def run(self):
# AHRS
self.isRunning = True
count = 0
#self.computerVisionProcess.start()
# Logging System
# Search through the directory we're in to find the next highest number for the file name.
highestNum = 0
for file in glob.glob('*.csv'):
if file.startswith("exLog"):
currentNum = int(file[5:-4])
if currentNum > highestNum:
highestNum = currentNum
highestNum += 1
self.fileName = 'exLog' + str(highestNum)
self.log = externalLoggingSystem.exLog(self.fileName)
startTime = time.time()
while self.isRunning:
time.sleep(.01)
if not self.isDebug:
# Write to the log file every tenth of a second
if time.time() - startTime >= .1:
#print "Calling writeData()"
#self.writeData()
startTime = time.time()
#self.emit(QtCore.SIGNAL("requestCVData()"))
self.emit(QtCore.SIGNAL("requestGuiData()"))
self.computerVisionComm.setParameters(self.cvData)
# Send data over sockets
if self.computerVisionConnected:
self.computerVisionComm.sendParameters()
self.getSensorData()
self.detectionData = self.computerVisionComm.detectionData
data = {
"ahrs": self.ahrsData,
"dvl": self.dvlGuiData,
"pmud": self.pmudGuiData,
"sib": self.sibGuiData,
"hydras": self.hydrasPingerData
}
self.emit(QtCore.SIGNAL("finished(PyQt_PyObject)"), data)
else:
#self.emit(QtCore.SIGNAL("requestCVData()"))
#print "Test: " + str(self.cvData)
self.computerVisionComm.setParameters(self.cvData)
if self.computerVisionConnected:
self.computerVisionComm.sendParameters()
self.getSensorData()
self.detectionData = self.computerVisionComm.detectionData
#print self.detectionData
self.emit(QtCore.SIGNAL("requestGuiData()"))
data = {
"ahrs": self.ahrsGuiData,
"dvl": self.dvlGuiData,
"pmud": self.pmudGuiData,
"sib": self.sibGuiData,
"hydras": self.hydrasPingerData
}
if data != self.prevData:
self.prevData = data
self.emit(QtCore.SIGNAL("finished(PyQt_PyObject)"), data)
def run(self):
# AHRS
self.isRunning = True
count = 0
#self.computerVisionProcess.start()
# Logging System
# Search through the directory we're in to find the next highest number for the file name.
highestNum = 0
for file in glob.glob('*.csv'):
if file.startswith("exLog"):
currentNum = int(file[5:-4])
if currentNum > highestNum:
highestNum = currentNum
highestNum += 1
self.fileName = 'exLog' + str(highestNum)
self.log = externalLoggingSystem.exLog(self.fileName)
startTime = time.time()
while self.isRunning:
time.sleep(.01)
if not self.isDebug:
# Write to the log file every tenth of a second
if time.time() - startTime >= .1:
#print "Calling writeData()"
#self.writeData()
startTime = time.time()
#self.emit(QtCore.SIGNAL("requestCVData()"))
self.emit(QtCore.SIGNAL("requestGuiData()"))
self.computerVisionComm.setParameters(self.cvData)
# Send data over sockets
if self.computerVisionConnected:
self.computerVisionComm.sendParameters()
self.getSensorData()
self.detectionData = self.computerVisionComm.detectionData
data = {
"ahrs": self.ahrsData,
"dvl": self.dvlGuiData,
"pmud": self.pmudGuiData,
"sib": self.sibGuiData,
"hydras": self.hydrasPingerData
}
self.emit(QtCore.SIGNAL("finished(PyQt_PyObject)"), data)
else:
#self.emit(QtCore.SIGNAL("requestCVData()"))
#print "Test: " + str(self.cvData)
self.computerVisionComm.setParameters(self.cvData)
if self.computerVisionConnected:
self.computerVisionComm.sendParameters()
self.getSensorData()
self.detectionData = self.computerVisionComm.detectionData
# Reconnect to the maestro after the kill switch
'''
try:
self.maestroSerial.write(' ')
except:
#print "Couldn't write to maestro!, trying to reconnect"
try:
ports = glob.glob("/dev/ttyACM*")
maestroPort = None
maestroPortNumber = 0
for port in ports:
#print "Trying port: ", port
portNumber = int(port[11:])
if portNumber <= maestroPortNumber:
maestroPort = port
maestroPortNumber = portNumber
#print "Using port: ", maestroPort
self.maestroSerial.close()
self.maestroSerial = serial.Serial(maestroPort, 9600)
#print "Connected to maestro after killing!"
except:
pass
#print "Couldn't connect to maestro after killing."
'''
#print self.detectionData
self.emit(QtCore.SIGNAL("requestGuiData()"))
data = {
"ahrs": self.ahrsGuiData,
"dvl": self.dvlGuiData,
"pmud": self.pmudGuiData,
"sib": self.sibGuiData,
"hydras": self.hydrasPingerData
}
if data != self.prevData:
self.prevData = data
self.emit(QtCore.SIGNAL("finished(PyQt_PyObject)"), data)