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svm_serial.py
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svm_serial.py
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#!/usr/bin/env python3
#from __future__ import absolute_import, division, print_function
#import importlib
import threading
import serial
import time
import numpy as np
import joblib
from pprzlink.message import PprzMessage
from pprzlink.pprz_transport import PprzTransport
class SerialMessagesInterface(threading.Thread):
def __init__(self, callback, verbose=False, device='/dev/ttyUSB0', baudrate=115200,
msg_class='telemetry', interface_id=0):
threading.Thread.__init__(self)
self.callback = callback
self.verbose = verbose
self.msg_class = msg_class
self.id = interface_id
self.running = True
try:
self.ser = serial.Serial(device, baudrate, timeout=1.0)
except serial.SerialException:
print("Error: unable to open serial port '%s'" % device)
exit(0)
self.trans = PprzTransport(msg_class)
def stop(self):
print("End thread and close serial link")
self.running = False
self.ser.close()
def shutdown(self):
self.stop()
def __del__(self):
try:
self.ser.close()
except:
pass
def send(self, msg, sender_id,receiver_id = 0, component_id = 0):
""" Send a message over a serial link"""
if isinstance(msg, PprzMessage):
data = self.trans.pack_pprz_msg(sender_id, msg, receiver_id, component_id)
self.ser.write(data)
self.ser.flush()
def run(self):
"""Thread running function"""
try:
while self.running:
# Parse incoming data
c = self.ser.read(1)
if len(c) == 1:
if self.trans.parse_byte(c):
(sender_id, receiver_id, component_id, msg) = self.trans.unpack()
#self.collect_data(msg)
if self.verbose:
print("New incoming message '%s' from %i (%i) to %i" % (msg.name, sender_id, component_id, receiver_id))
# Callback function on new message
if self.id == receiver_id:
self.callback(sender_id, msg)
except StopIteration:
pass
class Model():
def __init__(self, saved_model_filename, saved_scaler_filename, verbose=False):
self.model = joblib.load(saved_model_filename) # model can be saved with joblib.dump(clf,'fname.joblib')
self.scaler = joblib.load(saved_scaler_filename)
self.interface = None
self.logger = None
self.verbose = verbose
self.fault_info = 0
self.fault_type = 0
self.fault_class = 0
self.fault_state_increment = 0
def set_interface(self,interface):
self.interface = interface
def set_logger(self, logger):
self.logger = logger
def predict(self,X):
self.logger.write_log(X)
X_scaled = self.scaler.transform(X.reshape(1,-1))
#self.logger.write_log(X_scaled)
#print('X_scaled shpae : ',X_scaled.shape)
self.fault_info = self.model.predict(X_scaled)
self.update_fault_state()
def update_fault_state(self):
if self.fault_type != self.fault_info :
self.fault_state_increment += 1
else:
self.fault_state_increment = 0
if self.fault_state_increment >= 3 : self.fault_type = self.fault_info
self.send_pprz_fault_info()
def send_pprz_fault_info(self):
if self.verbose: print('Sending the FAULT_INFO')
set_fault = PprzMessage('datalink', 'FAULT_INFO')
set_fault['info'] = self.fault_info
set_fault['type'] = self.fault_type
set_fault['class']= self.fault_class
self.interface.send(set_fault, 0)
class Logger():
def __init__(self,filename='log.txt'):
self.filename = filename
self.log = np.zeros((8000, 161))
self.line = 0
def write_log(self, X):
self.log[self.line,0] = time.time()
self.log[self.line,1:]=X
self.line += 1
def close_log(self):
with open(self.filename, 'wb') as f:
np.save(f,self.log[:self.line])
class Data_Collector():
def __init__(self, model=None, dimension=8, history_step=2, verbose=False):
self.verbose = verbose
self.model = model
self.history_step = history_step
self.dimension=dimension
self.data = np.zeros([self.dimension*self.history_step])
self.X = np.zeros([self.dimension])
self.msg_received = np.zeros([3])
self.accel_msg_length = 3
self.gyro_msg_length = 3
self.commands_msg_length = 2
#self.last_time=time.time()
#self.last_gyro_time = time.time()
def set_model(self, model):
self.model = model
def parse_msg(self, sender_id, msg):
if msg.name == 'IMU_GYRO':
#print('Gyro time : ',time.time()-self.last_gyro_time)
#self.last_gyro_time = time.time()
if self.verbose: print('GYRO received',msg.get_field(0), msg.get_field(1), msg.get_field(2) )
self.set_gyro_data(msg)
if msg.name == 'IMU_ACCEL':
if self.verbose: print('ACCEL received',msg.get_field(0), msg.get_field(1), msg.get_field(2) )
self.set_accel_data(msg)
if msg.name == 'COMMANDS':
if self.verbose: print('COMMANDS received',msg._fieldvalues[0] )
self.set_commands_data(msg)
def set_accel_data(self,msg):
n = int(self.msg_received[0]*self.dimension)
nn = int(n + self.accel_msg_length)
#print('accel:',n,nn)
self.data[n:nn] = msg.get_field(0), msg.get_field(1), msg.get_field(2)
self.msg_received[0] += 1
self.check_data_ready()
def set_gyro_data(self,msg):
n = int(self.msg_received[1]*self.dimension + self.accel_msg_length)
nn = int(n + self.gyro_msg_length)
#print('gyro:',n,nn)
#if msg.get_field(0) == 0: print('Zero Value in Gyro X')
#if msg.get_field(1) == 0: print('Zero Value in Gyro Y')
#if msg.get_field(2) == 0: print('Zero Value in Gyro Z')
self.data[n:nn] = msg.get_field(0), msg.get_field(1), msg.get_field(2)
self.msg_received[1] += 1
self.check_data_ready()
def set_commands_data(self,msg):
n = int(self.msg_received[2]*self.dimension + self.accel_msg_length + self.gyro_msg_length)
nn = int(n + self.commands_msg_length)
#print('commands :',n,nn)
#print('Commands converted : ', msg._fieldvalues[0][1:3])
self.data[n:nn] = msg._fieldvalues[0][1:3] # get only the right and left ailevon commands
self.msg_received[2] += 1
self.check_data_ready()
def reset_msg(self):
self.msg_received[:] = 0
def send_data_to_model(self,X):
if self.model != None :
#print('Prediction time : ',time.time()-self.last_time)
#self.last_time = time.time()
self.model.predict(X)
#pass
else:
print('No prediction model assigned !')
pass
def check_data_ready(self):
if (self.msg_received[0]>=self.history_step) & (self.msg_received[1]>=self.history_step) & (self.msg_received[2]>=self.history_step):
self.X = self.data.copy()
self.send_data_to_model(self.X)
self.reset_msg()
if self.verbose: print('X :',self.X)
def main():
'''
Real-time Fault prediction module:
'''
import time
import argparse
from pprzlink import messages_xml_map
import numpy as np
parser = argparse.ArgumentParser()
parser.add_argument("-f", "--file", help="path to messages.xml file", default='pprzlink/messages.xml')
parser.add_argument("-c", "--class", help="message class", dest='msg_class', default='telemetry')
parser.add_argument("-d", "--device", help="device name", dest='dev', default='/dev/serial0')
parser.add_argument("-b", "--baudrate", help="baudrate", dest='baud', default=230400, type=int)
parser.add_argument("-id", "--ac_id", help="aircraft id (receiver)", dest='ac_id', default=42, type=int)
parser.add_argument("--interface_id", help="interface id (sender)", dest='id', default=0, type=int)
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
#model_filename = 'svm_model_1.joblib'
#scaler_filename = 'svm_scaler_1.joblib'
#model_filename = 'models/svm_model_binary_r05.joblib'
#scaler_filename = 'models/svm_scaler_binary_r05.joblib'
#model_filename = 'models/svm_model_binary_r05_07072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r05_07072020_AGC_20h_10s.joblib'
#model_filename = 'models/svm_model_binary_r03_10072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r03_10072020_AGC_20h_10s.joblib'
#model_filename = 'models/svm_model_binary_r03_l03_13072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r03_l03_13072020_AGC_20h_10s.joblib'
model_filename = 'models/svm_model_binary_multi_21072020_AGC_20h_10s.joblib'
scaler_filename = 'models/svm_scaler_binary_multi_21072020_AGC_20h_10s.joblib'
model = Model(model_filename, scaler_filename)
#collector = Data_Collector(model=model, dimension=8, history_step=20, verbose=True)
collector = Data_Collector(model=model, dimension=8, history_step=20, verbose=False)
serial_interface = SerialMessagesInterface(collector.parse_msg, device=args.dev,
baudrate=args.baud, msg_class=args.msg_class, interface_id=args.id, verbose=False)
logger = Logger()
model.set_interface(serial_interface)
model.set_logger(logger)
print("Starting serial interface on %s at %i baud" % (args.dev, args.baud))
try:
serial_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
while serial_interface.isAlive():
serial_interface.join(1)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
logger.close_log()
serial_interface.stop()
exit()
if __name__ == '__main__':
main()