Estop and bumper use active

rosys/hardware/bumper.py

@@ -31,20 +31,24 @@ def __init__(self, robot_brain: RobotBrain, *,
                  expander: ExpanderHardware | None = None,
                  name: str = 'bumper',
                  pins: dict[str, int],
-                 estop: EStop | None = None) -> None:
+                 estop: EStop | None = None,
+                 inverted: bool = False) -> None:
         self.name = name
         self.pins = pins
+        self.inverted = inverted
         lizard_code = ''
         for pin, number in pins.items():
             lizard_code += f'{name}_{pin} = {expander.name + "." if expander else ""}Input({number})\n'
-        core_message_fields = [f'{name}_{pin}.level' for pin in pins]
+            if inverted:
+                lizard_code += f'{name}_{pin}.inverted = true\n'
+        core_message_fields = [f'{name}_{pin}.active' for pin in pins]
         super().__init__(robot_brain=robot_brain,
                          lizard_code=lizard_code,
                          core_message_fields=core_message_fields,
                          estop=estop)
 
     def handle_core_output(self, time: float, words: list[str]) -> None:
-        active_bumpers = [pin for pin in self.pins if int(words.pop(0)) == 1]
+        active_bumpers = [pin for pin in self.pins if words.pop(0) == 'true']
         if self.estop and self.estop.active:
             return
         for pin in active_bumpers:

rosys/hardware/estop.py

@@ -38,19 +38,22 @@ class EStopHardware(EStop, ModuleHardware):
     The module expects a dictionary of pin names and pin numbers.
     """
 
-    def __init__(self, robot_brain: RobotBrain, *, name: str = 'estop', pins: dict[str, int]) -> None:
+    def __init__(self, robot_brain: RobotBrain, *, name: str = 'estop', pins: dict[str, int], inverted: bool = True) -> None:
         self.name = name
         self.pins = pins
+        self.inverted = inverted
         lizard_code = '\n'.join(f'{name}_{pin} = Input({number})' for pin, number in pins.items())
-        core_message_fields = [f'{name}_{pin}.level' for pin in pins]
+        if inverted:
+            lizard_code += '\n' + '\n'.join(f'{name}_{pin}.inverted = true' for pin in pins)
+        core_message_fields = [f'{name}_{pin}.active' for pin in pins]
         super().__init__(robot_brain=robot_brain, lizard_code=lizard_code, core_message_fields=core_message_fields)
 
     async def set_soft_estop(self, active: bool) -> None:
         await super().set_soft_estop(active)
         await self.robot_brain.send(f'en3.level({"false" if active else "true"})')
 
     def handle_core_output(self, time: float, words: list[str]) -> None:
-        corelist = [int(words.pop(0)) == 0 for _ in self.pins]
+        corelist = [words.pop(0) == 'true' for _ in self.pins]
         active = any(corelist)
         pressed = [index for index, value in enumerate(corelist) if value]
         if pressed != self.pressed_estops: