Merge pull request #13 from AvaPL/PawelC

Might be the final version.

ARM/Main.py

@@ -15,6 +15,10 @@
 arm = Arm(servoNumber, pulseWidths, initialAngles)
 
 GPIO.setmode(GPIO.BCM)
+
+connectionAvailablePin = 20
+GPIO.setup(connectionAvailablePin, GPIO.OUT)
+
 leftMotorPWMPin = 12
 leftMotorDirectionPin = 5
 rightMotorPWMPin = 13
@@ -25,19 +29,25 @@
 
 commandInterpreter = CommandInterpreter(bluetoothConnection, arm, mobilePlatform)
 
+
 def shutdown():
+    cleanup()
+    subprocess.call("sudo shutdown -h now", shell=True)
+
+
+def cleanup():
     bluetoothConnection.close()
     mobilePlatform.stop()
     GPIO.cleanup()
-    # subprocess.call("sudo shutdown -h now", shell=True) TODO: Uncomment, debug only.
 
 
 try:
     shutdownReceived = False
-    while not shutdownReceived: # Establish a new connection if the client disconnected.
+    while not shutdownReceived:  # Establish a new connection if the client disconnected.
+        GPIO.output(connectionAvailablePin, GPIO.HIGH)
         bluetoothConnection.establish()
+        GPIO.output(connectionAvailablePin, GPIO.LOW)
         shutdownReceived = commandInterpreter.readCommands()
+    shutdown()
 except:
-    pass
-finally:
-    shutdown() # TODO: System shouldn't be always shut down eg. service restart.
+    cleanup()

ARM/services/arm-service-activity.service

@@ -0,0 +1,12 @@
+[Unit]
+Description=Signals arm.service activity via led diode and provides a way of manual restart.
+After=multi-user.target
+
+[Service]
+Type=idle
+ExecStart=/usr/bin/python3 /home/pi/Projects/PyCharm/ARM/support/ARMServiceActivity.py
+StandardOutput=file:/home/pi/Projects/PyCharm/ARM/support/ARMServiceActivity.out.log
+StandardError=file:/home/pi/Projects/PyCharm/ARM/support/ARMServiceActivity.err.log
+
+[Install]
+WantedBy=multi-user.target

ARM/services/arm-system-activity.service

@@ -0,0 +1,12 @@
+[Unit]
+Description=Signals system activity via led diode and provides a way of manual shutdown.
+After=multi-user.target
+
+[Service]
+Type=idle
+ExecStart=/usr/bin/python3 /home/pi/Projects/PyCharm/ARM/support/SystemActivity.py
+StandardOutput=file:/home/pi/Projects/PyCharm/ARM/support/SystemActivity.out.log
+StandardError=file:/home/pi/Projects/PyCharm/ARM/support/SystemActivity.err.log
+
+[Install]
+WantedBy=multi-user.target

ARM/services/arm.service

@@ -0,0 +1,12 @@
+[Unit]
+Description=ARM - Bluetooth-controlled robotic arm
+After=bluetooth.target
+
+[Service]
+Type=idle
+ExecStart=/usr/bin/python3 /home/pi/Projects/PyCharm/ARM/Main.py
+StandardOutput=file:/home/pi/Projects/PyCharm/ARM/ARM.out.log
+StandardError=file:/home/pi/Projects/PyCharm/ARM/ARM.err.log
+
+[Install]
+WantedBy=bluetooth.target

ARM/support/ARMServiceActivity.py

@@ -0,0 +1,36 @@
+from threading import Thread
+
+import RPi.GPIO as GPIO
+import subprocess
+
+from Common import blinkLed, isButtonHeld
+
+GPIO.setmode(GPIO.BCM)
+restartServicePin = 26
+GPIO.setup(restartServicePin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+activityLedPin = 16
+GPIO.setup(activityLedPin, GPIO.OUT)
+
+
+def restartService():
+    while True:
+        if isButtonHeld(restartServicePin, bouncetimeMillis=200, holdtimeMillis=2000):
+            callRestartSubprocess()
+
+
+def callRestartSubprocess():
+    for i in range(5):
+        blinkLed(activityLedPin, onTimeMillis=100, offTimeMillis=100)
+    subprocess.call("sudo systemctl restart arm.service", shell=True)
+
+
+restartServiceThread = Thread(target=restartService, daemon=True)
+restartServiceThread.start()
+
+try:
+    while True:
+        serviceStatus = subprocess.call("systemctl is-active --quiet arm.service", shell=True)
+        if serviceStatus == 0:
+            blinkLed(activityLedPin, onTimeMillis=200, offTimeMillis=2800)
+finally:
+    GPIO.cleanup()

ARM/support/Common.py

@@ -0,0 +1,20 @@
+from time import sleep
+
+import RPi.GPIO as GPIO
+
+
+def isButtonHeld(pin, bouncetimeMillis, holdtimeMillis):
+    GPIO.wait_for_edge(pin, GPIO.FALLING)
+    sleep(bouncetimeMillis / 1000)  # Debounce
+    if GPIO.input(pin) == GPIO.LOW:
+        edgeDetected = GPIO.wait_for_edge(pin, GPIO.RISING, timeout=holdtimeMillis - bouncetimeMillis)
+        if edgeDetected is None:
+            return True
+    return False
+
+
+def blinkLed(pin, onTimeMillis, offTimeMillis):
+    GPIO.output(pin, GPIO.HIGH)
+    sleep(onTimeMillis / 1000)
+    GPIO.output(pin, GPIO.LOW)
+    sleep(offTimeMillis / 1000)

ARM/support/SystemActivity.py

@@ -0,0 +1,35 @@
+from threading import Thread
+
+import RPi.GPIO as GPIO
+import subprocess
+
+from Common import blinkLed, isButtonHeld
+
+GPIO.setmode(GPIO.BCM)
+shutdownPin = 21
+GPIO.setup(shutdownPin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
+activityLedPin = 19
+GPIO.setup(activityLedPin, GPIO.OUT)
+
+
+def shutdown():
+    while True:
+        if isButtonHeld(shutdownPin, bouncetimeMillis=200, holdtimeMillis=2000):
+            callShutdownSubprocess()
+
+
+def callShutdownSubprocess():
+    for i in range(5):
+        blinkLed(activityLedPin, onTimeMillis=100, offTimeMillis=100)
+    GPIO.cleanup()
+    subprocess.call("sudo shutdown -h now", shell=True)
+
+
+shutdownThread = Thread(target=shutdown, daemon=True)
+shutdownThread.start()
+
+try:
+    while True:
+        blinkLed(activityLedPin, onTimeMillis=200, offTimeMillis=2800)
+finally:
+    GPIO.cleanup()