def read_sensors(n, time_start, wait_time):
# Valve Definition and Classes
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
pressure_list = []
pressure_time_list = []
for i in range(100):
pressure, time_pres = pressure_cold_flow.read_sensor()
pressure_list.append(pressure)
pressure_time_list.append(time_pres + wait_time * n)
current_time = 'Time Update: {} seconds'.format(time.time() - time_start)
print(current_time)
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'a', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
# no-op here
loop()
def initDevice(self, comport, id):
# Toevoegen van een nieuw device
sleep(1)
try:
ser = Serial(comport, 19200, timeout=2)
sleep(2)
# Zolang er fout optreed stuur command "_INIT"
while True:
ser.write(b"_INIT\n")
device_type = ser.readline().decode("UTF-8").strip('\n')
if device_type != "_ERR":
break
if device_type == "_MTR":
# Device is een aansturing
# Stuur command "_CONN" zolang er fout optreed
while True:
ser.write(b"_CONN\n")
device_type = ser.readline().decode("UTF-8").strip('\n')
if device_type != "_ERR":
break
# Maak nieuw aansturing (MotorControl) aan
a = MotorControl(ser, id)
self.motorControls.append(a)
elif device_type == "_TEMP" or device_type == "_LGHT":
# Maak nieuwe sensor aan
sensor = Sensor(ser, device_type, id, self.sensors)
if (self.loggedin):
self.sensorsWithoutGraph.append(sensor)
self.sensors.append(sensor)
ser.write(b"_CONN\n")
else:
# Als device type onbekend is,
# voeg toe aan onbekende COM-porten
self.other_com_ports.append(comport)
except SerialException as E:
print(E)
# Als er een fout optreed,
# voeg toe aan onbekende COM-porten
self.other_com_ports.append(comport)
def __init__(self, jsonfile, logfile, sipcallfile, optsUpdateUI=None):
""" Init for the Worker class """
print("{0}------------ INIT FOR DOOR SENSOR CLASS! ----------------{1}"
.format(bcolors.HEADER, bcolors.ENDC))
# Global Variables
self.jsonfile = jsonfile
self.logfile = logfile
self.sipcallfile = sipcallfile
self.settings = self.ReadSettings()
self.limit = 10
self.logtypes = 'all'
# Stop execution on exit
self.kill_now = False
# Init Alarm
self.mynotify = Notify(self.settings)
self.mynotify.setupUpdateUI(optsUpdateUI)
self.mynotify.setupSendStateMQTT()
mylogs = Logs(self.logfile)
self.getSensorsLog = mylogs.getSensorsLog
self.writeLog("system", "Alarm Booted")
mylogs.startTrimThread()
# Event Listeners
self.sensors = Sensor()
self.sensors.on_alert(self.sensorAlert)
self.sensors.on_alert_stop(self.sensorStopAlert)
self.sensors.on_error(self.sensorError)
self.sensors.on_error_stop(self.sensorStopError)
self.sensors.add_sensors(self.settings)
# Init MQTT Messages
self.mynotify.on_disarm_mqtt(self.deactivateAlarm)
self.mynotify.on_arm_mqtt(self.activateAlarm)
self.mynotify.on_sensor_set_alert(self.sensorAlert)
self.mynotify.on_sensor_set_stopalert(self.sensorStopAlert)
self.mynotify.sendStateMQTT()
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
self.display = Display()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
self.display.updateStatus()
# for debugging, show data in the message row for now
self.display.updateMessage('P:{} R:{}'.format(
str(pitch), str(roll)))
loop()
def insulation_test():
# Data Frames for Saving
pressure_list = ["Pressure"]
pressure_time_list = ["time"]
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_13', 'P8_13',
'Prop', 4, 10)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_12', 0,
'Solenoid', 0, 0)
fill_valve = Valve('Fill Valve', 'P8_12', 0, 'Solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
# Temperature Sensor Definition and Classes
temperature_fill_line = Sensor('temperature_fill_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000',
'000')
temperature_empty_line = Sensor('temperature_empty_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000',
'000')
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('insulation_data.csv', 'w', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
print('Welcome to the Team Daedalus: Insulation Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
print("\nVerifying Sensor and Valve Connections\n")
while not pressure_cold_flow.verify_connection() and temperature_fill_line.verify_connection() \
and temperature_empty_line.verify_connection():
input("\nPress Enter to Start Verification Again:")
print("\nAll Sensors are Functional\n")
while not actuator_prop.verify_connection_valve and actuator_solenoid.verify_connection_valve and \
fill_valve.verify_connection_valve and vent_valve.verify_connection_valve:
input("\nPress Enter to Start Verification Again:")
print("\nAll Valves are Functional\n")
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_prop.close()
actuator_solenoid.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
vent_valve.open()
print(vent_valve.get_state())
print('Press Enter When Desired Tank Ullage is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
while input_flag == 1:
temp_fill = temperature_fill_line.read_sensor()
temp_empty = temperature_empty_line.read_sensor()
pressure = pressure_cold_flow.read_sensor()
print(temp_fill[0], temp_empty[0], pressure[0])
time.sleep(.1)
vent_valve.close()
print(vent_valve.get_state())
final_pressure = pressure_cold_flow.read_sensor()
print("Filling Completed: Current Pressure is...")
print(final_pressure[0])
input("Press Enter to Begin Leak Test")
print('Beginning Leak Test')
time_start = time.time()
wait_time = 1
n = 0
k = threading.Thread(target=test_end_input)
k.start()
while test_flag == 1:
read_sensors(n, time_start, wait_time)
time.sleep(wait_time)
n = n + 1
print('done')
print(time.time() - time_start)
input('Press Enter to Open Valves and Depressurize Tank')
actuator_prop.open()
actuator_solenoid.open()
fill_valve.open()
vent_valve.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
def read_sensors(n, time_start, wait_time):
# Valve Definition and Classes
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 10)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_16',
'P9_16', 'P9_16', '000', '001', '010')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
maximum_pressure = 640
nominal_pressure = 500
pressure_list = []
pressure_time_list = []
pressure0_list = []
pressure2_list = []
pressure4_list = []
for i in range(1000):
global counter
pressure, time_pres = pressure_cold_flow.read_sensor()
pres0, time_pres0 = pressure0.read_sensor()
pres2, time_pres2 = pressure2.read_sensor()
pres4, time_pres4 = pressure4.read_sensor()
pressure_list.append(pressure)
pressure_time_list.append(time_pres + wait_time * n)
pressure0_list.append(pres0)
pressure2_list.append(pres2)
pressure4_list.append(pres4)
if pressure >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
actuator_solenoid.open()
actuator_prop.partial_open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressure_cold_flow.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
actuator_solenoid.close()
actuator_prop.close()
print(time_relief_end)
break
current_time = 'Time Update: {} seconds'.format(time.time() - time_start)
print(current_time)
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'a', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
for z in range(21):
pres_temp = pressure_cold_flow.read_sensor()
print(pres_temp[0])
def leak_test():
global input_flag, counter
time_duration = 36000
# Data Frames for Saving
pressure_list = ["Pressure"]
pressure_time_list = ["time"]
pressure0_list = ["Pressure0"]
pressure2_list = ["Pressure2"]
pressure4_list = ["Pressure4"]
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 20)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
fill_valve = Valve('Fill Valve', 'P8_8', 0, 'solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_45', 0, 'solenoid', 0, 0)
actuator_solenoid.open()
actuator_prop.open()
fill_valve.open()
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_16',
'P9_16', 'P9_16', '000', '010', '100')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
saved_data_combined = [
pressure_list, pressure_time_list, pressure0_list, pressure2_list,
pressure4_list
]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'w', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
print('Welcome to the Team Daedalus: Leak Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
print("\nVerifying Sensor and Valve Connections\n")
while not pressure_cold_flow.verify_connection():
input("\nPress Enter to Start Verification Again:")
print("\nAll Sensors are Functional\n")
while not actuator_prop.verify_connection_valve and actuator_solenoid.verify_connection_valve and \
fill_valve.verify_connection_valve and vent_valve.verify_connection_valve:
input("\nPress Enter to Start Verification Again:")
print("\nAll Valves are Functional\n")
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_solenoid.close()
actuator_prop.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
fill_valve.open()
print(fill_valve.get_state())
print(vent_valve.get_state())
print('Press Enter When Desired Pressure is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
maximum_pressure = 640
nominal_pressure = 500
while input_flag == 1:
a = pressure0.read_sensor()
b = pressure2.read_sensor()
c = pressure4.read_sensor()
e = pressure_cold_flow.read_sensor()
d = [e[0], a[0], b[0], c[0]]
if e[0] >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
actuator_prop_relief = Valve('Actuator Propellant Valve', 'P8_4',
'P8_4', 'prop', 4, 10)
actuator_solenoid.open()
actuator_prop_relief.partial_open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressure_cold_flow.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
actuator_solenoid.close()
actuator_prop_relief.close()
print(time_relief_end)
break
print(d)
time.sleep(.2)
fill_valve.close()
vent_valve.close()
print(fill_valve.get_state())
print(vent_valve.get_state())
final_pressure = pressure_cold_flow.read_sensor()
print("Filling Completed: Current Pressure is...")
print(final_pressure[0])
input("Press Enter to Begin Leak Test")
print('Beginning Leak Test')
input_flag = 1
time_start = time.time()
wait_time = 300
n = 0
while time.time() - time_start < time_duration:
read_sensors(n, time_start, wait_time)
time.sleep(wait_time)
n = n + 1
print('done')
print(time.time() - time_start)
input('Press Enter to Open Actuator at 20%')
actuator_solenoid.open()
actuator_prop.partial_open()
input('Press Enter to Open All Valves')
fill_valve.open()
actuator_solenoid.open()
actuator_prop.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
def test_bad_sensorType(self):
with self.assertRaises(Exception) as context:
Sensor("bad value")
self.assertEqual('sensorType must be in {"temperature", "humidity"}',
str(context.exception))
def getRules(filename):
threading.Timer(5.0, getRules, [filename]).start()
return RuleList(filename)
try:
ruleList = getRules(ruleFilename).rl
if ruleList is not None:
for rule in ruleList:
print rule.sensor
rad = SensorRadio()
while(True):
buff = rad.listen()
print buff
if buff is not None:
newsensor = Sensor(buff[0], buff[1], buff[3])
if any(oldsensor.idx == newsensor.idx for oldsensor in sensors):
for oldsensor in sensors:
if oldsensor.idx == newsensor.idx:
oldsensor.value = newsensor.value
print 'Already in list. Update the values'
time.sleep(1)
else:
sensors.append(newsensor)
listToJson(sensors)
time.sleep(1)
except KeyboardInterrupt:
print 'Got interrupt from keyboard'
GPIO.cleanup()
pS.on()
sta_if = WLAN(STA_IF)
while not sta_if.isconnected():
pass
pS.off()
s = socket.socket() # Create socket
#ad = socket.getaddrinfo('000.000.000.000', 4444)[0][-1] # Change your IP and Port here
s.connect(ad)
ss = wrap_socket(s) # Wrap as a ssl socket
#ss.write("aPASSWORD".encode()) # Set your password here
ss.write("tu".encode())
pS.on()
irSender = Sender()
sens = Sensor(ss, irSender)
while True:
data = ss.read(1).decode() # Read one byte
pS.off()
if data is "q":
ss.write("q".encode())
utime.sleep(0.4)
break
elif (ord(data) >= 97 and ord(data) <= 122) or ord(data) == 10:
irSender.got_data(data)
sleep(0.1)
pS.on()
ss.close()
s.close()
except Exception as e:
print("Fehler", e)
def leak_test():
global input_flag
global counter
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 20)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
fill_valve = Valve('Fill Valve', 'P8_8', 0, 'solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_45', 0, 'solenoid', 0, 0)
actuator_solenoid.open()
actuator_prop.partial_open()
time.sleep(2)
# Pressure Sensor Definition and Classes
pressureall = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '010', '100')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
print('Welcome to the Team Daedalus: Leak Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_solenoid.close()
actuator_prop.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
fill_valve.open()
print(fill_valve.get_state())
print(vent_valve.get_state())
print('Press Enter When Desired Pressure is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
maximum_pressure = 10000
nominal_pressure = 500
while input_flag == 1:
a = pressure0.read_sensor()
b = pressure2.read_sensor()
c = pressure4.read_sensor()
e = pressureall.read_sensor()
d = [e[0], a[0], b[0], c[0]]
if e[0] >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
vent_valve.open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressureall.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
vent_valve.close()
print(time_relief_end)
break
print(d)
time.sleep(.2)
fill_valve.close()
vent_valve.close()
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open Actuator at 10%')
actuator_solenoid.open()
actuator_prop.partial_open()
input('Press Enter to Open Vent Valve')
vent_valve.open()
input('Enter all Other Valves')
vent_valve.close()
time.sleep(1)
fill_valve.open()
actuator_solenoid.open()
actuator_prop.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
input('Press Enter to End and Close all valves')
vent_valve.close()
fill_valve.close()
actuator_solenoid.close()
actuator_prop.close()
def try_bricklet(self, uid, device_identifier, position):
if device_identifier == 26:
for x in ["relay_a", "relay_b"]:
s = Sensor(self.controller, x, uid)
self.relays[s.uid] = s
"""
Some example usage of the Sensor class
"""
from sensors import Sensor
temperatureSensor = Sensor("temperature")
reading = temperatureSensor.getReading()
reading2 = temperatureSensor.getReading()
reading3 = temperatureSensor.getReading()
print(reading)
print(reading['value'])
print(reading2['value'])
print(reading3['value'])
def try_bricklet(self, uid, device_identifier, position):
if device_identifier == 26:
s = Sensor(self.controller, "dualrelay", uid)
for instance in ["0", "1"]:
self.relays[s.uid + instance] = s
def test_reading(self):
temperatureSensor = Sensor("temperature")
reading = temperatureSensor.getReading()
self.assertTrue(reading['value'] >= 0 and reading['value'] <= 100)
def __init__(self):
self.lmotor = Motor(4, 0x09, 1)
self.rmotor = Motor(4, 0x09, 2)
self.camera = Camera()
self.sensor = Sensor()
from sensors import Sensor
from valve import Valve
import front_end
percentage = 100
# Valve Definition and Classes
lox_main = Valve('LOX Propellant Valve', 'P8_13', 'P8_13', 'Prop', 4,
percentage)
lox_vent = Valve('LOX Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
met_vent = Valve('Methane Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
p_valve = Valve('Pressurant Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12', 'P9_14',
'P9_16', '000', '000', '000')
# Temperature Sensor Definition and Classes
temperature_fill_line = Sensor('temperature_fill_line', 'temperature', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
temperature_empty_line = Sensor('temperature_empty_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000', '000')
print(
"Before Test Start: Verify Electronic Connections and Follow Safety Procedures\n"
)
print("------------------------------------------")
print("\nProject Daedalus: Powerhead Hardware/Software Test\n")
print("""\
._ o o
from sensors import Sensor
from sensors import Sensors
from wheels import Wheel
from wheels import MockWheel
from wheels import Wheels
import RPi.GPIO as GPIO
from runtime import Runtime
from processor import Processor
GPIO.setmode(GPIO.BOARD)
sensor1 = Sensor(11, 13)
sensor3 = Sensor(15, 16)
sensor5 = Sensor(18, 19)
sensor6 = Sensor(21, 22)
sensor8 = Sensor(23, 24)
sensor10 = Sensor(26, 29)
leftMotor = Wheel(5, 3, 7, 7)
rightMotor = Wheel(8, 10, 12, 1)
# rightMotor = MockWheel("rightWheel")
zrobot_runtime = Runtime(
Sensors([sensor1, sensor3, sensor5, sensor6, sensor8, sensor10]),
Processor(), Wheels(leftMotor, rightMotor))
zrobot_runtime.start()
