msg))
+        # print(str(msg))

Python/LED.py

@@ -1,39 +1,48 @@
-import sys
-
-import navio.leds
 import time
-import navio.util
+import os
+
+import navio.Common.util
+
+if navio.Common.util.get_navio_version() == "NAVIO2":
+    import navio.Navio2.Led as Led
+else:
+    import navio.Navio.Led as Led
+
+
+if os.getuid() != 0:
+    print "Not root. Please, launch like this: sudo python LED.py"
+    exit(-1)
 
-navio.util.check_apm()
+navio.Common.util.check_apm()
 
-led = navio.leds.Led()
+led = Led()
 
-led.setColor('Yellow')
+led.setColor("Yellow")
 print "LED is yellow"
 time.sleep(1)
 
-while (True):
+while True:
 
-    led.setColor('Green')
+    led.setColor("Green")
     print "LED is green"
     time.sleep(1)
 
-    led.setColor('Cyan')
+    led.setColor("Cyan")
     print "LED is cyan"
     time.sleep(1)
 
-    led.setColor('Blue')
+    led.setColor("Blue")
     print "LED is blue"
     time.sleep(1)
 
-    led.setColor('Magenta')
+    led.setColor("Magenta")
     print "LED is magenta"
     time.sleep(1)
 
-    led.setColor('Red')
+    led.setColor("Red")
     print "LED is red"
     time.sleep(1)
 
-    led.setColor('Yellow')
+    led.setColor("Yellow")
     print "LED is yellow"
     time.sleep(1)