def run(self):
if self.db is None:
print "AcquireData: No DB, aborting run."
return
try:
time.sleep(1)
self.prevAcc = IMU.SharedData.AccXnorm
txnTime = time.time()
cycleStart = time.time()
while not self.stopped():
curTime = time.time()
#create db record for this capture
data = VBoxData()
data.timestamp = datetime.datetime.now()
#acquire GPS data
gps_time = None
gps_datetime = None
if GPS.Reader.connected:
GPS.SharedData.lock.acquire()
try:
data.gps_lat = GPS.SharedData.LATITUDE
data.gps_lon = GPS.SharedData.LONGITUDE
gps_time = str(GPS.SharedData.TIME)
data.gps_speed = GPS.SharedData.SPEED
finally:
GPS.SharedData.lock.release()
# If we have a non-empty string
if gps_time != "None" and gps_time != "":
gps_datetime = datetime.datetime.strptime(gps_time, STR_TO_TIMESTAMP_FORMAT)
data.timestamp = gps_datetime
if self.verboseGPS:
print "\033[1;34;40m---\nGPS\n---\033[0m"
print 'latitude :' , data.gps_lat
print 'longitude :' , data.gps_lon
print 'time utc :' , gps_datetime
print 'speed (m/s) :' , data.gps_speed
elif self.verboseGPS:
print "\033[1;34;40m---\nGPS\n---\033[0m\nDISCONNECTED"
#acquire IMU data
if IMU.Reader.connected:
IMU.SharedData.lock.acquire()
try:
data.acc_x = IMU.SharedData.AccXnorm
data.acc_y = IMU.SharedData.AccYnorm
data.gyro_x = IMU.SharedData.gyroXangle
data.gyro_y = IMU.SharedData.gyroYangle
data.gyro_z = IMU.SharedData.gyroZangle
finally:
IMU.SharedData.lock.release()
if self.verboseIMU:
print "\033[1;33;40m---\nIMU\n---\033[0m"
print "acc_x :", data.acc_x
print "acc_y :", data.acc_y
print "gyro_x :", data.gyro_x
print "gyro_y :", data.gyro_y
print "gyro_z :", data.gyro_z
elif self.verboseIMU:
print "\033[1;33;40m---\nIMU\n---\033[0m\nDISCONNECTED"
#acquire OBD data
if OBD.Reader.connected:
OBD.SharedData.lock.acquire()
try:
data.obd_mil = OBD.SharedData.MIL
data.obd_dtc_count = OBD.SharedData.DTC_count
data.obd_maf = OBD.SharedData.MAF
data.obd_speed = OBD.SharedData.SPEED
data.obd_throttle_pos = OBD.SharedData.THROTTLE_POS
data.obd_rpm = OBD.SharedData.RPM
data.obd_coolant_temp = OBD.SharedData.COOLANT_TEMP
data.obd_dtc = OBD.SharedData.GET_DTC
finally:
OBD.SharedData.lock.release()
if self.verboseOBD:
print "\033[1;32;40m---\nOBD\n---\033[0m"
print "Engine Load : ", data.obd_engineload, OBD.SharedData.ENGINE_LOAD.unit
print "Speed : ", data.obd_speed, OBD.SharedData.SPEED.unit
print "RPM : ", data.obd_rpm, OBD.SharedData.RPM.unit
print "Error codes : ", self.obdErrors
elif self.verboseOBD:
print "\033[1;32;40m---\nOBD\n---\033[0m\nDISCONNECTED"
#acquire camera
if self.triggerEvent() == True:
if gps_datetime is not None:
Camera.Reader.GPStime = gps_datetime
else:
Camera.Reader.GPStime = data.timestamp
Camera.Reader.should_write = True
Camera.Reader.isRecording = True
#print "acc_x :\r", data.acc_x
#add db record to transaction batch
if curTime - cycleStart > self.cycleDuration:
TXN.append(data)
cycleStart = curTime
self.prevAcc = data.acc_x
print "\033[1;32;40m---\nOBD\n---\033[0m"
print data.obd_mil
print data.obd_dtc_count
print data.obd_maf
print data.obd_speed
print data.obd_throttle_pos
print data.obd_rpm
print data.obd_coolant_temp
print "\033[1;33;40m---\nIMU\n---\033[0m"
print "acc_x :", data.acc_x
print "acc_y :", data.acc_y
print "gyro_x :", data.gyro_x
print "gyro_y :", data.gyro_y
print "gyro_z :", data.gyro_z
print "\033[1;34;40m---\nGPS\n---\033[0m"
print 'latitude :' , data.gps_lat
print 'longitude :' , data.gps_lon
#write to db if enough time has passed
if curTime - txnTime > self.txnDuration:
with self.db.transaction() as txn:
for record in TXN:
record.save()
txnTime = curTime
del TXN[:]
#delay
#time.sleep(self.cycleDuration)
# main loop has been terminated
self.cleanup()
print "\tAcquireData: done."
#unhandled exception
except:
self.cleanup()
print '\nAcquireData: Unhandled exception. Terminating.', sys.exc_info()[1]
print traceback.format_exc()
