gpio_control.gpio_control_utils Namespace Reference

Classes
class	_GenericInputPin
class	_GenericOutputPin
class	GpioControl

Functions
def	_configure_input
def	_configure_output
def	_num2word
def	_to_valid_ros_topic_name (input_string)
def	configure_bus (device)
def	configure_cleanup (device)

Variables
int	_DEFAULT_RATE_VAL = 10
bool	_IMPORTED_ADAFRUIT_BBIO = False
bool	_IMPORTED_GPIO_API = False
bool	_IMPORTED_ONION_GPIO = False
bool	_IMPORTED_PIGPIO = False
dictionary	_num2words1
list	_num2words2 = ['Twenty', 'Thirty', 'Forty', 'Fifty', 'Sixty', 'Seventy', 'Eighty', 'Ninety']
list	VALID_DEVICES

Detailed Description

Control GPIO pins via ROS. Made to be as generic as possible, allowing the same node to be
used in multiple configurations/devices.

@author cst <chris thierauf, christopher.thierauf@tufts.edu>
@version 0.0.1
@license Apache 2.0
@copyright Christopher Thierauf 2020.

The copyright holder uses this copyright to release the code in accordance with the license of
this repository, which is a Free and Open Source license: you may use, modify, and share this
code in any way you see fit as described by the terms of the license. You are not legally
obligated to provide attribution, but it would be greatly appreciated.

Function Documentation

def gpio_control.gpio_control_utils._configure_input (   pin,   device  )

private

Definition at line 155 of file gpio_control_utils.py.

def gpio_control.gpio_control_utils._configure_output (   pin )

private

Definition at line 195 of file gpio_control_utils.py.

def gpio_control.gpio_control_utils._num2word (   num )

private

Definition at line 91 of file gpio_control_utils.py.

def gpio_control.gpio_control_utils._to_valid_ros_topic_name (   input_string )

private

Convert input to a valid ROS name (alphabetic). This is necessary because ROS best practice is
to have topic names be only alphabetic (hyphens/slashes optional). Most GPIO pins will have
numbers in them, which can be an issue.

Definition at line 245 of file gpio_control_utils.py.

def gpio_control.gpio_control_utils.configure_bus

(

device

)

Configure a GPIO bus for the specific hardware we're dealing with. Return an object of the
appropriate hardware type, if the specific implementation requires that.

Definition at line 281 of file gpio_control_utils.py.

def gpio_control.gpio_control_utils.configure_cleanup

(

device

)

If the device in question requires cleanup functions, give them a run.

Definition at line 321 of file gpio_control_utils.py.

Variable Documentation

int gpio_control.gpio_control_utils._DEFAULT_RATE_VAL = 10

private

Definition at line 47 of file gpio_control_utils.py.

bool gpio_control.gpio_control_utils._IMPORTED_ADAFRUIT_BBIO = False

private

Definition at line 52 of file gpio_control_utils.py.

bool gpio_control.gpio_control_utils._IMPORTED_GPIO_API = False

private

Definition at line 54 of file gpio_control_utils.py.

bool gpio_control.gpio_control_utils._IMPORTED_ONION_GPIO = False

private

Definition at line 53 of file gpio_control_utils.py.

bool gpio_control.gpio_control_utils._IMPORTED_PIGPIO = False

private

Definition at line 51 of file gpio_control_utils.py.

dictionary gpio_control.gpio_control_utils._num2words1

private

Initial value:

= {1: 'One', 2: 'Two', 3: 'Three', 4: 'Four', 5: 'Five',
               6: 'Six', 7: 'Seven', 8: 'Eight', 9: 'Nine', 10: 'Ten',
               11: 'Eleven', 12: 'Twelve', 13: 'Thirteen', 14: 'Fourteen',
               15: 'Fifteen', 16: 'Sixteen', 17: 'Seventeen', 18: 'Eighteen', 19: 'Nineteen'}

Definition at line 84 of file gpio_control_utils.py.

list gpio_control.gpio_control_utils._num2words2 = ['Twenty', 'Thirty', 'Forty', 'Fifty', 'Sixty', 'Seventy', 'Eighty', 'Ninety']

private

Definition at line 88 of file gpio_control_utils.py.

list gpio_control.gpio_control_utils.VALID_DEVICES

Initial value:

= [
    # pi support via pigpio
    'pi',
    # jetson support also via pigpio
    'jetson',
    # beaglebone support via Adafruit_BBIO
    'beaglebone-experimental',
    # onion support via onionGpio, though I don't know how popular an option this is.    'onion-experimental',    # Support of standard Linux systems via the LFS    'generic',    # Don't actually do anything, just print to the screen
    'simulated'
]

Definition at line 31 of file gpio_control_utils.py.