update

takway/board/sipeed.py

@@ -0,0 +1,58 @@
+import sys
+import warnings
+import threading
+import time
+from collections import deque
+
+from takway.board.base_hd import BaseHardware
+
+if "gpiod" in sys.modules:
+    # sipeed MaixSense V329
+    import gpiod as gpio
+else:
+    # 如果所有库都不存在，执行默认操作或抛出异常
+    # raise ImportError("gpiod package is not available.")
+    pass
+
+class V329(BaseHardware):
+    def __init__(self, hd_trigger='button', hd_detect_threshold=50):
+        super().__init__(hd_trigger, hd_detect_threshold)
+        self.button = self.button_init()
+        
+        self.init_hd_thread()
+    
+    def button_init(self):
+        PH_BASE = (8-1)*32 #PH
+
+        gpiochip1 = gpio.chip("gpiochip1")
+        button = gpiochip1.get_line((PH_BASE+5))
+        config = gpio.line_request()
+        config.request_type = gpio.line_request.DIRECTION_INPUT
+        config.flags = gpio.line_request.FLAG_BIAS_PULL_UP
+        button.request(config)
+        return button
+
+    @property
+    def button_status(self):
+        return True if self.button.get_value() == 1 else False
+        
+    def hd_detection_loop(self):
+        self.shared_hd_status = False
+        button_value_list = deque(maxlen=self.hd_detect_threshold)
+        
+        while True:
+            if len(button_value_list) > button_value_list.maxlen:
+                button_value_list.popleft()
+            button_value_list.append(self.button_status)
+            # 记录50个值，如果连续50个值都是True，则认为按钮被按下
+            if button_value_list.count(True) == button_value_list.maxlen:
+                with self.hd_lock:
+                    self.shared_hd_status = True
+            # 记录50个值，如果连续50个值都是False，则认为按钮被松开
+            if button_value_list.count(False) == button_value_list.maxlen:
+                with self.hd_lock:
+                    self.shared_hd_status = False
+    
+    
+
+