highbeam_main.py

#!/usr/bin/env python

import os
import time
import timer
import camera_interface
import car_interface
import unique_file_name
import subprocess


if __name__ == "__main__":

	capture_state_params = [
	(5.0,"off"), #0 - Out 0, In 0 - highbeams off for a while
	(0.0,"on_edge"), #1 - Out 0, In 1 - highbeams just requested to turn on
	(0.0,"off_edge"), #2 - Out 1, In 0 - highbeams just requested to turn off
	(5.0,"on") #3 - Out 1, In 1 - highbeams on for a while
	]
	base_path = "/media/pi/highbeamUSB"


	with \
	camera_interface.CameraInterface() as cam, \
	car_interface.CarInterface() as car:

			highbeam_input = car.getHighbeamInput()
			highbeam_output = highbeam_input
			highbeam_delay_timer = timer.Timer()
			capture_delay_timer = timer.Timer()


			while True:
				if car.getShutdownInput():
					subprocess.call("sudo shutdown -h now", shell=True)
					print("shutdown")

				highbeam_input = car.getHighbeamInput()
				switch_input = car.getSwitchInput()

				#detect changes in the highbeam_input and reset the delay timer
				if highbeam_input == highbeam_output:
					highbeam_delay_timer.reset()

				#[off delay, on delay]
				if highbeam_delay_timer() > [3.0,5.0][highbeam_input]:
					highbeam_output = highbeam_input

				#Outputs
				car.setHighbeamOutput(highbeam_output)

				#there are 4 combinations of highbeam inputs and outputs.
					state = 2*highbeam_output + highbeam_input

				capture_delay_time,rel_path = capture_state_params[state]

				if capture_delay_timer() > capture_delay_time and switch_input:
					capture_delay_timer.reset()

					try:
						if os.path.isdir(base_path):
							path = os.path.join(base_path,rel_path)
							if not os.path.isdir(path):
								os.mkdir(path)
							fileName = unique_file_name.getUniqueFileName(path,"img_%05i.png")
							print(fileName)
							cam.capture(fileName)
					except:
						pass
				time.sleep(0.0333)