class PhidgetNode(object):
"""Node for polling InterfaceKit, Encoder Board, and Wheatstone Bridge"""
def __init__(self):
"""Open InterfaceKit and Encoder devices and initialize ros node"""
rospy.init_node("phidgets_node")
#rospy.init_node("phidgets_node", log_level=rospy.DEBUG)
# Call base class initializer, which starts a ros node with a name and log_level
# It then opens and attaches Phidget device
self.interfaceKit = InterfaceKit()
self.encoder = Encoder()
# self.bridge = Bridge()
# initialize this to nan to indicate we haven't homed the location
self.sled_pos = float('nan') # position of sled in millimeters
self.encoder_rear_offset = 0
self.encoder_front_offset = 0
# Open the devices and wait for them to attach
self._attachPhidget(self.interfaceKit, "Interface Kit")
self._attachPhidget(self.encoder, "Encoder board")
# self._attachPhidget(self.bridge, "Wheatstone Bridge")
self.params = rospy.get_param("/phidgets")
self.sled_params = self.params["sled"]
self.sensor_pub = rospy.Publisher("/actuator_states/raw/",
ActuatorStates,
queue_size=10)
self.sensor_processed_pub = rospy.Publisher("/actuator_states/proc",
ActuatorStatesProcessed,
queue_size=10)
self.limit_sub = rospy.Subscriber("/pololu/limit_switch",
LimitSwitch,
self.limit_callback,
queue_size=10)
self.sled_is_homed = False
# enable both the sled encoders
self.encoder.setEnabled(self.sled_params["encoder_index"]["left"],
True)
self.encoder.setEnabled(self.sled_params["encoder_index"]["right"],
True)
# Display info of the devices
self._displayDeviceInfo(self.encoder)
self.displayInterfaceKitInfo()
# self.displayBridgeInfo()
def _attachPhidget(self, phidget, name):
"""Open and wait for the Phidget object to attach"""
try:
phidget.openPhidget()
rospy.loginfo("Waiting for %s to attach....", name)
phidget.waitForAttach(10000) # 10 s
except:
rospy.logerr("%s did not attach!", name)
def _displayDeviceInfo(self, phidget):
"""Display relevant info about device"""
rospy.logdebug("Attached: %s", phidget.isAttached())
rospy.logdebug("Type: %s", phidget.getDeviceName())
rospy.logdebug("Serial No.: %s", phidget.getSerialNum())
rospy.logdebug("Version: %s", phidget.getDeviceVersion())
def displayInterfaceKitInfo(self):
"""Display relevant info about interface kit"""
self._displayDeviceInfo(self.interfaceKit)
rospy.logdebug("Number of Digital Inputs: %i",
self.interfaceKit.getInputCount())
rospy.logdebug("Number of Digital Outputs: %i",
self.interfaceKit.getOutputCount())
rospy.logdebug("Number of Sensor Inputs: %i",
self.interfaceKit.getSensorCount())
rospy.logdebug("Min data rate: %i, Max data rate: %i",
self.interfaceKit.getDataRateMin(0),
self.interfaceKit.getDataRateMax(0))
def displayBridgeInfo(self):
"""Display relevant info about wheatstone bridge"""
self._displayDeviceInfo(self.bridge)
rospy.logdebug("Number of bridge inputs: %i",
self.bridge.getInputCount())
rospy.logdebug("Data Rate Max: %d", self.bridge.getDataRateMax())
rospy.logdebug("Data Rate Min: %d", self.bridge.getDataRateMin())
rospy.logdebug("Input Value Max: %d", self.bridge.getBridgeMax(0))
rospy.logdebug("Input Value Min: %d", self.bridge.getBridgeMin(0))
def limit_callback(self, limit_switch):
"""Callback for the current state of the switches. If this is the first
time they have been pressed, set flag to indicate the sled has been homed"""
if limit_switch.rear and not self.sled_is_homed:
self.sled_pos = self.sled_params["rear_pos"]
self.encoder_rear_offset = self.pollEncoders()
self.sled_is_homed = True
#elif limit_switch.front:
# self.sled_pos = self.sled_params["front_pos"]
# self.encoder_front_offset = self.pollEncoders()
# self.sled_is_homed = True
def pollEncoders(self):
"""Return averaged value of sled left and right encoder values"""
sled_left_ticks = self.encoder.getPosition(
self.sled_params["encoder_index"]["left"])
sled_right_ticks = self.encoder.getPosition(
self.sled_params["encoder_index"]["right"])
average = (-sled_left_ticks + sled_right_ticks) / 2
rospy.logdebug("left right tick average: %.2f", average)
return average
def pollLinearActuator(self, name):
"""Poll the sensor for its raw value. Then convert that value
to the actual position in millimeters. Return as a SensorValuePair"""
device = self.params[name]
index = device["sensor_index"]
min_pot_val = device["min"]
max_pot_val = device["max"]
physical_length = device["length"]
# Create objects to fill and later send over message
raw_val = self.interfaceKit.getSensorValue(index)
# Convert the potentiometer value to millimeter position
pos = (raw_val - min_pot_val) * (physical_length /
(max_pot_val - min_pot_val))
return pos
def sendProcessedMessage(self, actuator_states):
"""Process the interface sensor message to average and get the positions
of the motors"""
proc = ActuatorStatesProcessed()
proc.header = actuator_states.header
proc.arm = (actuator_states.arm_left + actuator_states.arm_right) / 2
proc.bucket = (actuator_states.bucket_left +
actuator_states.bucket_right) / 2
proc.sled = actuator_states.sled
self.sensor_processed_pub.publish(proc)
def pollSensors(self):
"""Poll and publish all the sensor values as ActuatorStates message"""
ticks_per_mm = self.sled_params["ticks_per_mm"]
actuator_states = ActuatorStates(
) # create object to store message components to send on topic
header = Header()
actuator_states.header.stamp = rospy.Time.now()
actuator_states.arm_left = self.pollLinearActuator("arm_left")
actuator_states.arm_right = self.pollLinearActuator("arm_right")
actuator_states.bucket_left = self.pollLinearActuator("bucket_left")
actuator_states.bucket_right = self.pollLinearActuator("bucket_right")
sled_left_ticks = self.encoder.getPosition(
self.sled_params["encoder_index"]["left"])
sled_right_ticks = self.encoder.getPosition(
self.sled_params["encoder_index"]["right"])
rospy.logdebug("left ticks = %d", sled_left_ticks)
rospy.logdebug("right ticks = %d", sled_right_ticks)
if self.sled_is_homed:
rospy.logdebug("left pos = %.2f", sled_left_ticks / ticks_per_mm)
rospy.logdebug("right pos = %.2f", sled_right_ticks / ticks_per_mm)
sled_pos = (self.pollEncoders() -
self.encoder_rear_offset) / ticks_per_mm
else:
sled_pos = float(
'nan'
) # set this so everybody knows we haven't homed the sled yet
actuator_states.sled = sled_pos
# TODO: add sled_pos to position when that is setup
# actuator_states.sled = self.interfaceKit.getSensorValue(self.params["sled"]["sensor_index"])
self.sensor_pub.publish(actuator_states)
self.sendProcessedMessage(actuator_states)
def run(self):
"""Run the main ros loop"""
rospy.loginfo("Starting phidgets node loop")
r_time = rospy.Rate(10) #10 Hz looping
while not rospy.is_shutdown():
self.pollSensors()
r_time.sleep()
class InterfaceKitHelper:
__inputs = np.zeros(8)
__sensors = np.zeros(8)
attached = False
led = None
def __init__(self):
# Create an interfacekit object
try:
self.__interfaceKit = InterfaceKit()
except RuntimeError as e:
print('Runtime Exception: %s' % e.details)
return 1
try:
# logging example, uncomment to generate a log file
#self.__interfaceKit.enableLogging(PhidgetLogLevel.PHIDGET_LOG_VERBOSE, 'phidgetlog.log')
self.__interfaceKit.setOnAttachHandler(self.__interfaceKitAttached)
self.__interfaceKit.setOnDetachHandler(self.__interfaceKitDetached)
self.__interfaceKit.setOnErrorhandler(self.__interfaceKitError)
self.__interfaceKit.setOnInputChangeHandler(
self.__interfaceKitInputChanged)
self.__interfaceKit.setOnOutputChangeHandler(
self.__interfaceKitOutputChanged)
self.__interfaceKit.setOnSensorChangeHandler(
self.__interfaceKitSensorChanged)
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
return 1
print('[INFO] [InterfaceKitHelper] Opening phidget object....')
try:
self.__interfaceKit.openPhidget()
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
return 1
print('[INFO] [InterfaceKitHelper] Waiting for attach....')
try:
self.__interfaceKit.waitForAttach(10000)
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
try:
self.__interfaceKit.closePhidget()
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
return 1
return 1
else:
# self.__displayDeviceInfo()
pass
print(
'[INFO] [InterfaceKitHelper] Setting the data rate for each sensor index to 4ms....'
)
for i in range(self.__interfaceKit.getSensorCount()):
try:
self.__interfaceKit.setDataRate(i, 4)
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
self.led = LED(self)
def getInputs(self):
return InterfaceKitHelper.__inputs[:]
def getSensors(self):
return InterfaceKitHelper.__sensors[:]
def setOutputState(self, *args):
if self.attached:
self.__interfaceKit.setOutputState(*args)
def destroy(self):
self.attached = False
self.led.destroy()
try:
print(
'[INFO] [InterfaceKitHelper] Closing interface kit phidget...')
self.__interfaceKit.closePhidget()
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
return 1
def __displayDeviceInfo(self):
"""
Information Display Function
"""
print(
'|------------|----------------------------------|--------------|------------|'
)
print(
'|- Attached -|- Type -|- Serial No. -|- Version -|'
)
print(
'|------------|----------------------------------|--------------|------------|'
)
print('|- %8s -|- %30s -|- %10d -|- %8d -|' %
(self.__interfaceKit.isAttached(),
self.__interfaceKit.getDeviceName(),
self.__interfaceKit.getSerialNum(),
self.__interfaceKit.getDeviceVersion()))
print(
'|------------|----------------------------------|--------------|------------|'
)
print('Number of Digital Inputs: %i' %
(self.__interfaceKit.getInputCount()))
print('Number of Digital Outputs: %i' %
(self.__interfaceKit.getOutputCount()))
print('Number of Sensor Inputs: %i' %
(self.__interfaceKit.getSensorCount()))
def __interfaceKitAttached(self, e):
"""
Event Handler Callback Functions
"""
attached = e.device
print('[INFO] [InterfaceKitHelper] InterfaceKit %i Attached!' %
(attached.getSerialNum()))
self.attached = True
def __interfaceKitDetached(self, e):
detached = e.device
print('[INFO] [InterfaceKitHelper] InterfaceKit %i Detached!' %
(detached.getSerialNum()))
self.attached = False
def __interfaceKitError(self, e):
try:
source = e.device
print(
'[INFO] [InterfaceKitHelper] InterfaceKit %i: Phidget Error %i: %s'
% (source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
def __interfaceKitInputChanged(self, e):
# source = e.device
# print('InterfaceKit %i: Input %i: %s' % (source.getSerialNum(), e.index, e.state))
InterfaceKitHelper.__inputs[e.index] = e.state
def __interfaceKitSensorChanged(self, e):
# source = e.device
# print('InterfaceKit %i: Sensor %i: %i' % (source.getSerialNum(), e.index, e.value))
InterfaceKitHelper.__sensors[e.index] = e.value
def __interfaceKitOutputChanged(self, e):
# source = e.device
# print('InterfaceKit %i: Output %i: %s' % (source.getSerialNum(), e.index, e.state))
pass
class SitwPhidgetsKey(wx.Frame):
def __init__(self, image, parent = None, id = -1,
pos = wx.DefaultPosition, title = sitwPara.Title):
wx.Frame.__init__(self, parent, id, title)
self.SetBackgroundColour((0, 0, 0))
self.SetSize((360, 80))
self.Center()
self.Iconize()
self.panel = wx.Panel(self, size=(320, 336))
self.panel.Bind(wx.EVT_PAINT, self.OnPaint)
#self.panel.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground)
self.Fit()
self.SampleCount = 12 #for detecting environment 12 x 10sec = 2min
self.KeyPressed = ''
self.CurAction = ''
self.CurPos = win32api.GetCursorPos()
self.PreAction = ''
self.PrePos = win32api.GetCursorPos()
self.bKeyIntervalOK = True
self.KeyMatReady = False
self.ListValMat = []
self.ListValEnv = []
self.ListValBrt = []
self.KeySearch = False
self.dtSearchStart = datetime.datetime.now()
self.dtAction = datetime.datetime.now()
self.dtRefresh = datetime.datetime.now()
self.ChannelCount = 0
self.bNight = False
self.ctEvn = 0
#self.edgeTop = 50
#self.edgeBottom = sitwPara.MoveEdgeBottom1
#self.edgeLeft = 50
#self.edgeRight = 50
self.edgeTop = 18
self.edgeBottom = 18
self.edgeLeft = 18
self.edgeRight = 18
self.strLogAction = ''
self.strLogBrightness = ''
self.subp = None
self.List_ProgramFile = []
self.List_Program = []
self.OnScreenApp = ''
#self.utSchedule = SitwScheduleTools(self)
self.utLogAction = SitwLog(self, 'logAction')
self.utLogBrightness = SitwLog(self, 'logBrightness')
#self.Bind(wx.EVT_SIZE, self.OnResize)
self.Bind(wx.EVT_CLOSE, self.OnCloseWindow)
self.Bind(wx.EVT_IDLE, self.OnIdle)
self.prtMsg('PhidgetsKey Starting...')
self.readIniFile()
self.initPhidgets()
self.initKeys()
'''collect ambient light info'''
self.timer1 = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.CheckEnv, self.timer1)
self.timer1.Start(sitwPara.SampleInterval_Env) #1000 = 1 second
'''check if there is any key has been covered'''
self.timer2 = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.CheckKey, self.timer2)
self.timer2.Start(sitwPara.SampleInterval_Key) #1000 = 1 second
'''find current on screen experience according to schedule file'''
''' -- removed --'''
'''collect sensor readings for analysis'''
if sitwPara.Log_Brightness == 'Yes':
print '<Log_Brightness On>'
self.timer5 = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.logBrightness, self.timer5)
self.timer5.Start(60 * 1000) #1000 = 1 second
self.utLogBrightness.logMsg('------ log is starting ------\t' + sitwPara.Title)
self.logBrightness(None)
else:
print '<Log_Brightness Off>'
'''collect keypad actions for analysis'''
if sitwPara.Log_Action == 'Yes':
print '<Log_Action On>'
self.timer6 = wx.Timer(self)
self.Bind(wx.EVT_TIMER, self.logActions, self.timer6)
self.timer6.Start(9 * 1000) #1000 = 1 second
self.utLogAction.logMsg('------ log is starting ------\t' + sitwPara.Title)
else:
print '<Log_Action Off>'
###Change Cursor
###http://converticon.com/
### http://stackoverflow.com/questions/7921307/temporarily-change-cursor-using-python
self.SetSystemCursor = windll.user32.SetSystemCursor #reference to function
self.SetSystemCursor.restype = c_int #return
self.SetSystemCursor.argtype = [c_int, c_int] #arguments
self.LoadCursorFromFile = windll.user32.LoadCursorFromFileA #reference to function
self.LoadCursorFromFile.restype = c_int #return
self.LoadCursorFromFile.argtype = c_char_p #arguments
CursorPath ='../pic/handr.cur'
NewCursor = self.LoadCursorFromFile(CursorPath)
if NewCursor is None:
print "Error loading the cursor"
elif self.SetSystemCursor(NewCursor, win32con.IDC_ARROW) == 0:
print "Error in setting the cursor"
###Change Cursor
self.DimScreen = wx.DisplaySize()
print 'Screen Dimensions: ' + str(self.DimScreen[0]) + ' x ' + str(self.DimScreen[1])
##########################################
'''m,b parameters for each sensor'''
for i in range(len(sitwPara.List_mb)):
print '===== ', sitwPara.List_mb[i][0], sitwPara.List_mb[i][1]
##########################################
### not in use at the moment
def OnEraseBackground(self, event):
return True
def OnPaint(self, event):
'''
# establish the painting surface
dc = wx.PaintDC(self.panel)
dc.SetPen(wx.Pen('blue', 4))
# draw a blue line (thickness = 4)
dc.DrawLine(50, 20, 300, 20)
dc.SetPen(wx.Pen('red', 1))
# draw a red rounded-rectangle
rect = wx.Rect(50, 50, 100, 100)
dc.DrawRoundedRectangleRect(rect, 8)
# draw a red circle with yellow fill
dc.SetBrush(wx.Brush('yellow'))
x = 250
y = 100
r = 50
dc.DrawCircle(x, y, r)
'''
#dc = wx.PaintDC(self.panel)
dc = wx.BufferedPaintDC(self.panel)
dc.SetBackground(wx.BLUE_BRUSH)
dc.Clear()
self.onDraw(dc)
def onDraw(self, dc):
strColorPen1 = 'red'
strColorPen2 = 'blue'
for i in range(sitwPara.KeyCount):
rect = sitwPara.List_ButtonPos[i]
dc.SetBrush(wx.Brush((0, 255*self.ListValBrt[i], 255*self.ListValBrt[i])))
if self.KeyPressed == sitwPara.List_Action[i]:
dc.SetPen(wx.Pen(strColorPen1, 5))
else:
dc.SetPen(wx.Pen(strColorPen2, 1))
#dc.SetPen(wx.TRANSPARENT_PEN)
dc.DrawRoundedRectangleRect(rect, 8)
def initPhidgets(self):
try:
self.interfaceKit = InterfaceKit()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
self.interfaceKit.setOnAttachHandler(self.inferfaceKitAttached)
self.interfaceKit.setOnDetachHandler(self.interfaceKitDetached)
self.interfaceKit.setOnErrorhandler(self.interfaceKitError)
self.interfaceKit.setOnInputChangeHandler(self.interfaceKitInputChanged)
self.interfaceKit.setOnOutputChangeHandler(self.interfaceKitOutputChanged)
self.interfaceKit.setOnSensorChangeHandler(self.interfaceKitSensorChanged)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Opening phidget object....")
try:
self.interfaceKit.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
self.interfaceKit.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
self.closePhidgets()
else:
self.displayDeviceInfo()
#get sensor count
try:
self.ChannelCount = self.interfaceKit.getSensorCount()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
self.closePhidgets()
sitwPara.KeyCount = 0 #no sensor has been detected
self.prtMsg(' ****** No sensor has been detected !!!\n')
print("Setting the data rate for each sensor index to 4ms....")
for i in range(sitwPara.KeyCount):
try:
self.interfaceKit.setDataRate(i, 4)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
### depends on the low light performance of the sensor
print("Setting the sensitivity for each sensor index to ???....")
for i in range(sitwPara.KeyCount):
try:
self.interfaceKit.setSensorChangeTrigger(i, 2) #~~~~*YL*~~~~
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
def closePhidgets(self):
#print("Press Enter to quit....")
#chr = sys.stdin.read(1)
#print("Closing...")
try:
self.interfaceKit.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
#print("Done.")
#exit(1)
def initKeys(self):
self.KeyPressed = ''
self.ListValMat = []
for i in range(sitwPara.KeyCount):
self.ListValEnv = []
for j in range(self.SampleCount):
self.ListValEnv.append(self.readSensorValue(i))
self.ListValMat.append(self.ListValEnv)
self.KeyMatReady = True
self.ListValBrt = []
for i in range(sitwPara.KeyCount):
self.ListValBrt.append(0)
def readIniFile(self):
self.prtMsg('Read system ini file...')
try:
config = ConfigParser.ConfigParser()
config.readfp(open(sitwPara.FilePath_Ini))
for eachIniData in self.iniData():
Section = eachIniData[0]
Keys = eachIniData[1]
for Key in Keys:
val = config.get(Section, Key)
if (Section == "General"):
if (Key == "KeyCount"):
sitwPara.KeyCount = int(val)
elif (Key == "Sensitivity"):
sitwPara.Sensitivity = float(val)
elif (Key == "MovingPace"):
sitwPara.MovingPace = int(val)
elif (Key == "SampleInterval_Key"):
sitwPara.SampleInterval_Key = int(val)
elif (Key == "SampleInterval_Env"):
sitwPara.SampleInterval_Env = int(val)
elif (Key == "Log_Action"):
sitwPara.Log_Action = str(val)
elif (Key == "Log_Brightness"):
sitwPara.Log_Brightness = str(val)
else:
pass
print('[' + Section + '] ' + Key + ' = ' + val)
continue
except: #IOError
self.prtMsg('Error: readIniFile()')
finally:
pass
def iniData(self):
return (("General",
("KeyCount",
"Sensitivity",
"MovingPace",
"SampleInterval_Key",
"SampleInterval_Env",
"Log_Action",
"Log_Brightness")),)
#Information Display Function
def displayDeviceInfo(self):
print("|------------|----------------------------------|--------------|------------|")
print("|- Attached -|- Type -|- Serial No. -|- Version -|")
print("|------------|----------------------------------|--------------|------------|")
print("|- %8s -|- %30s -|- %10d -|- %8d -|" % (self.interfaceKit.isAttached(), self.interfaceKit.getDeviceName(), self.interfaceKit.getSerialNum(), self.interfaceKit.getDeviceVersion()))
print("|------------|----------------------------------|--------------|------------|")
print("Number of Digital Inputs: %i" % (self.interfaceKit.getInputCount()))
print("Number of Digital Outputs: %i" % (self.interfaceKit.getOutputCount()))
print("Number of Sensor Inputs: %i" % (self.interfaceKit.getSensorCount()))
#Event Handler Callback Functions
def inferfaceKitAttached(self, e):
attached = e.device
print("InterfaceKit %i Attached!" % (attached.getSerialNum()))
def interfaceKitDetached(self, e):
detached = e.device
print("InterfaceKit %i Detached!" % (detached.getSerialNum()))
def interfaceKitError(self, e):
try:
source = e.device
print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
def interfaceKitInputChanged(self, e):
source = e.device
print("InterfaceKit %i: Input %i: %s" % (source.getSerialNum(), e.index, e.state))
def interfaceKitSensorChanged(self, e):
if not self.KeyMatReady:
return
#source = e.device
#print("InterfaceKit %i: Sensor %i: %i" % (source.getSerialNum(), e.index, e.value))
if not self.KeySearch:
self.KeySearch = True
self.dtSearchStart = datetime.datetime.now()
def interfaceKitOutputChanged(self, e):
source = e.device
print("InterfaceKit %i: Output %i: %s" % (source.getSerialNum(), e.index, e.state))
def readSensorValue(self, channel_id):
val = 0.0
try:
val = self.interfaceKit.getSensorValue(channel_id)
#val = self.interfaceKit.getSensorRawValue(channel_id) / 4.095
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
#val = 1.478777 * float(val) + 33.67076 #------ for 1142_0: Lux = m * SensorValue + b
#val = math.exp(0.02385 * float(val) - 0.56905) #------ for 1143_0: Lux = math.exp(m * SensorValue + b)
#val = math.exp(sitwPara.List_mb[channel_id][0] * float(val) + sitwPara.List_mb[channel_id][1]) #------ for 1143_0: Lux = math.exp(m * SensorValue + b)
return val
def CheckEnv(self, event):
for i in range(sitwPara.KeyCount):
ValIns = self.readSensorValue(i)
ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])
if (float(ValIns) / float(ValEnv)) > 0.70 or self.ctEvn >= 2: #natural change or the big change keeps for long time
self.ListValMat[i].pop(0)
self.ListValMat[i].append(ValIns)
self.ctEvn = 0
else:
self.ctEvn += 1 #ignore those suddenly changes
###test
#for val in self.ListValMax:
# print val, '->', sum(val)/len(val)
#print '-------------------------------------------------------'
def CheckKey(self, event):
if not self.KeySearch:
return
dtCurrentTime = datetime.datetime.now()
if dtCurrentTime - self.dtSearchStart > datetime.timedelta(microseconds = 6000000): # =6s ; 1000000 = 1s
self.KeySearch = False
if dtCurrentTime - self.dtAction > datetime.timedelta(microseconds = 500000): # =0.5s ; 1000000 = 1s
self.bKeyIntervalOK = True
else:
self.bKeyIntervalOK = False
self.bNight = True
for i in range(sitwPara.KeyCount):
ValIns = self.readSensorValue(i)
ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])
if ValEnv > 20.0:
self.bNight = False
self.ListValBrt[i] = float(ValIns) / float(ValEnv)
if self.ListValBrt[i] > 1.0:
self.ListValBrt[i] = 1.0
#sort
#self.ListValBrt.sort(cmp = None, key = None, reverse = False)
if self.bNight == False:
NightFactor = 1.0
else:
NightFactor = 1.8
#KeyID = self.ListValBrt.index(min(self.ListValBrt))
for i in range(sitwPara.KeyCount):
KeyID = sitwPara.List_KeyCheckOrder[i]
if self.ListValBrt[KeyID] < (sitwPara.Sensitivity * NightFactor):
bKey = True
break
else:
bKey = False
if bKey == True:
if KeyID == 1:
if self.KeyPressed == 'left' or self.bKeyIntervalOK == True:
self.KeyPressed = 'left'
self.dtAction = datetime.datetime.now()
else:
self.KeyPressed = ''
elif KeyID == 2:
if self.KeyPressed == 'right' or self.bKeyIntervalOK == True:
self.KeyPressed = 'right'
self.dtAction = datetime.datetime.now()
else:
self.KeyPressed = ''
elif KeyID == 3:
if self.KeyPressed == 'up' or self.bKeyIntervalOK == True:
self.KeyPressed = 'up'
self.dtAction = datetime.datetime.now()
else:
self.KeyPressed = ''
elif KeyID == 4:
if self.KeyPressed == 'down' or self.bKeyIntervalOK == True:
self.KeyPressed = 'down'
self.dtAction = datetime.datetime.now()
else:
self.KeyPressed = ''
elif KeyID == 0:
if self.KeyPressed != 'click' and self.KeyPressed != 'clicked' and self.KeyPressed != 'dclick' and self.KeyPressed != 'dclicked' and self.bKeyIntervalOK == True:
self.KeyPressed = 'click'
self.dtAction = datetime.datetime.now()
elif self.KeyPressed != 'dclick' and self.KeyPressed != 'dclicked' and (dtCurrentTime - self.dtAction > datetime.timedelta(microseconds = 2200000)): # =2.2s ; 1000000 = 1s
self.KeyPressed = 'dclick'
self.dtAction = datetime.datetime.now()
else:
self.KeyPressed = ''
if len(self.KeyPressed) > 0:
###filter
#-- removed ---
###filter
pos = win32api.GetCursorPos()
if self.KeyPressed == 'up':
if pos[1] >= self.edgeTop:
#nx = (pos[0]) * 65535.0 / self.DimScreen[0]
#ny = (pos[1] - sitwPara.MovingPace) * 65535.0 / self.DimScreen[1]
win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, 0, -sitwPara.MovingPace)
#win32api.SetCursorPos((pos[0], pos[1] - sitwPara.MovingPace))
elif self.KeyPressed == 'down':
if pos[1] <= self.DimScreen[1] - self.edgeBottom:
#nx = (pos[0]) * 65535.0 / self.DimScreen[0]
#ny = (pos[1] + sitwPara.MovingPace) * 65535.0 / self.DimScreen[1]
win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, 0, +sitwPara.MovingPace)
#win32api.SetCursorPos((pos[0], pos[1] + sitwPara.MovingPace))
elif self.KeyPressed == 'left':
if pos[0] >= self.edgeLeft:
#nx = (pos[0] - sitwPara.MovingPace) * 65535.0 / self.DimScreen[0]
#ny = (pos[1]) * 65535.0 / self.DimScreen[1]
win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, -sitwPara.MovingPace, 0)
#win32api.SetCursorPos((pos[0] - sitwPara.MovingPace, pos[1]))
elif self.KeyPressed == 'right':
if pos[0] <= self.DimScreen[0] - self.edgeRight:
#nx = (pos[0] + sitwPara.MovingPace) * 65535.0 / self.DimScreen[0]
#ny = (pos[1]) * 65535.0 / self.DimScreen[1]
win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, +sitwPara.MovingPace, 0)
#win32api.SetCursorPos((pos[0] + sitwPara.MovingPace, pos[1]))
elif self.KeyPressed == 'click':
self.click(pos[0], pos[1])
#print '**********click**************'
self.KeyPressed = 'clicked'
elif self.KeyPressed == 'dclick':
self.dclick(pos[0], pos[1])
#print '**********dclick**************'
self.KeyPressed = 'dclicked'
###Action Log
if sitwPara.Log_Action == 'Yes':
self.CurAction = self.KeyPressed
self.CurPos = win32api.GetCursorPos()
if self.CurAction != self.PreAction and len(self.PreAction) > 0:
#dtCurrentTime = datetime.datetime.now()
#strTimeTag = datetime.datetime.strftime(dtCurrentTime, '%Y-%m-%d %H:%M:%S')
#pos = win32api.GetCursorPos()
strLog = self.PreAction + '\t(' + str(self.PrePos[0]) + ',' + str(self.PrePos[1]) + ')' \
+ '\t' + self.OnScreenApp
self.utLogAction.logMsg(strLog)
self.PreAction = self.CurAction
self.PrePos = self.CurPos
def click(self, x,y):
win32api.SetCursorPos((x,y))
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
def dclick(self, x,y):
win32api.SetCursorPos((x,y))
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
def logBrightness(self, event):
strValEnv = ''
for i in range(sitwPara.KeyCount):
ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])
strValEnv += str('%06.2f'%(ValEnv)) + '\t'
self.utLogBrightness.logMsg(strValEnv)
self.utLogBrightness.wrtLog(False)
def logActions(self, event):
self.utLogAction.wrtLog(False)
def GetSchedule(self, event):
# --removed --
pass
def FindAppName(self, event):
# --removed --
pass
def prtMsg(self, strMsg):
dtCurrentTime = datetime.datetime.now()
strTimeTag = datetime.datetime.strftime(dtCurrentTime, '%Y-%m-%d %H:%M:%S')
#strTimeTag += str('%03d'%(int(datetime.datetime.strftime(dtCurrentTime, '%f'))/1000))
print(strTimeTag + ' ' + strMsg + "\n")
def OnIdle(self, event):
if not self.KeySearch:
return
dtCurrentTime = datetime.datetime.now()
if dtCurrentTime - self.dtRefresh > datetime.timedelta(microseconds = 200000): #1000000 = 1s
self.dtRefresh = dtCurrentTime
self.panel.Refresh(eraseBackground = False)
pass
def OnCloseWindow(self, event):
print "Do something b4 closing..."
###Change Cursor
CursorPath = "../pic/arrow.cur"
NewCursor = self.LoadCursorFromFile(CursorPath)
if NewCursor is None:
print "Error loading the cursor"
elif self.SetSystemCursor(NewCursor, win32con.IDC_ARROW) == 0:
print "Error in setting the cursor"
###Change Cursor
self.closePhidgets()
self.prtMsg('Destroy Phidgets Key')
if sitwPara.Log_Action == 'Yes':
self.utLogAction.wrtLog(True) #force to log all messages
if sitwPara.Log_Brightness == 'Yes':
self.utLogBrightness.wrtLog(True) #force to log all messages
#time.sleep(1)
self.Destroy()