Add HAL and Marvin led files

2025-09-20 18:21:21 -07:00
parent b4f736a79b
commit cd83ee018f
2 changed files with 386 additions and 0 deletions
@@ -0,0 +1,188 @@
+
+import logging
+from typing import Any, Tuple, Optional
+
+from .event_bus import EventHandler, subscribe
+
+_LOGGER = logging.getLogger(__name__)
+
+from math import ceil
+import asyncio
+import spidev
+
+NUM_LEDS = 3
+RGB_MAP = {
+    "rgb": [3, 2, 1],
+    "rbg": [3, 1, 2],
+    "grb": [2, 3, 1],
+    "gbr": [2, 1, 3],
+    "brg": [1, 3, 2],
+    "bgr": [1, 2, 3],
+}
+
+_OFF = (0, 0, 0)
+_RED = (255, 0, 0)
+
+# Keep listening pulse alive for up to 15s after wakeword if user doesn't speak
+LISTEN_IDLE_TIMEOUT_SEC = 15.0
+
+
+class APA102:
+    MAX_BRIGHTNESS = 0b11111
+    LED_START = 0b11100000
+
+    def __init__(
+        self,
+        num_led: int,
+        global_brightness: int,
+        loop: asyncio.AbstractEventLoop,
+        order: str = "rgb",
+        bus: int = 0,
+        device: int = 1,
+        max_speed_hz: int = 8000000,
+    ):
+        self.num_led = num_led
+        order = order.lower()
+        self.rgb = RGB_MAP.get(order, RGB_MAP["rgb"])
+        self.global_brightness = min(global_brightness, self.MAX_BRIGHTNESS)
+        _LOGGER.debug("LED brightness: %s", self.global_brightness)
+
+        self.leds = [self.LED_START, 0, 0, 0] * self.num_led
+        self.spi = spidev.SpiDev()
+        self.spi.open(bus, device)
+        if max_speed_hz:
+            self.spi.max_speed_hz = max_speed_hz
+
+        self.current_task: Optional[asyncio.Future] = None
+        self.loop = loop
+
+    def clock_start_frame(self):
+        self.spi.xfer2([0] * 4)
+
+    def clock_end_frame(self):
+        self.spi.xfer2([0xFF] * 4)
+
+    def set_pixel(self, led_num, red, green, blue, bright_percent=100):
+        if led_num < 0 or led_num >= self.num_led:
+            return
+        brightness = int(ceil(bright_percent * self.global_brightness / 100.0))
+        ledstart = (brightness & 0b00011111) | self.LED_START
+        start_index = 4 * led_num
+        self.leds[start_index] = ledstart
+        self.leds[start_index + self.rgb[0]] = red
+        self.leds[start_index + self.rgb[1]] = green
+        self.leds[start_index + self.rgb[2]] = blue
+
+    def show(self):
+        self.clock_start_frame()
+        data = list(self.leds)
+        while data:
+            self.spi.xfer2(data[:32])
+            data = data[32:]
+        self.clock_end_frame()
+
+    def cleanup(self):
+        self.spi.close()
+
+    def run_action(self, action_method_name: str, *args: Any):
+        if self.current_task and not self.current_task.done():
+            self.current_task.cancel()
+        self.current_task = asyncio.run_coroutine_threadsafe(
+            getattr(self, action_method_name)(*args), self.loop
+        )
+
+    async def color(self, rgb, brightness=None):
+        for i in range(NUM_LEDS):
+            self.set_pixel(i, rgb[0], rgb[1], rgb[2], brightness or self.global_brightness)
+        self.show()
+
+    async def pulse(self, color, speed=0.02):
+        while True:
+            for brightness in range(1, self.MAX_BRIGHTNESS + 1):
+                await self.color(color, brightness)
+                await asyncio.sleep(speed)
+            for brightness in range(self.MAX_BRIGHTNESS, 0, -1):
+                await self.color(color, brightness)
+                await asyncio.sleep(speed)
+
+    async def flash(self, flash_color, times, on_time=0.1, off_time=0.1):
+        for _ in range(times):
+            await self.color(flash_color)
+            await asyncio.sleep(on_time)
+            await self.color(_OFF)
+            await asyncio.sleep(off_time)
+
+    async def flash_then_pulse(self, flash_color, times, pulse_color, pulse_speed=0.02):
+        await self.flash(flash_color, times)
+        await self.pulse(pulse_color, pulse_speed)
+
+
+class LedEvent(EventHandler):
+    def __init__(self, state):
+        super().__init__(state)
+        self.leds = APA102(num_led=3, global_brightness=31, loop=self.state.loop)
+        self._base_color = _RED
+        self.leds.run_action("color", _OFF)
+        self._listen_idle_watchdog: Optional[asyncio.Task] = None
+
+    def _cancel_watchdog(self):
+        if self._listen_idle_watchdog and not self._listen_idle_watchdog.done():
+            self._listen_idle_watchdog.cancel()
+        self._listen_idle_watchdog = None
+
+    async def _listen_watchdog(self, timeout: float):
+        try:
+            await asyncio.sleep(timeout)
+            _LOGGER.debug("Listen idle watchdog timeout -> return to base color")
+            self.leds.run_action("color", self._base_color)
+        except asyncio.CancelledError:
+            pass
+
+    # Connectivity ------------------------------------------------------------------
+    @subscribe
+    def ready(self, data: dict):
+        _LOGGER.debug("ready -> solid RED")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    @subscribe
+    def disconnected(self, data: dict):
+        _LOGGER.debug("disconnected -> LEDs OFF")
+        self._cancel_watchdog()
+        self.leds.run_action("color", _OFF)
+
+    # Wakeword ----------------------------------------------------------------------
+    @subscribe
+    def voice_wakeword(self, data: dict):
+        _LOGGER.debug("wakeword -> fast RED flash x2, then enter listening (pulse)")
+        self._cancel_watchdog()
+        self._listen_idle_watchdog = self.state.loop.create_task(
+            self._listen_watchdog(LISTEN_IDLE_TIMEOUT_SEC)
+        )
+        self.leds.run_action("flash_then_pulse", _RED, 2, _RED, 0.02)
+
+    # Listening (VAD) ---------------------------------------------------------------
+    @subscribe
+    def voice_VOICE_ASSISTANT_STT_START(self, data: dict):
+        _LOGGER.debug("VAD_START -> ensure RED pulsing (listening)")
+        self._cancel_watchdog()
+        self.leds.run_action("pulse", _RED, 0.02)
+
+    @subscribe
+    def voice_VOICE_ASSISTANT_STT_VAD_END(self, data: dict):
+        _LOGGER.debug("VAD_END -> stop pulsing -> solid RED")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    # TTS (speaking) ----------------------------------------------------------------
+    @subscribe
+    def voice_play_tts(self, data: dict):
+        _LOGGER.debug("TTS -> solid RED")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    @subscribe
+    def voice__tts_finished(self, data: dict):
+        _LOGGER.debug("TTS finished -> solid RED")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
@@ -0,0 +1,198 @@
+
+import logging
+from typing import Any, Tuple, Optional
+
+from .event_bus import EventHandler, subscribe
+
+_LOGGER = logging.getLogger(__name__)
+
+from math import ceil
+import asyncio
+import spidev
+
+NUM_LEDS = 2
+RGB_MAP = {
+    "rgb": [3, 2, 1],
+    "rbg": [3, 1, 2],
+    "grb": [2, 3, 1],
+    "gbr": [2, 1, 3],
+    "brg": [1, 3, 2],
+    "bgr": [1, 2, 3],
+}
+
+_OFF = (0, 0, 0)
+_GREEN = (0, 255, 0)
+
+# How long to keep "listening" after wakeword if user never starts speaking
+LISTEN_IDLE_TIMEOUT_SEC = 15.0
+
+
+class APA102:
+    MAX_BRIGHTNESS = 0b11111
+    LED_START = 0b11100000
+
+    def __init__(
+        self,
+        num_led: int,
+        global_brightness: int,
+        loop: asyncio.AbstractEventLoop,
+        order: str = "rgb",
+        bus: int = 0,
+        device: int = 1,
+        max_speed_hz: int = 8000000,
+    ):
+        self.num_led = num_led
+        order = order.lower()
+        self.rgb = RGB_MAP.get(order, RGB_MAP["rgb"])
+        self.global_brightness = min(global_brightness, self.MAX_BRIGHTNESS)
+        _LOGGER.debug("LED brightness: %s", self.global_brightness)
+
+        self.leds = [self.LED_START, 0, 0, 0] * self.num_led
+        self.spi = spidev.SpiDev()
+        self.spi.open(bus, device)
+        if max_speed_hz:
+            self.spi.max_speed_hz = max_speed_hz
+
+        self.current_task: Optional[asyncio.Future] = None
+        self.loop = loop
+
+    def clock_start_frame(self):
+        self.spi.xfer2([0] * 4)
+
+    def clock_end_frame(self):
+        self.spi.xfer2([0xFF] * 4)
+
+    def set_pixel(self, led_num, red, green, blue, bright_percent=100):
+        if led_num < 0 or led_num >= self.num_led:
+            return
+        brightness = int(ceil(bright_percent * self.global_brightness / 100.0))
+        ledstart = (brightness & 0b00011111) | self.LED_START
+        start_index = 4 * led_num
+        self.leds[start_index] = ledstart
+        self.leds[start_index + self.rgb[0]] = red
+        self.leds[start_index + self.rgb[1]] = green
+        self.leds[start_index + self.rgb[2]] = blue
+
+    def show(self):
+        self.clock_start_frame()
+        data = list(self.leds)
+        while data:
+            self.spi.xfer2(data[:32])
+            data = data[32:]
+        self.clock_end_frame()
+
+    def cleanup(self):
+        self.spi.close()
+
+    def run_action(self, action_method_name: str, *args: Any):
+        # Cancel any currently running animation task (pulse/blink/etc.)
+        if self.current_task and not self.current_task.done():
+            self.current_task.cancel()
+        self.current_task = asyncio.run_coroutine_threadsafe(
+            getattr(self, action_method_name)(*args), self.loop
+        )
+
+    async def color(self, rgb, brightness=None):
+        for i in range(NUM_LEDS):
+            self.set_pixel(i, rgb[0], rgb[1], rgb[2], brightness or self.global_brightness)
+        self.show()
+
+    async def pulse(self, color, speed=0.02):
+        """Pulse continuously until cancelled."""
+        while True:
+            for brightness in range(1, self.MAX_BRIGHTNESS + 1):
+                await self.color(color, brightness)
+                await asyncio.sleep(speed)
+            for brightness in range(self.MAX_BRIGHTNESS, 0, -1):
+                await self.color(color, brightness)
+                await asyncio.sleep(speed)
+
+    async def flash(self, flash_color, times, on_time=0.1, off_time=0.1):
+        """Flash color on/off N times, then leave LEDs OFF (caller decides next state)."""
+        for _ in range(times):
+            await self.color(flash_color)
+            await asyncio.sleep(on_time)
+            await self.color(_OFF)
+            await asyncio.sleep(off_time)
+
+    async def flash_then_pulse(self, flash_color, times, pulse_color, pulse_speed=0.02):
+        """Flash N times, then enter continuous pulse."""
+        await self.flash(flash_color, times)
+        await self.pulse(pulse_color, pulse_speed)
+
+
+class LedEvent(EventHandler):
+    def __init__(self, state):
+        super().__init__(state)
+        self.leds = APA102(num_led=3, global_brightness=31, loop=self.state.loop)
+        self._base_color = _GREEN
+        # Keep LEDs off until connected
+        self.leds.run_action("color", _OFF)
+        # Watchdog for the "no speech after wakeword" case
+        self._listen_idle_watchdog: Optional[asyncio.Task] = None
+
+    def _cancel_watchdog(self):
+        if self._listen_idle_watchdog and not self._listen_idle_watchdog.done():
+            self._listen_idle_watchdog.cancel()
+        self._listen_idle_watchdog = None
+
+    async def _listen_watchdog(self, timeout: float):
+        try:
+            await asyncio.sleep(timeout)
+            _LOGGER.debug("Listen idle watchdog timeout -> return to base color")
+            self.leds.run_action("color", self._base_color)
+        except asyncio.CancelledError:
+            pass
+
+    # Connectivity ------------------------------------------------------------------
+    @subscribe
+    def ready(self, data: dict):
+        _LOGGER.debug("ready -> solid GREEN")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    @subscribe
+    def disconnected(self, data: dict):
+        _LOGGER.debug("disconnected -> LEDs OFF")
+        self._cancel_watchdog()
+        self.leds.run_action("color", _OFF)
+
+    # Wakeword ----------------------------------------------------------------------
+    @subscribe
+    def voice_wakeword(self, data: dict):
+        _LOGGER.debug("wakeword -> fast GREEN flash x2, then enter listening (pulse)")
+        # Start a watchdog: if user never speaks, stop pulsing after timeout
+        self._cancel_watchdog()
+        self._listen_idle_watchdog = self.state.loop.create_task(
+            self._listen_watchdog(LISTEN_IDLE_TIMEOUT_SEC)
+        )
+        # Flash twice quickly, then pulse
+        self.leds.run_action("flash_then_pulse", _GREEN, 2, _GREEN, 0.02)
+
+    # Listening (VAD) ---------------------------------------------------------------
+    @subscribe
+    def voice_VOICE_ASSISTANT_STT_START(self, data: dict):
+        _LOGGER.debug("VAD_START -> ensure GREEN pulsing (listening)")
+        # User started speaking: cancel the idle watchdog and ensure pulse
+        self._cancel_watchdog()
+        self.leds.run_action("pulse", _GREEN, 0.02)
+
+    @subscribe
+    def voice_VOICE_ASSISTANT_STT_VAD_END(self, data: dict):
+        _LOGGER.debug("VAD_END -> stop pulsing -> solid GREEN")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    # TTS (speaking) ----------------------------------------------------------------
+    @subscribe
+    def voice_play_tts(self, data: dict):
+        _LOGGER.debug("TTS -> solid GREEN")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+
+    @subscribe
+    def voice__tts_finished(self, data: dict):
+        _LOGGER.debug("TTS finished -> solid GREEN")
+        self._cancel_watchdog()
+        self.leds.run_action("color", self._base_color)
+