class VoltageRatioSensor(Sensor):
'''Class used to handle any sensor which uses a ratiometric voltage input '''
def __init__(self,
deviceSN,
channelNo,
dataInterval,
refreshPeriod,
sensorType,
sensorName=None):
'''
Connects the sensor to the application
'''
self.channelNo = channelNo
self.sensorType = sensorType
self.sensorUnits = None
Sensor.__init__(self, deviceSN, dataInterval, refreshPeriod,
sensorName)
def attachSensor(self):
'''
Connects the sensor to the application
'''
self.channel = VoltageRatioInput()
self.channel.setDeviceSerialNumber(self.deviceSN)
self.channel.setChannel(self.channelNo)
self.channel.openWaitForAttachment(100)
print("\n***** {} Sensor Attached *****".format(self.sensorName))
self.attached = True
self.channel.setSensorType(self.sensorType)
self.channel.setDataInterval(self.dataInterval)
self.sensorUnits = self.channel.getSensorUnit().symbol
def activateDataListener(self):
'''
Sets up the event which triggers when the sensor updates its outputs
'''
self.startTime = time.time()
def onSensorValueChange(channelObject, sensorVlue, sensorUnit):
rawTime = time.time()
deltaTime = rawTime - self.startTime
self.dataQ.put(
[channelObject.getSensorValue(), deltaTime, rawTime])
self.channel.setOnSensorChangeHandler(onSensorValueChange)
def main():
ir_reflective_sensor = VoltageRatioInput()
ir_reflective_sensor.setChannel(5)
ir_reflective_sensor.setOnSensorChangeHandler(on_ir_change)
ir_reflective_sensor.openWaitForAttachment(5000)
ir_reflective_sensor.setSensorType(VoltageRatioSensorType.SENSOR_TYPE_1103)
sharp_distance_sensor_left = VoltageRatioInput()
sharp_distance_sensor_left.setChannel(6)
sharp_distance_sensor_left.setOnSensorChangeHandler(on_sharp_change)
sharp_distance_sensor_left.openWaitForAttachment(5000)
sharp_distance_sensor_left.setSensorType(
VoltageRatioSensorType.SENSOR_TYPE_1101_SHARP_2Y0A21)
sharp_distance_sensor_right = VoltageRatioInput()
sharp_distance_sensor_right.setChannel(7)
sharp_distance_sensor_right.setOnSensorChangeHandler(on_sharp_change)
sharp_distance_sensor_right.openWaitForAttachment(5000)
sharp_distance_sensor_right.setSensorType(
VoltageRatioSensorType.SENSOR_TYPE_1101_SHARP_2Y0A21)
while True:
pass
ir_reflective_sensor.close()
sharp_distance_sensor_left.close()
sharp_distance_sensor_right.close()
def main():
#Create your Phidget channels
voltageRatioInput0 = VoltageRatioInput()
#Set addressing parameters to specify which channel to open (if any)
#Assign any event handlers you need before calling open so that no events are missed.
voltageRatioInput0.setOnSensorChangeHandler(onSensorChange)
#Open your Phidgets and wait for attachment
voltageRatioInput0.openWaitForAttachment(5000)
#Do stuff with your Phidgets here or in your event handlers.
#Set the sensor type to match the analog sensor you are using after opening the Phidget
voltageRatioInput0.setSensorType(VoltageRatioSensorType.SENSOR_TYPE_1111)
try:
input("Press Enter to Stop\n")
except (Exception, KeyboardInterrupt):
pass
#Close your Phidgets once the program is done.
voltageRatioInput0.close()
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
ch = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
channelInfo = AskForDeviceParameters(ch)
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
if (channelInfo.netInfo.isRemote):
ch.setIsRemote(channelInfo.netInfo.isRemote)
if (channelInfo.netInfo.serverDiscovery):
try:
Net.enableServerDiscovery(
PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
except PhidgetException as e:
PrintEnableServerDiscoveryErrorMessage(e)
raise EndProgramSignal(
"Program Terminated: EnableServerDiscovery Failed")
else:
Net.addServer("Server", channelInfo.netInfo.hostname,
channelInfo.netInfo.port,
channelInfo.netInfo.password, 0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
PrintEventDescriptions()
print("\nSetting OnVoltageRatioChangeHandler...")
ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
print("\nSetting OnSensorChangeHandler...")
ch.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
print(
"You can do stuff with your Phidgets here and/or in the event handlers."
)
time.sleep(10)
"""
* Perform clean up and exit
"""
print("\nDone Sampling...")
print("Cleaning up...")
ch.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.close()
return 1
except RuntimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def SensorChangeHandler(e, sensorValue, sensorUnit):
print("Sensor Value: %f" % sensorValue)
#%% This is Phidget's code that does the collecting
# We only have 1 load cell hooked up, so this should be all good for now
# If we ever have more than one, use the Phidget control panel to specify hub ports
# and serial numbers
try:
ch.setOnAttachHandler(VoltageRatioInputAttached)
ch.setOnDetachHandler(VoltageRatioInputDetached)
ch.setOnErrorHandler(ErrorEvent)
ch.setOnVoltageRatioChangeHandler(VoltageRatioChangeHandler)
ch.setOnSensorChangeHandler(SensorChangeHandler)
# Please review the Phidget22 channel matching documentation for details on the device
# and class architecture of Phidget22, and how channels are matched to device features.
# Specifies the serial number of the device to attach to.
# For VINT devices, this is the hub serial number.
#
# The default is any device.
#
# ch.setDeviceSerialNumber(470070)
# For VINT devices, this specifies the port the VINT device must be plugged into.
#
# The default is any port.
#
def main2():
global sleeptime
try:
"""
* Allocate a new Phidget Channel object
"""
ch2 = VoltageRatioInput()
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
#channelInfo = AskForDeviceParameters(ch)
ch2.setDeviceSerialNumber(566690)
ch2.setChannel(2)
"""
* Add event handlers before calling open so that no events are missed.
"""
#print("\n--------------------------------------")
#print("\nSetting OnAttachHandler...")
ch2.setOnAttachHandler(onAttachHandler)
#print("Setting OnDetachHandler...")
ch2.setOnDetachHandler(onDetachHandler)
#print("Setting OnErrorHandler...")
ch2.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
#PrintEventDescriptions()
#print("\nSetting OnVoltageRatioChangeHandler...")
ch2.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
#print("\nSetting OnSensorChangeHandler...")
ch2.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
#print("\nOpening and Waiting for Attachment...")
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open Failed")
#print("Sampling data for 10 seconds...")
#print("You can do stuff with your Phidgets here and/or in the event handlers.")
time.sleep(sleeptime)
"""
* Perform clean up and exit
"""
#print("\nDone Sampling...")
#print("Cleaning up...")
ch2.close()
#print("\nExiting...")
global data
weight2 = data
datalist.clear()
return weight2
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch2.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch2.close()
return 1
except RuntimeError as e:
sys.stderr.write("Runtime Error: \n\t" + e)
traceback.print_exc()
return 1
class WeightSensor:
def __init__(self):
self.weight_value = -1
self.has_ended = False
self.try_weight_sensor()
def try_weight_sensor(self):
print("Try Weight Sensor")
try:
# Allocate a new Phidget Channel object
self.ch = VoltageRatioInput()
self.do = DigitalOutput()
self.ch.setChannel(0)
self.do.setChannel(6)
self.ch.setOnAttachHandler(onAttachHandler)
self.ch.setOnDetachHandler(onDetachHandler)
self.ch.setOnErrorHandler(onErrorHandler)
self.ch.setOnVoltageRatioChangeHandler(onVoltageRatioChangeHandler)
self.ch.setOnSensorChangeHandler(onSensorChangeHandler)
# Open the channel with a timeout
try:
self.ch.openWaitForAttachment(5000)
self.do.openWaitForAttachment(5000)
except PhidgetException as e:
# PrintOpenErrorMessage(e, self.ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("THREAD STARTING")
weight_thread = threading.Thread(
target=self.start_getting_weight_value)
weight_thread.daemon = True
weight_thread.start()
except Exception as e:
self.ch.close()
self.try_conneting_again()
def start_getting_weight_value(self):
while not self.has_ended:
try:
self.weight_value = self.ch.getVoltageRatio()
except:
self.ch.close()
break
time.sleep(0.25)
self.try_conneting_again()
def try_conneting_again(self):
self.has_ended = True
print(
"Weight sensor failed! Trying to connect to the weight sensor again in 3 2 1..."
)
time.sleep(3)
self.ch = None
self.do = None
self.has_ended = False
self.weight_value = -1
self.try_weight_sensor()
def get_weight_value(self):
return self.weight_value