import sys from tp00 import Tp00 import tpUtils from constant import * import json import time from tpConfig import TpConfig class TpgI2cColorSensor: """ TP Grove - I2C Color Sensor """ TCS34725_COMMAND_BIT = 0x80 TCS34725_ENABLE = 0x00 # RGBC Interrupt Enable TCS34725_ENABLE_AIEN = 0x10 # Wait enable - Writing 1 activates the wait timer TCS34725_ENABLE_WEN = 0x08 # RGBC Enable - Writing 1 actives the ADC, 0 disables it TCS34725_ENABLE_AEN = 0x02 # Power on - Writing 1 activates the internal oscillator, 0 disables it TCS34725_ENABLE_PON = 0x01 # Integration time TCS34725_ATIME = 0x01 # Wait time (if TCS34725_ENABLE_WEN is asserted) TCS34725_WTIME = 0x03 # WLONG0 = 2.4ms WLONG1 = 0.029s TCS34725_WTIME_2_4MS = 0xFF # WLONG0 = 204ms WLONG1 = 2.45s TCS34725_WTIME_204MS = 0xAB # WLONG0 = 614ms WLONG1 = 7.4s TCS34725_WTIME_614MS = 0x00 # Clear channel lower interrupt threshold TCS34725_AILTL = 0x04 TCS34725_AILTH = 0x05 # Clear channel upper interrupt threshold TCS34725_AIHTL = 0x06 TCS34725_AIHTH = 0x07 # Persistence register - basic SW filtering mechanism for interrupts TCS34725_PERS = 0x0C # Every RGBC cycle generates an interrupt TCS34725_PERS_NONE = 0b0000 # 1 clean channel value outside threshold range generates an interrupt TCS34725_PERS_1_CYCLE = 0b0001 # 2 clean channel values outside threshold range generates an interrupt TCS34725_PERS_2_CYCLE = 0b0010 # 3 clean channel values outside threshold range generates an interrupt TCS34725_PERS_3_CYCLE = 0b0011 # 5 clean channel values outside threshold range generates an interrupt TCS34725_PERS_5_CYCLE = 0b0100 # 10 clean channel values outside threshold range generates an interrupt TCS34725_PERS_10_CYCLE = 0b0101 # 15 clean channel values outside threshold range generates an interrupt TCS34725_PERS_15_CYCLE = 0b0110 # 20 clean channel values outside threshold range generates an interrupt TCS34725_PERS_20_CYCLE = 0b0111 # 25 clean channel values outside threshold range generates an interrupt TCS34725_PERS_25_CYCLE = 0b1000 # 30 clean channel values outside threshold range generates an interrupt TCS34725_PERS_30_CYCLE = 0b1001 # 35 clean channel values outside threshold range generates an interrupt TCS34725_PERS_35_CYCLE = 0b1010 # 40 clean channel values outside threshold range generates an interrupt TCS34725_PERS_40_CYCLE = 0b1011 # 45 clean channel values outside threshold range generates an interrupt TCS34725_PERS_45_CYCLE = 0b1100 # 50 clean channel values outside threshold range generates an interrupt TCS34725_PERS_50_CYCLE = 0b1101 # 55 clean channel values outside threshold range generates an interrupt TCS34725_PERS_55_CYCLE = 0b1110 # 60 clean channel values outside threshold range generates an interrupt TCS34725_PERS_60_CYCLE = 0b1111 TCS34725_CONFIG = 0x0D # Choose between short and long (12x) wait times via TCS34725_WTIME TCS34725_CONFIG_WLONG = 0x02 # Set the gain level for the sensor TCS34725_CONTROL = 0x0F # 0x44 = TCS34721/TCS34725, 0x4D = TCS34723/TCS34727 TCS34725_ID = 0x12 TCS34725_STATUS = 0x13 # RGBC Clean channel interrupt TCS34725_STATUS_AINT = 0x10 # Indicates that the RGBC channels have completed an integration cycle TCS34725_STATUS_AVALID = 0x01 TCS34725_INTEGRATIONTIME_2_4MS = 0xFF # 2.4ms - 1 cycle - Max Count: 1024 TCS34725_INTEGRATIONTIME_24MS = 0xF6 # 24ms - 10 cycles - Max Count: 10240 TCS34725_INTEGRATIONTIME_50MS = 0xEB # 50ms - 20 cycles - Max Count: 20480 TCS34725_INTEGRATIONTIME_101MS = 0xD5 # 101ms - 42 cycles - Max Count: 43008 TCS34725_INTEGRATIONTIME_154MS = 0xC0 # 154ms - 64 cycles - Max Count: 65535 TCS34725_INTEGRATIONTIME_700MS = 0x00 # 700ms - 256 cycles - Max Count: 65535 TCS34725_GAIN_1X = 0x00 # No gain TCS34725_GAIN_4X = 0x01 # 2x gain TCS34725_GAIN_16X = 0x02 # 16x gain TCS34725_GAIN_60X = 0x03 # 60x gain TCS34725_CDATAL = 0x14 # Clear channel data TCS34725_CDATAH = 0x15 TCS34725_RDATAL = 0x16 # Red channel data TCS34725_RDATAH = 0x17 TCS34725_GDATAL = 0x18 # Green channel data TCS34725_GDATAH = 0x19 TCS34725_BDATAL = 0x1A # Blue channel data TCS34725_BDATAH = 0x1B # Lookup table for integration time delays. INTEGRATION_TIME_DELAY = { 0xFF: 0.0024, # 2.4ms - 1 cycle - Max Count: 1024 0xF6: 0.024, # 24ms - 10 cycles - Max Count: 10240 0xEB: 0.050, # 50ms - 20 cycles - Max Count: 20480 0xD5: 0.101, # 101ms - 42 cycles - Max Count: 43008 0xC0: 0.154, # 154ms - 64 cycles - Max Count: 65535 0x00: 0.700 # 700ms - 256 cycles - Max Count: 65535 } def __init__(self, slot, host=None): """ コンストラクタ """ self.slot = slot self.comm = I2C self.host = host # アドレス self.i2c_addr = 0x29 self.tp00 = Tp00(self.slot, self.comm, self.host) self.tp00.start() self.__reset() def __reset(self): """ 初期化 """ # Lock self.tp00.lock(self.slot) try: # confからmodeを取得する if (self.host is None or self.host == ''): self.host = 'localhost' tp_config = TpConfig(self.host, self.slot, self.comm) setting = tp_config.get_setting() _integrationTime = setting['settings']['integrationTime'] integrationTime = self.TCS34725_INTEGRATIONTIME_2_4MS if _integrationTime == '2.4ms': integrationTime = self.TCS34725_INTEGRATIONTIME_2_4MS elif _integrationTime == '24ms': integrationTime = self.TCS34725_INTEGRATIONTIME_24MS elif _integrationTime == '50ms': integrationTime = self.TCS34725_INTEGRATIONTIME_50MS elif _integrationTime == '101ms': integrationTime = self.TCS34725_INTEGRATIONTIME_101MS elif _integrationTime == '154ms': integrationTime = self.TCS34725_INTEGRATIONTIME_154MS elif _integrationTime == '700ms': integrationTime = self.TCS34725_INTEGRATIONTIME_700MS _gain = setting['settings']['gain'] gain = self.TCS34725_GAIN_4X if _gain == '1x': gain = self.TCS34725_GAIN_1X elif _gain == '4x': gain = self.TCS34725_GAIN_4X elif _gain == '16x': gain = self.TCS34725_GAIN_16X elif _gain == '60x': gain = self.TCS34725_GAIN_60X c = self._readU8(self.TCS34725_ID) if c != 0x44: raise ValueError('TpgI2cColorSensor init failed.') # 設定 self._set_integration_time(integrationTime) self._set_gain(gain) # デバイスを有効にする self._enable() finally: # unLock self.tp00.unlock(self.slot) def _set_integration_time(self, integration_time): """ TC34725の積分時間を設定します。 - TCS34725_INTEGRATIONTIME_2_4MS = 2.4ms - 1 cycle - Max Count: 1024 - TCS34725_INTEGRATIONTIME_24MS = 24ms - 10 cycles - Max Count: 10240 - TCS34725_INTEGRATIONTIME_50MS = 50ms - 20 cycles - Max Count: 20480 - TCS34725_INTEGRATIONTIME_101MS = 101ms - 42 cycles - Max Count: 43008 - TCS34725_INTEGRATIONTIME_154MS = 154ms - 64 cycles - Max Count: 65535 - TCS34725_INTEGRATIONTIME_700MS = 700ms - 256 cycles - Max Count: 65535 """ self._integration_time = integration_time self._write8(self.TCS34725_ATIME, integration_time) def _set_gain(self, gain): """ ゲインの調整 TCS34725 (光に対する感度) - TCS34725_GAIN_1X = No gain - TCS34725_GAIN_4X = 2x gain - TCS34725_GAIN_16X = 16x gain - TCS34725_GAIN_60X = 60x gain """ self._write8(self.TCS34725_CONTROL, gain) def _enable(self): """ 有効にします """ self._write8(self.TCS34725_ENABLE, self.TCS34725_ENABLE_PON) time.sleep(0.01) self._write8(self.TCS34725_ENABLE, (self.TCS34725_ENABLE_PON | self.TCS34725_ENABLE_AEN)) def _write8(self, reg, value): """ Write a 8-bit value to a register. """ send_data = [] send_data.append( {"act": "w", "add": self.i2c_addr, "cmd": self.TCS34725_COMMAND_BIT | reg, "v": [value]}) self.tp00.send(json.dumps(send_data)) def _readU8(self, reg): """ Read an unsigned 8-bit register. """ send_data = [] send_data.append( {"act": "r", "add": self.i2c_addr, "cmd": self.TCS34725_COMMAND_BIT | reg, "len": 1}) _result = self.tp00.send(json.dumps(send_data)) result_data = json.loads(_result.decode()) rtn = result_data[0][0] return rtn def _readU16LE(self, reg): """ Read a 16-bit little endian register. """ send_data = [] send_data.append( {"act": "r", "add": self.i2c_addr, "cmd": self.TCS34725_COMMAND_BIT | reg, "len": 2}) _result = self.tp00.send(json.dumps(send_data)) result_data = json.loads(_result.decode()) ret1 = result_data[0][0] ret2 = result_data[0][1] * 256 rtn = (ret1 + ret2) & 0x0FFF return rtn def get_data(self): """ 値を取得します。 """ time.sleep(self.INTEGRATION_TIME_DELAY[self._integration_time]) # 0 - 1の範囲で取得 div = ((256 - self._integration_time) * 1024) r = self._readU16LE(self.TCS34725_RDATAL) / div g = self._readU16LE(self.TCS34725_GDATAL) / div b = self._readU16LE(self.TCS34725_BDATAL) / div c = self._readU16LE(self.TCS34725_CDATAL) / div # 小数点3桁まで return {"r": round(r, 3), "g": round(g, 3), "b": round(b, 3), "c": round(c, 3)} if __name__ == '__main__': argvs = sys.argv if (len(argvs) <= 1): tpUtils.stderr('Need argv! [1]: slot') sys.exit(0) try: slot = argvs[1] host = None if (len(argvs) > 2): host = argvs[2] tpgI2cColorSensor = TpgI2cColorSensor(slot, host) except Exception as e: tpUtils.stderr(str(e.args)) sys.exit(0) while True: try: data = input() recv_data = tpgI2cColorSensor.get_data() tpUtils.nodeOut(json.dumps(recv_data)) except KeyboardInterrupt: sys.exit(0) except Exception as e: tpUtils.stderr(str(e.args)) tpUtils.nodeOut("")