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import logging
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from typing import Any, Callable
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from .event_bus import EventHandler, subscribe
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_LOGGER = logging.getLogger(__name__)
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"""Controls the LEDs on the ReSpeaker 2mic HAT."""
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from math import ceil
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from typing import Tuple
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import time
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import asyncio
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import gpiozero
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import spidev
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NUM_LEDS = 3
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LEDS_GPIO = 12
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RGB_MAP = {
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"rgb": [3, 2, 1],
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"rbg": [3, 1, 2],
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"grb": [2, 3, 1],
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"gbr": [2, 1, 3],
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"brg": [1, 3, 2],
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"bgr": [1, 2, 3],
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}
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_OFF = (0, 0, 0)
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_WHITE = (255, 255, 255)
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_RED = (255, 0, 0)
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_YELLOW = (255, 255, 0)
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_BLUE = (0, 0, 255)
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_GREEN = (0, 255, 0)
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# -----------------------------------------------------------------------------
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class APA102:
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"""
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Driver for APA102 LEDS (aka "DotStar").
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(c) Martin Erzberger 2016-2017
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"""
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# Constants
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MAX_BRIGHTNESS = 0b11111 # Safeguard: Set to a value appropriate for your setup
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LED_START = 0b11100000 # Three "1" bits, followed by 5 brightness bits
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def __init__(
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self,
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num_led,
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global_brightness,
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loop: asyncio.AbstractEventLoop,
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order="rgb",
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bus=0,
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device=1,
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max_speed_hz=8000000,
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):
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self.num_led = num_led # The number of LEDs in the Strip
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order = order.lower()
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self.rgb = RGB_MAP.get(order, RGB_MAP["rgb"])
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# Limit the brightness to the maximum if it's set higher
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if global_brightness > self.MAX_BRIGHTNESS:
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self.global_brightness = self.MAX_BRIGHTNESS
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else:
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self.global_brightness = global_brightness
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print("LED brightness:", self.global_brightness)
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self.leds = [self.LED_START, 0, 0, 0] * self.num_led # Pixel buffer
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self.spi = spidev.SpiDev() # Init the SPI device
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self.spi.open(bus, device) # Open SPI port 0, slave device (CS) 1
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# Up the speed a bit, so that the LEDs are painted faster
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if max_speed_hz:
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self.spi.max_speed_hz = max_speed_hz
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self.current_task = None
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self.loop = loop
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def clock_start_frame(self):
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"""Sends a start frame to the LED strip.
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This method clocks out a start frame, telling the receiving LED
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that it must update its own color now.
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"""
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self.spi.xfer2([0] * 4) # Start frame, 32 zero bits
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def clock_end_frame(self):
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"""Sends an end frame to the LED strip.
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As explained above, dummy data must be sent after the last real colour
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information so that all of the data can reach its destination down the line.
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The delay is not as bad as with the human example above.
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It is only 1/2 bit per LED. This is because the SPI clock line
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needs to be inverted.
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Say a bit is ready on the SPI data line. The sender communicates
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this by toggling the clock line. The bit is read by the LED
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and immediately forwarded to the output data line. When the clock goes
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down again on the input side, the LED will toggle the clock up
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on the output to tell the next LED that the bit is ready.
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After one LED the clock is inverted, and after two LEDs it is in sync
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again, but one cycle behind. Therefore, for every two LEDs, one bit
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of delay gets accumulated. For 300 LEDs, 150 additional bits must be fed to
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the input of LED one so that the data can reach the last LED.
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Ultimately, we need to send additional numLEDs/2 arbitrary data bits,
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in order to trigger numLEDs/2 additional clock changes. This driver
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sends zeroes, which has the benefit of getting LED one partially or
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fully ready for the next update to the strip. An optimized version
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of the driver could omit the "clockStartFrame" method if enough zeroes have
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been sent as part of "clockEndFrame".
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"""
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self.spi.xfer2([0xFF] * 4)
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# Round up num_led/2 bits (or num_led/16 bytes)
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# for _ in range((self.num_led + 15) // 16):
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# self.spi.xfer2([0x00])
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def set_pixel(self, led_num, red, green, blue, bright_percent=100):
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"""Sets the color of one pixel in the LED stripe.
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The changed pixel is not shown yet on the Stripe, it is only
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written to the pixel buffer. Colors are passed individually.
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If brightness is not set the global brightness setting is used.
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"""
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if led_num < 0:
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return # Pixel is invisible, so ignore
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if led_num >= self.num_led:
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return # again, invisible
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# Calculate pixel brightness as a percentage of the
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# defined global_brightness. Round up to nearest integer
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# as we expect some brightness unless set to 0
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brightness = int(ceil(bright_percent * self.global_brightness / 100.0))
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# LED startframe is three "1" bits, followed by 5 brightness bits
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ledstart = (brightness & 0b00011111) | self.LED_START
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start_index = 4 * led_num
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self.leds[start_index] = ledstart
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self.leds[start_index + self.rgb[0]] = red
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self.leds[start_index + self.rgb[1]] = green
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self.leds[start_index + self.rgb[2]] = blue
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def set_pixel_rgb(self, led_num, rgb_color, bright_percent=100):
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"""Sets the color of one pixel in the LED stripe.
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The changed pixel is not shown yet on the Stripe, it is only
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written to the pixel buffer.
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Colors are passed combined (3 bytes concatenated)
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If brightness is not set the global brightness setting is used.
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"""
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self.set_pixel(
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led_num,
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(rgb_color & 0xFF0000) >> 16,
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(rgb_color & 0x00FF00) >> 8,
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rgb_color & 0x0000FF,
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bright_percent or self.global_brightness,
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)
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def rotate(self, positions=1):
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"""Rotate the LEDs by the specified number of positions.
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Treating the internal LED array as a circular buffer, rotate it by
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the specified number of positions. The number could be negative,
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which means rotating in the opposite direction.
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"""
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cutoff = 4 * (positions % self.num_led)
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self.leds = self.leds[cutoff:] + self.leds[:cutoff]
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def show(self):
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"""Sends the content of the pixel buffer to the strip.
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Todo: More than 1024 LEDs requires more than one xfer operation.
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"""
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self.clock_start_frame()
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# xfer2 kills the list, unfortunately. So it must be copied first
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# SPI takes up to 4096 Integers. So we are fine for up to 1024 LEDs.
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data = list(self.leds)
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while data:
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self.spi.xfer2(data[:32])
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data = data[32:]
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self.clock_end_frame()
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def cleanup(self):
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"""Release the SPI device; Call this method at the end"""
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self.spi.close() # Close SPI port
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def run_action(self, action_mentod_name: str, *args: Any) -> None:
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if self.current_task and not self.current_task.done():
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self.current_task.cancel()
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self.current_task = asyncio.run_coroutine_threadsafe(getattr(self, action_mentod_name)(*args), self.loop)
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async def color(self, rgb: Tuple[int, int, int], brightness = None) -> None:
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for i in range(NUM_LEDS):
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self.set_pixel(i, rgb[0], rgb[1], rgb[2], brightness or self.global_brightness)
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self.show()
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async def blink(self, color, count=10000):
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for _ in range(count):
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await self.color(color)
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await asyncio.sleep(0.3)
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await self.color(_OFF)
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await asyncio.sleep(0.3)
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async def pulse(self, color: Tuple[int, int, int], speed: float = 0.009):
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"""Asynchronously pulses the LEDs from off to full brightness and back."""
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# Fade in
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while(1):
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for brightness in range(1, self.global_brightness+1):
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await self.color(color, brightness)
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await asyncio.sleep(speed)
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# Fade out
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for brightness in range(self.global_brightness+1, 0, -1):
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await self.color(color, brightness)
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await asyncio.sleep(speed)
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class LedEvent(EventHandler):
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def __init__(self, state):
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super().__init__(state)
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self.leds = APA102(num_led=3, global_brightness=31, loop=self.state.loop)
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@subscribe
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def ready(self, data: dict):
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_LOGGER.debug('ready LED green blink')
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self.leds.run_action("blink", _GREEN, 3)
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@subscribe
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def voice_wakeword(self, data: dict):
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self.leds.run_action("pulse", _BLUE)
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@subscribe
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def voice_VOICE_ASSISTANT_STT_VAD_END(self, data: dict):
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self.leds.run_action("pulse", _YELLOW)
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@subscribe
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def voice_play_tts(self, data: dict):
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self.leds.run_action("pulse", _GREEN)
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# This event fires long before the TTS is done speaking
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# @subscribe
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# def voice_VOICE_ASSISTANT_RUN_END(self, data: dict):
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# self.leds.run_action("color", _OFF, 0)
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@subscribe
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def voice__tts_finished(self, data: dict):
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self.leds.run_action("color", _OFF, 0)
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