59 lines
1.9 KiB
Python
59 lines
1.9 KiB
Python
import sys
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import warnings
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import threading
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import time
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from collections import deque
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from takway.board.base_hd import BaseHardware
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if "gpiod" in sys.modules:
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# sipeed MaixSense V329
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import gpiod as gpio
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else:
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# 如果所有库都不存在，执行默认操作或抛出异常
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# raise ImportError("gpiod package is not available.")
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warnings.warn("gpiod package is not available.")
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class V329(BaseHardware):
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def __init__(self, hd_trigger='button', hd_detect_threshold=50):
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super().__init__(hd_trigger, hd_detect_threshold)
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self.button = self.button_init()
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self.init_hd_thread()
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def button_init(self):
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PH_BASE = (8-1)*32 #PH
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gpiochip1 = gpio.chip("gpiochip1")
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button = gpiochip1.get_line((PH_BASE+5))
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config = gpio.line_request()
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config.request_type = gpio.line_request.DIRECTION_INPUT
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config.flags = gpio.line_request.FLAG_BIAS_PULL_UP
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button.request(config)
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return button
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@property
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def button_status(self):
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return True if self.button.get_value() == 1 else False
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def hd_detection_loop(self):
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self.shared_hd_status = False
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button_value_list = deque(maxlen=self.hd_detect_threshold)
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while True:
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if len(button_value_list) > button_value_list.maxlen:
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button_value_list.popleft()
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button_value_list.append(self.button_status)
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# 记录50个值，如果连续50个值都是True，则认为按钮被按下
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if button_value_list.count(True) == button_value_list.maxlen:
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with self.hd_lock:
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self.shared_hd_status = True
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# 记录50个值，如果连续50个值都是False，则认为按钮被松开
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if button_value_list.count(False) == button_value_list.maxlen:
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with self.hd_lock:
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self.shared_hd_status = False
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