# robot.drivers.pixels 源代码

    from . import apa102
    import time
    import threading
    try:
        import queue as Queue
    except ImportError:
        import Queue as Queue

    class Pixels:
        PIXELS_N = 3

        def __init__(self):
            self.basis = [0] * 3 * self.PIXELS_N
            self.basis[0] = 1
            self.basis[4] = 1
            self.basis[8] = 2

            self.colors = [0] * 3 * self.PIXELS_N
            self.dev = apa102.APA102(num_led=self.PIXELS_N)

            self.next = threading.Event()
            self.queue = Queue.Queue()
            self.thread = threading.Thread(target=self._run)
            self.thread.daemon = True
            self.thread.start()

        def wakeup(self, direction=0):
            def f():
                self._wakeup(direction)

            self.next.set()
            self.queue.put(f)

        def listen(self):
            self.next.set()
            self.queue.put(self._listen)

        def think(self):
            self.next.set()
            self.queue.put(self._think)

        def speak(self):
            self.next.set()
            self.queue.put(self._speak)

        def off(self):
            self.next.set()
            self.queue.put(self._off)

        def _run(self):
            while True:
                func = self.queue.get()
                func()

        def _wakeup(self, direction=0):
            for i in range(1, 25):
                colors = [i * v for v in self.basis]
                self.write(colors)
                time.sleep(0.01)

            self.colors = colors

        def _listen(self):
            for i in range(1, 25):
                colors = [i * v for v in self.basis]
                self.write(colors)
                time.sleep(0.01)

            self.colors = colors

        def _think(self):
            colors = self.colors

            self.next.clear()
            while not self.next.is_set():
                colors = colors[3:] + colors[:3]
                self.write(colors)
                time.sleep(0.2)

            t = 0.1
            for i in range(0, 5):
                colors = colors[3:] + colors[:3]
                self.write([(v * (4 - i) / 4) for v in colors])
                time.sleep(t)
                t /= 2

            # time.sleep(0.5)

            self.colors = colors

        def _speak(self):
            colors = self.colors

            self.next.clear()
            while not self.next.is_set():
                for i in range(5, 25):
                    colors = [(v * i / 24) for v in colors]
                    self.write(colors)
                    time.sleep(0.01)

                time.sleep(0.3)

                for i in range(24, 4, -1):
                    colors = [(v * i / 24) for v in colors]
                    self.write(colors)
                    time.sleep(0.01)

                time.sleep(0.3)

            self._off()

        def _off(self):
            self.write([0] * 3 * self.PIXELS_N)

        def write(self, colors):
            for i in range(self.PIXELS_N):
                self.dev.set_pixel(i, int(colors[3*i]), int(colors[3*i + 1]), int(colors[3*i + 2]))

            self.dev.show()

    pixels = Pixels()

    if __name__ == '__main__':
        while True:

            try:
                pixels.wakeup()
                time.sleep(3)
                pixels.think()
                time.sleep(3)
                pixels.speak()
                time.sleep(3)
                pixels.off()
                time.sleep(3)
            except KeyboardInterrupt:
                break

        pixels.off()
        time.sleep(1)