class LeverTask:
def __init__(self, params):
#params [studyNumber,animalNumber,leftLever,RightLever,lEnable,rEnable,success#]
self.animalNumber = params[1]
self.studyNumber = params[0]
#Arena handling class
self.arena = Arena()
#Parameters
self.vPositions = [0.00130, 0.00120, 0.00110]
self.hPositions = [0.00105, 0.00115, 0.00125, 0.00135, 0.00145]
self.thresholdLeft = 3200
self.thresholdRight = 3200
self.timeout = 4
self.maxSuccesses = 3
self.enableLeft = False
self.enableRight = True
self.noseThreshold = 100
#servos
self.hr = HR1
self.vr = VR1
self.vl = VL1
self.hl = HL1
self.servos = [self.hr, self.vr, self.vl, self.hl]
#adc channels
self.ly = LL0_CH0
self.lx = LL0_CH1
self.ry = RL0_CH0
self.rx = RL0_CH1
self.noseCH = BNC3_CH
#pump
self.pump = GPIO.PWM(PUMP1,1000)
#Data values
self.time = time.time()
self.leverL = 0
self.leverR = 0
self.nose = 0
self.index = 0
self.successes = 0
self.totalSuccesses = 0
self.reward = 0
self.rewardTime = -4
#io
self.pinLED = 15
self.pinSuccess = 14
#setup logging
##make folder if DNE
directory = "data/" + self.studyNumber + "/" + self.animalNumber
try:
os.makedirs(directory)
except OSError:
if not os.path.isdir(directory):
raise
fileName = (dt.fromtimestamp(time.time()).strftime("%y,%m,%d,%H,%M,%S"))
self.fileName = directory + "/" + fileName
with open(self.fileName, 'w') as data_file:
data_file.write("time,leverL,leverR,nose,thresholdL,thresholdR,horizontal,vertical,success\n")
self.updatePosition()
def update(self):
"""update state based on arena inputs values"""
oldNose = self.nose
oldLeverL = self.leverL
oldLeverR = self.leverR
self.time = time.time()
self.leverL = self.arena.analogRead(self.ly)
self.leverR = self.arena.analogRead(self.ry)
self.nose = self.arena.analogRead(self.noseCH)
self.nose = self.nose < self.noseThreshold
nose = self.nose
timeout = self.time > self.rewardTime
left = (self.leverL >= self.thresholdLeft) * self.enableLeft * nose * timeout
right = (self.leverR >= self.thresholdRight) * self.enableRight * nose * timeout
success = left or right
if (success):
self.rewardTime = time.time() + self.timeout
self.successes = self.successes + 1
self.totalSuccesses = self.totalSuccesses + 1
self.giveReward()
if (self.successes >= self.maxSuccesses):
self.setIndex(random.randint(0,14))
self.updatePosition()
"""log data"""
if ( self.nose != oldNose or self.leverL != oldLeverL or self.leverR != oldLeverR ):
"""log on change"""
dataFile = open(self.fileName, 'a') #open in append mode
dataFile.write(str(self.time) + "," + str(self.leverL) + "," +
str(self.leverR) + "," + str(self.nose) + "," +
str(self.thresholdLeft * self.enableLeft) + "," +
str(self.thresholdRight * self.enableRight) + "," +
str(self.hPositions[self.index % 5]) + "," +
str(self.vPositions[int(numpy.floor(self.index / 5))]) + "," +
str(success) + "\n")
dataFile.close()
#return vars [leftLever, rightLever, success, total,time]
return [self.leverL, self.leverR, self.successes, self.totalSuccesses]
def setIndex(self,index):
if index == self.index:
return
self.index = index
self.updatePosition()
def updatePosition(self):
"""advance to next position"""
self.successes = 0
horizontal = self.index % 5
vertical = int(numpy.floor(self.index / 5))
horizontal = self.hPositions[horizontal]
vertical = self.vPositions[vertical]
if (self.enableRight):
self.arena.setActuator(self.hr,horizontal)
self.arena.setActuator(self.vr,vertical)
if (self.enableLeft):
self.arena.setActuator(self.hl,horizontal)
self.arena.setActuator(self.vl,vertical)
def setPosition(self,lv,lh,rv,rh):
"""function to set actuators to new position
"""
self.arena.setActuator(self.vr,rv)
self.arena.setActuator(self.hr,rh)
self.arena.setActuator(self.vl,lv)
self.arena.setActuator(self.hl,lh)
def giveReward(self):
"""helper function to deliver reward in separate thread"""
pumpThread = threading.Thread(target=self.giveRewardThread)
pumpThread.start()
def giveRewardThread(self):
"""Helper function to deliver pump reward"""
self.pump.start(50)
self.arena.digitalWrite(self.pinLED, 1)
self.arena.digitalWrite(self.pinSuccess, 1)
time.sleep(0.3)
self.arena.digitalWrite(self.pinLED, 0)
self.arena.digitalWrite(self.pinSuccess, 0)
self.pump.stop()
