class RandomGen(object):
def __init__(self, config_file, mm_ip):
daq_config = self.load_config(config_file)
self.setup_daq(daq_config)
self.setup_dragonfly(mm_ip)
self.serial_no = 2
self.variable = 0 # 0 and 1 cause problems for LogReader
self.run()
def load_config(self, config_file):
cfg = SafeConfigParser()
cfg.read(config_file)
daq_config = Config()
daq_config.minV = cfg.getfloat('main', 'minV')
daq_config.maxV = cfg.getfloat('main', 'maxV')
daq_config.nsamp = cfg.getint('main', 'nsamp_per_chan_per_second')
daq_config.nchan = cfg.getint('main', 'nchan')
daq_config.nirq = self.freq = cfg.getint('main', 'nirq_per_second')
return daq_config
def setup_daq(self, daq_config):
self.daq_task = DAQInterface(self, daq_config)
self.daq_task.register_callback(self.on_daq_callback)
print "DrAQonfly: DAQ configured"
def setup_dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.SendModuleReady()
print "DrAQonfly: connected to dragonfly"
def on_daq_callback(self, data):
mdf = rc.MDF_PLOT_POSITION()
self.serial_no += 1
mdf.tool_id = 0
mdf.missing = 0
self.variable += 1
mdf.xyz[:] = np.array([self.variable] * 3)
mdf.ori[:] = np.array(
[self.variable] * 4
) # will work but need!!! reading modules to know the format of buffer
#mdf.buffer[data.size:] = -1
msg = CMessage(rc.MT_PLOT_POSITION)
copy_to_msg(mdf, msg)
self.mod.SendMessage(msg)
print self.variable
sys.stdout.write('|')
sys.stdout.flush()
# now check for exit message
in_msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0)
if rcv == 1:
hdr = msg.GetHeader()
msg_type = hdr.msg_type
dest_mod_id = hdr.dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print "Received MT_EXIT, disconnecting..."
self.daq_task.StopTask()
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
self.stop()
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'RandomGen')
def run(self):
self.daq_task.StartTask()
print "!"
while True:
pass
def stop(self):
self.daq_task.StopTask()
self.daq_task.ClearTask()
class SimpleArbitrator(object):
debug = True
vel = np.zeros(rc.MAX_CONTROL_DIMS)
#pos = np.zeros(rc.MAX_CONTROL_DIMS)
autoVelControlFraction = \
np.ones_like(rc.MDF_ROBOT_CONTROL_CONFIG().autoVelControlFraction)
extrinsic_vel = np.zeros_like(rc.MDF_COMPOSITE_MOVEMENT_COMMAND().vel)
intrinsic_vel = np.zeros_like(rc.MDF_COMPOSITE_MOVEMENT_COMMAND().vel)
def __init__(self, config_file, server):
self.load_config(config_file)
self.setup_dragonfly(server)
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
self.timer_tag = self.config.get('main', 'timer_tag')
self.extrinsic_tags = self.config.get('main', 'extrinsic_tags').split()
self.intrinsic_tags = self.config.get('main', 'intrinsic_tags').split()
default_auto = float(self.config.get('main', 'default_auto'))
self.autoVelControlFraction[:] = default_auto
self.gate = 1. # default value
self.idle_gateable = 0. # default value
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(rc.MID_SIMPLE_ARBITRATOR, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
for sub in subscriptions:
self.mod.Subscribe(eval('rc.MT_%s' % (sub)))
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'SimpleArbitrator')
else:
self.process_message(msg)
def process_message(self, msg):
'''
Needs to:
1) combine non-conflicting controlledDims e.g. from
OPERATOR_MOVEMENT_COMMANDs, into either extrinsic or
intrinsic commands
2) combine intrinsic and extrinsic commands into final command
'''
msg_type = msg.GetHeader().msg_type
if msg_type in [
rc.MT_OPERATOR_MOVEMENT_COMMAND,
rc.MT_PLANNER_MOVEMENT_COMMAND, rc.MT_EM_MOVEMENT_COMMAND,
rc.MT_FIXTURED_MOVEMENT_COMMAND
]:
if msg_type == rc.MT_OPERATOR_MOVEMENT_COMMAND:
mdf = rc.MDF_OPERATOR_MOVEMENT_COMMAND()
elif msg_type == rc.MT_PLANNER_MOVEMENT_COMMAND:
mdf = rc.MDF_PLANNER_MOVEMENT_COMMAND()
elif msg_type == rc.MT_EM_MOVEMENT_COMMAND:
mdf = rc.MDF_EM_MOVEMENT_COMMAND()
elif msg_type == rc.MT_FIXTURED_MOVEMENT_COMMAND:
mdf = rc.MDF_FIXTURED_MOVEMENT_COMMAND()
# MOVEMENT_COMMAND
# ----------------
# controlledDims
# pos
# sample_header
# sample_interval
# tag
# vel
# ----------------
copy_from_msg(mdf, msg)
tag = mdf.tag
#if not tag in self.accepted_tags:
# return
dim = np.asarray(mdf.controlledDims, dtype=bool) #.astype(bool)
if mdf.tag in self.intrinsic_tags:
# intrinsic is AUTO command
self.intrinsic_vel[dim] = np.asarray(mdf.vel, dtype=float)[dim]
#print "intr_vel = " + " ".join(["%5.2f" % (x) for x in self.intrinsic_vel])
elif mdf.tag in self.extrinsic_tags:
#print "!"
# extrinsic is non-AUTO, i.e. EM, command
self.extrinsic_vel[dim] = np.asarray(mdf.vel, dtype=float)[dim]
#self.extrinsic_vel[:8] *= self.gate
if tag == self.timer_tag:
self.send_output(mdf.sample_header)
elif msg_type == rc.MT_ROBOT_CONTROL_CONFIG:
mdf = rc.MDF_ROBOT_CONTROL_CONFIG()
copy_from_msg(mdf, msg)
self.autoVelControlFraction[:] = mdf.autoVelControlFraction
elif msg_type == rc.MT_IDLE:
mdf = rc.MDF_IDLE()
copy_from_msg(mdf, msg)
self.gate = float(np.asarray(mdf.gain, dtype=float).item())
elif msg_type == rc.MT_IDLE_DETECTION_ENDED:
self.gate = 1.0
elif msg_type == rc.MT_TASK_STATE_CONFIG:
mdf = rc.MDF_TASK_STATE_CONFIG()
copy_from_msg(mdf, msg)
self.idle_gateable = mdf.idle_gateable
def get_combined_command(self):
C = 1 - self.autoVelControlFraction # extrinsic fraction
d = self.intrinsic_vel
u = self.extrinsic_vel
combined = C * u + (1 - C) * d
print "--------------------------------------"
print "C" + " ".join(["%0.2f" % (x) for x in C])
print "d" + " ".join(["%0.2f" % (x) for x in d])
print "u" + " ".join(["%0.2f" % (x) for x in u])
print "+" + " ".join(["%0.2f" % (x) for x in combined])
print "gain: ", self.gate
print "gateable: ", self.idle_gateable
return combined
def send_output(self, sample_header):
mdf = rc.MDF_COMPOSITE_MOVEMENT_COMMAND()
mdf.tag = 'composite'
vel = np.zeros_like(mdf.vel)
vel[:] = self.get_combined_command()
if self.idle_gateable == 1:
vel[:8] *= self.gate
mdf.vel[:] = vel
mdf.sample_header = sample_header
msg = CMessage(rc.MT_COMPOSITE_MOVEMENT_COMMAND)
copy_to_msg(mdf, msg)
self.mod.SendMessage(msg)
class RTFT(object):
def __init__(self, config_file, server):
self.load_config(config_file)
self.init_gui()
self.setup_dragonfly(server)
self.solo = True #false if executed from demigod executive file
self.RTFT_display = True #default = True. if message from executive, then use that value
self.state = -1 #-1= between trials 0 = outside target, 1 = close enough, waiting, 2 = close enough, hold time met
self.start_hold = time.time()
self.run()
def load_config(self, config_file): #Default config file is RTFT_CONFIG
self.config = SafeConfigParser()
self.config.read(config_file)
self.rate = float(self.config.get('main', 'rate'))
self.target_vector = [
float(x)
for x in self.config.get('main', 'target_vector').split(" ")
]
self.target_color = [
float(x)
for x in self.config.get('main', 'target_color').split(" ")
]
self.target_rad = float(self.config.get('main', 'target_radius'))
self.ball_rad = float(self.config.get('main', 'cursor_radius'))
self.ball_color = [
float(x)
for x in self.config.get('main', 'cursor_color').split(" ")
]
self.max_factor = float(self.config.get('main', 'max_factor'))
self.force_scale = float(self.config.get('main', 'force_scale'))
self.threshold = float(self.config.get('main', 'threshold'))
self.hold_time = float(self.config.get('main', 'hold_time'))
def setup_dragonfly(self, server):
subscriptions = [MT_EXIT, \
rc.MT_PING, \
rc.MT_FT_DATA, \
rc.MT_FT_COMPLETE, \
rc.MT_RTFT_CONFIG]
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
for sub in subscriptions:
self.mod.Subscribe(sub)
self.mod.SendModuleReady()
print "Connected to Dragonfly at ", server
def init_gui(self):
# Is the orientation matrix missing here????
self.length = 100
wallR = box(pos=vector(self.length / 2., 0, 0),
size=(0.2, self.length, self.length),
color=color.green)
wallB = box(pos=vector(0, 0, -self.length / 2.),
size=(self.length, self.length, 0.2),
color=color.white)
wallDown = box(pos=vector(0, -self.length / 2., 0),
size=(self.length, 0.2, self.length),
color=color.red)
wallUp = box(pos=vector(0, self.length / 2., 0),
size=(self.length, 0.2, self.length),
color=color.white)
wallL = box(pos=vector(-self.length / 2., 0, 0),
size=(0.2, self.length, self.length),
color=color.blue)
self.unit_target = self.target_vector / np.linalg.norm(
self.target_vector)
self.target_position = np.array(
self.unit_target) * self.max_factor * self.force_scale
self.ball = sphere(pos=[0, 0, 0],
radius=self.ball_rad,
color=self.ball_color)
self.target = sphere(pos=self.target_position,
radius=self.target_rad,
color=self.target_color)
self.shadow_cursor = ring(pos=[0, -self.length / 2, 0],
axis=(0, 10, 0),
radius=self.ball_rad,
thickness=1,
color=[0.25, 0.25, 0.25])
self.shadow_target = ring(pos=[
self.target_position[0], -self.length / 2, self.target_position[2]
],
axis=(0, 10, 0),
radius=self.ball_rad,
thickness=1,
color=[0.25, 0.25, 0.25])
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, -1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
self.pi.ser.close()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'RTFT_iso')
else:
self.process_msg(msg)
def process_msg(self, in_msg):
header = in_msg.GetHeader()
if header.msg_type == rc.MT_FT_DATA:
mdf = rc.MDF_FT_DATA()
copy_from_msg(mdf, in_msg)
rate(self.rate)
self.ball.pos = vector(mdf.F[0:3])
self.shadow_cursor.pos = vector(
[mdf.F[0], -self.length / 2, mdf.F[2]])
self.unit_target = np.array(self.target_vector) / np.linalg.norm(
self.target_vector)
self.target_position = np.array(
self.unit_target) * self.max_factor * self.force_scale
self.target.pos = self.target_position
self.shadow_target.pos = [
self.target_position[0], -self.length / 2,
self.target_position[2]
]
distance = [a - b for a, b in zip(self.ball.pos, self.target.pos)]
if (distance[0]**2 + distance[1]**2 + distance[2]**2)**(
1 / 2.) >= self.threshold and self.RTFT_display:
self.ball.color = self.ball_color
self.state = 0
elif (distance[0]**2 + distance[1]**2 + distance[2]**2)**(
1 / 2.) < self.threshold and self.RTFT_display:
if self.state == 0: # if previous sample was outside radius, and now we're inside...
self.start_hold = time.time()
self.state = 1
self.ball.color = color.orange
else:
if time.time() > (self.start_hold + self.hold_time):
self.ball.color = color.green
self.target.visible = False
self.shadow_target.visible = False
self.state = 2
out_mdf = rc.MDF_FT_COMPLETE()
out_mdf.FT_COMPLETE = self.state
out_mdf.sample_header = mdf.sample_header
msg = CMessage(rc.MT_FT_COMPLETE)
copy_to_msg(out_mdf, msg)
self.mod.SendMessage(msg)
else:
self.state = 1
self.ball.color = color.orange
else:
self.state = -1
if self.state == 2 and self.solo: #if no executive file
self.target.pos = [
float(x) for x in [
np.random.rand(1, 1) * self.max_factor *
self.force_scale,
np.random.rand(1, 1) * self.max_factor *
self.force_scale,
np.random.rand(1, 1) * self.max_factor *
self.force_scale
]
]
self.shadow_target.pos = [
self.target.pos[0], -self.length / 2, self.target.pos[2]
]
sys.stdout.write(
"%7.4f, %5d, %16.2f\n" %
(mdf.F[2], self.state,
(self.start_hold + self.hold_time) - time.time()))
#msg_str = "%7.4f " * 6 + "\n"
#sys.stdout.write(msg_str % (mdf.F[0], mdf.F[1], mdf.F[2],
# mdf.T[0], mdf.T[1], mdf.T[2]))
sys.stdout.flush()
elif header.msg_type == rc.MT_RTFT_CONFIG:
mdf = rc.MDF_RTFT_CONFIG()
copy_from_msg(mdf, in_msg)
self.max_factor = mdf.max_factor
self.RTFT_display = mdf.RTFT_display
self.target_vector = mdf.target_vector[:]
self.ball.visible = mdf.cursor_visible
self.target.visible = mdf.target_visible
self.shadow_target.visible = mdf.shadow_target_visible
self.shadow_cursor.visible = mdf.shadow_cursor_visible
self.ball_color = [1, 0, 0]
self.solo = False
class AppStarter(object):
def __init__(self, server):
self.setup_dragonfly(server)
self.run()
def setup_dragonfly(self, server):
self.host_name = platform.uname()[1]
self.host_os = platform.system()
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(rc.MT_APP_START)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(MT_KILL)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
# this one is slightly different than the one in Common/python, leave this one here
def respond_to_ping(self, msg, module_name):
#print "PING received for '{0}'".format(p.module_name)
dest_mod_id = msg.GetHeader().dest_mod_id
p = rc.MDF_PING()
copy_from_msg(p, msg)
if (p.module_name.lower() == module_name.lower()) or (p.module_name == "*") or \
(dest_mod_id == self.mod.GetModuleID()):
mdf = rc.MDF_PING_ACK()
mdf.module_name = module_name + ":" + self.host_name # + ":" + self.host_os
msg_out = CMessage(rc.MT_PING_ACK)
copy_to_msg(mdf, msg_out)
self.mod.SendMessage(msg_out)
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
if msg_type == rc.MT_APP_START:
try:
mdf = rc.MDF_APP_START()
copy_from_msg(mdf, msg)
config = mdf.config
print "Config: %s" % config
# -- to do --
# get a list of all modules in appman.conf for this host
# see if any of the modules above are already/still running
# start non-running modules
# -- to do --
print "Creating scripts"
appman.create_script(config, self.host_name)
print "Starting modules on host: %s" % self.host_name
appman.run_script(self.host_name)
self.mod.SendSignal(rc.MT_APP_START_COMPLETE)
except Exception, e:
print "ERROR: %s" % (e)
elif msg_type == rc.MT_PING:
print 'got ping'
self.respond_to_ping(msg, 'AppStarter')
# we use this msg to stop modules individually
elif msg_type == MT_EXIT:
print 'got exit'
elif msg_type == MT_KILL:
print 'got kill'
appman.kill_modules()
class Metronome(object):
def __init__(self, config_file, mm_ip):
self.load_config(config_file)
self.count = 0
self.pause_state = True
self.setup_Dragonfly(mm_ip)
self.calc_rates()
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
self.pretrigger_time = self.config.getfloat('metronome',
'pretrigger time')
self.metronome_period = self.config.getfloat('metronome',
'metronome period')
self.in_msg_type = 'DAQ_DATA' # trigger msg
self.in_msg_num = eval('rc.MT_%s' % (self.in_msg_type.upper()))
print self.in_msg_num, 'config load complete'
def calc_rates(self):
self.in_msg_freq = 1 / self.chk_msg()
self.metronome_count = self.metronome_period * self.in_msg_freq
if self.pretrigger_time > 0: #negative pre-trigger fire after metronome
self.trigger_out_count = self.metronome_count - self.pretrigger_time * self.in_msg_freq
else:
self.trigger_out_count = self.metronome_count + self.pretrigger_time * self.in_msg_freq
print 'Got frequency! %d' % self.in_msg_freq
print self.metronome_count, self.trigger_out_count
def chk_msg(self):
while True:
in_msg = CMessage()
rcv = self.mod.ReadMessage(in_msg, 0.1)
if rcv == 1:
msg_type = in_msg.GetHeader().msg_type
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, in_msg, 'Metronome')
elif msg_type == self.in_msg_num:
in_mdf = eval('rc.MDF_%s()' % (self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
return in_mdf.sample_header.DeltaTime
def setup_Dragonfly(self, mm_ip):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(mm_ip)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(self.in_msg_num)
self.mod.Subscribe(rc.MT_MNOME_STATE)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", mm_ip
def run(self):
while True:
in_msg = CMessage()
rcv = self.mod.ReadMessage(in_msg, 0.1)
if rcv == 1:
msg_type = in_msg.GetHeader().msg_type
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, in_msg, 'Metronome')
elif msg_type == rc.MT_MNOME_STATE:
print 'got message'
in_mdf = rc.MDF_MNOME_STATE()
copy_from_msg(in_mdf, in_msg)
if in_mdf.state == 0:
print 'got stop'
self.pause_state = True
self.count = 0
elif in_mdf.state == 1:
print 'got start'
self.pause_state = False
self.count = 0
elif in_mdf.state == 2:
print 'got pause'
self.pause_state = True
self.count = 0
elif msg_type == self.in_msg_num:
if self.pause_state:
pass
else:
self.count += 1
if self.pretrigger_time > 0:
if self.count == self.metronome_count:
in_mdf = eval('rc.MDF_%s()' %
(self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
out_mdf = rc.MDF_TMS_TRIGGER()
out_mdf.sample_header = in_mdf.sample_header
out_msg = CMessage(rc.MT_TMS_TRIGGER)
copy_to_msg(out_mdf, out_msg)
self.mod.SendMessage(out_msg)
self.count = 0 - int(
np.random.uniform(0, 1.5, 1)[0] *
self.in_msg_freq)
if self.count == self.trigger_out_count:
sound_thread = threading.Thread(
target=self.play_sound)
sound_thread.start()
else:
if self.count == self.trigger_out_count:
in_mdf = eval('rc.MDF_%s()' %
(self.in_msg_type.upper()))
copy_from_msg(in_mdf, in_msg)
out_mdf = rc.MDF_TMS_TRIGGER()
out_mdf.sample_header = in_mdf.sample_header
out_msg = CMessage(rc.MT_TMS_TRIGGER)
copy_to_msg(out_mdf, out_msg)
self.mod.SendMessage(out_msg)
if self.count == self.metronome_count:
self.count = 0 - int(
np.random.uniform(0, 1.5, 1)[0] *
self.in_msg_freq)
sound_thread = threading.Thread(
target=self.play_sound)
sound_thread.start()
def play_sound(self):
winsound.Beep(1500, 1000)
class ButtonDetector(object):
debug = True
bounce_start = np.zeros([ncontrollers, rc.MAX_INPUT_DOFS]) - 1
was_pressed = np.zeros([ncontrollers, rc.MAX_INPUT_DOFS], dtype=bool)
def __init__(self, config_file, server):
self.load_config(config_file)
self.get_inputs()
self.setup_dragonfly(server)
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(0, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_INPUT_DOF_DATA)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
def run(self):
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.1)
if rcv == 1:
msg_type = msg.GetHeader().msg_type
dest_mod_id = msg.GetHeader().dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id == self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break;
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'ButtonDetector')
else:
self.process_message(msg)
def get_inputs(self):
sections = self.config.sections()
self.inputs = {}
for sec in sections:
if 'input ' in sec:
tag = self.config.get(sec, 'tag')
self.inputs[tag] = {}
def process_message(self, msg):
msg_type = msg.GetHeader().msg_type
if msg_type == rc.MT_INPUT_DOF_DATA:
mdf = rc.MDF_INPUT_DOF_DATA()
copy_from_msg(mdf, msg)
tag = mdf.tag
if tag in self.inputs.keys():
dof_vals = np.asarray(mdf.dof_vals[:], dtype=float)
cid = int(mdf.tag[-1])
pressed = ~self.was_pressed[cid] & (dof_vals > btn_threshold)
started = self.bounce_start[cid] > 0
# start timers on previously unstarted counters
self.bounce_start[cid, pressed & ~started] = time.time()
dt = time.time() - self.bounce_start[cid]
held = dt > bounce_threshold
valid_held = pressed & held
for vh in np.flatnonzero(valid_held):
if vh in name_lookup.keys():
self.was_pressed[cid, vh] = True
self.send_btn_press(name_lookup[vh], cid)
released = self.was_pressed[cid] & (dof_vals < btn_threshold)
valid_released = released & held & ~valid_held
for vr in np.flatnonzero(valid_released):
if vr in name_lookup.keys():
self.was_pressed[cid, vr] = False
self.send_btn_release(name_lookup[vr], cid)
self.bounce_start[cid, vr] = -1
def send_btn_press(self, btn, controller_id):
print "controller_id %d sending button press %s" % (controller_id, btn)
btn_map = {'l1' : rc.PS3_B_L1,
'l2' : rc.PS3_B_L2,
'r1' : rc.PS3_B_R1,
'x' : rc.PS3_B_X,
'sq' : rc.PS3_B_SQUARE,
'crc': rc.PS3_B_CIRCLE,
'trg': rc.PS3_B_TRIANGLE}
mdf_out = rc.MDF_PS3_BUTTON_PRESS()
mdf_out.whichButton = btn_map[btn]
mdf_out.controllerId = controller_id
# make outgoing message data
msg_out = CMessage(rc.MT_PS3_BUTTON_PRESS)
copy_to_msg(mdf_out, msg_out)
self.mod.SendMessage(msg_out)
def send_btn_release(self, btn, controller_id):
print "controller_id %d sending button release %s" % (controller_id, btn)
btn_map = {'l1' : rc.PS3_B_L1,
'l2' : rc.PS3_B_L2,
'r1' : rc.PS3_B_R1,
'x' : rc.PS3_B_X,
'sq' : rc.PS3_B_SQUARE,
'crc': rc.PS3_B_CIRCLE,
'trg': rc.PS3_B_TRIANGLE}
mdf_out = rc.MDF_PS3_BUTTON_RELEASE()
mdf_out.whichButton = btn_map[btn]
mdf_out.controllerId = controller_id
msg_out = CMessage(rc.MT_PS3_BUTTON_RELEASE)
copy_to_msg(mdf_out, msg_out)
self.mod.SendMessage(msg_out)
class SampleGenerator(object):
def __init__(self, config_file, server):
self.serial_no = 2
self.freq = 50 # Hz
self.load_config(config_file)
self.setup_dragonfly(server)
self.run()
def load_config(self, config_file):
self.config = SafeConfigParser()
self.config.read(config_file)
triggers = self.config.get('main', 'triggers').split()
self.triggers = [eval('rc.MT_%s' % (x)) for x in triggers]
if not triggers:
freq = self.config.get('main', 'frequency')
if freq != '':
self.freq = self.config.getfloat('main', 'frequency')
print "Freq: %.2f" % (self.freq)
def setup_dragonfly(self, server):
self.mod = Dragonfly_Module(rc.MID_SAMPLE_GENERATOR, 0)
self.mod.ConnectToMMM(server)
self.mod.Subscribe(MT_EXIT)
self.mod.Subscribe(rc.MT_PING)
self.mod.Subscribe(rc.MT_SPM_SPIKECOUNT)
for trigger in self.triggers:
self.mod.Subscribe(trigger)
self.mod.SendModuleReady()
print "Connected to Dragonfly at", server
if platform.system() == "Windows":
# On Windows, the best timer is time.clock()
self.default_timer = time.clock
else:
# On most other platforms the best timer is time.time()
self.default_timer = time.time
def run(self):
self.delta_time_calc = self.default_timer() #time.time()
while True:
msg = CMessage()
rcv = self.mod.ReadMessage(msg, 0.001)
if rcv == 1:
hdr = msg.GetHeader()
msg_type = hdr.msg_type
dest_mod_id = hdr.dest_mod_id
if msg_type == MT_EXIT:
if (dest_mod_id == 0) or (dest_mod_id
== self.mod.GetModuleID()):
print 'Received MT_EXIT, disconnecting...'
self.mod.SendSignal(rc.MT_EXIT_ACK)
self.mod.DisconnectFromMMM()
break
elif msg_type == rc.MT_PING:
respond_to_ping(self.mod, msg, 'SampleGenerator')
elif (msg_type == rc.MT_SPM_SPIKECOUNT):
msg_src_mod_id = hdr.src_mod_id
if msg_src_mod_id == rc.MID_SPM_MOD:
print "\n\n ** Detected SPM_SPIKECOUNT messages coming from SPM_MOD! Quitting..\n\n"
sys.exit(0)
else:
if len(self.triggers) > 0:
self.process_msg(msg)
else:
# if no triggers...
if len(self.triggers) == 0:
period = (1. / self.freq)
time_now = self.default_timer()
delta_time = period - (time_now - self.delta_time_calc)
#print "%f %f %f\n\n" % (time_now, self.delta_time_calc, delta_time)
if delta_time > 0:
time.sleep(delta_time)
self.delta_time_calc = self.delta_time_calc + period
self.send_sample_generated()
def process_msg(self, msg):
msg_type = msg.GetHeader().msg_type
if msg_type in self.triggers:
time_now = self.default_timer() #time.time()
delta_time = time_now - self.delta_time_calc
self.delta_time_calc = time_now
self.send_sample_generated()
def send_sample_generated(self):
sg = rc.MDF_SAMPLE_GENERATED()
self.serial_no += 1
sg.sample_header.SerialNo = self.serial_no
sg.sample_header.Flags = 0
sg.sample_header.DeltaTime = (1. / self.freq)
sg.source_timestamp = self.default_timer() #time.time()
sg_msg = CMessage(rc.MT_SAMPLE_GENERATED)
copy_to_msg(sg, sg_msg)
self.mod.SendMessage(sg_msg)
sys.stdout.write('|')
sys.stdout.flush()