Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/py/bbctrl/LCD.py

@@ -0,0 +1,207 @@
+################################################################################
+#                                                                              #
+#                This file is part of the Buildbotics firmware.                #
+#                                                                              #
+#                  Copyright (c) 2015 - 2018, Buildbotics LLC                  #
+#                             All rights reserved.                             #
+#                                                                              #
+#     This file ("the software") is free software: you can redistribute it     #
+#     and/or modify it under the terms of the GNU General Public License,      #
+#      version 2 as published by the Free Software Foundation. You should      #
+#      have received a copy of the GNU General Public License, version 2       #
+#     along with the software. If not, see <http://www.gnu.org/licenses/>.     #
+#                                                                              #
+#     The software is distributed in the hope that it will be useful, but      #
+#          WITHOUT ANY WARRANTY; without even the implied warranty of          #
+#      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU       #
+#               Lesser General Public License for more details.                #
+#                                                                              #
+#       You should have received a copy of the GNU Lesser General Public       #
+#                License along with the software.  If not, see                 #
+#                       <http://www.gnu.org/licenses/>.                        #
+#                                                                              #
+#                For information regarding this software email:                #
+#                  "Joseph Coffland" <joseph@buildbotics.com>                  #
+#                                                                              #
+################################################################################
+
+import lcd
+import atexit
+
+
+class LCDPage:
+    def __init__(self, lcd, text = None):
+        self.lcd = lcd
+        self.data = lcd.new_screen()
+
+        if text is not None:
+            self.text(text, (lcd.width - len(text)) // 2, 1)
+
+
+    def activate(self): pass
+    def deactivate(self): pass
+
+
+    def put(self, c, x, y):
+        y += x // self.lcd.width
+        x %= self.lcd.width
+        y %= self.lcd.height
+
+        if self.data[x][y] != c:
+            self.data[x][y] = c
+            if self == self.lcd.page: self.lcd.update()
+
+
+    def text(self, s, x, y):
+        for c in s:
+            self.put(c, x, y)
+            x += 1
+
+
+    def clear(self):
+        self.data = self.lcd.new_screen()
+        self.lcd.redraw = True
+
+
+    def shift_left(self): pass
+    def shift_right(self): pass
+    def shift_up(self): pass
+    def shift_down(self): pass
+
+
+class LCD:
+    def __init__(self, ctrl):
+        self.ctrl = ctrl
+        self.log = ctrl.log.get('LCD')
+
+        self.addrs = self.ctrl.args.lcd_addr
+        self.addr = self.addrs[0]
+        self.addr_num = 0
+
+        self.width = 20
+        self.height = 4
+        self.lcd = None
+        self.timeout = None
+        self.reset = False
+        self.page = None
+        self.pages = []
+        self.current_page = 0
+        self.screen = self.new_screen()
+        self.set_message('Loading...')
+
+        self._redraw(False)
+        if not ctrl.args.demo: atexit.register(self.goodbye)
+
+
+    def set_message(self, msg):
+        try:
+            self.load_page(LCDPage(self, msg))
+            self._update()
+        except IOError as e:
+            self.log.warning('LCD communication failed: %s' % e)
+
+
+    def new_screen(self):
+        return [[' ' for y in range(self.height)] for x in range(self.width)]
+
+
+    def new_page(self): return LCDPage(self)
+    def add_page(self, page): self.pages.append(page)
+
+
+    def add_new_page(self, page = None):
+        if page is None: page = self.new_page()
+        page.id = len(self.pages)
+        self.add_page(page)
+        return page
+
+
+    def load_page(self, page):
+        if self.page != page:
+            if self.page is not None: self.page.deactivate()
+            page.activate()
+            self.page = page
+            self.redraw = True
+            self.update()
+
+
+    def set_current_page(self, current_page):
+        self.current_page = current_page % len(self.pages)
+        self.load_page(self.pages[self.current_page])
+
+
+    def page_up(self): pass
+    def page_down(self): pass
+    def page_right(self): self.set_current_page(self.current_page + 1)
+    def page_left(self): self.set_current_page(self.current_page - 1)
+
+
+    def update(self):
+        if self.timeout is None:
+            self.timeout = self.ctrl.ioloop.call_later(0.25, self._update)
+
+
+    def _redraw(self, now = True):
+        if now:
+            self.redraw = True
+            self.update()
+        self.redraw_timer = self.ctrl.ioloop.call_later(5, self._redraw)
+
+
+    def _update(self):
+        self.timeout = None
+
+        try:
+            if self.lcd is None:
+                self.lcd = lcd.LCD(self.ctrl.i2c, self.addr, self.height,
+                                   self.width)
+
+            if self.reset:
+                self.lcd.reset()
+                self.redraw = True
+                self.reset = False
+
+            cursorX, cursorY = -1, -1
+
+            for y in range(self.height):
+                for x in range(self.width):
+                    c = self.page.data[x][y]
+
+                    if self.redraw or self.screen[x][y] != c:
+                        if cursorX != x or cursorY != y:
+                            self.lcd.goto(x, y)
+                            cursorX, cursorY = x, y
+
+                        self.lcd.put_char(c)
+                        cursorX += 1
+                        self.screen[x][y] = c
+
+            self.redraw = False
+
+        except IOError as e:
+            # Try next address
+            #self.addr_num += 1
+            #if len(self.addrs) <= self.addr_num: self.addr_num = 0
+            #self.addr = self.addrs[self.addr_num]
+            #self.lcd = None
+
+            #self.log.warning('LCD communication failed, ' +
+            #            'retrying on address 0x%02x: %s' % (self.addr, e))
+
+            #self.log.warning('LCD not present.')
+
+            #self.reset = True
+            self.reset = False
+            #self.timeout = self.ctrl.ioloop.call_later(1, self._update)
+
+
+    def goodbye(self, message = ''):
+        if self.timeout:
+            self.ctrl.ioloop.remove_timeout(self.timeout)
+            self.timeout = None
+
+        if self.redraw_timer:
+            self.ctrl.ioloop.remove_timeout(self.redraw_timer)
+            self.redraw_timer = None
+
+        if self.lcd is not None: self.set_message(message)