def __init__(self):
     """ Set up hardware """
     super().__init__()
     wiringpi.wiringPiSetup()
     # Set up each pin for digital output
     for i in self.lightPinMap:
         wiringpi.pinMode(i, 1)

def init_PWM(_redPin = 23, _greenPin = 24, _bluePin = 25, _flashPin= 22, initDutyCycle = [100]*3, flashRate = 0): 
   global colorPins, colors, flashActive, flashPin 
 
   colorPins = [_redPin, _greenPin, _bluePin] #list for pins used in raspberry pi

   wiringpi2.wiringPiSetup() # Initialize using wiringPi pin numbering scheme   

   for dc in initDutyCycle: #Check for valid initial duty cycle
      if dc < 0 or dc > 255: return -1

   #Create intial PWM signals for input to LED strip
   for i in range(3):
      wiringpi2.softPwmCreate(colorPins[i], int(initDutyCycle[i]*100.0/255.0), 100)

   #Current RGB values of LED strip
   colors = list(initDutyCycle)

   #Create square wave for flashing beat
   flashPin = _flashPin
   wiringpi2.softToneCreate(flashPin)
   if flashRate != 0:
      wiringpi2.softToneWrite(flashPin, flashRate)
      flashActive = True
   else:
      wiringpi2.softToneStop(flashPin)
      flashActive = False

   #Use Colors.txt file to create list of preset color options
   readColorsFile()

   return 0

    def leds_on(self, name, priority):
        """ turns on the LEDs for a service based on priority"""

        # set wiring pi to use pins
        wiringpi.wiringPiSetup()

        # temporary list of pins from service
        servicePins = []
        for group in self.pinGroups:
            if group[0] == str(name):
                servicePins = group[1:4]
        
        # enable the pins for writing
        wiringpi.pinMode(servicePins[0], 1)
        wiringpi.digitalWrite(servicePins[0], 0)
        wiringpi.pinMode(servicePins[1], 1)
        wiringpi.digitalWrite(servicePins[1], 0)
        wiringpi.pinMode(servicePins[2], 1)
        wiringpi.digitalWrite(servicePins[2], 0)

        # enable LEDs based on priority
        if (int(priority) == 1) or (int(priority) == 2):
            wiringpi.digitalWrite(servicePins[0], 1)

        # index 1, yellow is enabled for priority levels 2, 3, and 4
        if (int(priority) == 2) or (int(priority) == 3) or (int(priority) == 4):
            wiringpi.digitalWrite(servicePins[1], 1)

        # index 2, red is enabled for priority levels 4 and 5
        if (int(priority) == 4) or (int(priority) == 5):
            wiringpi.digitalWrite(servicePins[2], 1)

	def initialize_hardware(self):
		wiringpi.wiringPiSetup()
		wiringpi.pinMode(GPIOPin.PIN_STATUS_LED.value, PinMode.OUTPUT.value)
		wiringpi.pinMode(GPIOPin.PIN_SOUND.value, PinMode.OUTPUT.value)
		wiringpi.pinMode(GPIOPin.PIN_RGB_RED.value, PinMode.OUTPUT.value)
		wiringpi.pinMode(GPIOPin.PIN_RGB_GREEN.value, PinMode.OUTPUT.value)
		wiringpi.pinMode(GPIOPin.PIN_RGB_BLUE.value, PinMode.OUTPUT.value)

 def init(self, pins):
   wiringpi2.wiringPiSetup()
   self._pins = set(pins)
   Log('Setting pins %s to output mode...' % list(self._pins))
   for i in self._pins:
     wiringpi2.pinMode(i, PINMODE_OUTPUT)
   Log("Done.")

 def init(self, PWMmode):
     self.PWMmode = PWMmode
     wiringpi2.wiringPiSetup()
     if self.PWMmode == True:
       wiringpi2.pinMode(1, 2)
     else:
       wiringpi2.pinMode(1,1)

def test():
    pin = 0
    gpio.wiringPiSetup()  #初始化
    gpio.wiringPiSetupSys()  #初始化
    gpio.pinMode(pin, GPIO.OUTPUT) # 把pin25设置为输出模式
    gpio.digitalWrite(pin, GPIO.HIGH) #pin25输出为高电平
    print(gpio.digitalRead(pin)) #打印pin25的状态

    def __init__ (self):

        # tuple of lists containing groups of pins and their associated service
        self.pinGroups = ["unused", 8, 9, 7],\
                         ["unused", 0, 2, 3],\
                         ["unused", 12, 13, 14],\
                         ["unused", 15, 16, 1],\
                         ["unused", 6, 10, 11]

        # initialize all pins to 0V
        wiringpi.wiringPiSetup()
        wiringpi.digitalWrite(8, 0)
        wiringpi.digitalWrite(9, 0)
        wiringpi.digitalWrite(7, 0)
        wiringpi.digitalWrite(0, 0)
        wiringpi.digitalWrite(2, 0)
        wiringpi.digitalWrite(3, 0)
        wiringpi.digitalWrite(12, 0)
        wiringpi.digitalWrite(13, 0)
        wiringpi.digitalWrite(14, 0)
        wiringpi.digitalWrite(15, 0)
        wiringpi.digitalWrite(16, 0)
        wiringpi.digitalWrite(1, 0)
        wiringpi.digitalWrite(6, 0)
        wiringpi.digitalWrite(10, 0)
        wiringpi.digitalWrite(11, 0)

def Init():
	wiringpi2.pinMode(data_pin, 0)
	wiringpi2.pinMode(clock_pin, 0)
	wiringpi2.wiringPiSetup()
	
	SendData(cmdlist["led_cmd"])
	wiringpi2.delay(50)

def initialize():
    """Set pins as outputs and start all lights in the off state."""
    wiringpi.wiringPiSetup()
    enable_device()
    set_pins_as_outputs()

    turn_off_lights()

def init_control_plane():
    logger.info("Initializing control plane")
    chip1_i2c_addr = 0x20  # Controlled by A0, A1, A2 pins GND or +5V
#    chip2_i2c_addr = 0x22  # Controlled by A0, A1, A2 pins GND or +5V
#    chip3_i2c_addr = 0x23  # Controlled by A0, A1, A2 pins GND or +5V
#    chip4_i2c_addr = 0x24  # Controlled by A0, A1, A2 pins GND or +5V

    wiringpi.wiringPiSetup()  # initialise wiringpi

    wiringpi.mcp23017Setup(pin_base, chip1_i2c_addr)  # pins 65-80
#    wiringpi.mcp23017Setup(pin_base + 16, chip2_i2c_addr)  # pins 81-96
#    wiringpi.mcp23017Setup(pin_base + 32, chip3_i2c_addr)  # pins 97-112
#    wiringpi.mcp23017Setup(pin_base + 48, chip4_i2c_addr)  # pins 113-128

    for pin in range(pin_base, pin_max):
        set_pin(pin, OFF)
        wiringpi.pinMode(pin, PIN_MODE_ACTIVE)  # set to output mode

    sleep(1)

    for pin in range(pin_base, pin_max):
        mode = wiringpi.getAlt(pin)
        if mode != PIN_MODE_ACTIVE:
            logger.error("Initialized pin {0} to mode {1} but found it in mode {2}".format(pin, PIN_MODE_ACTIVE, mode))

    # and then apply our CHANGES
    apply_model(False)
    logger.info("Control plane initialized successfully")

    def __init__(self):
        wp.wiringPiSetup()

        #left 23017, for audio
        wp.mcp23017Setup( PB1,0x20)
        for pin in OUTPUT_PINS_1:
            wp.pinMode(pin,OUTPUT)
        for pin in INPUT_PINS_1:
            wp.pinMode(pin, INPUT)

        #right 23017 for 230v switching
        wp.mcp23017Setup( PB2,0x21)
        for pin in OUTPUT_PINS_2:
            wp.pinMode(pin,OUTPUT)
        for pin in INPUT_PINS_2:
            wp.pullUpDnControl(pin,PUD_UP)
            wp.pinMode(pin, INPUT)


        #display
        wp.digitalWrite(70,0)  # write mode
        self.display1 = wp.lcdInit(2,16,8, 71,69,72,73,74,75,76,77,78,79) #connected to first expander
        wp.lcdClear(self.display1)


        #pwm driver
        self.pwm = PWM()
        self.pwm.setPWMFreq(200)

def fancontrol(input):
    import wiringpi2 as wiringpi
    OUTPUT = 1
    INPUT = 0
    wiringpi.wiringPiSetup()
    wiringpi.pinMode(8,OUTPUT)
    wiringpi.digitalWrite(8,input)

 def __init__(self):
     self.output_pins1 = [65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80]
     self.output_pins2 = [81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96]
     self.output_pins3 = [97,98,99,100,101,102,103,104,105,106,107,108,109,110,111,112]
     self.output_pins4 = [113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128]
     
     self.input_pins1 = [129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144]
     self.input_pins2 = [145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160]  
     
     self.led_pins1 = [161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176]  
     self.led_pins2 = [177,178,179,180,181,182,183,184,185,186,187,188,189,190,191,192] 
     
     self.ulazi = []
     for i in range(32):
         self.ulazi.append(0);
     
     self.indikatori = []
     for i in range(32):
         self.indikatori.append(0);
             
     self.svi = []
     self.svi =self.svi+ self.output_pins1 
     self.svi =self.svi+ self.output_pins2 
     self.svi =self.svi+ self.output_pins3 
     self.svi =self.svi+ self.output_pins4 
     self.svi =self.svi+ self.led_pins1        
     self.svi =self.svi+ self.led_pins2 
     
     self.svi_motori = []
     self.svi_motori = self.svi_motori + self.output_pins1 
     self.svi_motori = self.svi_motori + self.output_pins2 
     self.svi_motori = self.svi_motori + self.output_pins3 
     self.svi_motori = self.svi_motori + self.output_pins4 
     
     self.svi_ulazi = []
     self.svi_ulazi=self.svi_ulazi + self.input_pins1 
     self.svi_ulazi =self.svi_ulazi + self.input_pins2
     
     self.svi_indikatori = []
     self.svi_indikatori = self.svi_indikatori + self.led_pins1
     self.svi_indikatori = self.svi_indikatori + self.led_pins2
     
     wiringpi.wiringPiSetup()
     wiringpi.mcp23s17Setup(65,0,0) # first pin,spi port,i2c address
     wiringpi.mcp23s17Setup(81,0,1)
     wiringpi.mcp23s17Setup(97,0,2)
     wiringpi.mcp23s17Setup(113,0,3)
     #ulazi
     wiringpi.mcp23s17Setup(129,1,0)
     wiringpi.mcp23s17Setup(145,1,1)
     #indikatori
     wiringpi.mcp23s17Setup(161,1,2) # za led na drugoj liniji
     wiringpi.mcp23s17Setup(177,1,3) # za led na drugoj liniji
     
     for i in self.svi_motori:
         wiringpi.pinMode(int(i),1)     # sets pin of mcp23s17-0 to output
     for i in self.svi_ulazi:
         wiringpi.pinMode(int(i),0)    
     for i in self.svi_indikatori:
         wiringpi.pinMode(int(i),0) 

 def __init__(self, ce_channel, speed):
     self.ce_channel = ce_channel
     os.system('gpio load spi')
     wiringpi.wiringPiSetup()
     error = wiringpi.wiringPiSPISetup(ce_channel,speed)
     if (error == -1):
         raise SetupException('Error while SPI setup')
     print('InterfaceSPI initalized (CE_%d, speed:%.1fMHz)' % (ce_channel, speed * 0.000001))

def setupBoard():
  """
  This sets up the library to use the "Wiring" pin numbering
  and sets the a flag that setup has happened
  """
  if not setupOK():
    wpi.wiringPiSetup()
    setSetup(True)

 def initQTI(self,wiring=True):
     #pin = pinNum
     if wiring == True:
         wp.wiringPiSetup()
         wp.wiringPiSetupGpio()
         wp.wiringPiSetupPhys()
     else:
         GPIO.setmode(GPIO.BOARD)

def init_pump_control():
    #os.system("gpio mode 7 out")
    wpi.wiringPiSetup()
    wpi.pinMode(_PIN, _OUTPUT)
    rospy.set_param("pump_state", False)
    rospy.init_node("pump_control")
    s = rospy.Service("pump_control", PumpControl, pump_control_callback)
    rospy.spin()

 def __init__(self):
         self.amyPin = 4  
         self.benPin = 5
         
         wiringpi2.wiringPiSetup()
         
         wiringpi2.pinMode(self.amyPin,1)
         wiringpi2.pinMode(self.benPin,1)

 def __init__(self,):
     threading.Thread.__init__(self)
     #self.adc = adc
     self.waterflow = 0.0
     self.quit = False
     wp.wiringPiSetup()
     for i in range(0, 7):
         wp.pinMode(i, 0)