parser.add_argument("-o", "--topic2", help="Additional MQTT topic")
parser.add_argument("-t", "--topic", help="MQTT topic", required=True)
# specific
parser.add_argument("-s", "--topic_key", help="MQTT topic key", required=True)
parser.add_argument("-w", "--wait", help="time between readings", type=float, default=0.5)
parser.add_argument("-i", "--pin", help="gpio pin (BCM)", type=int, required=True)
parser.add_argument("-y", "--high_value", help="high value", default=Sensor.HIGH)
parser.add_argument("-z", "--low_value", help="low value", default=Sensor.LOW)
parser.add_argument("-g", "--log_level", help="logging level", type=int, default=logging.INFO)
args = parser.parse_args()
# logging setup
logger = set_logger(level=args.log_level)
sensor = Sensor(args.pin)
sensor.start()
last_state = None
status = None
while True:
current_state = sensor.reading()
if current_state != last_state:
last_state = current_state # reset state value
if current_state == Sensor.LOW:
status = args.low_value
else:
status = args.high_value
logger.debug("sensor-monitor: changed %s %s" % (args.topic_key, str(status)))
# publish
MqttClient.publish(args, args.topic, {'state': {'reported': {args.topic_key: status}}})
if args.topic2 is not None:
from sys import argv
from sensor import Sensor
if len(argv) < 3 :
print "Brakujacy parametr podczas uruchomienia!"
print "%s [port sensora] [adres i port monitora]" % (argv[0])
exit()
if __name__ == "__main__":
s = Sensor(argv[1], argv[2])
s.start()
import yaml
from multiprocessing import Process, Queue
import time
print "라즈베리파이 센서&카메라 테스트를 시작합니다."
# 끝에 &를 붙여주면, 백그라운드에서 진행됩니다~
# os.system("python sensor/all_upload.py &")
# os.system("python camera/timelapse.py")
# Server Url
URL = 'http://deepmind.dothome.co.kr/controller.php'
# config.yml에서 설정한것들을 가져옴
config = yaml.safe_load(open('camera/config.yml'))
video_dir = os.path.join(sys.path[0], 'camera/video')
config['video_dir'] = video_dir
sensor = Sensor(URL)
timelapse = Timelapse(config)
sensor.start()
timelapse.start()
# queue = Queue()
# processes = {
# 'sensor': Process(target=sensor.start),
# 'timelapse': Process(target=timelapse.start)
# }
# processes['timelapse'].start()
# processes['sensor'].start()
self.setpoint_rp = rp
self.setpoint_yaw = yaw
def reset(self, yaw=0):
self.recently_reset = True
self.yaw_pid.reset()
self.rp_pid.reset()
self.start_time = time.time()
self.prev_time = self.start_time
self.curr_time = self.start_time
if __name__ == "__main__":
from sensor import Sensor
sensor = Sensor(configFile="../config/RTIMULib")
sensor.start() # start pulling data from IMU in a parallel thread
stabilizer = Stabilizer()
fusion_pose = None
loop_frequency = 10 # Hz
while sensor.imu_data is None:
# wait for IMU data to start coming in
time.sleep(0.5)
while True:
loop_start_time = time.time()
data = sensor.imu_data
fusion_pose = data["fusionPose"]
print fusion_pose
stabilizer.step(*fusion_pose)
remaining_time = (1. / loop_frequency) - (time.time() -
loop_start_time)
if remaining_time > 0:
