Motor

The raspi now controls a motor to lock unlock

raspi/motor.py

@@ -0,0 +1,110 @@
+import sys
+import time
+import logging
+import threading
+
+logger = logging.getLogger(__name__)
+
+try:
+    if "--no-raspi" in sys.argv or "--mock-motor" in sys.argv:
+        raise ImportError("RPi functionality disabled via command line flag.")
+    import RPi.GPIO as GPIO
+    GPIO_AVAILABLE = True
+except (ImportError, RuntimeError):
+    GPIO_AVAILABLE = False
+    GPIO = None
+
+
+
+
+class Raspi:
+    CLOCKWISE = False
+    COUNTER_CLOCKWISE = True
+
+    def __init__(self) -> None:
+        self.in1 = 3
+        self.in2 = 5
+        self.in3 = 7
+        self.in4 = 11
+
+        self.step_sleep = 0.002
+        self.step_sequence = [
+            [True, False, False, True],
+            [True, False, False, False],
+            [True, True, False, False],
+            [False, True, False, False],
+            [False, True, True, False],
+            [False, False, True, False],
+            [False, False, True, True],
+            [False, False, False, True],
+        ]
+
+        self.motor_pins = [self.in1, self.in2, self.in3, self.in4]
+        self.motor_step_counter = 0
+        self.initialized = False
+
+    def _setup_gpio(self):
+        if not GPIO_AVAILABLE:
+            logger.info("GPIO not available, skipping GPIO setup.")
+            return
+        if not self.initialized:
+            try:
+                GPIO.setmode(GPIO.BCM)
+                for pin in self.motor_pins:
+                    GPIO.setup(pin, GPIO.OUT)
+                    GPIO.output(pin, GPIO.LOW)
+                self.initialized = True
+            except Exception as e:
+                logger.error(f"Failed to setup GPIO: {e}")
+
+    def cleanup(self):
+        if not GPIO_AVAILABLE:
+            logger.info("GPIO not available, skipping GPIO cleanup.")
+            return
+        try:
+            for pin in self.motor_pins:
+                GPIO.output(pin, GPIO.LOW)
+            GPIO.cleanup()
+            self.initialized = False
+        except Exception as e:
+            logger.error(f"Failed to cleanup GPIO: {e}")
+
+    def move(self, step_count, direction):
+        self._setup_gpio()
+        if not GPIO_AVAILABLE:
+            dir_str = (
+                "clockwise" if direction == self.CLOCKWISE else "counter-clockwise"
+            )
+            logger.info(f"[Mock Motor] Moving {step_count} steps {dir_str}.")
+            return
+
+        try:
+            for _i in range(step_count):
+                for pin in range(0, len(self.motor_pins)):
+                    GPIO.output(
+                        self.motor_pins[pin],
+                        self.step_sequence[self.motor_step_counter][pin],
+                    )
+                if direction == self.COUNTER_CLOCKWISE:
+                    self.motor_step_counter = (self.motor_step_counter - 1) % 8
+                else:
+                    self.motor_step_counter = (self.motor_step_counter + 1) % 8
+                time.sleep(self.step_sleep)
+        except Exception as e:
+            logger.error(f"Error during motor movement: {e}")
+        finally:
+            self.cleanup()
+
+    def unlock(self):
+        # 90 degrees clockwise (1024 steps)
+        self.move(1024, self.CLOCKWISE)
+
+    def lock(self):
+        # 90 degrees counter-clockwise (1024 steps)
+        self.move(1024, self.COUNTER_CLOCKWISE)
+
+    def unlock_async(self):
+        threading.Thread(target=self.unlock, daemon=True).start()
+
+    def lock_async(self):
+        threading.Thread(target=self.lock, daemon=True).start()