update APA102 from upstream

update configuration for raspbian 9 + systemctl
set up unit tests

README.md

@@ -1 +1,49 @@
 Based on https://github.com/tinue/APA102_Pi
+
+# Prerequisites
+
+see above, but basically
+
+* pi should have raspbian 9 on it
+
+* pi should have SPI enabled
+
+```
+raspi-config
+
+# Interfacing Options > SPI
+
+reboot
+```
+
+* Adafruit_Python_GPIO should be installed 
+
+see https://github.com/adafruit/Adafruit_Python_GPIO, but basically
+
+```
+apt-get install build-essential python3-pip python3-dev python3-smbus git
+git clone https://github.com/adafruit/Adafruit_Python_GPIO.git
+cd Adafruit_Python_GPIO
+python setup.py install
+```
+
+for testing on a not-raspberry pi this seemed to work:
+```
+git clone https://github.com/adafruit/Adafruit_Python_GPIO.git
+python setup.py install
+```
+
+
+# Deploy
+
+```
+python deploy.sh
+```
+
+will push code and restart the script. To make it run on boot up, you will have to run
+
+```
+systemctl enable lightshow.service
+```
+
+manually on the pi

deploy.py

@@ -4,4 +4,8 @@
 ssh.ssh("mkdir -p /home/pi/squiggly")
 ssh.ssh("rm -rf /home/pi/squiggly/*")
 ssh.sftp('./src', '/home/pi/squiggly')
-ssh.ssh("sudo /etc/init.d/lightshow restart")
+ssh.sftp('./etc', '/home/pi/squiggly' )
+ssh.ssh("sudo cp /home/pi/squiggly/etc/systemd/system/lightshow.service /etc/systemd/system/lightshow.service")
+#ssh.ssh("sudo cp /home/pi/squiggly/etc/init.d/lightshow /etc/init.d/lightshow")
+#ssh.ssh("sudo cp /home/pi/squiggly/etc/default/lightshow /etc/default/lightshow")
+ssh.ssh("sudo systemctl restart lightshow.service")

etc/default/lightshow

@@ -0,0 +1 @@
+PIDFILE=/var/run/lightshow.pid

etc/init.d/lightshow

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+### BEGIN INIT INFO
+# Provides:          lightshow
+# Required-Start:    
+# Required-Stop:     
+# Default-Start:     2 3 4 5
+# Default-Stop:      0 1 6
+# Short-Description: led service
+# Description:       leds!
+### END INIT INFO
+
+source /etc/default/lightshow
+
+startthings() {
+    echo "starty $(date)" >> /home/pi/lighty
+	start-stop-daemon --pidfile=$PIDFILE -b -m --start --exec /usr/bin/python3 /home/pi/squiggly/src/run.py
+}
+
+stopthings() {
+    start-stop-daemon --pidfile=$PIDFILE --stop  && rm -f $PIDFILE
+}
+
+case "$1" in
+    start)
+        startthings
+        ;;
+    stop)
+        stopthings
+        ;;
+    force-reload|restart|reload)
+        stopthings
+        startthings
+        ;;
+esac

etc/systemd/system/lightshow.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=leds!
+After=network.target
+
+[Service]
+ExecStart=/usr/bin/python3 run.py
+WorkingDirectory=/home/pi/squiggly/src
+StandardOutput=inherit
+StandardError=inherit
+Restart=always
+
+[Install]
+WantedBy=multi-user.target

requirements.txt

@@ -0,0 +1,2 @@
+pyfrc
+pytest

runtests.sh

@@ -0,0 +1,5 @@
+echo $PYTHONPATH
+export PYTHONPATH=$(pwd)/src
+
+echo $PYTHONPATH
+python -m pytest tests

src/commands/example.py

@@ -12,17 +12,17 @@ def __init__(self):
         self.state = False
 
     def initialize(self):
-        self.leds.clearStrip()
+        self.leds.clear_strip()
         self.timer.start()
 
     def execute(self):
         # this method is executed approximately once every 5 ms
         if self.timer.get() > 0.5:
             self.timer.reset()
             if self.state:
-                self.leds.setPixel(1, 135, 206, 250)
+                self.leds.set_pixel(1, 135, 206, 250)
             else:
-                self.leds.setPixel(1, 135, 0, 0)
+                self.leds.set_pixel(1, 135, 0, 0)
 
             self.state = not self.state
             self.leds.show()
@@ -31,7 +31,7 @@ def isFinished(self):
         pass
 
     def end(self):
-        self.leds.clearStrip()
+        self.leds.clear_strip()
 
 
 class OtherBlinkyCommand(Command):
@@ -44,7 +44,7 @@ def __init__(self):
         self.counter = 0
 
     def initialize(self):
-        self.leds.clearStrip()
+        self.leds.clear_strip()
         self.timer.start()
 
     def execute(self):
@@ -53,9 +53,9 @@ def execute(self):
             self.counter += 1
             self.timer.reset()
             if self.state:
-                self.leds.setPixel(1, 135, 206, 250)
+                self.leds.set_pixel(1, 135, 206, 250)
             else:
-                self.leds.setPixel(1, 0, 0, 234)
+                self.leds.set_pixel(1, 0, 0, 234)
 
             self.state = not self.state
             self.leds.show()
@@ -64,4 +64,43 @@ def isFinished(self):
         return self.counter > 10
 
     def end(self):
-        self.leds.clearStrip()
+        self.leds.clear_strip()
+
+
+class StrafeCommand(Command):
+    def __init__(self):
+        super().__init__()
+        self.leds = LEDSubsystem.getInstance()
+        self.requires(self.leds)
+        self.timer = wpilib.Timer()
+
+        self.color1 = (135, 206, 250)
+
+        self.pos = 0
+
+    def initialize(self):
+        self.leds.clear_strip()
+        self.timer.start()
+        self.paint()
+
+    def execute(self):
+        if self.timer.get() > 0.015:
+            print (self.timer.get())
+            self.timer.reset()
+            self.pos = (self.pos + 1) % self.leds.num_led
+            self.paint()
+
+
+    def paint(self):
+        for i in range(0, self.leds.num_led):
+            self.leds.set_pixel(i, 0,0,0)
+        for i in range(self.pos, min(self.pos+10, self.leds.num_led)):
+            self.leds.set_pixel(i, *self.color1)
+
+        self.leds.show()
+
+    def isFinished(self):
+        return False
+
+    def end(self):
+        self.leds.clear_strip()