def test2():
""" Example of use of the Fox Sink dongle
"""
# instanciate dongle
foxdongle = fox_dongle.FoxDongle()
print 'Enter acquisition loop (type ^C to stop and save tmp_imu.csv).'
init = False
while True:
try:
# handle dongle initialization
if not init and foxdongle.init_dongle(test_acq_callback):
init = True
print 'Device is connected to %s.' % (foxdongle.line())
time.sleep(5)
except KeyboardInterrupt:
print "\nStopped and Record in tmp_imu.csv."
resp = fox.save_foxsignals_csvfile(foxdongle.data[:, 1],
foxdongle.data[:, 2:5],\
foxdongle.data[:, 5:8],\
foxdongle.data[:, 8:11],
"tmp_imu.csv")
break
except Exception as e:
logging.error('exception reached:' + str(e))
# must close to kill read thread (fox_sink)
foxdongle.close_dongle()
print 'Done'
def close(fdongle):
from sensbiotk.io import iofox as fox
print "\nStopped and Record in tmp_imu.csv."
if fdongle.data != [] :
resp = fox.save_foxsignals_csvfile(fdongle.data[:, 1],
fdongle.data[:, 2:5],
fdongle.data[:, 5:8],
fdongle.data[:, 8:11],
"tmp_imu.csv")
fdongle.close_dongle()
return
def test_save():
""" Test saving functions
"""
# save imutest_acc with load_foxacc_csvfile
[time, acc] = fox.load_foxacc_csvfile("data/imutest_acc.csv")
resp = fox.save_foxacc_csvfile("tmpdata/imutest_acc_save.csv", time, acc)
yield assert_equal, resp, "OK"
[time1, acc1] = fox.load_foxacc_csvfile("tmpdata/imutest_acc_save.csv")
yield assert_array_almost_equal, time, time1
yield assert_array_almost_equal, acc, acc1
# save imutest_mag with load_foxmag_csvfile
[time, mag] = fox.load_foxmag_csvfile("data/imutest_mag.csv")
resp = fox.save_foxmag_csvfile("tmpdata/imutest_mag_save.csv", time, mag)
yield assert_equal, resp, "OK"
[time1, mag1] = fox.load_foxmag_csvfile("tmpdata/imutest_mag_save.csv")
yield assert_array_almost_equal, time, time1
yield assert_array_almost_equal, mag, mag1
# save imutest_gyr with load_foxgyr_csvfile
[time, gyr] = fox.load_foxgyr_csvfile("data/imutest_gyr.csv")
resp = fox.save_foxgyr_csvfile("tmpdata/imutest_gyr_save.csv", time, gyr)
yield assert_equal, resp, "OK"
[time1, gyr1] = fox.load_foxgyr_csvfile("tmpdata/imutest_gyr_save.csv")
yield assert_array_almost_equal, time, time1
yield assert_array_almost_equal, gyr, gyr1
# save_foxsignals_csvfile
[time, acc, mag,
gyr] = fox.load_foximu_csvfile("data/imutest_acc.csv",
"data/imutest_mag.csv",
"data/imutest_gyr.csv", 0.06, 1)
resp = fox.save_foxsignals_csvfile(time, acc, mag, gyr,
"tmpdata/imutest.csv")
yield assert_equal, resp, "OK"
def main(argv):
""" Main command
"""
options = []
filename = ""
try:
opts, _ = getopt.getopt(argv, "i:d:b:vt:f:pamgh", [
"input=", "dir=", "basename", "verif", "time=", "frequency=",
"plot", "acc", "mag", "gyr", "help"
])
except getopt.GetoptError:
usage()
sys.exit(2)
period = 0.005
diroutput = "."
newbasename = ""
filenames = ""
for opt, arg in opts:
if opt in ("-h", "--help"):
usage()
sys.exit()
elif opt in ("-i", "--input"):
fnames = arg
if not os.path.isfile(fnames):
if not os.path.isdir(fnames):
print "error: input file/dir does not exist"
usage()
sys.exit(2)
else:
# directory input specified
filenames = os.listdir(fnames)
idx = 0
for onefile in filenames:
filenames[idx] = fnames + "/" + onefile
#filenames[idx] = fnames + "/" + filenames[idx]
idx = idx + 1
else:
# filename input specified
filenames = [fnames]
elif opt in ("-d", "--dir"):
diroutput = arg
elif opt in ("-b", "--basename"):
newbasename = arg
elif opt in ("-v", "--verif"):
options.append("-v")
elif opt in ("-t", "--time"):
try:
period = float(arg)
except ValueError:
usage()
sys.exit(2)
if period <= 0:
usage()
sys.exit(2)
elif opt in ("-f", "--frequency"):
try:
period = float(arg)
except ValueError:
usage()
sys.exit(2)
if period <= 0:
usage()
sys.exit(2)
else:
period = 1 / period
elif opt in ("-p", "--plot"):
options.append("-p")
elif opt in ("-a", "--acc"):
options.append("-a")
elif opt in ("-m", "--mag"):
options.append("-m")
elif opt in ("-g", "--gyr"):
options.append("-g")
if len(filenames) == 0:
usage()
sys.exit(2)
for filename in filenames:
print "Conversion:", filename
# Get names file
basefile, fileacc, filemag, filegyr, fileimu =\
getnamefiles(filename, newbasename, diroutput)
# Read and convert file
answer = iofox.convert_sensors_rawfile(filename, fileacc, filemag,
filegyr)
if answer != "OK":
usage()
sys.exit(2)
# Load ascii files converted
[myt, acc, mag, gyr] = \
iofox.load_foximu_csvfile(fileacc, filemag, filegyr, period, 1)
iofox.save_foxsignals_csvfile(myt, acc, mag, gyr, *fileimu)
# Plot if necessary
if "-p" in options:
label = basefile + " IMU"
viz.plot_imu(-1, label, myt, acc, mag, gyr)
if "-a" in options:
label = basefile + " Acc"
plotsig(myt, acc, label, "ACC (m/s^2")
if "-m" in options:
label = basefile + " Mag"
plotsig(myt, mag, label, "MAG (gauss)")
if "-g" in options:
label = basefile + " Gyr"
plotsig(myt, gyr, label, "GYR (rad/s)")
if "-v" in options:
[myt, acc] = iofox.load_foxacc_csvfile(fileacc)
label = basefile + " time verif."
veriftime(label, myt[:, 0])
# Clean temp files
os.remove(fileacc)
os.remove(filemag)
os.remove(filegyr)
plt.show()
if not os.path.exists(DATA):
os.makedirs(DATA)
if not os.path.exists(DATAExpe):
os.makedirs(DATAExpe)
FILEACC = DATA + "/" + BASEFILE + "_acc.csv"
FILEMAG = DATA + "/" + BASEFILE + "_mag.csv"
FILEGYR = DATA + "/" + BASEFILE + "_gyr.csv"
FILEPRESST = DATA + "/" + BASEFILE + "_presst.csv"
FILEGPIO = DATA + "/" + BASEFILE + "_gpio.csv"
ANS = iofox.convert_sensors_rawfile(str(onefile), FILEACC, FILEMAG,
FILEGYR, FILEPRESST, FILEGPIO)
if ANS == "OK":
[TIME, ACC, MAG, GYR] = \
iofox.load_foximu_csvfile(
FILEACC, FILEMAG, FILEGYR, 1 / float(fs), 1)
iofox.save_foxsignals_csvfile(TIME, ACC, MAG, GYR,
DATA + "/" + BASEFILE + '.csv')
if os.path.isfile(DATA + "/" + BASEFILE + '_gpio.csv'):
shutil.copy(DATA + "/" + BASEFILE + '_gpio.csv', DATAExpe)
else:
shutil.copy(DATA + "/" + BASEFILE + '.csv', DATAExpe)
os.remove(FILEACC)
os.remove(FILEMAG)
os.remove(FILEGYR)
print "\n=>>> Successfully converted RAW file at Fs = " +\
str(fs) + "Hz to : " + HOME + "/ImuConvertedData/" + "\n"
print str(file) + ' => ' + BASEFILE
fileNumber = fileNumber + 1
else:
print " Conversion failed"