1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
|
# ========================================================================== #
# #
# KVMD - The main PiKVM daemon. #
# #
# Copyright (C) 2018-2022 Maxim Devaev <[email protected]> #
# Shantur Rathore <[email protected]> #
# #
# This program is free software: you can redistribute it and/or modify #
# it under the terms of the GNU General Public License as published by #
# the Free Software Foundation, either version 3 of the License, or #
# (at your option) any later version. #
# #
# This program 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 General Public License for more details. #
# #
# You should have received a copy of the GNU General Public License #
# along with this program. If not, see <https://www.gnu.org/licenses/>. #
# #
# ========================================================================== #
from typing import Dict
from ... import aiotools
from ...yamlconf import Option
from ...validators.basic import valid_number
from ...validators.basic import valid_int_f0
from .pwm import Plugin as PwmPlugin
# =====
class Plugin(PwmPlugin):
def __init__( # pylint: disable=super-init-not-called,too-many-arguments
self,
instance_name: str,
notifier: aiotools.AioNotifier,
chip: int,
period: int,
duty_cycle_min: int,
duty_cycle_max: int,
angle_min: float,
angle_max: float,
angle_push: float,
angle_release: float,
) -> None:
angle_push = min(max(angle_push, angle_min), angle_max)
angle_release = min(max(angle_release, angle_min), angle_max)
duty_cycle_per_degree = (duty_cycle_max - duty_cycle_min) / (angle_max - angle_min)
duty_cycle_push = int(duty_cycle_per_degree * (angle_push - angle_min) + duty_cycle_min)
duty_cycle_release = int(duty_cycle_per_degree * (angle_release - angle_min) + duty_cycle_min)
super().__init__(
instance_name=instance_name,
notifier=notifier,
chip=chip,
period=period,
duty_cycle_push=duty_cycle_push,
duty_cycle_release=duty_cycle_release,
)
@classmethod
def get_plugin_options(cls) -> Dict:
valid_angle = (lambda arg: valid_number(arg, min=-360.0, max=360.0, type=float))
return {
"chip": Option(0, type=valid_int_f0),
"period": Option(20000000, type=valid_int_f0),
"duty_cycle_min": Option(1000000, type=valid_int_f0),
"duty_cycle_max": Option(2000000, type=valid_int_f0),
"angle_min": Option(0.0, type=valid_angle),
"angle_max": Option(180.0, type=valid_angle),
"angle_push": Option(100.0, type=valid_angle),
"angle_release": Option(120.0, type=valid_angle),
}
def __str__(self) -> str:
return f"Servo({self._instance_name})"
__repr__ = __str__
|
