Merge pull request #4 from chrisgilldc/bugfix

Minor update for v0.2.1-alpha

CobraBay/bay.py

@@ -12,28 +12,6 @@
 from collections import namedtuple
 from CobraBay.const import *
 
-# Scan the detectors if we're asked for a property that needs a fresh and we haven't scanned recently enough.
-# def scan_if_stale(func):
-#     @wraps(func)
-#     def wrapper(self, *args, **kwargs):
-#         time_delta = time.monotonic() - self._previous_scan_ts
-#         if time_delta > 1:  # 1s is too long, read the sensor.
-#             do_scan = True
-#             self._logger.debug("Stale, do scan.")
-#         else:
-#             do_scan = False
-#             self._logger.debug("Not stale, no scan needed.")
-#
-#         # If flag is set, read the sensor and put its value into the history.
-#         if do_scan:
-#             self._scan_detectors()
-#             self._previous_scan_ts = time.monotonic()
-#
-#         # Send whichever value it is into the function.
-#         return func(self)
-#
-#     return wrapper
-
 def log_changes(func):
     @wraps(func)
     def wrapper(self, *args, **kwargs):
@@ -59,7 +37,6 @@ class CBBay:
     def __init__(self, id,
                  name,
                  depth,
-                 stop_point,
                  motion_timeout,
                  longitudinal,
                  lateral,
@@ -73,8 +50,6 @@ def __init__(self, id,
         :type name: str
         :param depth: Absolute distance of the bay, from the range sensor to the end. Must be a linear Quantity.
         :type depth: Quantity(Distance)
-        :param stop_point: Distance from the sensor where the vehicle should stop
-        :type stop_point: Quantity(Distance)
         :param motion_timeout: During a movement, how long the bay must be still to be considered complete.
         :type motion_timeout: Quantity(Time)
         :param system_detectors: Dictionary of detector objects available on the system.
@@ -100,7 +75,6 @@ def __init__(self, id,
         # Save the remaining parameters.
         self._name = name
         self._depth = depth
-        self._stop_point = stop_point
         self.motion_timeout = motion_timeout
         self._detectors = None
         self._cbcore = cbcore
@@ -121,9 +95,6 @@ def __init__(self, id,
         self._occupancy = None
         self._previous = {}
 
-        # Calculate the adjusted depth.
-        self._adjusted_depth = self._depth - self._stop_point
-
         # Create a unit registry.
         self._ureg = UnitRegistry
 
@@ -316,9 +287,10 @@ def range_pct(self):
         # If it's not a Quantity, just return zero.
         self._logger.debug("Calculating range percentage")
         self._logger.debug("Range value: {} ({})".format(self.range.value,type(self.range.value)))
-        self._logger.debug("Adjusted depth: {} ({})".format(self._adjusted_depth,type(self._adjusted_depth)))
+        adjusted_depth = self._depth - self._detectors[self._selected_range].offset
+        self._logger.debug("Adjusted depth: {}".format(adjusted_depth))
         if isinstance(self.range.value, Quantity):
-            range_pct = self.range.value.to('cm') / self._adjusted_depth.to('cm')
+            range_pct = self.range.value.to('cm') / adjusted_depth.to('cm')
             # Singe this is dimensionless, just take the value and make it a Python scalar.
             range_pct = range_pct.magnitude
             return range_pct

CobraBay/config.py

@@ -174,7 +174,6 @@ class CBConfig:
                     'name': { 'type': 'string' },
                     'motion_timeout': { 'type': 'quantity', 'dimensionality': '[time]', 'coerce': pint.Quantity },
                     'depth': { 'type': 'quantity', 'dimensionality': '[length]', 'coerce': pint.Quantity },
-                    'stop_point': { 'type': 'quantity', 'dimensionality': '[length]', 'coerce': pint.Quantity },
                     'longitudinal': {
                         'type': 'dict',
                         'allow_unknown': True,

CobraBay/detectors.py

@@ -332,36 +332,40 @@ def value_raw(self):
     @property
     @read_if_stale
     def quality(self):
-        self._logger.debug(
-            "Creating quality from latest value: {} ({})".format(self._history[0][0], type(self._history[0][0])))
-        self._logger.debug("90% of bay depth is: {}".format(self.bay_depth * .9))
-        current_value = self._history[0][0]
-        self._logger.debug("Evaluating longitudinal quality for value '{}' ({})".format(current_value, type(current_value)))
-        self._logger.debug("Evaluation targets: Bay Depth - {}, Critical - {}, Warn - {}".
-                           format(self.bay_depth, self._dist_crit, self._dist_warn))
-
-        if isinstance(current_value, Quantity):
+        # Pull the current value for evaluation.
+        current_raw_value = self.value_raw
+        self._logger.debug("Evaluating current raw value '{}' for quality".format(current_raw_value))
+        if isinstance(self.value_raw, Quantity):
+            # Make an adjusted value as well.
+            current_adj_value = current_raw_value - self.offset
             # Actual reading, evaluate.
-            if current_value < Quantity("2 in"):
+            if current_raw_value < Quantity("2 in"):
                 return DETECTOR_QUALITY_EMERG
-            elif (self.bay_depth * 0.90) <= current_value:
+            elif (self.bay_depth * 0.90) <= current_raw_value:
+                # Check the actual distance. If more than 90% of the bay distance is clear, probably nothing there.
                 self._logger.debug(
                     "Reading is more than 90% of bay depth ({})".format(self.bay_depth * .9))
                 return DETECTOR_QUALITY_NOOBJ
             # Now consider the adjusted values.
-            elif current_value < 0 and abs(current_value) > self.spread_park:
+            elif current_adj_value < 0 and abs(current_adj_value) > self.spread_park:
+                # Overshot stop point and too far to be considered an okay park, backup.
                 return DETECTOR_QUALITY_BACKUP
-            elif abs(current_value) < self.spread_park:
+            elif abs(current_adj_value) < self.spread_park:
+                # Just short of stop point, but within allowed range, parked.
                 return DETECTOR_QUALITY_PARK
-            elif current_value <= self._dist_crit:
+            elif current_adj_value <= self._dist_crit:
+                # Within critical range, this is "final"
                 return DETECTOR_QUALITY_FINAL
-            elif current_value <= self._dist_warn:
+            elif current_adj_value <= self._dist_warn:
+                # within warning range, this is "base"
                 return DETECTOR_QUALITY_BASE
             else:
+                # Too far to be in another status, but reading something, so this is the general 'OK' state.
                 return DETECTOR_QUALITY_OK
-        elif current_value == SENSOR_VALUE_WEAK:
+        # Handle non-Quantity values from the reading.
+        elif current_raw_value == SENSOR_VALUE_WEAK:
             return DETECTOR_QUALITY_DOOROPEN
-        elif current_value in (SENSOR_VALUE_FLOOD, SENSOR_VALUE_STRONG):
+        elif current_raw_value in (SENSOR_VALUE_FLOOD, SENSOR_VALUE_STRONG):
             return DETECTOR_NOREADING
         else:
             return GEN_UNKNOWN
@@ -447,6 +451,7 @@ def bay_depth(self):
     @check_ready
     def bay_depth(self, depth):
         self._bay_depth = self._convert_value(depth)
+        self._adjusted_bay_depth = self._bay_depth - self.offset
 
     @property
     def spread_park(self):

CobraBay/version.py

@@ -1 +1 @@
-__version__ = "0.2.0-alpha"
+__version__ = "0.2.1-alpha"

README.md

@@ -37,10 +37,18 @@ Raspberry Pi OS Lite 64-bit. Any other Pi with Raspberry Pi OS should work.
   * Serial port hardware enabled -> YES
   * reboot (should prompt when done)
 
-### CobraBay
+### Install CobraBay
+
+Note: I have not yet made this a PIPable repository. Maybe some day. For now, you need to download the package manually 
+and do a local install.
+* Login as 'pi'
+* Download the [latest release](https://github.com/chrisgilldc/cobrabay/releases/latest) and extract.
+  ```wget https://github.com/chrisgilldc/cobrabay/archive/refs/tags/v0.2.0-alpha.tar.gz```
+* Extract the archive.
+  ```tar -xzf v0.2.0-alpha.tar.gz```
+* PIP install for the Pi user from the archive
+  ```pip install --user ./v0.2.0-alpha.tar.gz```
 
-* Copy 'cobrabay' to _device_/lib/cobrabay
-* Copy 'code.py' to _device_/code.py
 
 ### Hardware
 System has been built and tested with the following hardware:
@@ -200,7 +208,6 @@ future multiple bays may be possible.
 | name | No        | str                    | Bay ID  | Friendly name of the bay, used for Home Assistant discovery. If not defined, defaults to the bay ID. | 
 | motion_timeout | Yes | time quantity          | None    | After this amount of time, consider a dock or undock complete. Prevents premature termination.       |
 | depth | Yes | distance quantity | None    | Total distance from the longitudinal sensor point to the garage door.                                |
-| stop_point | Yes | distance quantity | None | Where the vehicle should stop, as distance from the longitudinal sensor point. |
 | longitudinal | Yes | dict | None | Longitudinal detectors for this bay. |
 | lateral | Yes | dict | None | Lateral detectors for this bay. |
 
@@ -215,17 +222,17 @@ Within each role, settings are prioritized like so:
 
 
 
-| Options     | Required? | Defaultable? | Valid Options     | Default | Lat | Long | Description                                                                                 |
-|-------------|-----------|--------------|-------------------|---------|-----|------|---------------------------------------------------------------------------------------------|
-| offset      | No        | Yes          | distance quantity | 0"      | Yes | Yes  | Where the zero-point for this detector should be.                                           |
-| pct_warn    | No        | Yes          | number            | 70      | No  | Yes  | Switch to 'warn' once this percentage of the bay distance is covered                        |
-| pct_crit    | No        | Yes          | number            | 90      | No  | Yes  | Switch to 'crit' once this percentage of the bay distance is covered                        |
-| spread_park | No        | Yes          | distance quantity | 2"      | No  | Yes  | Maximum deviation from the stop point that can still be considered "OK"                     |
-| spread_ok   | No        | Yes          | distance quantity | 1"      | Yes | No   | Maximum deviation from the offset point that can still be considered "OK"                   |
-| spread_warn | No        | Yes          | distance_quantity | 3"      | Yes | No   | Maximum deviation from the offset point that be considered a "WARN"                         |
-| limit       | No        | Yes          | distance_quantity | 96"     | Yes | No   | Reading limit of the lateral sensor. Any reading beyond this will be treated as "no_object" |
-| side        | Yes       | Yes          | L, R              | None    | Yes | No   | Which side of the bay, looking out the garage door, the detector is mounted on.             |
-| intercept   | Yes       | No           | distance_quantity | None    | Yes | No   | Absolute distance from the longitudinal detector where this detector crosses the bay.       |
+| Options     | Required? | Defaultable? | Valid Options     | Default | Lat | Long | Description                                                                                                                     |
+|-------------|-----------|--------------|-------------------|---------|-----|------|---------------------------------------------------------------------------------------------------------------------------------|
+| offset      | No        | Yes          | distance quantity | 0"      | Yes | Yes  | Where the zero-point for this detector should be. On Longitudinal sensors, the offset indicates where the vehicle should stop.  |
+| pct_warn    | No        | Yes          | number            | 70      | No  | Yes  | Switch to 'warn' once this percentage of the bay distance is covered                                                            |
+| pct_crit    | No        | Yes          | number            | 90      | No  | Yes  | Switch to 'crit' once this percentage of the bay distance is covered                                                            |
+| spread_park | No        | Yes          | distance quantity | 2"      | No  | Yes  | Maximum deviation from the stop point that can still be considered "OK"                                                         |
+| spread_ok   | No        | Yes          | distance quantity | 1"      | Yes | No   | Maximum deviation from the offset point that can still be considered "OK"                                                       |
+| spread_warn | No        | Yes          | distance_quantity | 3"      | Yes | No   | Maximum deviation from the offset point that be considered a "WARN"                                                             |
+| limit       | No        | Yes          | distance_quantity | 96"     | Yes | No   | Reading limit of the lateral sensor. Any reading beyond this will be treated as "no_object"                                     |
+| side        | Yes       | Yes          | L, R              | None    | Yes | No   | Which side of the bay, looking out the garage door, the detector is mounted on.                                                 |
+| intercept   | Yes       | No           | distance_quantity | None    | Yes | No   | Absolute distance from the longitudinal detector where this detector crosses the bay.                                           |
 
 
 

requirements.txt

@@ -13,4 +13,5 @@ gpiozero~=1.6.2
 rpi_bad_power
 pyserial~=3.5
 pid~=3.0.4
-PyYAML>=6.0
+PyYAML>=6.0
+cerberus>=1.3.4