robotpy-wpilib-utilities 2015.0.0__tar.gz

robotpy-wpilib-utilities-2015.0.0/PKG-INFO

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+Metadata-Version: 1.0
+Name: robotpy-wpilib-utilities
+Version: 2015.0.0
+Summary: Useful utility functions/objects for RobotPy
+Home-page: https://github.com/robotpy/robotpy-wpilib-utilities
+Author: Peter Johnson, Dustin Spicuzza
+Author-email: robotpy@googlegroups.com
+License: UNKNOWN
+Description: robotpy-wpilib-utilities
+        ========================
+        
+        .. image:: https://travis-ci.org/robotpy/robotpy-wpilib-utilities.svg
+            :target: https://travis-ci.org/robotpy/robotpy-wpilib-utilities
+        
+        Useful utility functions/objects for RobotPy. Must have 2015 version of
+        RobotPy to use this.
+        
+        Contribution guidelines
+        =======================
+        
+        This repository is intended to be a common place for high quality code to live
+        for "things that should be in WPILib, but aren't". The python implementation of
+        WPILib is intended to be very close to the implementations in the other languages,
+        which is where packages like this come in.
+        
+        * Most anything will be accepted, but ideally full frameworks will be separate
+          packages and don't belong here
+        * Ideally, contributions will have unit tests
+        * Ideally, contributions will not have external python dependencies other than
+          WPILib -- though, this may change.
+        * Contributions will work (or at least, not break) on all supported RobotPy
+          platforms (Windows/Linux/OSX, RoboRio)
+        * All pull requests will be tested using Travis-CI
+        
+        Installation
+        ============
+        
+        TODO: Will be integrated into RobotPy 2015 installation somehow
+        
+        License
+        =======
+        
+        BSD License, similar to WPILib.
+        
+        Authors
+        =======
+        
+        - Dustin Spicuzza (dustin@virtualroadside.com)
+        - Insert your name here!
+        
+Keywords: frc first robotics
+Platform: UNKNOWN

robotpy-wpilib-utilities-2015.0.0/README.rst

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+robotpy-wpilib-utilities
+========================
+
+.. image:: https://travis-ci.org/robotpy/robotpy-wpilib-utilities.svg
+    :target: https://travis-ci.org/robotpy/robotpy-wpilib-utilities
+
+Useful utility functions/objects for RobotPy. Must have 2015 version of
+RobotPy to use this.
+
+Contribution guidelines
+=======================
+
+This repository is intended to be a common place for high quality code to live
+for "things that should be in WPILib, but aren't". The python implementation of
+WPILib is intended to be very close to the implementations in the other languages,
+which is where packages like this come in.
+
+* Most anything will be accepted, but ideally full frameworks will be separate
+  packages and don't belong here
+* Ideally, contributions will have unit tests
+* Ideally, contributions will not have external python dependencies other than
+  WPILib -- though, this may change.
+* Contributions will work (or at least, not break) on all supported RobotPy
+  platforms (Windows/Linux/OSX, RoboRio)
+* All pull requests will be tested using Travis-CI
+
+Installation
+============
+
+TODO: Will be integrated into RobotPy 2015 installation somehow
+
+License
+=======
+
+BSD License, similar to WPILib.
+
+Authors
+=======
+
+- Dustin Spicuzza (dustin@virtualroadside.com)
+- Insert your name here!

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/__init__.py

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+
+try:
+    from .version import __version__
+except ImportError:     # pragma: nocover
+    __version__ = 'master'

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/common_drivers/__init__.py

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+

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/common_drivers/driver_base.py

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+class DriverBase(object):
+    """
+    This should be the base class for all drivers in the cdl,
+    currently all it does is spit out a warning message if the driver has not been verified.
+    """
+
+    #:This should be overloaded by the driver,
+    # It is just a mechanism to ensure code quality for device drivers. Upon creation of a new driver,
+    # it will be either left alone, or overloaded to be False. Once the functionality of the driver is verified,
+    # this will get overloaded to true by whoever verifies it.
+    verified = False
+
+    def __init__(self):
+        """
+        Constructor for DriverBase, all this does is print a message to console if the driver has not been verified yet.
+        """
+        if not self.verified:
+            print("Warning, device driver {} has not been verified yet, please use with caution!".format(self.__class__.__name__))

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/common_drivers/units.py

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+class Unit(object):
+    """The class for all of the units here"""
+
+    def __init__(self, base_unit, base_to_unit, unit_to_base):
+        """
+        Unit constructor, used as a mechanism to convert between various measurements
+        :param base_unit: The instance of Unit to base conversions from. If None, then assume it is the ultimate base unit
+        :param base_to_unit: A callable to convert measurements between this unit and the base unit
+        :param unit_to_base: A callable to convert measurements between the base unit and this unit
+        """
+        self.base_unit = base_unit
+        self.base_to_unit = base_to_unit
+        self.unit_to_base = unit_to_base
+
+
+def convert(source_unit, target_unit, value):
+    """
+    Convert between units, returns value in target_unit
+    :param source_unit: The unit of value
+    :param target_unit: The desired output unit
+    :param value: The value, in source_unit, to convert
+    """
+    #Convert value from source_unit to the ultimate base unit
+    current_unit = source_unit
+    current_value = value
+    while current_unit.base_unit is not None:
+        current_value = current_unit.unit_to_base(current_value)
+        next_unit = current_unit.base_unit
+        current_unit = next_unit
+
+    #Get the chain of conversions between target_unit and the ultimate base unit
+    current_unit = target_unit
+    unit_chain = list()
+    while current_unit.base_unit is not None:
+        unit_chain.append(current_unit)
+        next_unit = current_unit.base_unit
+        current_unit = next_unit
+
+    #Follow the chain of conversions back to target_unit
+    for unit in reversed(unit_chain):
+        current_value = unit.base_to_unit(current_value)
+
+    #Return it!
+    return current_value
+
+#Some typical units to be used
+meter = Unit(base_unit=None, base_to_unit=lambda x: None, unit_to_base=lambda x: None)
+centimeter = Unit(base_unit=meter, base_to_unit=lambda x: x*100, unit_to_base=lambda x: x/100)
+
+foot = Unit(base_unit=meter, base_to_unit=lambda x: x/0.3048, unit_to_base=lambda x: x*0.3048)
+inch = Unit(base_unit=foot, base_to_unit=lambda x: x*12, unit_to_base=lambda x: x/12)

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/common_drivers/xl_max_sonar_ez.py

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+"""
+These are a set of drivers for the XL-MaxSonar EZ series of sonar modules.
+The devices have a few different ways of reading from them, and the these drivers attempt to cover
+some of the methods
+"""
+import wpilib
+
+from . import driver_base
+from robotpy_ext.common_drivers import units
+
+
+class MaxSonarEZPulseWidth(wpilib.SensorBase, driver_base.DriverBase):
+    """
+    This is a driver for the MaxSonar EZ series of sonar sensors, using the pulse-width output of the sensor.
+
+    To use this driver, pin 2 on the sensor must be mapped to a dio pin.
+    """
+
+    #This code has actually never been run, so it is extra not-verified!
+    verified = False
+
+    def __init__(self, channel, output_units=units.inch):
+        """Sonar sensor constructor
+
+        :param channel: The digital input index which is wired to the pulse-width output pin (pin 2) on the sensor.
+        :param output_units: The Unit instance specifying the format of value to return
+        """
+
+        #Save value
+        self.output_units = output_units
+
+        #Setup the counter
+        self.counter = wpilib.Counter(channel)
+        self.counter.setSemiPeriodMode(highSemiPeriod=False)
+
+        #Call the parents
+        super().__init__()
+
+    def free(self):
+        """Delete (free) the counter for the sonar sensor"""
+        self.counter.free()
+
+    def get(self):
+        """Return the current sonar sensor reading, in the units specified from the constructor"""
+        inches = self.counter.get()/0.000147
+        return units.convert(units.inch, self.output_units, inches)
+
+
+class MaxSonarEZAnalog(wpilib.SensorBase, driver_base.DriverBase):
+    """
+    This is a driver for the MaxSonar EZ series of sonar sensors, using the analog output of the sensor.
+
+    To use this driver, pin 3 on the sensor must be mapped to an analog pin, and the sensor must be on a 5v supply.
+    """
+
+    #This code has actually never been run, so it is extra not-verified!
+    verified = False
+
+    def __init__(self, channel, output_units=units.inch):
+        """Sonar sensor constructor
+
+        :param channel: The analog input index which is wired to the analog output pin (pin 3) on the sensor.
+        :param output_units: The Unit instance specifying the format of value to return
+        """
+
+        #Save value
+        self.output_units = output_units
+
+        #Setup the analog input
+        self.analog = wpilib.AnalogInput(channel)
+        
+        #Call the parents
+        super().__init__()
+
+    def free(self):
+        """Delete (free) the analog input for the sonar sensor"""
+        self.analog.free()
+
+    def get(self):
+        """Return the current sonar sensor reading, in the units specified from the constructor"""
+        centimeters = self.analog.getVoltage()/.0049
+        return units.convert(units.centimeter, self.output_units, centimeters)
+

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/misc/__init__.py

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+
+from .precise_delay import PreciseDelay

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/misc/asyncio_policy.py

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+"""
+This is a replacement event loop and policy for asyncio that uses FPGA time,
+rather than native python time.
+"""
+from asyncio.events import BaseDefaultEventLoopPolicy
+from asyncio import SelectorEventLoop, set_event_loop_policy
+from wpilib import Timer
+
+
+class FPGATimedEventLoop(SelectorEventLoop):
+    """An asyncio event loop that uses wpilib time rather than python time"""
+    def time(self):
+        return Timer.getFPGATimestamp()
+
+
+class FPGATimedEventLoopPolicy(BaseDefaultEventLoopPolicy):
+    """An asyncio event loop policy that uses FPGATimedEventLoop"""
+    _loop_factory = FPGATimedEventLoop
+
+
+def patch_asyncio_policy():
+    """
+    Sets an instance of FPGATimedEventLoopPolicy as the default asyncio event
+    loop policy
+    """
+    set_event_loop_policy(FPGATimedEventLoopPolicy())

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/misc/precise_delay.py

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+
+import wpilib
+
+class PreciseDelay:
+    '''
+        Used to synchronize a timing loop.
+    
+        Usage::
+        
+            delay = PreciseDelay(time_to_delay)
+            
+            while something:
+                # do things here
+                delay.wait()
+    '''
+    
+    def __init__(self, delay_period):
+        '''
+            :param delay_period: The amount of time to do a delay
+            :type delay_period: float
+        '''
+        
+        self.delay = wpilib.Timer.delay
+        self.timer = wpilib.Timer()    
+        self.delay_period = delay_period
+        
+        self.timer.Start()
+        
+    def wait(self):
+        '''Waits until the delay period has passed'''
+        
+        # we must *always* yield here, so other things can run
+        self.delay(0.001)
+        
+        while not self.timer.hasPeriodPassed(self.delay_period):
+            self.delay(0.001)

robotpy-wpilib-utilities-2015.0.0/robotpy_ext/version.py

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+# Autogenerated by setup.py
+__version__ = '2015.0.0'

robotpy-wpilib-utilities-2015.0.0/robotpy_wpilib_utilities.egg-info/PKG-INFO

@@ -0,0 +1,52 @@
+Metadata-Version: 1.0
+Name: robotpy-wpilib-utilities
+Version: 2015.0.0
+Summary: Useful utility functions/objects for RobotPy
+Home-page: https://github.com/robotpy/robotpy-wpilib-utilities
+Author: Peter Johnson, Dustin Spicuzza
+Author-email: robotpy@googlegroups.com
+License: UNKNOWN
+Description: robotpy-wpilib-utilities
+        ========================
+        
+        .. image:: https://travis-ci.org/robotpy/robotpy-wpilib-utilities.svg
+            :target: https://travis-ci.org/robotpy/robotpy-wpilib-utilities
+        
+        Useful utility functions/objects for RobotPy. Must have 2015 version of
+        RobotPy to use this.
+        
+        Contribution guidelines
+        =======================
+        
+        This repository is intended to be a common place for high quality code to live
+        for "things that should be in WPILib, but aren't". The python implementation of
+        WPILib is intended to be very close to the implementations in the other languages,
+        which is where packages like this come in.
+        
+        * Most anything will be accepted, but ideally full frameworks will be separate
+          packages and don't belong here
+        * Ideally, contributions will have unit tests
+        * Ideally, contributions will not have external python dependencies other than
+          WPILib -- though, this may change.
+        * Contributions will work (or at least, not break) on all supported RobotPy
+          platforms (Windows/Linux/OSX, RoboRio)
+        * All pull requests will be tested using Travis-CI
+        
+        Installation
+        ============
+        
+        TODO: Will be integrated into RobotPy 2015 installation somehow
+        
+        License
+        =======
+        
+        BSD License, similar to WPILib.
+        
+        Authors
+        =======
+        
+        - Dustin Spicuzza (dustin@virtualroadside.com)
+        - Insert your name here!
+        
+Keywords: frc first robotics
+Platform: UNKNOWN

robotpy-wpilib-utilities-2015.0.0/robotpy_wpilib_utilities.egg-info/SOURCES.txt

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+README.rst
+setup.py
+robotpy_ext/__init__.py
+robotpy_ext/version.py
+robotpy_ext/common_drivers/__init__.py
+robotpy_ext/common_drivers/driver_base.py
+robotpy_ext/common_drivers/units.py
+robotpy_ext/common_drivers/xl_max_sonar_ez.py
+robotpy_ext/misc/__init__.py
+robotpy_ext/misc/asyncio_policy.py
+robotpy_ext/misc/precise_delay.py
+robotpy_wpilib_utilities.egg-info/PKG-INFO
+robotpy_wpilib_utilities.egg-info/SOURCES.txt
+robotpy_wpilib_utilities.egg-info/dependency_links.txt
+robotpy_wpilib_utilities.egg-info/requires.txt
+robotpy_wpilib_utilities.egg-info/top_level.txt

robotpy-wpilib-utilities-2015.0.0/robotpy_wpilib_utilities.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

robotpy-wpilib-utilities-2015.0.0/robotpy_wpilib_utilities.egg-info/requires.txt

@@ -0,0 +1 @@
+wpilib

robotpy-wpilib-utilities-2015.0.0/robotpy_wpilib_utilities.egg-info/top_level.txt

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+robotpy_ext

robotpy-wpilib-utilities-2015.0.0/setup.cfg

@@ -0,0 +1,5 @@
+[egg_info]
+tag_svn_revision = 0
+tag_build = 
+tag_date = 0
+

robotpy-wpilib-utilities-2015.0.0/setup.py

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+#!/usr/bin/env python3
+
+from os.path import dirname, exists, join
+import sys, subprocess
+from setuptools import setup
+
+setup_dir = dirname(__file__)
+base_package = 'robotpy_ext'
+version_file = join(setup_dir, base_package, 'version.py')
+
+packages = [
+    base_package,
+    base_package + '.misc',
+    base_package + '.common_drivers'
+]
+
+# Automatically generate a version.py based on the git version
+if exists(join(setup_dir, '.git')):
+    p = subprocess.Popen(["git", "describe", "--tags", "--dirty=-dirty"],
+                         stdout=subprocess.PIPE,
+                         stderr=subprocess.PIPE)
+    out, err = p.communicate()
+    # Make sure the git version has at least one tag
+    if err:
+        print("Error: You need to create a tag for this repo to use the builder")
+        sys.exit(1)
+    
+    # Create the version.py file
+    with open(version_file, 'w') as fp:
+        fp.write("# Autogenerated by setup.py\n__version__ = '{0}'".format(out.decode('utf-8').rstrip()))
+
+if exists(version_file):
+    with open(join(setup_dir, base_package, 'version.py'), 'r') as fp:
+        exec(fp.read(), globals())
+else:
+    __version__ = 'master'
+
+with open(join(setup_dir, 'README.rst'), 'r') as readme_file:
+    long_description = readme_file.read()
+
+setup(
+    name='robotpy-wpilib-utilities',
+    version=__version__,
+    description='Useful utility functions/objects for RobotPy',
+    long_description=long_description,
+    author='Peter Johnson, Dustin Spicuzza',
+    author_email='robotpy@googlegroups.com',
+    url='https://github.com/robotpy/robotpy-wpilib-utilities',
+    keywords='frc first robotics',
+    install_requires=['wpilib'],
+    packages=packages,
+    )