def __init__(self, sensor_server="172.17.5.180",
sensor_port=5555,
sensor_sample_rate=100000,
sensor_tx_freq=1000,
gantry_server="172.17.5.100",
gantry_port=5007,
store_filename="data.log"):
self.robot = Gantry(host=gantry_server,port=gantry_port)
self.sensor = Sensor(server=sensor_server,
port=sensor_port,
sample_rate=sensor_sample_rate,
tx_freq=sensor_tx_freq)
self.transmitter = siggen
self.transmitter.setFrequency(sensor_tx_freq)
self.transmitter.setVoltage(-2,2)
self.transmitter.turnOn()
self._tx_freq = sensor_tx_freq
self.store = DataStorage(store_filename)
self.pos = Pos(0,0)
class Echidna(object):
def __init__(self, sensor_server="172.17.5.180",
sensor_port=5555,
sensor_sample_rate=100000,
sensor_tx_freq=1000,
gantry_server="172.17.5.100",
gantry_port=5007,
store_filename="data.log"):
self.robot = Gantry(host=gantry_server,port=gantry_port)
self.sensor = Sensor(server=sensor_server,
port=sensor_port,
sample_rate=sensor_sample_rate,
tx_freq=sensor_tx_freq)
self.transmitter = siggen
self.transmitter.setFrequency(sensor_tx_freq)
self.transmitter.setVoltage(-2,2)
self.transmitter.turnOn()
self._tx_freq = sensor_tx_freq
self.store = DataStorage(store_filename)
self.pos = Pos(0,0)
def setStore(self,fname):
if self.store.db.isopen:
self.store.close()
self.store = DataStorage(fname)
def setTxFreq(self,freq):
self._tx_freq = freq
self.transmitter.setFrequency(freq)
self.sensor.tx_freq = freq
def stepOverTank(self,fname="tank"):
self.pos = self.discretizeTank()
x_size = self.pos.shape[0]
y_size = self.pos.shape[1]
for x in range(x_size):
for y in range(y_size):
p = self.pos[x,y]
logger.info("Moving to (%f, %f)" % (p[0],p[1]))
self.robot.moveAndWait(p[0],p[1], 60)
d = self.sensor.getSample(100)
fig, samp = self.plotRadar(5)
fig.savefig(fname + "-x%3.2f-y%3.2f(x%d,y%d).tiff" % (p[0],p[1],x,y))
plt.close(fig)
d.setPos(p, (x,y))
self.store.save(d)
def stepOverPos(self,pos,fname="target"):
self.count = 0
self.pos = pos
x_size = self.pos.shape[0]
y_size = self.pos.shape[1]
for x in range(x_size):
for y in range(y_size):
p = self.pos[x,y]
logger.info("Moving to (%f, %f)" % (p[0],p[1]))
self.robot.move(p[0],p[1], 70)
#d = self.sensor.getSample(25)
fig, d = self.plotRadar()
d.setPos(p)
self.store.save(d)
fig.savefig("%d-" % self.count + fname + "-x%3.2f-y%3.2f.tiff" % (p[0],p[1]))
plt.close(fig)
while(self.robot.busy()):
time.sleep(0.5)
self.count = self.count + 1
def freqSweep(self,start,stop,step=1, nsamps=100):
self.count = 0
range = np.arange(start,stop,step)
samples = []
for freq in range:
logger.info("%d | Sampling frequency: %f" % (self.count,freq))
self.setTxFreq(freq)
d = self.sensor.getSample(nsamps)
d.setPos(self.pos.astuple())
self.store.save(d)
self.count = self.count + 1
samples.append(d)
return samples
def discretizeTank(self, width=23.5, length=23.5, steps=50.0):
x_steps = np.round(np.arange(0,width,width/steps),2)
y_steps = np.round(np.arange(0,length,length/steps),2)
pos = np.zeros((x_steps.size,y_steps.size, 2))
for i in range(x_steps.size):
for j in range(y_steps.size):
pos[i][j][0] = x_steps[i]
pos[i][j][1] = y_steps[j]
return pos
def learn_baseline(self, samples=250):
self.sample_baseline = self.sensor.getSample(samples)
def getDiffSignal(self, samples=10, baseline_samples=250):
if not hasattr(self,"sample_baseline"):
self.learn_baseline(baseline_samples)
sample = self.sensor.getSample(samples)
data = sample.getMeanPower()
return (data - self.sample_baseline.getMeanPower()), sample
def plotRadar(self, samples=15, baseline_samples=250):
fig = plt.figure()
ax = fig.add_axes([0.1,0.1,0.8,0.8], polar=True)
lines = ax.get_lines()
ax.set_rmax(0.1)
y, samp = self.getDiffSignal(samples, baseline_samples)
for val in y:
sys.stdout.write("%3.6f,"% val)
sys.stdout.write("\n")
x = np.arange(y.size)/np.float(y.size)*np.pi*2.0
data = zip(x,y)
lines = ax.get_lines()
for vec in data:
ax.set_rmax(0.15)
ax.plot([vec[0],vec[0]],[0,vec[1]],linewidth=3.0)
ax.set_rmax(0.1)
plt.show()
return fig, samp
def __del__(self):
self.store.close()
gantry.Debug("Send failed")
def ErrorFlash():
while True:
GPIO.output(FIX_LED_Pin, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(FIX_LED_Pin, GPIO.LOW)
time.sleep(0.5)
def SleepMinutes(minutes):
time.sleep(minutes * 60)
gantry = Gantry()
if gantry.GsmSerialInit() < 0:
ErrorFlash()
if gantry.GpsSerialInit() < 0:
ErrorFlash()
gantry.Debug("SerialInit complete")
gantry.FonaWriteVerify('ATE0')
gantry.Debug("Echo off complete")
gantry.CheckDevice()
gantry.EnableGPRS()
gantry.Debug("Enable GPRS complete")
gantry.GprsInit("online.telia.se")
gantry.Debug("GprsInit complete")
gantry.HttpInit(
