Move stuff to show off junk

Still not sure about this orrery thing.

servomatic/build.gradle.kts

@@ -20,6 +20,9 @@ plugins {
 
 dependencies {
     implementation("com.typesafe:config:1.4.1")
+    implementation("crackers.automation:hassk:0.0.1") {
+        exclude(group = "ch.qos.logback")
+    }
 //    implementation("com.diozero:diozero-provider-pigpio:$DIOZERO_VER")
 //    implementation("com.diozero:diozero-provider-remote:$DIOZERO_VER")
 }

servomatic/src/main/kotlin/crackers/kobots/app/OrreryThing.kt

@@ -0,0 +1,60 @@
+/*
+ * Copyright 2022-2023 by E. A. Graham, Jr.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *        http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express
+ * or implied. See the License for the specific language governing
+ * permissions and limitations under the License.
+ */
+
+package crackers.kobots.app
+
+import crackers.kobots.parts.movement.ActionSpeed
+import java.util.concurrent.atomic.AtomicReference
+import kotlin.math.roundToInt
+
+/**
+ * TODO fill this in
+ */
+object OrreryThing {
+    /**
+     * Show the sun's elevation on the orrery: 180 on the rotator is 0 degrees elevation and 0 is 180 degrees elevation
+     */
+    private val elevation = AtomicReference(0f)
+    internal var sunElevation: Float
+        get() = elevation.get()
+        set(value) {
+            // in this case, + or - indicates rising or setting
+            val next = when {
+                value > 0 -> {
+                    90 + (3 * (25 + value))
+                }
+
+                value < 0 -> {
+                    90 - (3 * (25 - value))
+                }
+
+                else -> 0f
+            }
+            elevation.set(next.coerceIn(0f, 180f))
+            servoRequest(orrerySun)
+        }
+
+    val orrerySun by lazy {
+        crackers.kobots.parts.movement.sequence {
+            name = "Orrery Sun"
+            action {
+                SuzerainOfServos.orreryRotor rotate sunElevation.roundToInt()
+                requestedSpeed = ActionSpeed.SLOW
+            }
+        }
+    }
+
+}

servomatic/src/main/kotlin/crackers/kobots/app/ServoThing.kt

@@ -18,17 +18,22 @@ package crackers.kobots.app
 
 import com.diozero.devices.ServoController
 import crackers.kobots.app.AppCommon.REMOTE_PI
+import crackers.kobots.app.AppCommon.hasskClient
 import crackers.kobots.app.AppCommon.mqttClient
+import crackers.kobots.app.AppCommon.whileRunning
 import crackers.kobots.app.SuzerainOfServos.INTERNAL_TOPIC
 import crackers.kobots.mqtt.KobotsMQTT.Companion.KOBOTS_EVENTS
 import crackers.kobots.parts.app.KobotSleep
 import crackers.kobots.parts.app.publishToTopic
 import crackers.kobots.parts.enumValue
 import crackers.kobots.parts.movement.ActionSequence
 import crackers.kobots.parts.movement.SequenceRequest
+import crackers.kobots.parts.scheduleAtFixedRate
 import org.json.JSONObject
 import org.slf4j.LoggerFactory
 import kotlin.system.exitProcess
+import kotlin.time.Duration.Companion.minutes
+import kotlin.time.Duration.Companion.seconds
 
 /**
  * Handles a bunch of different servos for various things. Everything should have an MQTT interface.
@@ -73,23 +78,30 @@ fun main(args: Array<String>?) {
             when (payload.optString("source")) {
                 "TheArm" -> doArmThing(payload)
                 "Proximity" -> doAlertThing(payload)
-                else -> logger.info("Received $payload")
+                else -> logger.debug("Received $payload")
             }
         }
 
         startAliveCheck()
         allowEmergencyStop()
     }
 
-    // TODO the Sparkfun I2c port on the servo hat is not working
-//    PadPrincipal.start()
-    hat.use { hat ->
-//        logger.info("luminosity at start ${proxy.luminosity}")
-        AppCommon.awaitTermination()
-
-        KobotSleep.seconds(1)
+    AppCommon.executor.scheduleAtFixedRate(30.seconds, 5.minutes) {
+        whileRunning {
+            with(hasskClient) {
+                val rising = sensor("sun_solar_rising").state().state.toBoolean()
+                val elevation = sensor("sun_solar_elevation").state().state.toFloat().let {
+                    if (it < 0) 0f else if (rising) it else -it
+                }
+                OrreryThing.sunElevation = elevation
+            }
+        }
     }
-//    PadPrincipal.stop()
+
+    // TODO the Sparkfun I2c port on the servo hat is not working
+    AppCommon.awaitTermination()
+    KobotSleep.seconds(1)
+    hat.close()
     logger.warn("Servomatic exit")
     exitProcess(0)
 }

servomatic/src/main/kotlin/crackers/kobots/app/SuzerainOfServos.kt

@@ -22,10 +22,7 @@ import crackers.kobots.devices.MG90S_TRIM
 import crackers.kobots.parts.app.KobotsAction
 import crackers.kobots.parts.app.KobotsSubscriber
 import crackers.kobots.parts.app.joinTopic
-import crackers.kobots.parts.movement.ActionSpeed
-import crackers.kobots.parts.movement.SequenceExecutor
-import crackers.kobots.parts.movement.ServoRotator
-import crackers.kobots.parts.movement.sequence
+import crackers.kobots.parts.movement.*
 
 /**
  * All the things
@@ -45,10 +42,13 @@ object SuzerainOfServos : SequenceExecutor("Suzie", AppCommon.mqttClient) {
         ServoRotator(wavyServo, 0..90, 0..150)
     }
 
+    val orreryRotor by lazy {
+        SimpleServoRotator(hat.getServo(2, MG90S_TRIM, 180), 0..180)
+    }
+
     init {
         joinTopic(INTERNAL_TOPIC, KobotsSubscriber<KobotsAction> { handleRequest(it) })
     }
-
 }
 
 val swirlyMax by lazy {