def __init__(self, transceiver, transformers=None, publisher=None):
self.transceiver = transceiver
if transformers:
self.transformers = transformers
else:
self.transformers = [Pickler()]
if publisher:
self.publisher = publisher
else:
self.publisher = ZMQPublisher()
for i in range(len(self.transformers) - 1):
self.transformers[i].set_callback(self.transformers[i + 1].push)
self.transformers[-1].set_callback(self.publisher.send)
def run_reporter():
reporter = Reporter(
transceiver=DummyTransceiver(dt=0.0005),
transformers=[TimedCombiner(dt=0.1),
Pickler(),
Compressor()],
publisher=ZMQPublisher())
reporter.run()
def __init__(self, transceiver, transformers=None, publisher=None):
self.transceiver = transceiver
if transformers:
self.transformers = transformers
else:
self.transformers = [Pickler()]
if publisher:
self.publisher = publisher
else:
self.publisher = ZMQPublisher()
for i in range(len(self.transformers) - 1):
self.transformers[i].set_callback(self.transformers[i+1].push)
self.transformers[-1].set_callback(self.publisher.send)
class Reporter():
""" A Reporter continuously reads data from a Transceiver, feeds it through
a row of Transformers, and broadcasts the result using a Publisher.
When creating a Reporter, you supply instances of a Transceiver,
one or more Transformers, and a Publisher. If not specified,
a pickling Transformer and the default Publisher are used.
**Usage**::
reporter = Reporter(
transceiver=MyTransceiver(),
transformers=[MyDecoder(), MyCompressor(), ...],
publisher=MyPublisher()
)
A Reporter can be run as its own process::
reporter.run()
Or stepped through by an external engine::
reporter.open()
while not done:
reporter.step()
"""
def __init__(self, transceiver, transformers=None, publisher=None):
self.transceiver = transceiver
if transformers:
self.transformers = transformers
else:
self.transformers = [Pickler()]
if publisher:
self.publisher = publisher
else:
self.publisher = ZMQPublisher()
for i in range(len(self.transformers) - 1):
self.transformers[i].set_callback(self.transformers[i + 1].push)
self.transformers[-1].set_callback(self.publisher.send)
def open(self):
""" Initialize the Transceiver and Publisher.
"""
success = self.transceiver.open()
if not success:
return False
success = self.publisher.open()
if not success:
return False
return True
def step(self):
""" Read data and feed it into the first Transformer.
"""
raw_data = self.transceiver.read()
if raw_data is not None:
self.transformers[0].push(raw_data)
def run(self):
""" Initialize components and start broadcasting.
"""
success = self.open()
if not success:
print('Failed to initialize!')
return
while True:
self.step()
from zircon.transceivers.dummy_multiple import DummyMultipleTransceiver
from zircon.publishers.zeromq import ZMQPublisher
from zircon.reporters.base import Reporter
from zircon.transformers.common import *
from math import sin, pi
from random import gauss
reporter = Reporter(
transceiver=DummyMultipleTransceiver(
signals={
'IMU_X': lambda x: 1.0 * sin(2*pi*(x/3.0 + 1)) + gauss(0, 0.2),
'IMU_Y': lambda x: 1.5 * sin(2*pi*x/2.5) + gauss(0, 0.2),
'IMU_Z': lambda x: 1.3 * sin(2*pi*x/2.8) + gauss(0, 0.3),
'IMU_X_FILTERED': lambda x: 1.0 * sin(2*pi*(x/3.0 + 1)),
'IMU_Y_FILTERED': lambda x: 1.5 * sin(2*pi*x/2.5),
'IMU_Z_FILTERED': lambda x: 1.3 * sin(2*pi*x/2.8),
},
dt=0.01,
),
transformers=[
Splitter(),
TimedCombiner(dt=0.1),
Pickler(),
Compressor()
],
publisher=ZMQPublisher()
)
reporter.run()
class Reporter():
""" A Reporter continuously reads data from a Transceiver, feeds it through
a row of Transformers, and broadcasts the result using a Publisher.
When creating a Reporter, you supply instances of a Transceiver,
one or more Transformers, and a Publisher. If not specified,
a pickling Transformer and the default Publisher are used.
**Usage**::
reporter = Reporter(
transceiver=MyTransceiver(),
transformers=[MyDecoder(), MyCompressor(), ...],
publisher=MyPublisher()
)
A Reporter can be run as its own process::
reporter.run()
Or stepped through by an external engine::
reporter.open()
while not done:
reporter.step()
"""
def __init__(self, transceiver, transformers=None, publisher=None):
self.transceiver = transceiver
if transformers:
self.transformers = transformers
else:
self.transformers = [Pickler()]
if publisher:
self.publisher = publisher
else:
self.publisher = ZMQPublisher()
for i in range(len(self.transformers) - 1):
self.transformers[i].set_callback(self.transformers[i+1].push)
self.transformers[-1].set_callback(self.publisher.send)
def open(self):
""" Initialize the Transceiver and Publisher.
"""
success = self.transceiver.open()
if not success:
return False
success = self.publisher.open()
if not success:
return False
return True
def step(self):
""" Read data and feed it into the first Transformer.
"""
raw_data = self.transceiver.read()
if raw_data is not None:
self.transformers[0].push(raw_data)
def run(self):
""" Initialize components and start broadcasting.
"""
success = self.open()
if not success:
print('Failed to initialize!')
return
while True:
self.step()
