def __init__(self,classifier : GestClassifier , window_length: int, overlap :int, sample_freq: int, username :str, debug = False):
# debug status
self.debug = debug
# sampling paramaters
self.window_length = window_length #number of Samples
self.length_sample = 14
self.classifier = classifier
self.data = np.array([0.0]*self.length_sample*window_length)
self.reading = np.array([0.0]*self.length_sample*(window_length-overlap))
self.overlap = overlap
self.samples_taken = 0
self.sample_freq = sample_freq
self.sample_period = 1/sample_freq
# Setup Server Link
self.board = "ece180d/MEAT/general/gesture"
self.user = "******" + username
self.mqtt_server = mqtt.MQTTLink( self.board, self.user)
self.designated_reciever = username
self.last_classification = ""
self.last_classification_time = datetime.datetime.now()
#initialize sensor
IMU.detectIMU()
if(IMU.BerryIMUversion == 99):
print(" No BerryIMU found...sick nasty")
sys.exit()
IMU.initIMU() # initialize all the relevant sensors
# Sensor Reading Values
self.gyroXangle = 0.0
self.gyroYangle = 0.0
self.gyroZangle = 0.0
self.CFangleX = 0.0
self.CFangleY = 0.0
self.CFangleXFiltered = 0.0
self.CFangleYFiltered = 0.0
self.kalmanX = 0.0
self.kalmanY = 0.0
self.oldXAccRawValue = 0
self.oldYAccRawValue = 0
self.oldZAccRawValue = 0
#Setup the tables for the median filter. Fill them all with '1' so we dont get devide by zero error
self.acc_medianTable1X = [1] * ACC_MEDIANTABLESIZE
self.acc_medianTable1Y = [1] * ACC_MEDIANTABLESIZE
self.acc_medianTable1Z = [1] * ACC_MEDIANTABLESIZE
self.acc_medianTable2X = [1] * ACC_MEDIANTABLESIZE
self.acc_medianTable2Y = [1] * ACC_MEDIANTABLESIZE
self.acc_medianTable2Z = [1] * ACC_MEDIANTABLESIZE
#timers
self.a = datetime.datetime.now()
self.b = datetime.datetime.now()
self.c = datetime.datetime.now()
def __init__(self, parent=None):
super().__init__(parent)
self.setFocusPolicy(Qt.StrongFocus)
self.manager = chat.BoardManager('Nico')
self.display = DisplayWidget()
self.link = mqtt.MQTTLink(topic='ece180d/MEAT', user_id='Jake')
# threading
self.threadpool = QThreadPool()
for topic in TOPICS:
self.manager.createBoard(topic)
self.__create_worker__(self.manager.link.listen)
self.manager.switch.connect(
lambda topic: self.switchDisplayTopic(topic))
self.switchDisplayTopic('general')
self.layout = QGridLayout()
self.setMainLayout()
import sys
PATH = ["src/comms/mqtt"]
for lib in PATH:
sys.path.append(lib)
import mqtt_net as mqtt
# defining for test script
if __name__ == '__main__':
# Note: make sure you are reading values from a subscriber on the same board to see the result
# Start a client
mqtt_tx = mqtt.MQTTLink("ece180d/MEAT/general", user_id='Jack')
message = {
'sender': 'Jack',
'color': (255, 0, 0),
'data': 'This is a test message.',
'time': {
'hour': 11,
'minute': 52,
'second': 0
},
'emoji': [1, 5]
}
mqtt_tx.send(message)
#
# File: controller_receiver.py
#
# Author: Thomas Kost
#
# Date: 04 February 2021
#
# @brief receives controller data for a generic user
#
import sys
import os
import time
sys.path.append('../../src/comms/mqtt/')
sys.path.append('src/comms/mqtt/')
import mqtt_net as mqtt
mqtt_link = mqtt.MQTTLink("ece180d/MEAT/general/gesture", "my_name",[0,0,0], True)
mqtt_link.listen()
while(True):
mqtt_link.send()
time.sleep(1)
time.sleep(1)
input("Press Enter to continue...")
#ece180d/MEAT/general/gesture
def __link__(self):
self.link = mqtt.MQTTLink(topic='ece180d/MEAT',
user_id=self.user,
color=self.color)
if 1: #Change to '0' to stop showing the angles from the gyro
outputString +="\t# GRYX Angle %5.2f GYRY Angle %5.2f GYRZ Angle %5.2f # " % (gyroXangle,gyroYangle,gyroZangle)
if 1: #Change to '0' to stop showing the angles from the complementary filter
outputString +="\t# CFangleX Angle %5.2f CFangleY Angle %5.2f #" % (CFangleX,CFangleY)
if 1: #Change to '0' to stop showing the heading
outputString +="\t# HEADING %5.2f tiltCompensatedHeading %5.2f #" % (heading,tiltCompensatedHeading)
if 1: #Change to '0' to stop showing the angles from the Kalman filter
outputString +="# kalmanX %5.2f kalmanY %5.2f #" % (kalmanX,kalmanY)
#print(outputString)
#slow program down a bit, makes the output more readable
time.sleep(0.03)
if AccYangle > 60:
handleIMU(mqtt_test, "up", reciever)
elif AccYangle < -60:
handleIMU(mqtt_test, "down", reciever)
else:
handleIMU(mqtt_test, "", reciever) # just send acks
if __name__ == "__main__":
reciever = "tommy"
user = "******" + reciever
mqtt_test = mqtt.MQTTLink("ece180d/MEAT/general/gesture", user)
runIMU(mqtt_test,reciever)
def __init__(self, user, parent=None):
super().__init__(parent)
self.link = mqtt.MQTTLink('ece180d/MEAT/general/gesture', user_id=user)
self.user = user
self.link.message.connect(lambda packet: self.gesture(packet))
# @brief testing file creating mqtt user with tag "b"
#
import sys
import os
import time
import datetime
import threading
sys.path.append('../../src/comms/mqtt/')
sys.path.append('src/comms/mqtt')
import mqtt_net as mqtt
# Instantiate link
mqtt_link_b = mqtt.MQTTLink("ece180d/MEAT/general", "b", [0, 0, 0], True)
# Create Messages
now = datetime.datetime.now()
msg_for_a = {
"message_type": "text",
"sender": "b",
"receiver": "a",
"data": "for a",
"time": {
"hour": now.hour,
"minute": now.minute,
"second": now.second
},
"color": [0, 0, 0],
"emoji": None