class ResetThread(QtCore.QThread):
"""Thread for resetting Vectrino"""
def __init__(self):
QtCore.QThread.__init__(self)
print("Vectrino reset thread initialized")
self.vec = PdControl()
self.comport = "COM2"
self.isconnected = self.vec.connected
self.vecstatus = "Vectrino disconnected "
self.enable = True
print("Vectrino thread init done")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.3)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.3)
print("Vectrino in data confirmation mode")
self.stop()
def stop(self):
self.vec.stop_disk_recording()
self.vec.stop()
while self.vec.state != "Command mode":
time.sleep(0.3)
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
class ResetThread(QtCore.QThread):
"""Thread for resetting Vectrino"""
def __init__(self):
QtCore.QThread.__init__(self)
print("Vectrino reset thread initialized")
self.vec = PdControl()
self.comport = "COM2"
self.isconnected = self.vec.connected
self.vecstatus = "Vectrino disconnected "
self.enable = True
print("Vectrino thread init done")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.3)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.3)
print("Vectrino in data confirmation mode")
self.stop()
def stop(self):
self.vec.stop_disk_recording()
self.vec.stop()
while self.vec.state != "Command mode":
time.sleep(0.3)
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
class TurbineTow(QtCore.QThread):
towfinished = QtCore.pyqtSignal()
def __init__(self,
acs_hcomm,
U,
tsr,
y_R,
z_H,
turbine_properties,
nidaq=True,
vectrino=True,
vecsavepath="",
fbg=False,
fbg_properties={},
settling=False,
vec_salinity=0.0):
"""Turbine tow run object."""
QtCore.QThread.__init__(self)
self.hc = acs_hcomm
self.U = float(U)
self.tsr = tsr
self.y_R = y_R
self.z_H = z_H
self.R = turbine_properties["radius"]
self.H = turbine_properties["height"]
self.vectrino = vectrino
self.nidaq = nidaq
self.fbg = fbg
self.settling = settling
self.build_acsprg()
self.acsdaqthread = daqtasks.AcsDaqThread(self.hc)
self.maxvel = U * 1.3
self.usetrigger = True
self.vecsavepath = vecsavepath
self.recordvno = True
self.vecstatus = "Vectrino disconnected "
self.autoaborted = False
self.aborted = False
self.vec_salinity = vec_salinity
commit = check_output(["git", "rev-parse", "--verify", "HEAD"])[:-1]
self.metadata = {
"Tow speed (m/s)": float(U),
"Tip speed ratio": tsr,
"Time created": time.asctime(),
"TurbineDAQ version": commit
}
if self.vectrino:
self.vec = PdControl()
self.metadata["Vectrino metadata"] = {"y/R": y_R, "z/H": z_H}
if self.nidaq:
self.daqthread = daqtasks.NiDaqThread(usetrigger=self.usetrigger)
self.nidata = self.daqthread.data
self.metadata["NI metadata"] = self.daqthread.metadata
if self.fbg:
self.fbgthread = daqtasks.FbgDaqThread(fbg_properties,
usetrigger=self.usetrigger)
self.metadata["FBG metadata"] = self.fbgthread.metadata
self.fbgdata = self.fbgthread.data
def build_acsprg(self):
"""Create the ACSPL+ program for running the run.
This run should send a trigger pulse."""
if self.settling:
endpos = 9.0
else:
endpos = 0.0
self.acs_prg = acsprgs.turbine_tow_prg(self.U,
self.tsr,
self.R,
endpos=endpos)
def setvecconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.coordinate_system = "XYZ"
self.vec.power_level = "High"
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.vec_salinity
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
elif self.maxvel <= 0.3 or self.settling:
self.vec.vel_range = 3
self.vec.set_config()
self.metadata["Vectrino metadata"]["Velocity range (index)"] = \
self.vec.vel_range
self.metadata["Vectrino metadata"]["Sample rate (Hz)"] = \
self.vec.sample_rate
self.metadata["Vectrino metadata"]["Coordinate system"] = \
self.vec.coordinate_system
self.metadata["Vectrino metadata"]["Salinity (ppt)"] = \
self.vec.salinity
self.metadata["Vectrino metadata"]["Transmit length"] = \
self.vec.transmit_length
self.metadata["Vectrino metadata"]["Sampling volume"] = \
self.vec.sampling_volume
print("Vectrino configuration set")
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R * self.R)
acsc.toPoint(self.hc, None, 1, self.z_H * self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def reset_vec(self):
self.vec.connect()
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vec.data = {}
print("Vectrino reset")
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
vec.sync_master = True
vec.sample_rate = 100
vec.vel_range = 2
vec.transmit_length = 3
vec.sampling_volume = 3
vec.salinity = 0.0
vec.power_level = "High"
vec.connect()
while not vec.connected:
print "Connecting..."
time.sleep(0.5)
print "Connected!"
vec.set_config()
vec.stop()
vec.start_disk_recording("test/test", False)
vec.start()
while vec.state != "Confirmation mode":
time.sleep(0.2)
print "Collecting data..."
i = 0
t0 = time.time()
t = 0
while t < 10:
print "Signal to noise ratio (dB):", vec.get_snr(1,1)
i += 1
t = time.time() - t0
class TurbineTow(QtCore.QThread):
towfinished = QtCore.pyqtSignal()
def __init__(self, acs_hcomm, U, tsr, y_R, z_H,
turbine_properties, nidaq=True, vectrino=True, vecsavepath="",
fbg=False, fbg_properties={}, settling=False, vec_salinity=0.0):
"""Turbine tow run object."""
QtCore.QThread.__init__(self)
self.hc = acs_hcomm
self.U = float(U)
self.tsr = tsr
self.y_R = y_R
self.z_H = z_H
self.R = turbine_properties["radius"]
self.H = turbine_properties["height"]
self.vectrino = vectrino
self.nidaq = nidaq
self.fbg = fbg
self.settling = settling
self.build_acsprg()
self.acsdaqthread = daqtasks.AcsDaqThread(self.hc)
self.maxvel = U*1.3
self.usetrigger = True
self.vecsavepath = vecsavepath
self.recordvno = True
self.vecstatus = "Vectrino disconnected "
self.autoaborted = False
self.aborted = False
self.vec_salinity = vec_salinity
commit = check_output(["git", "rev-parse", "--verify", "HEAD"])[:-1]
self.metadata = {"Tow speed (m/s)" : float(U),
"Tip speed ratio" : tsr,
"Time created" : time.asctime(),
"TurbineDAQ version" : commit}
if self.vectrino:
self.vec = PdControl()
self.metadata["Vectrino metadata"] = {"y/R": y_R, "z/H": z_H}
if self.nidaq:
self.daqthread = daqtasks.NiDaqThread(usetrigger=self.usetrigger)
self.nidata = self.daqthread.data
self.metadata["NI metadata"] = self.daqthread.metadata
if self.fbg:
self.fbgthread = daqtasks.FbgDaqThread(fbg_properties,
usetrigger=self.usetrigger)
self.metadata["FBG metadata"] = self.fbgthread.metadata
self.fbgdata = self.fbgthread.data
def build_acsprg(self):
"""Create the ACSPL+ program for running the run.
This run should send a trigger pulse."""
if self.settling:
endpos = 9.0
else:
endpos = 0.0
self.acs_prg = acsprgs.turbine_tow_prg(self.U, self.tsr, self.R,
endpos=endpos)
def setvecconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.coordinate_system = "XYZ"
self.vec.power_level = "High"
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.vec_salinity
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
elif self.maxvel <= 0.3 or self.settling:
self.vec.vel_range = 3
self.vec.set_config()
self.metadata["Vectrino metadata"]["Velocity range (index)"] = \
self.vec.vel_range
self.metadata["Vectrino metadata"]["Sample rate (Hz)"] = \
self.vec.sample_rate
self.metadata["Vectrino metadata"]["Coordinate system"] = \
self.vec.coordinate_system
self.metadata["Vectrino metadata"]["Salinity (ppt)"] = \
self.vec.salinity
self.metadata["Vectrino metadata"]["Transmit length"] = \
self.vec.transmit_length
self.metadata["Vectrino metadata"]["Sampling volume"] = \
self.vec.sampling_volume
print("Vectrino configuration set")
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R*self.R)
acsc.toPoint(self.hc, None, 1, self.z_H*self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def reset_vec(self):
self.vec.connect()
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vec.data = {}
print("Vectrino reset")
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
class VectrinoThread(QtCore.QThread):
"""Thread for running Vectrino"""
collecting = QtCore.pyqtSignal()
connectsignal = QtCore.pyqtSignal(bool)
def __init__(self,
maxvel=2.5,
usetrigger=True,
record=False,
salinity=0.0):
QtCore.QThread.__init__(self)
print("Vectrino thread initialized")
self.vec = PdControl()
self.vecdata = self.vec.data
self.usetrigger = usetrigger
self.maxvel = maxvel
self.comport = "COM2"
self.record = record
self.isconnected = self.vec.connected
self.savepath = ""
self.vecstatus = "Vectrino disconnected "
self.enable = True
self.salinity = salinity
print("Vectrino thread init done")
def setconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.salinity
self.vec.power_level = "High"
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
self.vec.set_config()
print("Vectrino configuration set")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.5)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
self.connectsignal.emit(False)
break
if not self.timeout:
self.connectsignal.emit(True)
self.vec.stop()
self.setconfig()
if self.record:
self.vec.start_disk_recording(self.savepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.1)
print("Vectrino in data collection mode")
time.sleep(6)
self.collecting.emit()
print("Vectrino collecting")
def getstatus(self):
return self.vec.state
def stop(self):
self.enable = False
if self.record:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
vec.sync_master = True
vec.sample_rate = 100
vec.vel_range = 2
vec.transmit_length = 3
vec.sampling_volume = 3
vec.salinity = 0.0
vec.power_level = "High"
vec.connect()
while not vec.connected:
print "Connecting..."
time.sleep(0.5)
print "Connected!"
vec.set_config()
vec.stop()
vec.start_disk_recording("test/test", False)
vec.start()
while vec.state != "Confirmation mode":
time.sleep(0.2)
print "Collecting data..."
i = 0
t0 = time.time()
t = 0
while t < 10:
print "Signal to noise ratio (dB):", vec.get_snr(1, 1)
i += 1
t = time.time() - t0
class VectrinoThread(QtCore.QThread):
"""Thread for running Vectrino"""
collecting = QtCore.pyqtSignal()
connectsignal = QtCore.pyqtSignal(bool)
def __init__(self, maxvel=2.5, usetrigger=True, record=False, salinity=0.0):
QtCore.QThread.__init__(self)
print("Vectrino thread initialized")
self.vec = PdControl()
self.vecdata = self.vec.data
self.usetrigger = usetrigger
self.maxvel = maxvel
self.comport = "COM2"
self.record = record
self.isconnected = self.vec.connected
self.savepath = ""
self.vecstatus = "Vectrino disconnected "
self.enable = True
self.salinity = salinity
print("Vectrino thread init done")
def setconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.salinity
self.vec.power_level = "High"
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
self.vec.set_config()
print("Vectrino configuration set")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.5)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
self.connectsignal.emit(False)
break
if not self.timeout:
self.connectsignal.emit(True)
self.vec.stop()
self.setconfig()
if self.record:
self.vec.start_disk_recording(self.savepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.1)
print("Vectrino in data collection mode")
time.sleep(6)
self.collecting.emit()
print("Vectrino collecting")
def getstatus(self):
return self.vec.state
def stop(self):
self.enable = False
if self.record:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "