def get_device_channel(serial_number, channel):
try:
"""
* Allocate a new Phidget Channel object
"""
ch = VoltageOutput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
ch.setDeviceSerialNumber(serial_number)
ch.setIsHubPortDevice(False)
ch.setChannel(channel)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
# ch.setVoltage(voltage)
'''
* Perform clean up and exit
'''
return ch
except:
pass
class SocketClient(object):
DefaultParam = {
'experiment': 1,
'stim_speed': 20,
'turn_type': 'clockwise',
'bar_offset': 0,
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.stim_speed = self.param['stim_speed']
self.turn_type = self.param['turn_type']
self.bar_offset = self.param[
'bar_offset'] # bar relative to wind [deg]
self.experiment_time = self.param['experiment_time']
self.time_start = time.time(
) # get the current time and use it as a ref for elapsed time
self.stim_dir = 0
self.offset_adjust = 15 # use this offset to make bars perfectly aligned to wind, hard coded (deg)
self.fly_heading = 0 # for calculating heading of the fly (rad)
self.first_time_in_loop = True
self.print = True # for printing the current values on the console
# specify the time epochs in the experiment
self.time_baseline = 10 # [s] baseline period
self.epoch_dur = 200 # [s] duration of an individual epoch
self.epoch_num = 6 # total number of epochs
# set voltage range for Phidget
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# set up two Phidgets
self.phidget_vision = 525577 # for writing Fictrac x, y, and panels (yaw_gain)
self.phidget_wind = 589946 # for sending the position of the motor to NI-DAQ, actual animal yaw
# Set up Phidget channels in device 1 for vision (0-index)
self.aout_channel_ydimension = 0
self.aout_channel_x = 1
self.aout_channel_y = 3
self.aout_channel_yaw_gain = 2
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(0.0)
# Setup analog output YAW (use this channel to turn panels on and off)
self.aout_ydim = VoltageOutput()
self.aout_ydim.setDeviceSerialNumber(self.phidget_vision)
self.aout_ydim.setChannel(self.aout_channel_ydimension)
self.aout_ydim.openWaitForAttachment(5000)
self.aout_ydim.setVoltage(0.0)
# Setup analog output YAW gain (use this channel to control panel bar position)
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Set up Phidget channels in device 2 for wind (0-index)
self.aout_channel_motor = 0
self.aout_channel_yaw = 1 # for recording the actual yaw of the fly
self.aout_channel_wind_valve = 2
# Setup analog output motor
self.aout_motor = VoltageOutput()
self.aout_motor.setDeviceSerialNumber(self.phidget_wind)
self.aout_motor.setChannel(self.aout_channel_motor)
self.aout_motor.openWaitForAttachment(5000)
self.aout_motor.setVoltage(0.0)
# Setup analog output for yaw
self.aout_yaw = VoltageOutput()
self.aout_yaw.setDeviceSerialNumber(self.phidget_wind)
self.aout_yaw.setChannel(self.aout_channel_yaw)
self.aout_yaw.openWaitForAttachment(5000)
self.aout_yaw.setVoltage(0.0)
# Setup analog output wind valve
self.aout_wind_valve = VoltageOutput()
self.aout_wind_valve.setDeviceSerialNumber(self.phidget_wind)
self.aout_wind_valve.setChannel(self.aout_channel_wind_valve)
self.aout_wind_valve.openWaitForAttachment(5000)
self.aout_wind_valve.setVoltage(0.0)
# Set up socket info for connecting with the FicTrac
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
# Set up Arduino connection
self.COM = 'COM4' # serial port
self.baudrate = 115200 # 9600
self.serialTimeout = 0.001 # blocking timeout for readline()
# flag for indicating when the trial is done
self.done = False
#set up logger to save hd5f file
self.logger_fictrac = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#set up logger to save hd5f file
self.logger_arduino = H5Logger(
filename=(self.param['logfile_name']).replace(
'.hdf5', '_arduino.hdf5'),
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
def run(self, gain_x=1):
# connect to socket via UDP, not TCP!
# connect to Arduino via serial
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock,\
serial.Serial(self.COM, self.baudrate, timeout=self.serialTimeout) as ser:
sock.bind((self.HOST,
self.PORT)) # takes one argument, give it as a tuple
sock.setblocking(False) # make it non-blocking
# Keep receiving data from socket until FicTrac closes
data = ""
timeout_in_seconds = 1
self.time_end = time.time() #initialize turn time
while not self.done: # main loop
motor_pos = np.nan
self.motor_pos_rad = np.nan # default value before receiving the data
# listening to Arduino
msg = ser.readline() # read from serial until there's a \n
self.time_arduino = time.time() - self.time_start # (s)
if msg: # received a non-empty message
try:
arduino_line = msg.decode(
'utf-8')[:-2] # decode and remove \r and \n
motor_pos = int(
arduino_line) # current motor position (0-360 deg)
self.motor_pos_rad = np.deg2rad(motor_pos)
# Set analog output voltage of Phidget for recording the current motor position
output_voltage_motor = self.motor_pos_rad * (
self.aout_max_volt - self.aout_min_volt) / (2 *
np.pi)
self.aout_motor.setVoltage(output_voltage_motor)
# write to HDF5 file
self.write_logfile_arduino()
except:
print("message from Arduino is not a number:", msg)
# ask the OS whether the socket is readable
# give 3 lists of sockets for reading, writing, and checking for errors; we only care about the first one
# https://docs.python.org/3/howto/sockets.html#socket-programming-howto
ready = select.select(
[sock], [], [], timeout_in_seconds
) # returns the subset of sockets that are actually readable
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(
1024
) # buffer size, should be a relatively small power of 2
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
self.time_elapsed = time.time() - self.time_start # (s)
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1]) # frame counter
self.posx = float(toks[15]) # integrated x position (rad)
self.posy = float(toks[16]) # integrated y position (rad)
#self.heading = float(toks[17]) # integrated heading direction of the animal in lab coords (rad)
self.intx = float(
toks[20]
) # integrated x position (rad) of the sphere in lab coord neglecting heading
self.inty = float(
toks[21]
) # integrated y position (rad) of the sphere in lab coord neglecting heading
self.timestamp = float(
toks[22]) # frame capture time (ms) since epoch
self.time_step = time.time(
) - self.time_end # difference between now and the previous time step [s]
if self.turn_type == 'clockwise':
self.stim_dir = (
self.stim_dir +
(self.time_step * self.stim_speed)) % 360
elif self.turn_type == 'counterclockwise':
self.stim_dir = (
self.stim_dir -
(self.time_step * self.stim_speed)) % 360
self.time_end = time.time() # save the current time step
# prepare the outputs based on the epoch
if self.time_elapsed < self.time_baseline:
self.epoch_counter = 0
else:
self.epoch_counter = int((
(self.time_elapsed - self.time_baseline) //
self.epoch_dur) + 1)
if self.epoch_counter == 0: # baseline
wind_voltage = 0.0 # wind off
self.current_wind_dir = 0 # wind tube stationary at 0 deg
y_dim_voltage = 5.0 # bar off
self.current_bar_pos = 0
elif self.epoch_counter == 1: # bar only
wind_voltage = 0.0 # wind off
self.current_wind_dir = 0 # wind tube stationary at 0 deg
y_dim_voltage = 9.0 # bar on
self.current_bar_pos = self.stim_dir
elif self.epoch_counter == 2: # wind only
wind_voltage = 5.0 # wind on
self.current_wind_dir = self.stim_dir
y_dim_voltage = 5.0 # bar off
self.current_bar_pos = 0 # bar is off anyways
elif self.epoch_counter == 3: # both rotating in sync
wind_voltage = 5.0 # wind on
self.current_wind_dir = self.stim_dir
y_dim_voltage = 9.0 # bar on
self.current_bar_pos = self.stim_dir
elif self.epoch_counter == 4:
wind_voltage = 5.0 # wind on
self.current_wind_dir = 0 # wind tube stationary at 0 deg
y_dim_voltage = 9.0 # bar on
self.current_bar_pos = self.stim_dir
elif self.epoch_counter == 5: # both rotating in sync
wind_voltage = 5.0 # wind on
self.current_wind_dir = self.stim_dir
y_dim_voltage = 9.0 # bar on
self.current_bar_pos = self.stim_dir
elif self.epoch_counter == 6: # stationary bar
wind_voltage = 5.0 # wind on
self.current_wind_dir = self.stim_dir
y_dim_voltage = 9.0 # bar on
self.current_bar_pos = 0
else:
self.done = True # end of the experiment
# configure the outputs
self.aout_ydim.setVoltage(y_dim_voltage)
self.aout_wind_valve.setVoltage(
wind_voltage
) # turn the wind off at the end of the trial
# send the wind direction to Arduino
arduino_str = "H " + str(
self.current_wind_dir
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
# set analog output voltage of Phidget so that the motor position could be recorded on NI-DAQ
output_voltage_motor = (self.current_wind_dir / 360) * (
self.aout_max_volt - self.aout_min_volt
) # convert from deg to V
self.aout_motor.setVoltage(output_voltage_motor)
# open-loop bar: set analog output voltage YAW GAIN (note the sign flip)
self.current_bar_pos_adjusted = (
360 - self.current_bar_pos - self.bar_offset +
self.offset_adjust) % 360
output_voltage_yaw = self.current_bar_pos_adjusted * (
self.aout_max_volt - self.aout_min_volt) / 360
self.aout_yaw_gain.setVoltage(
output_voltage_yaw) # yaw gain, not yaw!
## Write FicTrac data to Phidget
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
# Set analog output voltage YAW (on the wind Phidget, not vision Phidget)
if self.first_time_in_loop:
self.prev_heading = float(toks[17])
self.first_time_in_loop = False
else:
self.prev_heading = self.heading
self.heading = float(
toks[17]
) # integrated heading direction of the animal in lab coords (rad)
self.deltaheading = self.heading - self.prev_heading
self.fly_heading = (self.fly_heading + self.deltaheading
) % (2 * np.pi) # wrap around
self.output_voltage_yaw = (self.fly_heading) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw.setVoltage(self.output_voltage_yaw)
# Save fictrac data in HDF5 file
self.write_logfile_fictrac()
# Display status message
if self.print:
print(f'epoch: {self.epoch_counter}', end='')
print(f'\t time elapsed: {self.time_elapsed: 1.3f} s',
end='')
print(f'\t wind dir: {self.current_wind_dir:3.0f} deg',
end='')
print(f'\t bar pos: {self.current_bar_pos:3.0f} deg',
end='')
print(f'\t y_dim: {y_dim_voltage:3.0f} V')
# go back to 0 deg at the end of the trial
arduino_str = "H " + str(
0
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
self.aout_wind_valve.setVoltage(
0.0) # turn the wind off at the end of the trial
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile_fictrac(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'motor': self.motor_pos_rad
}
self.logger_fictrac.add(log_data)
def write_logfile_arduino(self):
log_data = {'time': self.time_arduino, 'motor': self.motor_pos_rad}
self.logger_arduino.add(log_data)
class PneumaticFrame2:
def __init__(self, master, initial_name, top_name, color, sol, reg_pwr,
reg_set, reg_get, PSI):
self.frame = Frame(master, borderwidth=2, relief=SUNKEN, bg=color)
self.frame.pack()
self.master = master
self.frame_name = StringVar()
self.frame_name.set(initial_name)
self.state = 0
self.fontType = "Comic Sans"
self.activeColor = 'SpringGreen4'
self.frameColor = color
self.pressure = IntVar()
self.lock_flag = IntVar()
self.pressure.set("")
self.power = Button(self.frame,
text="PWR",
activebackground=self.activeColor,
command=lambda: self.toggle_pwr())
self.set_label = Button(self.frame,
text="SET LABEL",
font=(self.fontType, 7),
command=lambda: self.get_label_input())
self.observed_pressure = Entry(self.frame,
width=5,
state="readonly",
textvariable=self.pressure)
if self.frame_name.get() == "Hydro":
self.set_pressure_scale = Scale(self.frame,
orient=HORIZONTAL,
from_=0,
to=92,
resolution=0.5,
bg=color,
label="Set Pressure (PSI)",
highlightthickness=0,
command=self.set_pressure)
else:
self.set_pressure_scale = Scale(self.frame,
orient=HORIZONTAL,
from_=0,
to=50,
resolution=0.5,
bg=color,
label="Set Pressure (PSI)",
highlightthickness=0,
command=self.set_pressure)
self.custom_label = Label(self.frame,
textvariable=self.frame_name,
font=(self.fontType, 14),
bg=color)
self.label = Label(self.frame, text=initial_name, bg=color)
self.lock = Checkbutton(self.frame,
text="LOCK",
bg=color,
variable=self.lock_flag,
command=self.lock)
self.frame_name.set(top_name)
# Init the pressure scale to the default value.
self.set_pressure_scale.set(PSI)
# Lock hydo at startup
if initial_name == "Hydro":
self.lock.select()
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
self.frame.rowconfigure(0, minsize=30)
self.custom_label.grid(row=0, column=0, columnspan=2, sticky=S)
self.set_label.grid(column=0, row=1, columnspan=2)
self.frame.rowconfigure(2, minsize=50)
self.power.grid(column=0, row=2)
self.observed_pressure.grid(column=1, row=2)
self.set_pressure_scale.grid(column=0, row=3, columnspan=2, padx=20)
self.frame.rowconfigure(4, minsize=5)
self.label.grid(column=0, row=5)
self.lock.grid(column=1, row=5)
# Connect to Phidget Solid State Relay for solinoid control
if self.frame_name.get() == "Hydro":
self.solenoid_switch = DigitalOutput()
self.solenoid_switch.setDeviceSerialNumber(sol[0])
self.solenoid_switch.setIsHubPortDevice(False)
self.solenoid_switch.setHubPort(sol[1])
self.solenoid_switch.setChannel(sol[2])
self.solenoid_switch.openWaitForAttachment(5000)
#Connect to Phidget Solid State Relay for regulator power control
self.reg_switch = DigitalOutput()
self.reg_switch.setDeviceSerialNumber(reg_pwr[0])
self.reg_switch.setIsHubPortDevice(False)
self.reg_switch.setHubPort(reg_pwr[1])
self.reg_switch.setChannel(reg_pwr[2])
self.reg_switch.openWaitForAttachment(5000)
#Connect to Phidget Voltage Ouptut for pressure control
self.pressure_ctrl = VoltageOutput()
self.pressure_ctrl.setDeviceSerialNumber(reg_set[0])
self.pressure_ctrl.setIsHubPortDevice(False)
self.pressure_ctrl.setHubPort(reg_set[1])
self.pressure_ctrl.setChannel(reg_set[2])
self.pressure_ctrl.openWaitForAttachment(5000)
#Connect to Phidget Analog Input for pressure reading
self.pressure_reading = VoltageRatioInput()
self.pressure_reading.setDeviceSerialNumber(reg_get[0])
#One of the VINT Hubs on the SBC is used and needs special configuration
if reg_get[0] == SBCH:
self.pressure_reading.setIsHubPortDevice(True)
self.pressure_reading.setHubPort(0)
self.pressure_reading.setChannel(reg_get[1])
self.pressure_reading.openWaitForAttachment(5000)
def toggle_pwr(self):
#Turn on air channel
if self.state == 0:
#Turn on power to regulator and show active button color
self.power.config(bg=self.activeColor)
self.reg_switch.setState(True)
if self.frame_name.get() == "Hydro":
self.solenoid_switch.setState(True)
#Start monitoring air pressure
self.update_pressure()
#Change state of air channel
self.state = 1
#Turn off air channel
elif self.state == 1:
remember_state = self.set_pressure_scale.get()
if self.frame_name.get() != "Hydro":
messagebox.showinfo(
self.frame_name.get() + " Warning",
"Pressure will be set to zero. Acknowledge that " +
self.frame_name.get() + " is in a safe configuration")
# Change pressure to zero
self.set_pressure_scale.set(0)
self.set_pressure(0)
time.sleep(0.5)
self.frame.update()
self.reg_switch.setState(False)
time.sleep(0.5)
self.set_pressure_scale.set(remember_state)
if self.frame_name.get() == "Hydro":
self.solenoid_switch.setState(False)
self.lock.select()
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
#Turn off power to reguluator and remove active button color
self.power.config(bg="SystemButtonFace")
#Update air channel state
self.state = 0
def get_label_input(self):
self.window = popupWindow(self.master)
self.set_label.config(state=DISABLED)
self.master.wait_window(self.window.top)
self.set_label.config(state=NORMAL)
#If the user does not enter a value exception will be produced
try:
if len(self.window.value) > 12:
self.frame_name.set("SET ERROR")
else:
self.frame_name.set(self.window.value)
except:
self.frame_name.set("SET ERROR")
def set_pressure(self, val):
# Pressure Range
range = MAXPR - MINPR
# Calculate volts/PSI
ratio = 5 / range
self.pressure_ctrl.setVoltage(float(val) * ratio)
def update_pressure(self):
if self.reg_switch.getState():
try:
val = float(self.pressure_reading.getSensorValue())
PSI = val * 165.63 - 30.855
PSI = round(PSI, 2)
self.pressure.set(PSI)
#Low pressure check
if PSI < (self.set_pressure_scale.get() - 3):
if self.frame.cget('bg') == "Red":
self.frame.config(bg=self.frameColor)
self.set_pressure_scale.config(bg=self.frameColor)
self.custom_label.config(bg=self.frameColor)
self.label.config(bg=self.frameColor)
self.lock.config(bg=self.frameColor)
else:
self.frame.config(bg='Red')
self.set_pressure_scale.config(bg="Red")
self.custom_label.config(bg="Red")
self.label.config(bg="Red")
self.lock.config(bg="Red")
if PSI > (self.set_pressure_scale.get() - 3):
if self.frame.cget('bg') == "Red":
self.frame.config(bg=self.frameColor)
self.set_pressure_scale.config(bg=self.frameColor)
self.custom_label.config(bg=self.frameColor)
self.label.config(bg=self.frameColor)
self.lock.config(bg=self.frameColor)
except:
print("Init Air Pressure")
root.after(200, self.update_pressure)
else:
self.pressure.set("")
def lock(self):
if self.lock_flag.get() == True:
self.set_pressure_scale.config(state="disabled")
self.power.config(state="disable")
elif self.lock_flag.get() == False:
self.set_pressure_scale.config(state="normal")
self.power.config(state="normal")
class ControlFrame:
def __init__(self, master, colorArray):
frame1 = Frame(master, borderwidth=2, relief=SUNKEN)
frame2 = Frame(master, borderwidth=2, relief=SUNKEN)
frame3 = Frame(master, borderwidth=2, relief=SUNKEN)
frame4 = Frame(master, borderwidth=2, relief=SUNKEN)
frame5 = Frame(master, borderwidth=2, relief=SUNKEN)
frame6 = Frame(master, borderwidth=2, relief=SUNKEN)
frame7 = Frame(master, borderwidth=2, relief=SUNKEN)
camera_frame = Frame(master, borderwidth=2, relief=SUNKEN)
frame1.grid(row=1, column=0)
frame2.grid(row=1, column=1)
frame3.grid(row=1, column=2)
frame4.grid(row=1, column=3)
frame5.grid(row=1, column=4)
frame6.grid(row=1, column=5)
frame7.grid(row=1, column=6)
camera_frame.grid(row=3, column=0, columnspan=7, sticky=W)
self.out1 = AxisFrame(frame1, "BASE CIRC", "VESSEL RIGHT",
"VESSEL LEFT", HUB1, 5, colorArray[0], 3.3, 0.55)
self.out2 = AxisFrame(frame2, "BASE AUX", "CW/IN", "CCW/OUT", HUB2, 0,
colorArray[1], 2.2, 0.11)
self.out3 = AxisFrame(frame3, "VARD ROT", "CW", "CCW", HUB1, 3,
colorArray[2], 2.2, 0.15)
self.out4 = AxisFrame(frame4, "VARD VERT", "UP", "DOWN", HUB1, 4,
colorArray[3], 7.8, 0.54)
self.out5 = AxisFrame(frame5, "DA MAST", "UP", "DOWN", HUB1, 0,
colorArray[4], 8, 0.86)
self.out6 = AxisFrame(frame6, "DA PAN", "CW", "CCW", HUB1, 2,
colorArray[5], 3.0, 0.30)
self.out7 = AxisFrame(frame7, "DA TILT", "UP", "DOWN", HUB1, 1,
colorArray[6], 3.6, 0.57)
#RJ Camera Control Code
self.invert_tilt = BooleanVar()
self.invert_pan = BooleanVar()
self.btn_power = Button(camera_frame,
text="PWR",
font="Courier, 12",
command=self.toggle_power)
self.btn_near = Button(camera_frame,
text="NEAR",
font="Courier, 12",
width=7)
self.btn_far = Button(camera_frame,
text="FAR",
font="Courier, 12",
width=7)
self.btn_wide = Button(camera_frame,
text="WIDE",
font="Courier, 12",
width=7)
self.btn_tele = Button(camera_frame,
text="TELE",
font="Courier, 12",
width=7)
self.btn_ms = Button(camera_frame,
text="MS",
font="Courier, 12",
width=7)
self.left_light_scale = Scale(camera_frame,
orient=VERTICAL,
from_=0,
to=0.45,
resolution=0.01,
command=self.update_left_intensity)
self.right_light_scale = Scale(camera_frame,
orient=VERTICAL,
from_=0,
to=0.45,
resolution=0.01,
command=self.update_right_intensity)
self.label_lights = Label(camera_frame, text=" Light Intensity")
self.btn_tilt_up = Button(camera_frame,
text="TILT UP",
font="Courier, 12",
width=10)
self.btn_tilt_down = Button(camera_frame,
text="TILT DOWN",
font="Courier, 12",
width=10)
self.btn_pan_right = Button(camera_frame,
text="PAN RIGHT",
font="Courier, 12",
width=10)
self.btn_pan_left = Button(camera_frame,
text="PAN LEFT",
font="Courier, 12",
width=10)
self.tilt_speed = Scale(camera_frame,
orient=HORIZONTAL,
from_=0.01,
to=.5,
resolution=0.01)
self.pan_speed = Scale(camera_frame,
orient=HORIZONTAL,
from_=0.01,
to=.5,
resolution=0.01)
self.ckbx_invert_tilt = Checkbutton(camera_frame,
text="Invert Tilt",
variable=self.invert_tilt)
self.ckbx_invert_pan = Checkbutton(camera_frame,
text="Invert Pan",
variable=self.invert_pan)
self.activeColor = 'SpringGreen4'
self.tilt_speed.set(0.15)
self.pan_speed.set(0.15)
self.btn_power.grid(row=0, column=0, padx=60)
self.btn_ms.grid(row=1, column=0, padx=5, pady=5)
self.btn_near.grid(row=0, column=2, padx=20, pady=10)
self.btn_far.grid(row=1, column=2, padx=20, pady=10)
self.btn_tele.grid(row=0, column=3, padx=20, pady=10)
self.btn_wide.grid(row=1, column=3, padx=20, pady=10)
self.left_light_scale.grid(row=0, column=4, rowspan=3, padx=20, pady=5)
self.right_light_scale.grid(row=0,
column=5,
rowspan=3,
padx=45,
pady=5)
self.label_lights.grid(row=3,
column=4,
columnspan=2,
padx=45,
sticky=N)
self.btn_tilt_up.grid(row=0, column=6, padx=20, pady=5)
self.btn_tilt_down.grid(row=1, column=6, padx=20, pady=5)
self.btn_pan_right.grid(row=0, column=8, padx=20, pady=5, rowspan=2)
self.btn_pan_left.grid(row=0, column=7, padx=20, pady=5, rowspan=2)
self.tilt_speed.grid(row=2, column=6)
self.pan_speed.grid(row=2, column=7, columnspan=2)
self.ckbx_invert_tilt.grid(row=3, column=6)
self.ckbx_invert_pan.grid(row=3, column=7, columnspan=2)
#Connect to Phidget Devices
self.power = DigitalOutput()
self.power.setDeviceSerialNumber(HUB2)
self.power.setIsHubPortDevice(False)
self.power.setHubPort(1)
self.power.setChannel(0)
self.power.openWaitForAttachment(5000)
self.manual_select = DigitalOutput()
self.manual_select.setDeviceSerialNumber(HUB2)
self.manual_select.setIsHubPortDevice(False)
self.manual_select.setHubPort(1)
self.manual_select.setChannel(1)
self.manual_select.openWaitForAttachment(5000)
self.near = DigitalOutput()
self.near.setDeviceSerialNumber(HUB2)
self.near.setIsHubPortDevice(False)
self.near.setHubPort(1)
self.near.setChannel(2)
self.near.openWaitForAttachment(5000)
self.far = DigitalOutput()
self.far.setDeviceSerialNumber(HUB2)
self.far.setIsHubPortDevice(False)
self.far.setHubPort(1)
self.far.setChannel(3)
self.far.openWaitForAttachment(5000)
self.wide = DigitalOutput()
self.wide.setDeviceSerialNumber(HUB2)
self.wide.setIsHubPortDevice(False)
self.wide.setHubPort(1)
self.wide.setChannel(4)
self.wide.openWaitForAttachment(5000)
self.tele = DigitalOutput()
self.tele.setDeviceSerialNumber(HUB2)
self.tele.setIsHubPortDevice(False)
self.tele.setHubPort(1)
self.tele.setChannel(5)
self.tele.openWaitForAttachment(5000)
self.left_light = VoltageOutput()
self.left_light.setDeviceSerialNumber(HUB2)
self.left_light.setIsHubPortDevice(False)
self.left_light.setHubPort(2)
self.left_light.setChannel(0)
self.left_light.openWaitForAttachment(5000)
self.right_light = VoltageOutput()
self.right_light.setDeviceSerialNumber(HUB2)
self.right_light.setIsHubPortDevice(False)
self.right_light.setHubPort(3)
self.right_light.setChannel(0)
self.right_light.openWaitForAttachment(5000)
self.pan = VoltageOutput()
self.pan.setDeviceSerialNumber(HUB2)
self.pan.setIsHubPortDevice(False)
self.pan.setHubPort(5)
self.pan.setChannel(0)
self.pan.openWaitForAttachment(5000)
self.tilt = VoltageOutput()
self.tilt.setDeviceSerialNumber(HUB2)
self.tilt.setIsHubPortDevice(False)
self.tilt.setHubPort(4)
self.tilt.setChannel(0)
self.tilt.openWaitForAttachment(5000)
self.btn_near.bind('<ButtonPress-1>', lambda event: self.focus("+"))
self.btn_near.bind('<ButtonRelease-1>', lambda event: self.focus("0"))
self.btn_far.bind('<ButtonPress-1>', lambda event: self.focus("-"))
self.btn_far.bind('<ButtonRelease-1>', lambda event: self.focus("0"))
self.btn_wide.bind('<ButtonPress-1>', lambda event: self.zoom("-"))
self.btn_wide.bind('<ButtonRelease-1>', lambda event: self.zoom("0"))
self.btn_tele.bind('<ButtonPress-1>', lambda event: self.zoom("+"))
self.btn_tele.bind('<ButtonRelease-1>', lambda event: self.zoom("0"))
self.btn_ms.bind('<ButtonPress-1>',
lambda event: self.focus_type("ON"))
self.btn_ms.bind('<ButtonRelease-1>',
lambda event: self.focus_type("OFF"))
self.btn_tilt_up.bind('<ButtonPress-1>',
lambda event: self.tilt_move("-"))
self.btn_tilt_up.bind('<ButtonRelease-1>',
lambda event: self.tilt_move("0"))
self.btn_tilt_down.bind('<ButtonPress-1>',
lambda event: self.tilt_move("+"))
self.btn_tilt_down.bind('<ButtonRelease-1>',
lambda event: self.tilt_move("0"))
self.btn_pan_right.bind('<ButtonPress-1>',
lambda event: self.pan_move("R"))
self.btn_pan_right.bind('<ButtonRelease-1>',
lambda event: self.pan_move("0"))
self.btn_pan_left.bind('<ButtonPress-1>',
lambda event: self.pan_move("L"))
self.btn_pan_left.bind('<ButtonRelease-1>',
lambda event: self.pan_move("0"))
def toggle_power(self):
if self.power.getState() == True:
self.power.setState(False)
self.btn_power.config(bg="SystemButtonFace")
elif self.power.getState() == False:
self.power.setState(True)
self.btn_power.config(bg=self.activeColor)
def update_left_intensity(self, val):
self.left_light.setVoltage(float(val))
def update_right_intensity(self, val):
self.right_light.setVoltage(float(val))
def focus(self, direction):
if direction == "+":
self.near.setState(TRUE)
elif direction == "-":
self.far.setState(TRUE)
elif direction == "0":
self.far.setState(FALSE)
self.near.setState(FALSE)
def zoom(self, direction):
if direction == "+":
self.tele.setState(TRUE)
elif direction == "-":
self.wide.setState(TRUE)
elif direction == "0":
self.tele.setState(FALSE)
self.wide.setState(FALSE)
def pan_move(self, direction):
voltage = float(self.pan_speed.get())
if self.invert_pan.get():
voltage *= -1
if direction == "R":
self.pan.setVoltage(voltage)
elif direction == "L":
self.pan.setVoltage(-1 * voltage)
elif direction == "0":
self.pan.setVoltage(0)
def tilt_move(self, direction):
voltage = float(self.tilt_speed.get())
if self.invert_tilt.get():
voltage *= -1
if direction == "+":
self.tilt.setVoltage(voltage)
elif direction == "-":
self.tilt.setVoltage(-1 * voltage)
elif direction == "0":
self.tilt.setVoltage(0)
def focus_type(self, state):
if state == "ON":
self.manual_select.setState(True)
elif state == "OFF":
self.manual_select.setState(False)
class SocketClientWindBarJump(object):
DefaultParam = {
'experiment': 1,
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
'offset': 0
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.experiment_time = self.param['experiment_time']
self.time_start = time.time()
# Set up Phidget channels
self.aout_channel_ydimension = 0 #I'm setting up a channel such that I can change the y dimension of the panels sending a signal through here
self.aout_channel_x = 1
self.aout_channel_yaw_gain = 2
self.aout_channel_y = 3
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# Set up Phidget serial numbers for using two devices
self.phidget_vision = 525577 # written on the back of the Phidget
self.phidget_wind = 589946 # for sending the position of the motor to NI-DAQ
# Setup analog output YAW
self.aout_ydim = VoltageOutput()
self.aout_ydim.setDeviceSerialNumber(self.phidget_vision)
self.aout_ydim.setChannel(self.aout_channel_ydimension)
self.aout_ydim.openWaitForAttachment(5000)
self.aout_ydim.setVoltage(0.0)
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output YAW gain
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(9.0)
# Set up Phidget channels in device 2 for wind
self.aout_channel_motor = 0
self.aout_channel_wind_valve = 2
# Setup analog output motor
self.aout_motor = VoltageOutput()
self.aout_motor.setDeviceSerialNumber(self.phidget_wind)
self.aout_motor.setChannel(self.aout_channel_motor)
self.aout_motor.openWaitForAttachment(5000)
self.aout_motor.setVoltage(0.0)
# Setup analog output wind valve
self.aout_wind_valve = VoltageOutput()
self.aout_wind_valve.setDeviceSerialNumber(self.phidget_wind)
self.aout_wind_valve.setChannel(self.aout_channel_wind_valve)
self.aout_wind_valve.openWaitForAttachment(5000)
self.aout_wind_valve.setVoltage(0.0)
self.print = True
# Set up socket info
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
# Set up Arduino connection
self.COM = 'COM4' # serial port
self.baudrate = 115200 # 9600
self.serialTimeout = 0.001 # blocking timeout for readline()
self.done = False
self.gain_yaw = 1
self.heading_with_gain = 0
self.bar_jump = True
self.bar_jump_size = 0
self.wind_jump = True
self.wind_jump_size = 0
#initialize the bar on and the wind off
self.bar = False
self.wind = True
#initialize heading with respect to panels to be starting position
self.motor_command = 0
self.bar_position = np.deg2rad(360 - self.param['offset'])
#set up logger to save hd5f file
self.logger_fictrac = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#set up logger to save hd5f file
self.logger_arduino = H5Logger(
filename=(self.param['logfile_name']).replace(
'.hdf5', '_arduino.hdf5'),
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#specify a variable for the first message being read
self.first_time_in_loop = True
def run(self):
# UDP
# Open the connection (ctrl-c / ctrl-break to quit)
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock,\
serial.Serial(self.COM, self.baudrate, timeout=self.serialTimeout) as ser:
sock.bind((self.HOST,
self.PORT)) # takes one argument, give it as a tuple
sock.setblocking(False) # make it non-blocking
# Keep receiving data until FicTrac closes
data = ""
timeout_in_seconds = 1
while not self.done:
motor_pos = np.nan
self.motor_pos_rad = np.nan # default value before receiving the data
# listening to Arduino
msg = ser.readline() # read from serial until there's a \n
self.time_arduino = time.time() - self.time_start # (s)
if msg: # received a non-empty message
try:
arduino_line = msg.decode(
'utf-8')[:-2] # decode and remove \r and \n
#motor_info = arduino_line.split(", ")
#log_arduino = str("{:.7f}".format(time_now)) + "," + motor_info[0] + "\n" # first element is the current motor position (0-360 deg)
#f_arduino.writelines(log_arduino)
motor_pos = int(
arduino_line) # current motor position (0-360 deg)
self.motor_pos_rad = np.deg2rad(motor_pos)
# Set analog output voltage of Phidget so that it could be recorded using NI-DAQ
output_voltage_motor = self.motor_pos_rad * (
self.aout_max_volt - self.aout_min_volt) / (2 *
np.pi)
self.aout_motor.setVoltage(output_voltage_motor)
# write to HDF5 file
self.write_logfile_arduino()
except:
print("message from Arduino is not a number:", msg)
# Check to see whether there is data waiting
ready = select.select([sock], [], [], timeout_in_seconds)
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(1024)
# Uh oh?
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
#get time
time_now = time.time()
self.time_elapsed = time_now - self.time_start
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1])
self.posx = float(toks[15])
self.posy = float(toks[16])
self.heading = float(toks[17])
self.intx = float(toks[20])
self.inty = float(toks[21])
self.timestamp = float(toks[22])
# calculate delta heading by comparing it to the previous value
#if self.first_time_in_loop:
# self.prev_heading = float(toks[17])
# self.first_time_in_loop = False
#else:
# self.prev_heading = self.heading
#self.deltaheading = self.heading - self.prev_heading
#I had to comment the above lines because they weren't working well.
self.deltaheading = float(toks[8])
#Set Phidget voltages using FicTrac data
#Set the voltages that don't depend on the time of the experiment
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
# Specify the time conditions to set the other voltages
# Specify the bar jumps
if ((math.floor(self.time_elapsed) == 1860)
and (self.bar_jump == True)):
self.bar_jump_size = math.radians(-120)
self.bar_jump = False
else:
self.bar_jump_size = 0
self.heading_with_gain = (
self.heading_with_gain + self.deltaheading *
self.gain_yaw + self.bar_jump_size) % (2 * np.pi)
output_voltage_yaw_gain = (self.heading_with_gain) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw_gain.setVoltage(10 - output_voltage_yaw_gain)
# Specify the wind jumps
if ((math.floor(self.time_elapsed) == 1380
or math.floor(self.time_elapsed) == 2340)
and (self.wind_jump == True)):
self.wind_jump_size = math.radians(120)
self.wind_jump = False
else:
self.wind_jump_size = 0
#reset self.jump 1 sec before the wind jump has to happen
if ((math.floor(self.time_elapsed) == 2339)
and (self.wind_jump == False)):
self.wind_jump = True
# send the heading signal to Arduino
self.motor_command = (self.motor_command +
self.deltaheading +
self.wind_jump_size) % (2 * np.pi)
#animal_heading_360 = int(self.heading * (360 / (2 * np.pi))) # convert from rad to deg
arduino_str = "H " + str(
np.rad2deg(self.motor_command)
) + "\n" # "H is a command used in the Arduino code to indicate heading
#I had to remove the 360- from the above line to make the gain = 1, and I'm not sure why, since in the other codes it works the other way
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
# Specify the changes in bar intensity
#turn off the bar
if ((math.floor(self.time_elapsed) == 1020
or math.floor(self.time_elapsed) == 1500
or math.floor(self.time_elapsed) == 1980
or math.floor(self.time_elapsed) == 2460
or math.floor(self.time_elapsed) == 2700)
and (self.bar == True)):
self.bar = False
#turn on the bar
if ((math.floor(self.time_elapsed) == 600
or math.floor(self.time_elapsed) == 1140
or math.floor(self.time_elapsed) == 1620
or math.floor(self.time_elapsed) == 2100
or math.floor(self.time_elapsed) == 2580)
and (self.bar == False)):
self.bar = True
if self.bar == False:
y_dim_voltage = 5.0
else:
y_dim_voltage = 9.0
self.aout_ydim.setVoltage(y_dim_voltage)
# Specify the changes in wind inensity
#turn on the wind
if ((math.floor(self.time_elapsed) == 900
or math.floor(self.time_elapsed) == 1260
or math.floor(self.time_elapsed) == 1740
or math.floor(self.time_elapsed) == 2220)
and (self.wind == False)):
self.wind = True
#turn off the wind
if ((math.floor(self.time_elapsed) == 600
or math.floor(self.time_elapsed) == 1140
or math.floor(self.time_elapsed) == 1620
or math.floor(self.time_elapsed) == 2100
or math.floor(self.time_elapsed) == 2580)
and (self.wind == True)):
self.wind = False
if self.wind == False:
wind_valve = 0.0
else:
wind_valve = 5.0
self.aout_wind_valve.setVoltage(wind_valve)
# Save fictrac data in HDF5 file
self.write_logfile_fictrac()
# Display status message
if self.print:
print(f'time elapsed: {self.time_elapsed: 1.3f}',
end='')
print(
f' motor command: {np.rad2deg(self.motor_command):3.0f}',
end='')
print(f' motor pos: {motor_pos:3.0f}', end='')
print(
f' bar pos: {np.rad2deg(self.bar_position):3.0f}')
print(f' ydim volt: {y_dim_voltage:3.0f}')
print(
f' delta heading: {np.rad2deg(self.deltaheading):3.0f}'
)
if self.time_elapsed > self.experiment_time:
self.aout_wind_valve.setVoltage(5.0)
self.done = True
break
# go back to 0 deg at the end of the trial
arduino_str = "H " + str(
0
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile_fictrac(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'deltaheading': self.deltaheading,
'motor': self.motor_pos_rad,
'motor_command': self.motor_command,
'bar_position': self.bar_position,
}
self.logger_fictrac.add(log_data)
def write_logfile_arduino(self):
log_data = {'time': self.time_arduino, 'motor': self.motor_pos_rad}
self.logger_arduino.add(log_data)
class SocketClientGainChange(object):
DefaultParam = {
'experiment': 1,
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.experiment_time = self.param['experiment_time']
self.time_start = time.time()
self.phidget_vision = 525577 # written on the back of the Phidget
# Set up Phidget channels
self.aout_channel_yaw = 0
self.aout_channel_x = 1
self.aout_channel_yaw_gain = 2
self.aout_channel_y = 3
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# Setup analog output YAW
self.aout_yaw = VoltageOutput()
self.aout_yaw.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw.setChannel(self.aout_channel_yaw)
self.aout_yaw.openWaitForAttachment(5000)
self.aout_yaw.setVoltage(0.0)
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output YAW gain
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(0.0)
self.print = True
# Set up socket info
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
self.done = False
self.gain_yaw = 1
self.gain_change = True
self.heading_with_gain = 0
#set up logger to save hd5f file
self.logger = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
def run(self):
# UDP
# Open the connection (ctrl-c / ctrl-break to quit)
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
sock.bind((self.HOST, self.PORT))
sock.setblocking(0)
# Keep receiving data until FicTrac closes
data = ""
timeout_in_seconds = 1
while not self.done:
# Check to see whether there is data waiting
ready = select.select([sock], [], [], timeout_in_seconds)
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(1024)
# Uh oh?
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
#get time
time_now = time.time()
self.time_elapsed = time_now - self.time_start
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1])
self.posx = float(toks[15])
self.posy = float(toks[16])
self.heading = float(toks[17])
self.deltaheading = float(toks[8])
self.intx = float(toks[20])
self.inty = float(toks[21])
self.timestamp = float(toks[22])
#Set Phidget voltages using FicTrac data
# Set analog output voltage yaw
output_voltage_yaw = (self.heading) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw.setVoltage(output_voltage_yaw)
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage YAW_gain
#set yaw gain depending on how much time has elapsed
if ((self.time_elapsed > 200)
and (self.gain_change == True)):
self.gain_yaw = -1
self.gain_change = False
elif self.time_elapsed > 1000:
self.gain_yaw = 1
self.heading_with_gain = (
self.heading_with_gain +
self.deltaheading * self.gain_yaw) % (2 * np.pi)
output_voltage_yaw_gain = (self.heading_with_gain) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw_gain.setVoltage(10 - output_voltage_yaw_gain)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
# Save data in log file
self.write_logfile()
# Display status message
if self.print:
print('frame: {0}'.format(self.frame))
print('time elapsed: {0:1.3f}'.format(
self.time_elapsed))
print('gain yaw: {0}'.format(self.gain_yaw))
print('gain change: {0}'.format(self.gain_change))
print('yaw: {0:1.3f}'.format(self.heading * 360 /
(2 * np.pi)))
print(
'volt: {0:1.3f}'.format(output_voltage_yaw_gain))
print('int x: {0:1.3f}'.format(wrapped_intx))
print('volt: {0:1.3f}'.format(output_voltage_x))
print('int y: {0:1.3f}'.format(wrapped_inty))
print('volt: {0:1.3f}'.format(output_voltage_y))
print()
if self.time_elapsed > self.experiment_time:
self.done = True
break
# END OF EXPERIMENT
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'heading_with_gain': self.heading_with_gain,
'deltaheading': self.deltaheading,
'gain_yaw': self.gain_yaw
}
self.logger.add(log_data)
class SocketClient(object):
DefaultParam = {
'experiment': 1,
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
'offset': 0
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.experiment_time = self.param['experiment_time']
self.time_start = time.time(
) # get the current time and use it as a ref for elapsed time
#get gain for the panels and wind
self.gain_panels = self.param['gain_panels']
self.gain_wind = self.param['gain_wind']
# Set up Phidget serial numbers for using two devices
self.phidget_vision = 525577 # written on the back of the Phidget
self.phidget_wind = 589946 # for sending the position of the motor to NI-DAQ
# Set up Phidget channels in device 1 for vision (0-index)
self.aout_channel_yaw = 0
self.aout_channel_x = 1
self.aout_channel_yaw_gain = 2
self.aout_channel_y = 3
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# Setup analog output YAW
self.aout_yaw = VoltageOutput()
self.aout_yaw.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw.setChannel(self.aout_channel_yaw)
self.aout_yaw.openWaitForAttachment(5000)
self.aout_yaw.setVoltage(0.0)
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output YAW gain
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(0.0)
# Set up Phidget channels in device 2 for wind (0-index)
self.aout_channel_motor = 0
self.aout_channel_wind_valve = 2
# Setup analog output motor
self.aout_motor = VoltageOutput()
self.aout_motor.setDeviceSerialNumber(self.phidget_wind)
self.aout_motor.setChannel(self.aout_channel_motor)
self.aout_motor.openWaitForAttachment(5000)
self.aout_motor.setVoltage(0.0)
# Setup analog output wind valve
self.aout_wind_valve = VoltageOutput()
self.aout_wind_valve.setDeviceSerialNumber(self.phidget_wind)
self.aout_wind_valve.setChannel(self.aout_channel_wind_valve)
self.aout_wind_valve.openWaitForAttachment(5000)
self.aout_wind_valve.setVoltage(0.0)
self.print = True
# Set up socket info for connecting with the FicTrac
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
# Set up Arduino connection
self.COM = 'COM4' # serial port
self.baudrate = 115200 # 9600
self.serialTimeout = 0.001 # blocking timeout for readline()
# flag for indicating when the trial is done
self.done = False
#initialize heading with respect to panels to be starting position
self.motor_command = 0
self.bar_position = np.deg2rad(360 - self.param['offset'])
self.jump = True
self.time_between_jumps = 90 # [s]
self.jump_mag = 90 # [deg] jump magnitude
self.jump_size = 0 # default value is zero
#set up logger to save hd5f file
self.logger_fictrac = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#set up logger to save hd5f file
self.logger_arduino = H5Logger(
filename=(self.param['logfile_name']).replace(
'.hdf5', '_arduino.hdf5'),
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#specify a variable for the first message being read
self.first_time_in_loop = True
def run(self):
# connect to socket via UDP, not TCP!
# connect to Arduino via serial
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock,\
serial.Serial(self.COM, self.baudrate, timeout=self.serialTimeout) as ser:
sock.bind((self.HOST,
self.PORT)) # takes one argument, give it as a tuple
sock.setblocking(False) # make it non-blocking
# Keep receiving data from socket until FicTrac closes
data = ""
timeout_in_seconds = 1
while not self.done: # main loop
self.aout_wind_valve.setVoltage(
5.0) # keep the wind on for the duration of the trial
motor_pos = np.nan
self.motor_pos_rad = np.nan # default value before receiving the data
# listening to Arduino
msg = ser.readline() # read from serial until there's a \n
self.time_arduino = time.time() - self.time_start # (s)
if msg: # received a non-empty message
try:
arduino_line = msg.decode(
'utf-8')[:-2] # decode and remove \r and \n
#motor_info = arduino_line.split(", ")
#log_arduino = str("{:.7f}".format(time_now)) + "," + motor_info[0] + "\n" # first element is the current motor position (0-360 deg)
#f_arduino.writelines(log_arduino)
motor_pos = int(
arduino_line) # current motor position (0-360 deg)
self.motor_pos_rad = np.deg2rad(motor_pos)
# Set analog output voltage of Phidget so that it could be recorded using NI-DAQ
output_voltage_motor = self.motor_pos_rad * (
self.aout_max_volt - self.aout_min_volt) / (2 *
np.pi)
self.aout_motor.setVoltage(output_voltage_motor)
# write to HDF5 file
self.write_logfile_arduino()
except:
print("message from Arduino is not a number:", msg)
# ask the OS whether the socket is readable
# give 3 lists of sockets for reading, writing, and checking for errors; we only care about the first one
# https://docs.python.org/3/howto/sockets.html#socket-programming-howto
ready = select.select(
[sock], [], [], timeout_in_seconds
) # returns the subset of sockets that are actually readable
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(
1024
) # buffer size, should be a relatively small power of 2
# Uh oh?
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
self.time_elapsed = time.time() - self.time_start # (s)
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1]) # frame counter
self.posx = float(toks[15]) # integrated x position (rad)
self.posy = float(toks[16]) # integrated y position (rad)
self.intx = float(
toks[20]
) # integrated x position (rad) of the sphere in lab coord neglecting heading
self.inty = float(
toks[21]
) # integrated y position (rad) of the sphere in lab coord neglecting heading
self.timestamp = float(
toks[22]) # frame capture time (ms) since epoch
# calculate delta heading by comparing it to the previous value
if self.first_time_in_loop:
self.prev_heading = float(toks[17])
self.first_time_in_loop = False
else:
self.prev_heading = self.heading
self.heading = float(
toks[17]
) # integrated heading direction of the animal in lab coords (rad)
self.deltaheading = self.heading - self.prev_heading
# Set analog output voltage YAW_gain
#set value depending on how much time has elapsed
if ((self.time_elapsed > 1)
and ((math.floor(self.time_elapsed) %
self.time_between_jumps) == 0)
and (self.jump == True)):
#choose randomly between -120 and 120 jumps
self.jump_size = random.choice([
np.deg2rad(-self.jump_mag),
np.deg2rad(self.jump_mag)
])
self.jump = False
else:
self.jump_size = 0
#reset self.jump 1 sec before the gain change
if (((math.floor(self.time_elapsed + 1) %
self.time_between_jumps) == 0)
and (self.jump == False)):
self.jump = True
# send the heading signal to Arduino
self.motor_command = (self.motor_command +
self.deltaheading +
self.jump_size) % (2 * np.pi)
#animal_heading_360 = int(self.heading * (360 / (2 * np.pi))) # convert from rad to deg
arduino_str = "H " + str(
360 - np.rad2deg(self.motor_command)
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
## Set Phidget voltages using FicTrac data
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage YAW
self.bar_position = (self.bar_position +
self.deltaheading * self.gain_panels
) % (2 * np.pi) # wrap around
self.output_voltage_yaw = (self.bar_position) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw.setVoltage(self.output_voltage_yaw)
self.aout_yaw_gain.setVoltage(self.output_voltage_yaw)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
# Save fictrac data in HDF5 file
self.write_logfile_fictrac()
# Display status message
if self.print:
print(f'time elapsed: {self.time_elapsed: 1.3f}',
end='')
print(
f' motor command: {np.rad2deg(self.motor_command):3.0f}',
end='')
print(f' motor pos: {motor_pos:3.0f}', end='')
print(
f' bar pos: {np.rad2deg(self.bar_position):3.0f}')
#print(f' delta heading: {np.rad2deg(self.deltaheading):3.0f}')
if self.time_elapsed > self.experiment_time:
self.done = True
break
# go back to 0 deg at the end of the trial
arduino_str = "H " + str(
0
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
self.aout_wind_valve.setVoltage(
0.0) # turn the wind off at the end of the trial
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile_fictrac(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'deltaheading': self.deltaheading,
'motor': self.motor_pos_rad,
'motor_command': self.motor_command,
'bar_position': self.bar_position,
'out_voltage_yaw': self.output_voltage_yaw
}
self.logger_fictrac.add(log_data)
def write_logfile_arduino(self):
log_data = {'time': self.time_arduino, 'motor': self.motor_pos_rad}
self.logger_arduino.add(log_data)
class SocketClient(object):
DefaultParam = {
'experiment': 1,
'stim_speed': 30,
'turn_type': 'clockwise',
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.stim_speed = self.param['stim_speed']
self.turn_type = self.param['turn_type']
self.experiment_time = self.param['experiment_time']
self.time_start = time.time(
) # get the current time and use it as a ref for elapsed time
self.current_wind_dir = 0
# Set up Phidget serial numbers for using two devices
self.phidget_vision = 525577 # written on the back of the Phidget
self.phidget_wind = 589946 # for sending the position of the motor to NI-DAQ
# Set up Phidget channels in device 1 for vision (0-index)
self.aout_channel_yaw = 0
self.aout_channel_x = 1
self.aout_channel_yaw_gain = 2
self.aout_channel_y = 3
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# Setup analog output YAW
self.aout_yaw = VoltageOutput()
self.aout_yaw.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw.setChannel(self.aout_channel_yaw)
self.aout_yaw.openWaitForAttachment(5000)
self.aout_yaw.setVoltage(0.0)
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output YAW gain
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(0.0)
# Set up Phidget channels in device 2 for wind (0-index)
self.aout_channel_motor = 0
self.aout_channel_wind_valve = 2
# Setup analog output motor
self.aout_motor = VoltageOutput()
self.aout_motor.setDeviceSerialNumber(self.phidget_wind)
self.aout_motor.setChannel(self.aout_channel_motor)
self.aout_motor.openWaitForAttachment(5000)
self.aout_motor.setVoltage(0.0)
# Setup analog output wind valve
self.aout_wind_valve = VoltageOutput()
self.aout_wind_valve.setDeviceSerialNumber(self.phidget_wind)
self.aout_wind_valve.setChannel(self.aout_channel_wind_valve)
self.aout_wind_valve.openWaitForAttachment(5000)
self.aout_wind_valve.setVoltage(0.0)
self.print = True
# Set up socket info for connecting with the FicTrac
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
# Set up Arduino connection
self.COM = 'COM4' # serial port
self.baudrate = 115200 # 9600
self.serialTimeout = 0.001 # blocking timeout for readline()
# flag for indicating when the trial is done
self.done = False
#set up logger to save hd5f file
self.logger_fictrac = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#set up logger to save hd5f file
self.logger_arduino = H5Logger(
filename=(self.param['logfile_name']).replace(
'.hdf5', '_arduino.hdf5'),
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
def run(self, gain_x=1):
# connect to socket via UDP, not TCP!
# connect to Arduino via serial
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock,\
serial.Serial(self.COM, self.baudrate, timeout=self.serialTimeout) as ser:
sock.bind((self.HOST,
self.PORT)) # takes one argument, give it as a tuple
sock.setblocking(False) # make it non-blocking
# Keep receiving data from socket until FicTrac closes
data = ""
timeout_in_seconds = 1
self.time_end = time.time() #initialize turn time
while not self.done: # main loop
self.aout_wind_valve.setVoltage(
5.0) # keep the wind on for the duration of the trial
motor_pos = np.nan
self.motor_pos_rad = np.nan # default value before receiving the data
# listening to Arduino
msg = ser.readline() # read from serial until there's a \n
self.time_arduino = time.time() - self.time_start # (s)
if msg: # received a non-empty message
try:
arduino_line = msg.decode(
'utf-8')[:-2] # decode and remove \r and \n
motor_pos = int(
arduino_line) # current motor position (0-360 deg)
self.motor_pos_rad = np.deg2rad(motor_pos)
# Set analog output voltage of Phidget
output_voltage_motor = self.motor_pos_rad * (
self.aout_max_volt - self.aout_min_volt) / (2 *
np.pi)
self.aout_motor.setVoltage(output_voltage_motor)
# write to HDF5 file
self.write_logfile_arduino()
except:
print("message from Arduino is not a number:", msg)
# ask the OS whether the socket is readable
# give 3 lists of sockets for reading, writing, and checking for errors; we only care about the first one
# https://docs.python.org/3/howto/sockets.html#socket-programming-howto
ready = select.select(
[sock], [], [], timeout_in_seconds
) # returns the subset of sockets that are actually readable
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(
1024
) # buffer size, should be a relatively small power of 2
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
self.time_elapsed = time.time() - self.time_start # (s)
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1]) # frame counter
self.posx = float(toks[15]) # integrated x position (rad)
self.posy = float(toks[16]) # integrated y position (rad)
self.heading = float(
toks[17]
) # integrated heading direction of the animal in lab coords (rad)
self.intx = float(
toks[20]
) # integrated x position (rad) of the sphere in lab coord neglecting heading
self.inty = float(
toks[21]
) # integrated y position (rad) of the sphere in lab coord neglecting heading
self.timestamp = float(
toks[22]) # frame capture time (ms) since epoch
## Set Phidget voltages using FicTrac data
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage YAW
output_voltage_yaw = (self.heading) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw.setVoltage(output_voltage_yaw)
self.aout_yaw_gain.setVoltage(output_voltage_yaw)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
# Save fictrac data in HDF5 file
self.write_logfile_fictrac()
# open-loop wind
self.time_step = (time.time() - self.time_end)
if self.turn_type == 'clockwise':
self.current_wind_dir = (
self.current_wind_dir +
(self.time_step * self.stim_speed)) % 360
elif self.turn_type == 'counterclockwise':
self.current_wind_dir = (
self.current_wind_dir -
(self.time_step * self.stim_speed)) % 360
self.time_end = time.time()
# send the wind direction to Arduino
arduino_str = "H " + str(
self.current_wind_dir
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
# Set analog output voltage of Phidget (note different from closed-loop, due to the infrequent nature of communication)
output_voltage_motor = (self.current_wind_dir /
360) * 10 # convert from deg to V
self.aout_motor.setVoltage(output_voltage_motor)
# Display status message
if self.print:
print(f'time elapsed: {self.time_elapsed: 1.3f} s',
end='')
print(f'\t wind dir: {self.current_wind_dir:3.0f} deg')
#print(f'\t time step: {self.time_step:3.6f} s')
if self.time_elapsed > self.experiment_time:
self.done = True
break
# go back to 0 deg at the end of the trial
arduino_str = "H " + str(
0
) + "\n" # "H is a command used in the Arduino code to indicate heading
arduino_byte = arduino_str.encode(
) # convert unicode string to byte string
ser.write(arduino_byte) # send to serial port
self.aout_wind_valve.setVoltage(
0.0) # turn the wind off at the end of the trial
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile_fictrac(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'motor': self.motor_pos_rad
}
self.logger_fictrac.add(log_data)
def write_logfile_arduino(self):
log_data = {'time': self.time_arduino, 'motor': self.motor_pos_rad}
self.logger_arduino.add(log_data)
tilt.setDeviceSerialNumber(465371) tilt.openWaitForAttachment(1000) tilt.setAcceleration(ACCEL) pan = DCMotor() pan.setDeviceSerialNumber(469502) pan.openWaitForAttachment(1000) pan.setAcceleration(ACCEL) #Setup Pnematics pressure_ctrl = VoltageOutput() pressure_ctrl.setDeviceSerialNumber(540047) pressure_ctrl.setIsHubPortDevice(False) pressure_ctrl.setHubPort(3) pressure_ctrl.setChannel(0) pressure_ctrl.openWaitForAttachment(5000) pressure_reading = VoltageRatioInput() pressure_reading.setDeviceSerialNumber(540047) pressure_reading.setIsHubPortDevice(False) pressure_reading.setHubPort(0) pressure_reading.setChannel(0) pressure_reading.openWaitForAttachment(5000) solenoid = DigitalOutput() solenoid.setDeviceSerialNumber(540047) solenoid.setIsHubPortDevice(False) solenoid.setHubPort(4) solenoid.setChannel(3) solenoid.openWaitForAttachment(5000)
class SocketClientCueDisappears(object):
DefaultParam = {
'experiment': 1,
'experiment_time': 30,
'logfile_name': 'Z:/Wilson Lab/Mel/FlyOnTheBall/data',
'logfile_auto_incr': True,
'logfile_auto_incr_format': '{0:06d}',
'logfile_dt': 0.01,
'offset': 0
}
def __init__(self, param=DefaultParam):
self.param = param
self.experiment = self.param['experiment']
self.experiment_time = self.param['experiment_time']
self.time_start = time.time()
# Set up Phidget channels
self.aout_channel_ydimension = 0
self.aout_channel_x = 1
self.aout_channel_yaw_gain = 2
self.aout_channel_y = 3
self.aout_max_volt = 10.0
self.aout_min_volt = 0.0
# Set up Phidget serial numbers for using two devices
self.phidget_vision = 525577 # written on the back of the Phidget
self.phidget_heading = 589946
# Setup analog output y dim, to change the y dimension of the stimulus
self.aout_ydim = VoltageOutput()
self.aout_ydim.setDeviceSerialNumber(self.phidget_vision)
self.aout_ydim.setChannel(self.aout_channel_ydimension)
self.aout_ydim.openWaitForAttachment(5000)
self.aout_ydim.setVoltage(0.0)
# Setup analog output X
self.aout_x = VoltageOutput()
self.aout_x.setDeviceSerialNumber(self.phidget_vision)
self.aout_x.setChannel(self.aout_channel_x)
self.aout_x.openWaitForAttachment(5000)
self.aout_x.setVoltage(0.0)
# Setup analog output YAW gain
self.aout_yaw_gain = VoltageOutput()
self.aout_yaw_gain.setDeviceSerialNumber(self.phidget_vision)
self.aout_yaw_gain.setChannel(self.aout_channel_yaw_gain)
self.aout_yaw_gain.openWaitForAttachment(5000)
self.aout_yaw_gain.setVoltage(0.0)
# Setup analog output Y
self.aout_y = VoltageOutput()
self.aout_y.setDeviceSerialNumber(self.phidget_vision)
self.aout_y.setChannel(self.aout_channel_y)
self.aout_y.openWaitForAttachment(5000)
self.aout_y.setVoltage(9.0)
# Set up Phidget channels in device 2 to save the heading
self.aout_heading_channel = 1
# Setup analog output motor
self.aout_heading = VoltageOutput()
self.aout_heading.setDeviceSerialNumber(self.phidget_heading)
self.aout_heading.setChannel(self.aout_heading_channel)
self.aout_heading.openWaitForAttachment(5000)
self.aout_heading.setVoltage(0.0)
self.print = True
# Set up socket info
self.HOST = '127.0.0.1' # The (receiving) host IP address (sock_host)
self.PORT = 65432 # The (receiving) host port (sock_port)
# Set up Arduino connection
self.COM = 'COM4' # serial port
self.baudrate = 115200 # 9600
self.serialTimeout = 0.001 # blocking timeout for readline()
self.done = False
self.gain_yaw = 1
self.heading_with_gain = 0
self.bar_jump = True
self.bar_jump_size = 0
#initialize the bar on
self.bar = True
self.bar_moving = True
#define times when bar will be turned off
self.turn_off_times = np.linspace(900, 3525, 26)
#self.turn_off_times = np.linspace(30,300,7) #uncomment for testing
#initialize heading with respect to panels to be starting position
self.bar_position = np.deg2rad(360 - self.param['offset'])
#set up logger to save hd5f file
self.logger_fictrac = H5Logger(
filename=self.param['logfile_name'],
auto_incr=self.param['logfile_auto_incr'],
auto_incr_format=self.param['logfile_auto_incr_format'],
param_attr=self.param)
#specify a variable for the first message being read
self.first_time_in_loop = True
def run(self):
# UDP
# Open the connection (ctrl-c / ctrl-break to quit)
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock,\
serial.Serial(self.COM, self.baudrate, timeout=self.serialTimeout) as ser:
sock.bind((self.HOST,
self.PORT)) # takes one argument, give it as a tuple
sock.setblocking(False) # make it non-blocking
# Keep receiving data until FicTrac closes
data = ""
timeout_in_seconds = 1
while not self.done:
# Check to see whether there is data waiting
ready = select.select([sock], [], [], timeout_in_seconds)
# Only try to receive data if there is data waiting
if ready[0]:
# Receive one data frame
new_data = sock.recv(1024)
# Uh oh?
if not new_data:
break
# Decode received data
data += new_data.decode('UTF-8')
#get time
time_now = time.time()
self.time_elapsed = time_now - self.time_start
# Find the first frame of data
endline = data.find("\n")
line = data[:endline] # copy first frame
data = data[endline + 1:] # delete first frame
# Tokenise
toks = line.split(", ")
# Check that we have sensible tokens
if ((len(toks) < 24) | (toks[0] != "FT")):
print('Bad read')
continue
# Extract FicTrac variables
# (see https://github.com/rjdmoore/fictrac/blob/master/doc/data_header.txt for descriptions)
self.frame = int(toks[1])
self.posx = float(toks[15])
self.posy = float(toks[16])
self.heading = float(toks[17])
self.intx = float(toks[20])
self.inty = float(toks[21])
self.timestamp = float(toks[22])
# calculate delta heading by comparing it to the previous value
#if self.first_time_in_loop:
# self.prev_heading = float(toks[17])
# self.first_time_in_loop = False
#else:
# self.prev_heading = self.heading
#self.deltaheading = self.heading - self.prev_heading
#I had to comment the above lines because they weren't working well.
self.deltaheading = float(toks[8])
#Set Phidget voltages using FicTrac data
#Set the voltages that don't depend on the time of the experiment
# Set analog output voltage X
wrapped_intx = (self.intx % (2 * np.pi))
output_voltage_x = wrapped_intx * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_x.setVoltage(output_voltage_x)
# Set analog output voltage Y
wrapped_inty = self.inty % (2 * np.pi)
output_voltage_y = wrapped_inty * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_y.setVoltage(output_voltage_y)
#At the right intervals, stop the stimulus and turn it off
if ((math.floor(self.time_elapsed) in self.turn_off_times)
and (self.bar == True)
and (self.bar_moving == True)):
self.bar = False
self.bar_moving = False
self.bar_jump = True #resetting bar jump
#At the right intervals, make the stimulus jump 90 deg from its previous position and turn it on
if ((math.floor(self.time_elapsed - 15)
in self.turn_off_times) and (self.bar == False)
and (self.bar_moving == False)
and (self.bar_jump == True)):
self.bar_moving = True
self.bar = True
#self.bar_jump_size = random.choice([math.radians(-90),math.radians(90)])
self.bar_jump_size = 0
self.bar_jump = False
else:
self.bar_jump_size = 0
if self.bar_moving == True:
self.heading_with_gain = (
self.heading_with_gain + self.deltaheading *
self.gain_yaw + self.bar_jump_size) % (2 * np.pi)
output_voltage_yaw_gain = (self.heading_with_gain) * (
self.aout_max_volt - self.aout_min_volt) / (2 * np.pi)
self.aout_yaw_gain.setVoltage(10 - output_voltage_yaw_gain)
#store heading data
output_voltage_heading = self.heading
self.aout_heading.setVoltage(output_voltage_heading)
if self.bar == False:
y_dim_voltage = 5.0
else:
y_dim_voltage = 9.0
self.aout_ydim.setVoltage(y_dim_voltage)
# Save fictrac data in HDF5 file
self.write_logfile_fictrac()
# Display status message
if self.print:
print(f'time elapsed: {self.time_elapsed: 1.3f}',
end='')
print(
f' bar pos: {np.rad2deg(self.heading_with_gain):3.0f}'
)
print(f' ydim volt: {y_dim_voltage:3.0f}')
print(
f' delta heading: {np.rad2deg(self.deltaheading):3.0f}'
)
if self.time_elapsed > self.experiment_time:
self.done = True
break
print('Trial finished - quitting!')
#define function to log data to hdf5 file
def write_logfile_fictrac(self):
log_data = {
'time': self.time_elapsed,
'frame': self.frame,
'posx': self.posx,
'posy': self.posy,
'intx': self.intx,
'inty': self.inty,
'heading': self.heading,
'deltaheading': self.deltaheading,
'bar_position': self.heading_with_gain,
}
self.logger_fictrac.add(log_data)
#!/usr/bin/env python3
from Phidget22.Phidget import *
from Phidget22.Devices.VoltageOutput import *
import sys
import time
experiment_time = float(sys.argv[1]) + 2.0 # adding two extra seconds
phidget_wind = 589946 # for sending the position of the motor to NI-DAQ
aout_channel_wind_valve = 2
aout_wind_valve = VoltageOutput()
aout_wind_valve.setDeviceSerialNumber(phidget_wind)
aout_wind_valve.setChannel(aout_channel_wind_valve)
aout_wind_valve.openWaitForAttachment(5000)
aout_wind_valve.setVoltage(0.0)
time_start = time.time()
print(f'Turning MFC on for {experiment_time} seconds')
while True:
time_elapsed = time.time() - time_start
aout_wind_valve.setVoltage(5.0)
if time_elapsed > experiment_time:
aout_wind_valve.setVoltage(0.0)
print('Turning MFC off')
break
class ControlFrame:
def __init__(self, master, colorArray):
frame1 = Frame(master, borderwidth=2, relief=SUNKEN)
frame2 = Frame(master, borderwidth=2, relief=SUNKEN)
frame3 = Frame(master, borderwidth=2, relief=SUNKEN)
frame4 = Frame(master, borderwidth=2, relief=SUNKEN)
frame5 = Frame(master, borderwidth=2, relief=SUNKEN)
frame6 = Frame(master, borderwidth=2, relief=SUNKEN)
frame7 = Frame(master, borderwidth=2, relief=SUNKEN)
camera_frame_1 = Frame(master, borderwidth=2, relief=SUNKEN, bg='LightSkyBlue2')
camera_frame_2 = Frame(master, borderwidth=2, relief=SUNKEN, bg='light goldenrod yellow')
frame1.grid(row=1, column=0)
frame2.grid(row=1, column=1)
frame3.grid(row=1, column=2)
frame4.grid(row=1, column=3)
frame5.grid(row=1, column=4)
frame6.grid(row=1, column=5)
frame7.grid(row=1, column=6)
camera_frame_1.grid(row=3, column=0, columnspan=7, sticky=NSEW)
camera_frame_2.grid(row=4, column=0, columnspan=7, sticky=NSEW)
self.out1 = AxisFrame(frame1, "BASE CIRC", "VESSEL RIGHT", "VESSEL LEFT", HUB1, 5, colorArray[0], 3.3, 0.55)
self.out2 = AxisFrame(frame2, "BASE AUX", "CW/IN", "CCW/OUT", HUB2, 0, colorArray[1], 2.2, 0.11)
self.out3 = AxisFrame(frame3, "VARD ROT", "CW", "CCW", HUB1, 3, colorArray[2], 2.2, 0.15)
self.out4 = AxisFrame(frame4, "VARD VERT", "UP", "DOWN", HUB1, 4, colorArray[3], 7.8, 0.54)
self.out5 = AxisFrame(frame5, "DA MAST", "UP", "DOWN", HUB1, 0, colorArray[4], 8, 0.86)
self.out6 = AxisFrame(frame6, "DA PAN", "CW", "CCW", HUB1, 2, colorArray[5], 3.0, 0.30)
self.out7 = AxisFrame(frame7, "DA TILT", "UP", "DOWN", HUB1, 1, colorArray[6], 3.6, 0.57)
# RJ Camera Control: Code Tool Camera
self.invert_tilt_1 = BooleanVar()
self.invert_pan_1 = BooleanVar()
self.btn_power_1 = Button(camera_frame_1, text="PWR", font="Courier, 12", command=self.toggle_power_1)
self.btn_near_1 = Button(camera_frame_1, text="NEAR", font="Courier, 12", width=7)
self.btn_far_1 = Button(camera_frame_1, text="FAR", font="Courier, 12", width=7)
self.btn_wide_1 = Button(camera_frame_1, text="WIDE", font="Courier, 12", width=7)
self.btn_tele_1 = Button(camera_frame_1, text="TELE", font="Courier, 12", width=7)
self.btn_ms_1 = Button(camera_frame_1, text="MS", font="Courier, 12", width=7)
self.left_light_scale_1 = Scale(camera_frame_1, orient=VERTICAL, from_=0, to=0.45, resolution=0.01,
command=self.update_left_intensity_1, bg='LightSkyBlue2', highlightthickness=0)
self.right_light_scale_1 = Scale(camera_frame_1, orient=VERTICAL, from_=0, to=0.45, resolution=0.01,
command=self.update_right_intensity_1, bg='LightSkyBlue2',
highlightthickness=0)
self.label_lights_1 = Label(camera_frame_1, text=" Light Intensity", bg='LightSkyBlue2')
self.label_camera_type_1 = Label(camera_frame_1, text="TOOL CAMERA", font=("TkDefaultFont", 14),
bg='LightSkyBlue2')
self.btn_tilt_up_1 = Button(camera_frame_1, text="TILT UP", font="Courier, 12", width=10)
self.btn_tilt_down_1 = Button(camera_frame_1, text="TILT DOWN", font="Courier, 12", width=10)
self.btn_pan_right_1 = Button(camera_frame_1, text="PAN RIGHT", font="Courier, 12", width=10)
self.btn_pan_left_1 = Button(camera_frame_1, text="PAN LEFT", font="Courier, 12", width=10)
self.tilt_speed_1 = Scale(camera_frame_1, orient=HORIZONTAL, from_=0.01, to=.5, resolution=0.01,
bg='LightSkyBlue2', highlightthickness=0)
self.pan_speed_1 = Scale(camera_frame_1, orient=HORIZONTAL, from_=0.01, to=.5, resolution=0.01,
bg='LightSkyBlue2', highlightthickness=0)
self.ckbx_invert_tilt_1 = Checkbutton(camera_frame_1, text="Invert Tilt", variable=self.invert_tilt_1,
bg='LightSkyBlue2')
self.ckbx_invert_pan_1 = Checkbutton(camera_frame_1, text="Invert Pan", variable=self.invert_pan_1,
bg='LightSkyBlue2')
self.activeColor_1 = 'SpringGreen4'
self.tilt_speed_1.set(0.15)
self.pan_speed_1.set(0.15)
# RJ Camera Control: Overview Camera
self.invert_tilt_2 = BooleanVar()
self.invert_pan_2 = BooleanVar()
self.btn_power_2 = Button(camera_frame_2, text="PWR", font="Courier, 12", command=self.toggle_power_2)
self.btn_near_2 = Button(camera_frame_2, text="NEAR", font="Courier, 12", width=7)
self.btn_far_2 = Button(camera_frame_2, text="FAR", font="Courier, 12", width=7)
self.btn_wide_2 = Button(camera_frame_2, text="WIDE", font="Courier, 12", width=7)
self.btn_tele_2 = Button(camera_frame_2, text="TELE", font="Courier, 12", width=7)
self.btn_ms_2 = Button(camera_frame_2, text="MS", font="Courier, 12", width=7)
self.left_light_scale_2 = Scale(camera_frame_2, orient=VERTICAL, from_=0, to=0.45, resolution=0.01,
command=self.update_left_intensity_2, bg='light goldenrod yellow',
highlightthickness=0)
self.right_light_scale_2 = Scale(camera_frame_2, orient=VERTICAL, from_=0, to=0.45, resolution=0.01,
command=self.update_right_intensity_2, bg='light goldenrod yellow',
highlightthickness=0)
self.label_lights_2 = Label(camera_frame_2, text=" Light Intensity", bg='light goldenrod yellow')
self.label_camera_type_2 = Label(camera_frame_2, text="OVERVIEW CAMERA", font=("TkDefaultFont", 14),
bg='light goldenrod yellow')
self.btn_tilt_up_2 = Button(camera_frame_2, text="TILT UP", font="Courier, 12", width=10)
self.btn_tilt_down_2 = Button(camera_frame_2, text="TILT DOWN", font="Courier, 12", width=10)
self.btn_pan_right_2 = Button(camera_frame_2, text="PAN RIGHT", font="Courier, 12", width=10)
self.btn_pan_left_2 = Button(camera_frame_2, text="PAN LEFT", font="Courier, 12", width=10)
self.tilt_speed_2 = Scale(camera_frame_2, orient=HORIZONTAL, from_=0.01, to=.5, resolution=0.01,
bg='light goldenrod yellow', highlightthickness=0)
self.pan_speed_2 = Scale(camera_frame_2, orient=HORIZONTAL, from_=0.01, to=.5, resolution=0.01,
bg='light goldenrod yellow', highlightthickness=0)
self.ckbx_invert_tilt_2 = Checkbutton(camera_frame_2, text="Invert Tilt", variable=self.invert_tilt_2,
bg='light goldenrod yellow')
self.ckbx_invert_pan_2 = Checkbutton(camera_frame_2, text="Invert Pan", variable=self.invert_pan_2,
bg='light goldenrod yellow')
self.activeColor_2 = 'SpringGreen4'
self.tilt_speed_2.set(0.15)
self.pan_speed_2.set(0.15)
# Grid the Tool Camera Controls
self.btn_power_1.grid(row=0, column=0, padx=60)
self.btn_ms_1.grid(row=1, column=0, padx=5, pady=5)
self.btn_near_1.grid(row=0, column=2, padx=20, pady=10)
self.btn_far_1.grid(row=1, column=2, padx=20, pady=10)
self.btn_tele_1.grid(row=0, column=3, padx=20, pady=10)
self.btn_wide_1.grid(row=1, column=3, padx=20, pady=10)
self.label_camera_type_1.grid(row=2, column=0, columnspan=4)
self.left_light_scale_1.grid(row=0, column=4, rowspan=3, padx=20, pady=5)
self.right_light_scale_1.grid(row=0, column=5, rowspan=3, padx=45, pady=5)
self.label_lights_1.grid(row=3, column=4, columnspan=2, padx=45, sticky=N)
self.btn_tilt_up_1.grid(row=0, column=6, padx=20, pady=5)
self.btn_tilt_down_1.grid(row=1, column=6, padx=20, pady=5)
self.btn_pan_right_1.grid(row=0, column=8, padx=20, pady=5, rowspan=2)
self.btn_pan_left_1.grid(row=0, column=7, padx=20, pady=5, rowspan=2)
self.tilt_speed_1.grid(row=2, column=6)
self.pan_speed_1.grid(row=2, column=7, columnspan=2)
self.ckbx_invert_tilt_1.grid(row=3, column=6)
self.ckbx_invert_pan_1.grid(row=3, column=7, columnspan=2)
# Grid the Overview Camera Controls
self.btn_power_2.grid(row=0, column=0, padx=60)
self.btn_ms_2.grid(row=1, column=0, padx=5, pady=5)
self.btn_near_2.grid(row=0, column=2, padx=20, pady=10)
self.btn_far_2.grid(row=1, column=2, padx=20, pady=10)
self.btn_tele_2.grid(row=0, column=3, padx=20, pady=10)
self.btn_wide_2.grid(row=1, column=3, padx=20, pady=10)
self.label_camera_type_2.grid(row=2, column=0, columnspan=4)
self.left_light_scale_2.grid(row=0, column=4, rowspan=3, padx=20, pady=5)
self.right_light_scale_2.grid(row=0, column=5, rowspan=3, padx=45, pady=5)
self.label_lights_2.grid(row=3, column=4, columnspan=2, padx=45, sticky=N)
self.btn_tilt_up_2.grid(row=0, column=6, padx=20, pady=5)
self.btn_tilt_down_2.grid(row=1, column=6, padx=20, pady=5)
self.btn_pan_right_2.grid(row=0, column=8, padx=20, pady=5, rowspan=2)
self.btn_pan_left_2.grid(row=0, column=7, padx=20, pady=5, rowspan=2)
self.tilt_speed_2.grid(row=2, column=6)
self.pan_speed_2.grid(row=2, column=7, columnspan=2)
self.ckbx_invert_tilt_2.grid(row=3, column=6)
self.ckbx_invert_pan_2.grid(row=3, column=7, columnspan=2)
# Connect to Phidget Devices for Tool Camera
self.power_1 = DigitalOutput()
self.power_1.setDeviceSerialNumber(HUB2)
self.power_1.setIsHubPortDevice(False)
self.power_1.setHubPort(1)
self.power_1.setChannel(0)
try:
self.power_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (CAM POWER): " + e.details)
self.manual_select_1 = DigitalOutput()
self.manual_select_1.setDeviceSerialNumber(HUB2)
self.manual_select_1.setIsHubPortDevice(False)
self.manual_select_1.setHubPort(1)
self.manual_select_1.setChannel(1)
try:
self.manual_select_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (Manual Select): " + e.details)
self.near_1 = DigitalOutput()
self.near_1.setDeviceSerialNumber(HUB2)
self.near_1.setIsHubPortDevice(False)
self.near_1.setHubPort(1)
self.near_1.setChannel(2)
try:
self.near_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (NEAR): " + e.details)
self.far_1 = DigitalOutput()
self.far_1.setDeviceSerialNumber(HUB2)
self.far_1.setIsHubPortDevice(False)
self.far_1.setHubPort(1)
self.far_1.setChannel(3)
try:
self.far_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (FAR): " + e.details)
self.wide_1 = DigitalOutput()
self.wide_1.setDeviceSerialNumber(HUB2)
self.wide_1.setIsHubPortDevice(False)
self.wide_1.setHubPort(1)
self.wide_1.setChannel(4)
try:
self.wide_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (WIDE): " + e.details)
self.tele_1 = DigitalOutput()
self.tele_1.setDeviceSerialNumber(HUB2)
self.tele_1.setIsHubPortDevice(False)
self.tele_1.setHubPort(1)
self.tele_1.setChannel(5)
try:
self.tele_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (TELE): " + e.details)
self.left_light_1 = VoltageOutput()
self.left_light_1.setDeviceSerialNumber(HUB2)
self.left_light_1.setIsHubPortDevice(False)
self.left_light_1.setHubPort(2)
self.left_light_1.setChannel(0)
try:
self.left_light_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (LEFT LIGHT): " + e.details)
self.right_light_1 = VoltageOutput()
self.right_light_1.setDeviceSerialNumber(HUB2)
self.right_light_1.setIsHubPortDevice(False)
self.right_light_1.setHubPort(3)
self.right_light_1.setChannel(0)
try:
self.right_light_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (RIGHT LIGHT): " + e.details)
self.pan_1 = VoltageOutput()
self.pan_1.setDeviceSerialNumber(HUB2)
self.pan_1.setIsHubPortDevice(False)
self.pan_1.setHubPort(5)
self.pan_1.setChannel(0)
try:
self.pan_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (PAN): " + e.details)
self.tilt_1 = VoltageOutput()
self.tilt_1.setDeviceSerialNumber(HUB2)
self.tilt_1.setIsHubPortDevice(False)
self.tilt_1.setHubPort(4)
self.tilt_1.setChannel(0)
try:
self.tilt_1.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (TILT): " + e.details)
self.btn_near_1.bind('<ButtonPress-1>', lambda event: self.focus_1("+"))
self.btn_near_1.bind('<ButtonRelease-1>', lambda event: self.focus_1("0"))
self.btn_far_1.bind('<ButtonPress-1>', lambda event: self.focus_1("-"))
self.btn_far_1.bind('<ButtonRelease-1>', lambda event: self.focus_1("0"))
self.btn_wide_1.bind('<ButtonPress-1>', lambda event: self.zoom_1("-"))
self.btn_wide_1.bind('<ButtonRelease-1>', lambda event: self.zoom_1("0"))
self.btn_tele_1.bind('<ButtonPress-1>', lambda event: self.zoom_1("+"))
self.btn_tele_1.bind('<ButtonRelease-1>', lambda event: self.zoom_1("0"))
self.btn_ms_1.bind('<ButtonPress-1>', lambda event: self.focus_type_1("ON"))
self.btn_ms_1.bind('<ButtonRelease-1>', lambda event: self.focus_type_1("OFF"))
self.btn_tilt_up_1.bind('<ButtonPress-1>', lambda event: self.tilt_move_1("-"))
self.btn_tilt_up_1.bind('<ButtonRelease-1>', lambda event: self.tilt_move_1("0"))
self.btn_tilt_down_1.bind('<ButtonPress-1>', lambda event: self.tilt_move_1("+"))
self.btn_tilt_down_1.bind('<ButtonRelease-1>', lambda event: self.tilt_move_1("0"))
self.btn_pan_right_1.bind('<ButtonPress-1>', lambda event: self.pan_move_1("R"))
self.btn_pan_right_1.bind('<ButtonRelease-1>', lambda event: self.pan_move_1("0"))
self.btn_pan_left_1.bind('<ButtonPress-1>', lambda event: self.pan_move_1("L"))
self.btn_pan_left_1.bind('<ButtonRelease-1>', lambda event: self.pan_move_1("0"))
# Connect to Phidget Devices for Overview Camera
self.power_2 = DigitalOutput()
self.power_2.setDeviceSerialNumber(HUB2)
self.power_2.setIsHubPortDevice(False)
self.power_2.setHubPort(1)
self.power_2.setChannel(0)
try:
self.power_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (CAM POWER): " + e.details)
self.manual_select_2 = DigitalOutput()
self.manual_select_2.setDeviceSerialNumber(HUB2)
self.manual_select_2.setIsHubPortDevice(False)
self.manual_select_2.setHubPort(1)
self.manual_select_2.setChannel(1)
try:
self.manual_select_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (Manual Select): " + e.details)
self.near_2 = DigitalOutput()
self.near_2.setDeviceSerialNumber(HUB2)
self.near_2.setIsHubPortDevice(False)
self.near_2.setHubPort(1)
self.near_2.setChannel(2)
try:
self.near_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (NEAR): " + e.details)
self.far_2 = DigitalOutput()
self.far_2.setDeviceSerialNumber(HUB2)
self.far_2.setIsHubPortDevice(False)
self.far_2.setHubPort(1)
self.far_2.setChannel(3)
try:
self.far_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (FAR): " + e.details)
self.wide_2 = DigitalOutput()
self.wide_2.setDeviceSerialNumber(HUB2)
self.wide_2.setIsHubPortDevice(False)
self.wide_2.setHubPort(1)
self.wide_2.setChannel(4)
try:
self.wide_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (WIDE): " + e.details)
self.tele_2 = DigitalOutput()
self.tele_2.setDeviceSerialNumber(HUB2)
self.tele_2.setIsHubPortDevice(False)
self.tele_2.setHubPort(1)
self.tele_2.setChannel(5)
try:
self.tele_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (TELE): " + e.details)
self.left_light_2 = VoltageOutput()
self.left_light_2.setDeviceSerialNumber(HUB2)
self.left_light_2.setIsHubPortDevice(False)
self.left_light_2.setHubPort(2)
self.left_light_2.setChannel(0)
try:
self.left_light_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (LEFT LIGHT): " + e.details)
self.right_light_2 = VoltageOutput()
self.right_light_2.setDeviceSerialNumber(HUB2)
self.right_light_2.setIsHubPortDevice(False)
self.right_light_2.setHubPort(3)
self.right_light_2.setChannel(0)
try:
self.right_light_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (RIGHT LIGHT): " + e.details)
self.pan_2 = VoltageOutput()
self.pan_2.setDeviceSerialNumber(HUB2)
self.pan_2.setIsHubPortDevice(False)
self.pan_2.setHubPort(5)
self.pan_2.setChannel(0)
try:
self.pan_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (PAN): " + e.details)
self.tilt_2 = VoltageOutput()
self.tilt_2.setDeviceSerialNumber(HUB2)
self.tilt_2.setIsHubPortDevice(False)
self.tilt_2.setHubPort(4)
self.tilt_2.setChannel(0)
try:
self.tilt_2.openWaitForAttachment(1000)
except PhidgetException as e:
print("Failed to open (TILT): " + e.details)
# Methods for Tool Camera
def toggle_power_1(self):
if self.power_1.getState() == True:
self.power_1.setState(False)
self.btn_power_1.config(bg="SystemButtonFace")
elif self.power_1.getState() == False:
self.power_1.setState(True)
self.btn_power_1.config(bg=self.activeColor_1)
def update_left_intensity_1(self, val):
self.left_light_1.setVoltage(float(val))
def update_right_intensity_1(self, val):
self.right_light_1.setVoltage(float(val))
def focus_1(self, direction):
if direction == "+":
self.near_1.setState(TRUE)
elif direction == "-":
self.far_1.setState(TRUE)
elif direction == "0":
self.far_1.setState(FALSE)
self.near_1.setState(FALSE)
def zoom_1(self, direction):
if direction == "+":
self.tele_1.setState(TRUE)
elif direction == "-":
self.wide_1.setState(TRUE)
elif direction == "0":
self.tele_1.setState(FALSE)
self.wide_1.setState(FALSE)
def pan_move_1(self, direction):
voltage = float(self.pan_speed_1.get())
if self.invert_pan_1.get():
voltage *= -1
if direction == "R":
self.pan_1.setVoltage(voltage)
elif direction == "L":
self.pan_1.setVoltage(-1 * voltage)
elif direction == "0":
self.pan_1.setVoltage(0)
def tilt_move_1(self, direction):
voltage = float(self.tilt_speed_1.get())
if self.invert_tilt_1.get():
voltage *= -1
if direction == "+":
self.tilt_1.setVoltage(voltage)
elif direction == "-":
self.tilt_1.setVoltage(-1 * voltage)
elif direction == "0":
self.tilt_1.setVoltage(0)
def focus_type_1(self, state):
if state == "ON":
self.manual_select_1.setState(True)
elif state == "OFF":
self.manual_select_1.setState(False)
# Methods for Overview Camera
def toggle_power_2(self):
if self.power_2.getState() == True:
self.power_2.setState(False)
self.btn_power_2.config(bg="SystemButtonFace")
elif self.power_2.getState() == False:
self.power_2.setState(True)
self.btn_power_2.config(bg=self.activeColor_2)
def update_left_intensity_2(self, val):
self.left_light_2.setVoltage(float(val))
def update_right_intensity_2(self, val):
self.right_light_2.setVoltage(float(val))
def focus_2(self, direction):
if direction == "+":
self.near_2.setState(TRUE)
elif direction == "-":
self.far_2.setState(TRUE)
elif direction == "0":
self.far_2.setState(FALSE)
self.near_2.setState(FALSE)
def zoom_2(self, direction):
if direction == "+":
self.tele_2.setState(TRUE)
elif direction == "-":
self.wide_2.setState(TRUE)
elif direction == "0":
self.tele_2.setState(FALSE)
self.wide_2.setState(FALSE)
def pan_move_2(self, direction):
voltage = float(self.pan_speed_2.get())
if self.invert_pan_2.get():
voltage *= -1
if direction == "R":
self.pan_2.setVoltage(voltage)
elif direction == "L":
self.pan_2.setVoltage(-1 * voltage)
elif direction == "0":
self.pan_2.setVoltage(0)
def tilt_move_2(self, direction):
voltage = float(self.tilt_speed_2.get())
if self.invert_tilt_2.get():
voltage *= -1
if direction == "+":
self.tilt_2.setVoltage(voltage)
elif direction == "-":
self.tilt_2.setVoltage(-1 * voltage)
elif direction == "0":
self.tilt_2.setVoltage(0)
def focus_type_2(self, state):
if state == "ON":
self.manual_select_2.setState(True)
elif state == "OFF":
self.manual_select_2.setState(False)
# *********** Set up aout params *********** rate_to_volt_const = 50, aout_max_volt = 10.0, aout_min_volt = 0.0, aout_max_volt_vel = 10.0, aout_min_volt_vel = 0.0, lowpass_cutoff = 0.5, # *********** Set up analog output channels *********** # Setup analog output 'runSpeed' - inst. running speed in rads/frame aout_runSpeed = VoltageOutput() aout_runSpeed.setChannel(0) aout_runSpeed.openWaitForAttachment(5000) aout_runSpeed.setVoltage(0.0) aout_runSpeed.setDeviceSerialNumber(525438) # Setup analog output 'animalheading360' -- this will be fly heading in degrees (0-3.6V) as in open loop trials aout_animalheading360 = VoltageOutput() aout_animalheading360.setChannel(1) aout_animalheading360.openWaitForAttachment(5000) aout_animalheading360.setVoltage(0.0) aout_animalheading360.setDeviceSerialNumber(525438) # xpos command to controller aout_xposcmd = VoltageOutput() aout_xposcmd.setChannel(2) aout_xposcmd.openWaitForAttachment(5000) aout_xposcmd.setVoltage(0.0)