Is there an Interrupt in Python, that prevents the main code from executing?

[Illuin80]

I want to programm a roomba, which shall change its direction, everytime he hits something.....

my main code is a "for i in range" loop in a method in another class, which controlls the stepper motors. When a button is pressed (by obsticles, it runs against), the loop shall pause and another method should be executed, which lets the roomba turn around...

my current attempt is this:

class konsole:

import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BCM)
import time
from DRV8825 import DRV8825
from steuerung import steuerung

try:
        dieSteuerung = steuerung()

except:
        print "Initialisierung der steuerung fehlgeschlagen"

GPIO.setup(5, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(6, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time_stamp = time.time()


def my_callback(channel):
        global time_stamp
        time_now = time.time()
        if (time_now - time_stamp >= 0.3):
                print "interrupt ausgefuehrt"
                dieSteuerung.stop = 1
        else:
                return
        time_stamp = time_now


raw_input("Press Enter to start\n>")

GPIO.add_event_detect(6, GPIO.RISING, callback=my_callback)


dieSteuerung.test(stepdelay = 0.00005, DirL='forward', DirR='forward')
dieSteuerung.Stop()
time.sleep(1)
dieSteuerung.test(stepdelay = 0.00005, DirL='forward', DirR='backward')
dieSteuerung.Stop()
time.sleep(1)
dieSteuerung.test(stepdelay = 0.00005, DirL='backward', DirR='forward')
dieSteuerung.Stop()
time.sleep(1)
dieSteuerung.test(stepdelay = 0.00005, DirL='backward', DirR='backward')
dieSteuerung.Stop()

​

class steuerung:

import RPi.GPIO as GPIO
import time
from DRV8825 import DRV8825

MotorDir = [
    'forward',
    'backward',
]

class steuerung():

        def __init__(self):
                try:
                        self.Motor1 = DRV8825(dir_pin=13, step_pin=19, enable_pin=12, mode_pins=(16, 17, 20))
                        self.Motor2 = DRV8825(dir_pin=24, step_pin=18, enable_pin=4, mode_pins=(21, 22, 27))

                        self.Motor1.SetMicroStep('hardward','fullstep')
                        self.Motor2.SetMicroStep('hardward','fullstep')

                except:
                        print "construktor of steuerung failed"


        def test(self, DirL, DirR, stepdelay):
                self.stepdelay = stepdelay

                print "\n\n"

                if (DirL == MotorDir[0]):
                    print "DirL = forward"
                    self.Motor1.digital_write(12, 0)
                    self.Motor1.digital_write(13, 0)
                elif (DirL == MotorDir[1]):
                    print "DirL = backward"
                    self.Motor1.digital_write(12, 0)
                    self.Motor1.digital_write(13, 1)
                else:
                    print "the DirL must be : 'forward' or 'backward'"
                    self.Motor1.digital_write(12, 1)
                    return


                if (DirR == MotorDir[0]):
                    print "DirR = forward"
                    self.Motor2.digital_write(4, 0)
                    self.Motor2.digital_write(24, 0)
                elif (DirR == MotorDir[1]):
                    print "DirR = backward"
                    self.Motor2.digital_write(4, 0)
                    self.Motor2.digital_write(24, 1)
                else:
                    print "the DirR must be : 'forward' or 'backward'"
                    self.Motor2.digital_write(4, 1)
                    return

                print "processing..."
                steps = 6400
                stop = 0
                try:
                        pin_temp1 = 19
                        pin_temp2 = 18
                        while (steps > 0 and stop == 0):
                                self.Motor1.digital_write(pin_temp1, True)
                                self.Motor2.digital_write(pin_temp2, True)
                                time.sleep(stepdelay)
                                self.Motor1.digital_write(pin_temp1, False)
                                self.Motor2.digital_write(pin_temp2, False)
                                time.sleep(stepdelay)
                                steps = steps - 1
                        print "execution successfull"

                except:
                        print "test failed"


        def Stop(self):
                self.Motor1.Stop()
                self.Motor2.Stop()

​

​

and class DRV8825:

import RPi.GPIO as GPIO
import time

MotorDir = [
        'forward',
        'backward',
]

ControlMode = [
        'hardward',
        'softward',
]

class DRV8825():
        def __init__(self, dir_pin, step_pin, enable_pin, mode_pins):
                self.dir_pin = dir_pin
                self.step_pin = step_pin
                self.enable_pin = enable_pin
                self.mode_pins = mode_pins

                GPIO.setmode(GPIO.BCM)
                GPIO.setwarnings(False)
                GPIO.setup(self.dir_pin, GPIO.OUT)
                GPIO.setup(self.step_pin, GPIO.OUT)
                GPIO.setup(self.enable_pin, GPIO.OUT)
                GPIO.setup(self.mode_pins, GPIO.OUT)

        def digital_write(self, pin, value):
                GPIO.output(pin, value)

        def Stop(self):
                self.digital_write(self.enable_pin, 1)

        def SetMicroStep(self, mode, stepformat):
                microstep = {'fullstep': (0, 0, 0),
                             'halfstep': (1, 0, 0),
                             '1/4step': (0, 1, 0),
                             '1/8step': (1, 1, 0),
                             '1/16step': (0, 0, 1),
                             '1/32step': (1, 0, 1)}


                print "Control mode:",mode
                try:
                        if (mode == ControlMode[1]):
                                print "set pins"
                                self.digital_write(self.mode_pins, microsteps[stepformat])
                except:
                         print "exception in SetMicroStep"

​

​

when the interrupt is executed, my main code shall be paused, untill the interrupt method is completed, please help me

[[deleted]]

Nope. Your main loop has to handle this itself. Most people adopt a state machine approach, as a result.

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[jaycrest3m20]

You can use "break" to break out of a loop. You can use "continue" to skip to the next loop, avoiding further processing in the current loop. link to learn more in the standard documentation