def initEncoder(self, serialNum, initPosition = 0):
self.encoder = Encoder()
try:
self.encoder.setDeviceSerialNumber(serialNum)
self.encoder.setChannel(0)
self.encoder.setOnAttachHandler(self.onEncoderAttached)
self.encoder.setOnDetachHandler(self.onEncoderDetached)
self.encoder.setOnErrorHandler(self.onErrorEvent)
#self.encoder.setOnPositionChangeHandler(self.onPositionChanged)
self.encoder.openWaitForAttachment(5000)
self.encoder.setPosition(initPosition)
self.encoder.setDataInterval(10)
if(not self.encoder.getEnabled()):
self.encoder.setEnabled(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
endTest("Encoder init error")
def main():
#Create your Phidget channels
encoder0 = Encoder()
#Set addressing parameters to specify which channel to open (if any)
#Assign any event handlers you need before calling open so that no events are missed.
encoder0.setOnPositionChangeHandler(onPositionChange)
#Open your Phidgets and wait for attachment
encoder0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
encoder0.close()
def initEncoder(channel):
try:
ch0 = Encoder()
except RuntimeError as e:
print "Runtime Exception %s" % e.details
print "Press Enter to Exit...\n"
readin = sys.stdin.read(1)
exit(1)
#Initialize Phidgetboard encoder
try:
ch0.setOnAttachHandler(EncoderAttached)
ch0.setOnDetachHandler(EncoderDetached)
ch0.setOnErrorHandler(ErrorEvent)
ch0.setChannel(channel)
print("Waiting for the Phidget Encoder Object to be attached...")
ch0.openWaitForAttachment(5000)
except PhidgetException as e:
print "Phidget Exception %i: %s" % (e.code, e.details)
print "Press Enter to Exit...\n"
readin = sys.stdin.read(1)
exit(1)
if(not ch0.getEnabled()):
ch0.setEnabled(1)
ch0.setDataInterval(dataInterval_ms)
return ch0
import csv
import time
import dial_indicator
from Phidget22.Devices.Encoder import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
from Phidget22.Net import *
tick_per_rev = 4096
mm_per_rev = 3.175
samplerate_hz = float(20)
sampletime_s = 0
dataInterval_ms = 25
try:
ch = Encoder()
except RuntimeError as e:
print "Runtime Exception %s" % e.details
print "Press Enter to Exit...\n"
readin = sys.stdin.read(1)
exit(1)
def EncoderAttached(self):
try:
attached = self
print "\nAttach Event Detected (Information Below)"
print "==========================================="
print "Library Version: %s" % attached.getLibraryVersion()
print "Serial Number: %d" % attached.getDeviceSerialNumber()
print "Channel: %d" % attached.getChannel()
print "Channel Class: %s" % attached.getChannelClass()
def plugin_reconfigure(handle, new_config):
""" Reconfigures the plugin
Args:
handle: handle returned by the plugin initialisation call
new_config: JSON object representing the new configuration category for the category
Returns:
new_handle: new handle to be used in the future calls
"""
_LOGGER.info("Old config for wind_turbine plugin {} \n new config {}".format(handle, new_config))
# Shutdown sensors
try:
handle['humidity'].close()
handle['temperature'].close()
handle['current'].close()
handle['encoder'].close()
handle['accelerometer'].close()
handle['gyroscope'].close()
handle['magnetometer'].close()
except Exception as ex:
_LOGGER.exception("wind_turbine exception: {}".format(str(ex)))
raise ex
time.sleep(5)
new_handle = copy.deepcopy(new_config)
try:
# check if temp/humidity sensor is enabled. If so restart it
if new_handle['tempHumEnable']['value'] == 'true':
new_handle['humidity'] = HumiditySensor()
new_handle['humidity'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['humidity'].setHubPort(int(new_handle['tempHumPort']['value']))
new_handle['humidity'].setIsHubPortDevice(False)
new_handle['humidity'].setChannel(0)
new_handle['humidity'].openWaitForAttachment(5000)
try:
new_handle['humidity'].getHumidity()
except Exception:
pass
new_handle['temperature'] = TemperatureSensor()
new_handle['temperature'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['temperature'].setHubPort(int(new_handle['tempHumPort']['value']))
new_handle['temperature'].setIsHubPortDevice(False)
new_handle['temperature'].setChannel(0)
new_handle['temperature'].openWaitForAttachment(5000)
try:
new_handle['temperature'].getTemperature()
except Exception:
pass
# check if current sensor is enabled, if so restart it
if new_handle['currentEnable']['value'] == 'true':
new_handle['current'] = CurrentInput()
new_handle['current'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['current'].setHubPort(int(new_handle['currentPort']['value']))
new_handle['current'].setIsHubPortDevice(False)
new_handle['current'].setChannel(0)
new_handle['current'].openWaitForAttachment(5000)
try:
new_handle['current'].getCurrent()
except Exception:
pass
# check if encoder sensor is enabled
if new_handle['encoderEnable']['value'] == 'true':
new_handle['encoder'] = Encoder()
new_handle['encoder'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['encoder'].setHubPort(int(new_handle['encoderPort']['value']))
new_handle['encoder'].setIsHubPortDevice(False)
new_handle['encoder'].setChannel(0)
new_handle['encoder'].openWaitForAttachment(5000)
new_handle['encoder'].setDataInterval(20)
i = 0
while i < 120:
try:
new_handle['encoder'].getPosition()
except Exception:
time.sleep(1)
i += 1
else:
break
# check if accelerometer is enabled
if new_handle['accelerometerEnable']['value'] == 'true':
new_handle['accelerometer'] = Accelerometer()
new_handle['accelerometer'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['accelerometer'].setHubPort(int(new_handle['spatialPort']['value']))
new_handle['accelerometer'].setIsHubPortDevice(False)
new_handle['accelerometer'].setChannel(0)
new_handle['accelerometer'].openWaitForAttachment(5000)
new_handle['accelerometer'].setDataInterval(20)
i = 0
while i < 120:
try:
new_handle['accelerometer'].getAcceleration()
except Exception:
time.sleep(1)
i += 1
else:
break
# check if gyroscope is enabled
if new_handle['gyroscopeEnable']['value'] == 'true':
new_handle['gyroscope'] = Gyroscope()
new_handle['gyroscope'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['gyroscope'].setHubPort(int(new_handle['spatialPort']['value']))
new_handle['gyroscope'].setIsHubPortDevice(False)
new_handle['gyroscope'].setChannel(0)
new_handle['gyroscope'].openWaitForAttachment(5000)
new_handle['gyroscope'].setDataInterval(20)
i = 0
while i < 120:
try:
new_handle['gyroscope'].getAngularRate()
except Exception:
time.sleep(1)
i += 1
else:
break
# check if magnetometer enable is enabled
if new_handle['magnetometerEnable']['value'] == 'true':
new_handle['magnetometer'] = Magnetometer()
new_handle['magnetometer'].setDeviceSerialNumber(int(new_handle['hubSN']['value']))
new_handle['magnetometer'].setHubPort(int(new_handle['spatialPort']['value']))
new_handle['magnetometer'].setIsHubPortDevice(False)
new_handle['magnetometer'].setChannel(0)
new_handle['magnetometer'].openWaitForAttachment(5000)
new_handle['magnetometer'].setDataInterval(20)
i = 0
while i < 120:
try:
new_handle['magnetometer'].getMagneticField()
except Exception:
time.sleep(1)
i += 1
else:
break
# check if hub has changed, if so init restart
if new_handle['hubSN']['value'] != handle['hubSN']['value']:
new_handle['restart'] = 'yes'
else:
new_handle['restart'] = 'no'
except Exception as ex:
_LOGGER.exception("wind_turbine exception: {}".format(str(ex)))
raise ex
# counter to know when to run process
new_handle['tempHumCount'] = 0
new_handle['currentCount'] = 0
new_handle['encoderCount'] = 0
new_handle['accelerometerCount'] = 0
new_handle['gyroscopeCount'] = 0
new_handle['magnetometerCount'] = 0
# counter of last encoder value
new_handle['encoderPreviousValue'] = handle['encoderPreviousValue']
return new_handle
def plugin_init(config):
""" Initialise the plugin.
Args:
config: JSON configuration document for the South plugin configuration category
Returns:
data: JSON object to be used in future calls to the plugin
Raises:
"""
try:
data = copy.deepcopy(config)
if data['tempHumEnable']['value'] == 'true':
data['humidity'] = HumiditySensor()
data['humidity'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['humidity'].setHubPort(int(data['tempHumPort']['value']))
data['humidity'].setIsHubPortDevice(False)
data['humidity'].setChannel(0)
data['humidity'].openWaitForAttachment(5000)
try:
data['humidity'].getHumidity()
except Exception:
pass
data['temperature'] = TemperatureSensor()
data['temperature'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['temperature'].setHubPort(int(data['tempHumPort']['value']))
data['temperature'].setIsHubPortDevice(False)
data['temperature'].setChannel(0)
data['temperature'].openWaitForAttachment(5000)
try:
data['temperature'].getTemperature()
except Exception:
pass
if data['currentEnable']['value'] == 'true':
data['current'] = CurrentInput()
data['current'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['current'].setHubPort(int(data['currentPort']['value']))
data['current'].setIsHubPortDevice(False)
data['current'].setChannel(0)
data['current'].openWaitForAttachment(5000)
try:
data['current'].getCurrent()
except Exception:
pass
if data['encoderEnable']['value'] == 'true':
data['encoder'] = Encoder()
data['encoder'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['encoder'].setHubPort(int(data['encoderPort']['value']))
data['encoder'].setIsHubPortDevice(False)
data['encoder'].setChannel(0)
data['encoder'].openWaitForAttachment(5000)
data['encoder'].setDataInterval(20)
i = 0
while i < 120:
try:
data['encoder'].getPosition()
except Exception:
time.sleep(1)
i += 1
else:
break
if data['accelerometerEnable']['value'] == 'true':
data['accelerometer'] = Accelerometer()
data['accelerometer'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['accelerometer'].setHubPort(int(data['spatialPort']['value']))
data['accelerometer'].setIsHubPortDevice(False)
data['accelerometer'].setChannel(0)
data['accelerometer'].openWaitForAttachment(5000)
data['accelerometer'].setDataInterval(20)
i = 0
while i < 120:
try:
data['accelerometer'].getAcceleration()
except Exception:
time.sleep(1)
i += 1
else:
break
if data['gyroscopeEnable']['value'] == 'true':
data['gyroscope'] = Gyroscope()
data['gyroscope'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['gyroscope'].setHubPort(int(data['spatialPort']['value']))
data['gyroscope'].setIsHubPortDevice(False)
data['gyroscope'].setChannel(0)
data['gyroscope'].openWaitForAttachment(5000)
data['gyroscope'].setDataInterval(20)
i = 0
while i < 120:
try:
data['gyroscope'].getAngularRate()
except Exception:
time.sleep(1)
i += 1
else:
break
if data['magnetometerEnable']['value'] == 'true':
data['magnetometer'] = Magnetometer()
data['magnetometer'].setDeviceSerialNumber(int(data['hubSN']['value']))
data['magnetometer'].setHubPort(int(data['spatialPort']['value']))
data['magnetometer'].setIsHubPortDevice(False)
data['magnetometer'].setChannel(0)
data['magnetometer'].openWaitForAttachment(5000)
data['magnetometer'].setDataInterval(20)
i = 0
while i < 120:
try:
data['magnetometer'].getMagneticField()
except Exception:
time.sleep(1)
i += 1
else:
break
except Exception as ex:
_LOGGER.exception("wind_turbine exception: {}".format(str(ex)))
raise ex
# counter to know when to run process
data['tempHumCount'] = 0
data['currentCount'] = 0
data['encoderCount'] = 0
data['accelerometerCount'] = 0
data['gyroscopeCount'] = 0
data['magnetometerCount'] = 0
# counter of last encoder value
data['encoderPreviousValue'] = 0
data['encoderPreviousTime'] = 0
return data
def run(self):
def PositionChangeHandler(self, positionChange, timeChange,
indexTriggered):
global prevTime
currentTime = time.perf_counter()
## print(str((currentTime-prevTime)*1000)+" "+str(positionChange/timeChange/360/4*1000))##
if ("y" in fileSave) or ("Y" in fileSave):
## f.write(str(positionChange/timeChange/360/4*1000)+"\r\n")
f.write(str((currentTime - prevTime) * 1000) + "\r\n")
avVel = positionChange
prevTime = currentTime
def EncoderAttached(e):
try:
attached = e
print("\nEncoder Attached")
print("\n")
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def EncoderDetached(e):
detached = e
try:
print("\nEncoder Detached")
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def ErrorEvent(e, eCode, description):
print("Error %i : %s" % (eCode, description))
en = Encoder()
while not stopped:
if not en.getAttached():
try:
en.setOnAttachHandler(EncoderAttached)
en.setOnDetachHandler(EncoderDetached)
en.setOnErrorHandler(ErrorEvent)
en.setOnPositionChangeHandler(PositionChangeHandler)
print("\nWaiting for encoder to attach")
en.openWaitForAttachment(5000)
if (not en.getEnabled()):
en.setEnabled(1)
except PhidgetException as e:
print("Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit\n")
readin = sys.stdin.read(1)
exit(1)
en.setDataInterval(encoderDataRate)
en.close()
class SpinData:
_all = set()
_logger = None
_spinner = Encoder()
_waitTimeForConnect = 5000
def __init__(self,
config = {},
positionChange=0,
elapsedtime=0.0,
position=0):
SpinData._all.add(self)
self.config = config
self.gestureProcessor = SpinGestureProcessor(self, config)
self.position = position
self.delta = positionChange
self.timestamp = datetime.time()
self.elapsedTime = elapsedtime
self.spinHistory = Queue(config['encoderQueueLength'])
if (SpinData._logger == None):
SpinData._logger = logging.getLogger('spinsensorserver')
try:
SpinData._spinner.setOnAttachHandler(SpinData.encoderAttached)
SpinData._spinner.setOnDetachHandler(SpinData.encoderDetached)
SpinData._spinner.setOnErrorHandler(SpinData.encoderError)
# _spinner.setOnInputChangeHandler(encoderInputChange)
SpinData._spinner.setOnPositionChangeHandler(SpinData.encoderPositionChange)
except PhidgetException as e:
d = {'clientip': "spinner", 'user':"******"}
SpinData._logger.critical('_spinner init failed: %s', 'details%s'% e.details, extra=d)
SpinData._spinner = None
try:
SpinData._spinner.openWaitForAttachment(SpinData._waitTimeForConnect)
SpinData._spinner.setDataInterval(SpinData._spinner.getMinDataInterval());
except PhidgetException as e:
d = {'clientip': "spinner", 'user':"******"}
SpinData._logger.critical('_spinner connect failed: %s', 'details%s'% e.details, extra=d)
SpinData._spinner = None
def ingestSpinData(self, positionChange, time):
self.delta = positionChange
self.elapsedTime = time
self.spinHistory.enqueue( positionChange * self.config['flipZ'])
#Information Display Function
def displayDeviceInfo():
pass
#Event Handler Callback Functions
def encoderAttached(e):
attached = e
try:
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Library Version: %s" % attached.getLibraryVersion())
print("Serial Number: %d" % attached.getDeviceSerialNumber())
print("Channel: %d" % attached.getChannel())
print("Channel Class: %s" % attached.getChannelClass())
print("Channel Name: %s" % attached.getChannelName())
print("Device ID: %d" % attached.getDeviceID())
print("Device Version: %d" % attached.getDeviceVersion())
print("Device Name: %s" % attached.getDeviceName())
print("Device Class: %d" % attached.getDeviceClass())
print("\n")
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
d = {'clientip': "spinner", 'user':"******"}
SpinData._logger.info('Encoder Attached! %s', 'good news', extra=d)
d = { 'clientip': "spinner", 'user': "******" %(SpinData._spinner.getMinPositionChangeTrigger(), SpinData._spinner.getPositionChangeTrigger())}
SpinData._logger.critical('Encoder setup: %s', "hmmm", extra=d)
def encoderDetached(e):
detached = e
d = {'clientip': "spinner", 'user':"******" }
SpinData._logger.warning('Encoder Detached: %s', detached.getDeviceSerialNumber(), extra=d)
def encoderError(e, eCode, description):
source = e
d = {'clientip': "spinner", 'user':"******"}
SpinData._logger.error('Encoder error %s', description, extra=d)
def encoderInputChange(e):
source = e.device
def encoderPositionChange(e, positionChange, timeChange, indexTriggered):
source = e
for spinner in SpinData._all:
spinner.ingestSpinData(positionChange, timeChange)
def main():
# Make sure current path is this file path
abspath = os.path.abspath(__file__)
dname = os.path.dirname(abspath)
os.chdir(dname)
############
#import config file
config = ConfigParser.ConfigParser()
print("opening configuration file : config.cfg")
config.read('config.cfg')
############
#connect to mqtt broker
client = MQTT_client.createClient("Encoder", config)
############
#connection to Phidget encoder and wait for measures
#publish the datas on config/MQTT/topic
try:
Log.enable(LogLevel.PHIDGET_LOG_INFO, "phidgetlog.log")
#Create your Phidget channels
encoder0 = Encoder()
#Set addressing parameters to specify
encoder0.client = client
encoder0.clientTopic = config.get('MQTT', 'topic_publish')
encoder0.printLog = config.getboolean('encoder', 'printLog')
encoder0.chooseDataInterval = config.getint('encoder', 'dataInterval')
#Assign any event handlers you need before calling open so that no events are missed.
encoder0.setOnPositionChangeHandler(handler.onPositionChange)
encoder0.setOnAttachHandler(handler.onAttach)
encoder0.setOnDetachHandler(handler.onDetach)
#Open your Phidgets and wait for attachment
encoder0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers.
#Change the data interval from the encoder based on config datas
# encoder0.setDataInterval(config.getint('encoder','dataInterval'))
#Interupt script by pressing Enter
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
encoder0.close()
except PhidgetException as ex:
#We will catch Phidget Exceptions here, and print the error informaiton.
traceback.print_exc()
print("")
print("PhidgetException " + str(ex.code) + " (" + ex.description +
"): " + ex.details)
finally:
encoder0.close()
def setupUi(self, Tester):
Tester.setObjectName("Tester")
Tester.resize(673, 541)
icon = QtGui.QIcon()
icon.addPixmap(QtGui.QPixmap("../../Downloads/Cirris.ico"),
QtGui.QIcon.Normal, QtGui.QIcon.Off)
Tester.setWindowIcon(icon)
self.centralwidget = QtWidgets.QWidget(Tester)
self.centralwidget.setObjectName("centralwidget")
self.groupBox_2 = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_2.setGeometry(QtCore.QRect(200, 0, 191, 80))
self.groupBox_2.setObjectName("groupBox_2")
self.RecordingEnco = QtWidgets.QSlider(self.groupBox_2)
self.RecordingEnco.setGeometry(QtCore.QRect(10, 30, 160, 16))
self.RecordingEnco.setOrientation(QtCore.Qt.Horizontal)
self.RecordingEnco.setObjectName("RecordingEnco")
self.RegisterEnco = QtWidgets.QCheckBox(self.groupBox_2)
self.RegisterEnco.setGeometry(QtCore.QRect(10, 50, 92, 23))
self.RegisterEnco.setObjectName("RegisterEnco")
self.CloseButton = QtWidgets.QPushButton(self.centralwidget)
self.CloseButton.setGeometry(QtCore.QRect(580, 470, 89, 25))
self.CloseButton.setObjectName("CloseButton")
self.groupBox_3 = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_3.setGeometry(QtCore.QRect(10, 0, 181, 391))
self.groupBox_3.setObjectName("groupBox_3")
self.DisplayPlotButton = QtWidgets.QPushButton(self.groupBox_3)
self.DisplayPlotButton.setGeometry(QtCore.QRect(10, 350, 161, 25))
self.DisplayPlotButton.setObjectName("DisplayPlotButton")
self.lcdNumber = QtWidgets.QLCDNumber(self.groupBox_3)
self.lcdNumber.setGeometry(QtCore.QRect(10, 40, 141, 51))
self.lcdNumber.setObjectName("lcdNumber")
self.label_3 = QtWidgets.QLabel(self.groupBox_3)
self.label_3.setGeometry(QtCore.QRect(10, 90, 161, 17))
self.label_3.setObjectName("label_3")
self.lcdNumber_2 = QtWidgets.QLCDNumber(self.groupBox_3)
self.lcdNumber_2.setGeometry(QtCore.QRect(10, 110, 141, 51))
self.lcdNumber_2.setObjectName("lcdNumber_2")
self.label_4 = QtWidgets.QLabel(self.groupBox_3)
self.label_4.setGeometry(QtCore.QRect(10, 160, 161, 17))
self.label_4.setObjectName("label_4")
self.lcdNumber_3 = QtWidgets.QLCDNumber(self.groupBox_3)
self.lcdNumber_3.setGeometry(QtCore.QRect(10, 180, 141, 51))
self.lcdNumber_3.setObjectName("lcdNumber_3")
self.lcdNumber_4 = QtWidgets.QLCDNumber(self.groupBox_3)
self.lcdNumber_4.setGeometry(QtCore.QRect(10, 250, 141, 51))
self.lcdNumber_4.setObjectName("lcdNumber_4")
self.label_5 = QtWidgets.QLabel(self.groupBox_3)
self.label_5.setGeometry(QtCore.QRect(10, 230, 161, 17))
self.label_5.setObjectName("label_5")
self.label_6 = QtWidgets.QLabel(self.groupBox_3)
self.label_6.setGeometry(QtCore.QRect(10, 300, 161, 17))
self.label_6.setObjectName("label_6")
self.groupBox_4 = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_4.setGeometry(QtCore.QRect(400, 0, 271, 401))
self.groupBox_4.setObjectName("groupBox_4")
self.textEdit = QtWidgets.QTextEdit(self.groupBox_4)
self.textEdit.setGeometry(QtCore.QRect(10, 50, 251, 70))
self.textEdit.setObjectName("textEdit")
self.label = QtWidgets.QLabel(self.groupBox_4)
self.label.setGeometry(QtCore.QRect(10, 30, 67, 17))
self.label.setObjectName("label")
self.FileConfirmButton = QtWidgets.QPushButton(self.groupBox_4)
self.FileConfirmButton.setGeometry(QtCore.QRect(10, 130, 251, 25))
self.FileConfirmButton.setObjectName("FileConfirmButton")
self.textEdit_2 = QtWidgets.QTextEdit(self.groupBox_4)
self.textEdit_2.setGeometry(QtCore.QRect(10, 200, 251, 70))
self.textEdit_2.setObjectName("textEdit_2")
self.DirectoryConfirmB = QtWidgets.QPushButton(self.groupBox_4)
self.DirectoryConfirmB.setGeometry(QtCore.QRect(10, 280, 251, 25))
self.DirectoryConfirmB.setObjectName("DirectoryConfirmB")
self.label_2 = QtWidgets.QLabel(self.groupBox_4)
self.label_2.setGeometry(QtCore.QRect(10, 180, 67, 17))
self.label_2.setObjectName("label_2")
self.spinBox = QtWidgets.QSpinBox(self.groupBox_4)
self.spinBox.setGeometry(QtCore.QRect(10, 330, 251, 26))
self.spinBox.setObjectName("spinBox")
self.label_7 = QtWidgets.QLabel(self.groupBox_4)
self.label_7.setGeometry(QtCore.QRect(10, 310, 131, 17))
self.label_7.setObjectName("label_7")
self.DataIntervalButton = QtWidgets.QPushButton(self.groupBox_4)
self.DataIntervalButton.setGeometry(QtCore.QRect(10, 360, 251, 25))
self.DataIntervalButton.setObjectName("DataIntervalButton")
self.groupBox_5 = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_5.setGeometry(QtCore.QRect(200, 100, 191, 111))
self.groupBox_5.setObjectName("groupBox_5")
self.ToConnectButton = QtWidgets.QPushButton(self.groupBox_5)
self.ToConnectButton.setGeometry(QtCore.QRect(10, 30, 171, 31))
self.ToConnectButton.setObjectName("ToConnectButton")
self.ToDisconnectButton = QtWidgets.QPushButton(self.groupBox_5)
self.ToDisconnectButton.setGeometry(QtCore.QRect(10, 70, 171, 31))
self.ToDisconnectButton.setObjectName("ToDisconnectButton")
Tester.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(Tester)
self.menubar.setGeometry(QtCore.QRect(0, 0, 673, 22))
self.menubar.setObjectName("menubar")
Tester.setMenuBar(self.menubar)
self.statusbar = QtWidgets.QStatusBar(Tester)
self.statusbar.setObjectName("statusbar")
Tester.setStatusBar(self.statusbar)
self.retranslateUi(Tester)
QtCore.QMetaObject.connectSlotsByName(Tester)
# Ends of the GUI init------------------------------------------------------------------------------------------
# Minimum value of the SpinBox which correspond to the minimum of interval time 8ms
minValueDataInt = 8
# Maximum value of the SpinBox which correspond to the maximum of interval time 1000ms
maxValueDataInt = 1000
# Init of the encodeur
encoder0 = Encoder()
# import config file could depending on the name of the config file
file = 'config.cfg'
config = ConfigParser.ConfigParser()
connectionStatus = False
print("opening configuration file : config.cfg")
config.read(file)
guiReady = True
# User interaction----------------------------------------------------------------------------------------------
# This blocks links all the functions with all interaction possible between the user and the GUI.
self.CloseButton.clicked.connect(self.closeEvent)
self.RegisterEnco.stateChanged.connect(self.registerIsOnMessage)
self.DisplayPlotButton.clicked.connect(lambda: PlotData(config))
self.FileConfirmButton.clicked.connect(
lambda: NewFile(file, config, self.textEditFile.toPlainText()))
self.DirectoryConfirmB.clicked.connect(lambda: NewPath(
file, config, self.textEditDirectory.toPlainText()))
self.ToConnectButton.clicked.connect(
lambda: ConnectToEnco(config, encoder0, connectionStatus))
self.ToDisconnectButton.clicked.connect(
lambda: DisconnectEnco(encoder0, connectionStatus))
self.spinBox.setRange(minValueDataInt, maxValueDataInt)
self.DataIntervalButton.clicked.connect(
lambda: SetDataInterval(file, config, self.spinBox.value()))
import sys
import time
from Phidget22.Devices.DCMotor import *
from Phidget22.Devices.Encoder import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
from Phidget22.Net import *
rightWheels = 0
leftWheels = 1
try:
motorControl = DCMotor()
enc = Encoder()
except RuntimeError as e:
print("Runtime Exception %s" % e.details)
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
def ObjectAttached(self):
try:
attached = self
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Library Version: %s" % attached.getLibraryVersion())
print("Serial Number: %d" % attached.getDeviceSerialNumber())
print("Channel: %d" % attached.getChannel())
print("Channel Class: %s" % attached.getChannelClass())
import time
from Phidget22.Devices.Encoder import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
# code for ch sensor
ch = Encoder()
ch.setDeviceSerialNumber(538854)
ch.setHubPort(1)
ch.setIsHubPortDevice(False)
ch.setChannel(0)
ch.openWaitForAttachment(5000)
try:
ch.getPosition()
except Exception as e:
pass
time.sleep(.2)
previous = 0
current = 0
while True:
current = ch.getPosition()
print(current)
rpm = (current - previous) / 1200
print(rpm)
previous = current
time.sleep(1)
class ValveControl():
_ENCODER_COUNT_PER_DEGREES = 300.0 / 90.0
_DEGREES_PER_ENCODER_COUNT = 90.0 / 300.0
def __init__(self, MEVStepperSerialNum = 423768, ventStepperSerialNum = 507392, encoderSerialNum = 426800, pinMEVCloseLimit = 5, pinMEVOpenLimit = 6, pinNCValve = 20, pinIgnitor = 16, pinNCValveRelayIn = 12, pinIgnitorRelayIn = 26, pinLockoutIn = 13, pinVentCloseLimit = 25, pinVentOpenLimit = 21):
GPIO.setmode(GPIO.BCM)
self.pinMEVCloseLimit = pinMEVCloseLimit
GPIO.setup(self.pinMEVCloseLimit, GPIO.IN, pull_up_down=GPIO.PUD_UP)
self.pinMEVOpenLimit = pinMEVOpenLimit
GPIO.setup(self.pinMEVOpenLimit, GPIO.IN, pull_up_down=GPIO.PUD_UP)
self.pinVentCloseLimit = pinVentCloseLimit
GPIO.setup(self.pinVentCloseLimit, GPIO.IN, pull_up_down=GPIO.PUD_UP)
self.pinVentOpenLimit = pinVentOpenLimit
GPIO.setup(self.pinVentOpenLimit, GPIO.IN, pull_up_down=GPIO.PUD_UP)
self.pinIgnitor = pinIgnitor
GPIO.setup(self.pinIgnitor, GPIO.OUT)
self.pinNCValve = pinNCValve
GPIO.setup(self.pinNCValve, GPIO.OUT)
self.pinIgnitorRelayIn = pinIgnitorRelayIn
GPIO.setup(self.pinIgnitorRelayIn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
self.pinNCValveRelayIn = pinNCValveRelayIn
GPIO.setup(self.pinNCValveRelayIn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
self.pinLockoutIn = pinLockoutIn
GPIO.setup(self.pinLockoutIn, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
self.fullOpenAngle = 90
self.fullClosedAngle = 0
self.burn_duration = 0
self.MEVStepper = StepperController(MEVStepperSerialNum, 0.1125, 180, 360)
self.ventStepper = None
if _VENT_VALVE_ENABLED:
self.ventStepper = StepperController(ventStepperSerialNum, 0.0021875, 45, 90)
self.initEncoder(encoderSerialNum)
self.motorPos = 0
def initEncoder(self, serialNum, initPosition = 0):
self.encoder = Encoder()
try:
self.encoder.setDeviceSerialNumber(serialNum)
self.encoder.setChannel(0)
self.encoder.setOnAttachHandler(self.onEncoderAttached)
self.encoder.setOnDetachHandler(self.onEncoderDetached)
self.encoder.setOnErrorHandler(self.onErrorEvent)
#self.encoder.setOnPositionChangeHandler(self.onPositionChanged)
self.encoder.openWaitForAttachment(5000)
self.encoder.setPosition(initPosition)
self.encoder.setDataInterval(10)
if(not self.encoder.getEnabled()):
self.encoder.setEnabled(1)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
endTest("Encoder init error")
#except Exception as e:
# self.MEVStepper.terminateValveControl("init encoder error")
# self.ventStepper.terminateValveControl("init encoder error")
def onEncoderAttached(self, e):
try:
attached = e
print("\nAttach Event Detected (Information Below)")
print("===========================================")
print("Library Version: %s" % attached.getLibraryVersion())
print("Serial Number: %d" % attached.getDeviceSerialNumber())
print("Channel: %d" % attached.getChannel())
print("Channel Class: %s" % attached.getChannelClass())
print("Channel Name: %s" % attached.getChannelName())
print("Device ID: %d" % attached.getDeviceID())
print("Device Version: %d" % attached.getDeviceVersion())
print("Device Name: %s" % attached.getDeviceName())
print("Device Class: %d" % attached.getDeviceClass())
print("\n")
except Exception as e:
endTest("Encoder attached error")
def onEncoderDetached(self, e):
try:
print("\nDetach event on Port %d Channel %d" % (detached.getHubPort(), detached.getChannel()))
except PhidgetException as e:
terminateValveControl("encoder detached! Phidget Exception " + str(e.code) + " " + e.details)
try:
tempVelocity = self.velocitySetting
self.MEVStepper.setVelocity(0)
tempPosition = self.encoder.getPosition()
self.encoder.close()
self.initEncoder(tempPosition)
self.MEVStepper.setVelocity(tempVelocity)
except Exception as e:
endTest("Encoder detached error")
def onErrorEvent(self, e, eCode, description):
print("Error event #%i : %s" % (eCode, description))
endTest("Encoder error")
def calibratePosition(self, position = 0):
self.encoder.setPosition(position)
def MEVCloseLimitHit(self):
return GPIO.input(self.pinMEVCloseLimit) == 0
def MEVOpenLimitHit(self):
return GPIO.input(self.pinMEVOpenLimit) == 0
def VentCloseLimitHit(self):
return GPIO.input(self.pinVentCloseLimit) == 0
def VentOpenLimitHit(self):
return GPIO.input(self.pinVentOpenLimit) == 0
def moveMEVByAngle(self, angleDegrees, velocity):
encoderTarget = self.encoder.getPosition() + (angleDegrees * ValveControl._ENCODER_COUNT_PER_DEGREES)
#towards closed position
if (angleDegrees < 0):
self.MEVStepper.setVelocity(-velocity)
while self.encoder.getPosition() > encoderTarget and not self.MEVCloseLimitHit() and not testEnded():
time.sleep(0.001)
#towards open position
elif (angleDegrees > 0):
self.MEVStepper.setVelocity(velocity)
while self.encoder.getPosition() < encoderTarget and not self.MEVOpenLimitHit() and not testEnded():
time.sleep(0.001)
self.MEVStepper.setVelocity(0)
def moveMEVToAngle(self, targetAngleDegrees, velocity):
travelDistance = targetAngleDegrees - (self.encoder.getPosition() * ValveControl._DEGREES_PER_ENCODER_COUNT)
self.moveMEVByAngle(travelDistance, velocity)
def moveMEVToOpenLimit(self):
if testEnded():
return
self.MEVStepper.setVelocity(self.MEVStepper.defaultVelocity)
while not self.MEVOpenLimitHit() and not testEnded():
time.sleep(0.001)
self.MEVStepper.setVelocity(0)
def moveMEVToCloseLimit(self):
self.MEVStepper.setVelocity(-self.MEVStepper.defaultVelocity)
while not self.MEVCloseLimitHit():
time.sleep(0.001)
self.MEVStepper.setVelocity(0)
def moveVentToOpenLimit(self):
if self.ventStepper is None:
return
if testEnded():
return
self.ventStepper.setVelocity(-self.ventStepper.defaultVelocity)
while not self.VentOpenLimitHit() and not testEnded():
time.sleep(0.001)
self.ventStepper.setVelocity(0)
def moveVentToCloseLimit(self):
if self.ventStepper is None:
return
self.ventStepper.setVelocity(self.ventStepper.defaultVelocity)
while not self.VentCloseLimitHit():
time.sleep(0.001)
self.ventStepper.setVelocity(0)
def setIgnitor(self, active):
GPIO.output(self.pinIgnitor, active)
def setNCValve(self, active):
GPIO.output(self.pinNCValve, active)
def ignitorActive(self):
return GPIO.input(self.pinIgnitorRelayIn) != 0
def NCValveActive(self):
return GPIO.input(self.pinNCValveRelayIn) != 0
def lockoutArmed(self):
return GPIO.input(self.pinLockoutIn) != 0
def __del__(self):
GPIO.cleanup()