class GestureOnlyEnvironment(Environment):
"""
A subclass of Environment that does not interface with the display,
but rather takes advantage of the basic handlers defined for the
gesture-control interface.
"""
activeHandlers = [
# PrintOctothorpeHandler,
LuxControlHandler,
# MacOSMouseControlHandler,
]
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
# no-op here
loop()
def read_sensors(n, time_start, wait_time):
# Valve Definition and Classes
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
pressure_list = []
pressure_time_list = []
for i in range(100):
pressure, time_pres = pressure_cold_flow.read_sensor()
pressure_list.append(pressure)
pressure_time_list.append(time_pres + wait_time * n)
current_time = 'Time Update: {} seconds'.format(time.time() - time_start)
print(current_time)
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'a', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
def __init__(self, robot, sensingShape, requests, obstacles):
'''Constructor'''
Sensor.__init__(self, robot, sensingShape)
self.requests = requests
self.obstacles = obstacles
self.all_requests = requests
def world_reply_handler(channel, data):
msg = world_msg_t.decode(data)
print('World reply from cozmo:', list(msg.cubes),
list(msg.cube_light))
# update requests position
[
r.region.translate(np.asarray(p[:2]) - r.region.center)
for r, p in it.izip(self.all_requests, msg.cube_pose)
]
# select visible and active requests (lights on and in camera view)
self.requests = [
r for idx, r in enumerate(self.all_requests)
if msg.cubes[idx] and msg.cube_light[idx] > 0
]
self.obstacles = [] #TODO:
self.lc = lcm.LCM()
self.lc.subscribe('WORLD', world_reply_handler)
self.poll_msg = poll_msg_t()
self.cube_msg = cube_msg_t()
def collect_data(id):
msg_counter = 0
try:
sensors = Sensor()
while True:
sensor_response = sensors.read_sensors()
send_message(id, sensor_response)
msg_counter += 1
sleep(2)
except KeyboardInterrupt:
print "messages sent: {}".format(msg_counter)
connection.close()
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
# no-op here
loop()
def build_sensor_from_url(self, url, admins):
sensor = Sensor.from_url(url, admins)
if sensor.type == "camera":
sensor.on_changed = self.event_camera
elif sensor.type == "notify":
sensor.on_changed = self.event_notify
else:
sensor.on_changed = self.event_sensor
return sensor
def get_current_bearing():
while True:
time.sleep(1)
try:
# p.moveLeft("1200")
s = p.sendMessage("GET,ALIM")
if ("None" not in s):
robot_bearing = float(s.split(',')[0].split('(')[1])
print("robot current bearing: ", robot_bearing)
return robot_bearing
except:
print("data not found")
def __init__(self):
# #############################################################################
# ###### ######
# ### Initialization ###
# ###### ######
# #############################################################################
# Position [m]
# Velocity [m/s]
# Orientation: Euler angles: Z - Y - X body axis - yaw, pitch, roll
# Orientation: mt.Quaternion - Note: make sures this is the propor representation of zero rotation
# Angular velocity in vehicle frame [p, q, r][rad/s] p*b1 + q*b2 + r*b3
self.state = State()
self.stateTarget = State()
self.sensor = Sensor()
self.t = 0
self.controller = None
self.path = None
# #############################################################################
# ###### ######
# ### Physical Constants ###
# ###### ######
# #############################################################################
# RPM to force constant (F = k_f * omega^2) [N/rpm^2]
self.k_f = 6.11 * 10**-8
# RPM to moment constant (F = k_m * omega^2) [Nm/rpm^2]
self.k_m = 1.5 * 10**-9
# Quad arm length [m]
self.armLength = 0.086
# Max thrust per motor [N]
self.maxThrust = 0.883
# Max thrust per motor [N]
self.minThrust = 0
# Total mass [kg]
self.mass = 0.18
# Moment of inertia [kg m^2]
# self.i = np.array([[0.2500, 0, 0.0026],
# [0, 0.2320, 0],
# [0.0026, 0, 0.3738]])*0.001
self.i = np.diag([0.25, 0.25, 0.37]) * 0.001
self.iInv = np.linalg.inv(self.i)
# matrix mapping the thrust vector to moments
gamma = self.k_m / self.k_f
self.m1 = np.array([[0, self.armLength, 0, -self.armLength],
[-self.armLength, 0, self.armLength, 0 ],
[gamma, -gamma, gamma, -gamma ]])
self.params = Params(self.mass, -Quad.g[2], self.i)
def __init__(self, jsonfile, logfile, sipcallfile, optsUpdateUI=None):
""" Init for the Worker class """
print("{0}------------ INIT FOR DOOR SENSOR CLASS! ----------------{1}"
.format(bcolors.HEADER, bcolors.ENDC))
# Global Variables
self.jsonfile = jsonfile
self.logfile = logfile
self.sipcallfile = sipcallfile
self.settings = self.ReadSettings()
self.limit = 10
self.logtypes = 'all'
# Stop execution on exit
self.kill_now = False
# Init Alarm
self.mynotify = Notify(self.settings)
self.mynotify.setupUpdateUI(optsUpdateUI)
self.mynotify.setupSendStateMQTT()
mylogs = Logs(self.logfile)
self.getSensorsLog = mylogs.getSensorsLog
self.writeLog("system", "Alarm Booted")
mylogs.startTrimThread()
# Event Listeners
self.sensors = Sensor()
self.sensors.on_alert(self.sensorAlert)
self.sensors.on_alert_stop(self.sensorStopAlert)
self.sensors.on_error(self.sensorError)
self.sensors.on_error_stop(self.sensorStopError)
self.sensors.add_sensors(self.settings)
# Init MQTT Messages
self.mynotify.on_disarm_mqtt(self.deactivateAlarm)
self.mynotify.on_arm_mqtt(self.activateAlarm)
self.mynotify.on_sensor_set_alert(self.sensorAlert)
self.mynotify.on_sensor_set_stopalert(self.sensorStopAlert)
self.mynotify.sendStateMQTT()
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
self.display = Display()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
self.display.updateStatus()
# for debugging, show data in the message row for now
self.display.updateMessage('P:{} R:{}'.format(
str(pitch), str(roll)))
loop()
def initDevice(self, comport, id):
# Toevoegen van een nieuw device
sleep(1)
try:
ser = Serial(comport, 19200, timeout=2)
sleep(2)
# Zolang er fout optreed stuur command "_INIT"
while True:
ser.write(b"_INIT\n")
device_type = ser.readline().decode("UTF-8").strip('\n')
if device_type != "_ERR":
break
if device_type == "_MTR":
# Device is een aansturing
# Stuur command "_CONN" zolang er fout optreed
while True:
ser.write(b"_CONN\n")
device_type = ser.readline().decode("UTF-8").strip('\n')
if device_type != "_ERR":
break
# Maak nieuw aansturing (MotorControl) aan
a = MotorControl(ser, id)
self.motorControls.append(a)
elif device_type == "_TEMP" or device_type == "_LGHT":
# Maak nieuwe sensor aan
sensor = Sensor(ser, device_type, id, self.sensors)
if (self.loggedin):
self.sensorsWithoutGraph.append(sensor)
self.sensors.append(sensor)
ser.write(b"_CONN\n")
else:
# Als device type onbekend is,
# voeg toe aan onbekende COM-porten
self.other_com_ports.append(comport)
except SerialException as E:
print(E)
# Als er een fout optreed,
# voeg toe aan onbekende COM-porten
self.other_com_ports.append(comport)
def __init__(self):
self.lmotor = Motor(4, 0x09, 1)
self.rmotor = Motor(4, 0x09, 2)
self.camera = Camera()
self.sensor = Sensor()
class Quad(object):
# Gravity
g = np.array([0, 0, -9.81])
# Integration step
dt = 0.0001
def __init__(self):
# #############################################################################
# ###### ######
# ### Initialization ###
# ###### ######
# #############################################################################
# Position [m]
# Velocity [m/s]
# Orientation: Euler angles: Z - Y - X body axis - yaw, pitch, roll
# Orientation: mt.Quaternion - Note: make sures this is the propor representation of zero rotation
# Angular velocity in vehicle frame [p, q, r][rad/s] p*b1 + q*b2 + r*b3
self.state = State()
self.stateTarget = State()
self.sensor = Sensor()
self.t = 0
self.controller = None
self.path = None
# #############################################################################
# ###### ######
# ### Physical Constants ###
# ###### ######
# #############################################################################
# RPM to force constant (F = k_f * omega^2) [N/rpm^2]
self.k_f = 6.11 * 10**-8
# RPM to moment constant (F = k_m * omega^2) [Nm/rpm^2]
self.k_m = 1.5 * 10**-9
# Quad arm length [m]
self.armLength = 0.086
# Max thrust per motor [N]
self.maxThrust = 0.883
# Max thrust per motor [N]
self.minThrust = 0
# Total mass [kg]
self.mass = 0.18
# Moment of inertia [kg m^2]
# self.i = np.array([[0.2500, 0, 0.0026],
# [0, 0.2320, 0],
# [0.0026, 0, 0.3738]])*0.001
self.i = np.diag([0.25, 0.25, 0.37]) * 0.001
self.iInv = np.linalg.inv(self.i)
# matrix mapping the thrust vector to moments
gamma = self.k_m / self.k_f
self.m1 = np.array([[0, self.armLength, 0, -self.armLength],
[-self.armLength, 0, self.armLength, 0 ],
[gamma, -gamma, gamma, -gamma ]])
self.params = Params(self.mass, -Quad.g[2], self.i)
def stateDerivative(self, state, t):
# Get desired state
self.pathAtT(t, self.stateTarget)
# Control input - linear thrust and moments
u1, u2 = self.controller.control(self.stateTarget, state, self.params)
thrusts, momentB = limitInput(u1, u2, self.armLength, self.minThrust, self.maxThrust)
# Angular acceleration
dOmega = self.iInv.dot(momentB - np.cross(state.ome, self.i.dot(state.ome)))
# Quaternion derivative
dQua = 0.5 * state.qua * mt.Quaternion(0, *state.ome)
# Linear acceleration
acc = Quad.g + state.qua.rotateVector(np.array([0, 0, thrusts])) / self.mass
# Linear velocity
vel = state.vel
dstate = State(p=vel, v=acc, a=np.zeros(3), o=dOmega, q=dQua)
return dstate
def dynUpdate(self):
self.state = eulerIntegrate(self.stateDerivative, self.state, self.t, Quad.dt)
# self.state = rungeKutta(self.stateDerivative, self.state, self.t, Quad.dt)
self.state.qua.normalize()
self.t += Quad.dt
def getMeasurements(self):
return self.sensor.measurements(self)
class Ball(object):
def __init__(self, game, res):
self.ball_image = res.image_dict[const.BALL_IMAGE]
center_image(self.ball_image)
self.width = self.ball_image.width
self.height = self.ball_image.height
self.game = game
self.res = res
x = y = 200
self.sprite = Sprite(self.ball_image, x = x, y = y)
self.x = x
self.y = y
# State Machine
self.state = "Stopped"
# Sensors
self.sensor_bottom = Sensor(self.res)
self.sensor_top = Sensor(self.res)
self.sensor_left = Sensor(self.res)
self.sensor_right = Sensor(self.res)
self.sensor_ground = Sensor(self.res)
self.sensor_ground.red = 0.5
self.sensor_ground.alpha = 0.5
self.sensor_left_ground = TinySensor(self.res)
self.sensor_middle_ground = TinySensor(self.res)
self.sensor_right_ground = TinySensor(self.res)
self.sensors = [self.sensor_bottom,
self.sensor_top,
self.sensor_left,
self.sensor_right,
self.sensor_ground,
self.sensor_left_ground,
self.sensor_middle_ground,
self.sensor_right_ground]
# Values according to the Sonic Physics Guide
self.acc = 0.046875 * const.SCALE
self.frc = 0.046875 * const.SCALE
self.rfrc = 0.0234375 * const.SCALE
self.dec = 0.5 * const.SCALE
self.max = 6.0 * const.SCALE
self.rol = 1.03125 * const.SCALE
self.slp = 0.125 * const.SCALE
self.ruslp = 0.078125 * const.SCALE
self.rdslp = 0.3125 * const.SCALE
self.air = 0.09375 * const.SCALE
self.grv = 0.21875 * const.SCALE
self.maxg = 16.0 * const.SCALE
self.drg = 0.96875
self.jmp = 6.5 * const.SCALE
self.jmpweak = 4.0 * const.SCALE
# Flags
self.flagGround = False
self.flagAllowJump = False
self.flagAllowHorizMovement = True
self.flagAllowVertMovement = True
self.flagJumpNextFrame = False
self.flagFellOffWallOrCeiling = False
# Trig
self.angle = 0.0
self.gangle = 0.0
self.rangle = 0.0
# Movement (dh = horizontal, dv = vertical.)
# These can be rotated using angle and gangle above.
self.dh = 0.0
self.dv = 0.0
self.keyUp = False
self.keyDown = False
self.keyLeft = False
self.keyRight = False
self.keyJump = False
# Control lock timers
self.hlock = 0
def play_sound(self, string):
self.res.sound_dict[string].play()
def release_jump(self):
self.dv = min(self.dv, self.jmpweak)
def set_position(self, x = None, y = None):
x = x or self.x
y = y or self.y
self.x = x
self.y = y
self.sprite.x = int(x)
self.sprite.y = int(y)
self.update_sensors()
def handle_physics(self):
# See if rolling
if (abs(self.dh) >= self.rol):
if (self.keyDown and self.flagGround and self.state != "Rolling"):
self.state = "Rolling"
self.play_sound('spin.wav')
print "Rolling!"
# Slope factor
if self.state != "Rolling":
if self.flagGround:
self.dh -= self.slp * sin(self.rangle)
else:
if cmp(self.dh,0) == cmp(sin(self.rangle),0):
self.dh -= self.ruslp * sin(self.rangle)
elif cmp(self.dh,0) == -cmp(sin(self.rangle),0) or self.dh == 0:
self.dh -= self.rdslp * sin(self.rangle)
# Falling off walls and ceilings
if 45 < self.rangle < 315 and abs(self.dh) < 2.5 * const.SCALE:
self.set_gravity(self.gangle)
self.flagFellOffWallOrCeiling = True
if self.state == "Rolling" and self.dh == 0 and not self.keyDown:
self.state = "Stopped"
print "Stopped!"
# Speed input and management
if self.flagAllowHorizMovement:
if self.keyLeft:
if self.dh > 0 and self.flagGround:
# Decelerate
self.dh -= self.dec
if -self.dec < self.dh < 0:
self.dh = -self.dec
elif self.dh > -self.max and self.state != "Rolling":
# Accelerate
if self.flagGround:
self.dh = max(self.dh - self.acc, -self.max)
else:
self.dh = max(self.dh - self.air, -self.max)
elif self.keyRight:
if self.dh < 0 and self.flagGround:
# Decelerate
self.dh += self.dec
if 0 < self.dh < self.dec:
self.dh = self.dec
elif self.dh < self.max and self.state != "Rolling":
# Accelerate
if self.flagGround:
self.dh = min(self.dh + self.acc, self.max)
else:
self.dh = min(self.dh + self.air, self.max)
elif not self.keyLeft and not self.keyRight and self.flagGround:
if self.state == "Rolling":
self.dh -= min(abs(self.dh), self.rfrc) * cmp(self.dh,0)
else:
self.dh -= min(abs(self.dh), self.frc) * cmp(self.dh,0)
#Air Drag
if 0 < self.dv < 4*const.SCALE and abs(self.dh) >= 0.125:
self.dh *= self.drg
#Jumping
if self.flagJumpNextFrame:
self.play_sound('jump.wav')
self.dv = self.jmp
self.set_gravity(self.gangle)
self.state = "Jumping"
self.flagGround = False
self.flagAllowJump = False
self.flagJumpNextFrame = False
if self.keyJump and self.flagGround and self.flagAllowJump:
self.flagJumpNextFrame = True
def calculate_state(self):
if self.flagGround:
if self.state != "Rolling":
if self.dh == 0:
self.state = "Stopped"
elif 0 < abs(self.dh) < self.max:
self.state = "Walking"
elif abs(self.dh) >= self.max:
self.state = "Running"
else:
if self.state != "Jumping":
self.state = "Falling"
def set_gravity(self, gangle):
_ = rotate_basis(self.dh, self.dv, self.angle, gangle)
self.dh = _[0]
self.dv = _[1]
self.angle = self.gangle = gangle
def update_sensors(self):
self.sensor_top.x = int(self.x) - sin(self.angle) * (
self.height/2.0 - self.sensor_bottom.height/2.0)
self.sensor_top.y = int(self.y) + cos(self.angle) * (
self.height/2.0 - self.sensor_bottom.height/2.0)
self.sensor_bottom.x = int(self.x) + sin(self.angle) * (
self.height/2.0 - self.sensor_top.height/2.0)
self.sensor_bottom.y = int(self.y) - cos(self.angle) * (
self.height/2.0 - self.sensor_top.height/2.0)
self.sensor_left.x = int(self.x) - cos(self.angle) * (
self.width/2.0 - self.sensor_left.width/2.0)
self.sensor_left.y = int(self.y) - sin(self.angle) * (
self.width/2.0 - self.sensor_left.width/2.0)
self.sensor_right.x = int(self.x) + cos(self.angle) * (
self.width/2.0 - self.sensor_left.width/2.0)
self.sensor_right.y = int(self.y) + sin(self.angle) * (
self.width/2.0 - self.sensor_left.width/2.0)
self.sensor_ground.x = int(self.x) + sin(self.angle) * (
self.height/2.0 + self.sensor_ground.height/2.0)
self.sensor_ground.y = int(self.y) - cos(self.angle) * (
self.height/2.0 + self.sensor_ground.height/2.0)
def calculate_rangle(self):
self.rangle = (self.angle - self.gangle)
def calculate_angle(self, colliding_line):
if colliding_line is None:
return self.gangle
x1, y1, x2, y2 = colliding_line
return direction(x2, y2, x1, y1)
def perform_speed_movement(self, dt):
leftcollided = False
rightcollided = False
for i in range(0, int(const.FAILSAFE_AMOUNT)):
self.x += cos(self.angle) * self.dh/const.FAILSAFE_AMOUNT * dt
self.y += sin(self.angle) * self.dh/const.FAILSAFE_AMOUNT * dt
self.update_sensors()
for platform in self.game.platforms:
colliding_line = None
'''
if self.sensor_bottom.collide(platform):
# first, try see if it's a small slope
for _ in xrange(const.SLOPE_TEST):
self.y += 1
self.update_sensors()
if not self.sensor_bottom.collide(platform):
break
'''
if (self.sensor_left.collide(platform) or
self.sensor_right.collide(platform)):
self.update_sensors()
while self.sensor_left.collide(platform):
colliding_line = self.sensor_left.collide(platform)[1]
leftcollided = True
self.x += cos(self.angle)
self.y += sin(self.angle)
self.update_sensors()
while self.sensor_right.collide(platform):
colliding_line = self.sensor_right.collide(platform)[1]
rightcollided = True
self.x -= cos(self.angle)
self.y -= sin(self.angle)
self.update_sensors()
while self.sensor_bottom.collide(platform):
colliding_line = self.sensor_bottom.collide(platform)[1]
self.y += cos(self.angle)
self.x -= sin(self.angle)
self.update_sensors()
if leftcollided:
if not self.flagGround:
self.catch_left_wall(colliding_line)
else:
self.dh = 0
break
elif rightcollided:
if not self.flagGround:
self.catch_right_wall(colliding_line)
else:
self.dh = 0
break
elif colliding_line is not None:
self.angle = self.calculate_angle(colliding_line)
self.sprite.x = int(self.x)
self.sprite.y = int(self.y)
def perform_gravity_movement(self, dt):
self.dv = max(self.dv - self.grv, -self.maxg)
collided = False
colliding_line = None
y_speed = cos(self.angle)
x_speed = sin(self.angle)
# Failsafe movement
for i in range(0, int(const.FAILSAFE_AMOUNT)):
self.y += y_speed * (self.dv/const.FAILSAFE_AMOUNT) * dt
self.x -= x_speed * (self.dv/const.FAILSAFE_AMOUNT) * dt
self.update_sensors()
for platform in self.game.platforms:
while self.sensor_bottom.collide(platform):
if self.dv < 0:
collided = True
colliding_line = self.sensor_bottom.collide(platform)[1]
self.y += y_speed
self.x -= x_speed
self.update_sensors()
while self.sensor_top.collide(platform):
if self.dv > 0:
collided = True
colliding_line = self.sensor_top.collide(platform)[1]
self.y -= y_speed
self.x += x_speed
self.update_sensors()
if collided:
if self.dv < 0:
self.flagGround = True
if self.flagFellOffWallOrCeiling:
self.set_hlock(30)
self.flagFellOffWallOrCeiling = False
self.angle = self.calculate_angle(colliding_line)
self.perform_landing_movement(colliding_line)
elif self.dv > 0:
self.catch_ceiling(colliding_line)
self.dv = 0
break
self.sprite.x = self.x = int(self.x)
self.sprite.y = self.y = int(self.y)
def perform_landing_movement(self, colliding_line):
rangle = (self.calculate_angle(colliding_line) - self.gangle)
if 0 <= rangle < 22.5 or 337.5 < rangle < 360:
"Nothing extra happens!"
elif 22.5 <= rangle < 45 or 315 < rangle <= 337.5:
if abs(self.dh) > abs(self.dv):
"Nothing extra happens!"
else:
self.dh = -self.dv * 0.5 * cmp(cos(rangle),1)
elif 45 <= rangle < 90 or 270 < rangle <= 315:
if abs(self.dh) > abs(self.dv):
"Nothing extra happens!"
else:
self.dh = -self.dv * cmp(cos(rangle),1)
def catch_ceiling(self, colliding_line):
rangle = (self.calculate_angle(colliding_line) - self.gangle) % 360
if 135 <= rangle <= 225:
"Nothing extra happens!"
if 90 <= rangle < 135 or 225 < rangle <= 270:
self.flagGround = True
self.angle = rangle
self.calculate_rangle()
def catch_left_wall(self, colliding_line):
rangle = (self.calculate_angle(colliding_line) - self.gangle) % 360
if 90 < rangle < 135:
self.flagGround = True
self.angle = rangle
self.calculate_rangle()
else:
self.dh = 0
def catch_right_wall(self, colliding_line):
rangle = (self.calculate_angle(colliding_line) - self.gangle)
if 225 < rangle < 270:
self.flagGround = True
self.angle = rangle
self.calculate_rangle()
else:
self.dh = 0
def perform_ground_test(self):
for platform in self.game.platforms:
collision = self.sensor_ground.collide(platform)
if collision is not None:
angle = self.calculate_angle(collision[1])
if angle != self.angle and angle != 90:
return False
return True
self.flagGround = False
self.set_gravity(self.gangle)
return False
def update(self, dt):
self.update_lock_timers(dt)
if self.flagGround:
if not self.keyJump:
self.flagAllowJump = True
else:
# I'd like to have the sensors be invisible when not on the ground.
'''
self.sensor_left_ground.visible = False
self.sensor_middle_ground.visible = False
self.sensor_right_ground.visible = False
'''
self.handle_physics()
self.perform_speed_movement(dt)
if not self.flagGround or not self.perform_ground_test():
self.perform_gravity_movement(dt)
self.calculate_state()
self.calculate_rangle()
def update_lock_timers(self, dt):
if self.hlock > 0:
self.hlock = max(self.hlock - 60 * dt, 0)
if self.hlock == 0:
self.flagAllowHorizMovement = True
def set_hlock(self, frames):
self.hlock = frames
self.flagAllowHorizMovement = False
def draw(self):
self.sprite.render()
def key_press(self, message):
if message == 'up':
self.keyUp = True
elif message == 'down':
self.keyDown = True
elif message == 'left':
self.keyLeft = True
elif message == 'right':
self.keyRight = True
elif message == 'jump':
self.keyJump = True
elif message == 'reset':
self.set_position(100,96)
self.dv = 0
self.dh = 0
self.set_gravity(0.0)
elif message == 'gdown':
self.set_gravity(0.0)
elif message == 'gright':
self.set_gravity(90.0)
elif message == 'gup':
self.set_gravity(180.0)
elif message == 'gleft':
self.set_gravity(270.0)
elif message == 'hlock':
self.set_hlock(30)
def key_release(self, message):
if message == 'up':
self.keyUp = False
elif message == 'down':
self.keyDown = False
elif message == 'left':
self.keyLeft = False
elif message == 'right':
self.keyRight = False
elif message == 'jump':
self.keyJump = False
self.release_jump()
def __init__(self, id, macAddr, name='RFduino'):
Sensor.__init__(self, id, macAddr, name)
self.last_seq = 0
def read_sensors(n, time_start, wait_time):
# Valve Definition and Classes
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 10)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_16',
'P9_16', 'P9_16', '000', '001', '010')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
maximum_pressure = 640
nominal_pressure = 500
pressure_list = []
pressure_time_list = []
pressure0_list = []
pressure2_list = []
pressure4_list = []
for i in range(1000):
global counter
pressure, time_pres = pressure_cold_flow.read_sensor()
pres0, time_pres0 = pressure0.read_sensor()
pres2, time_pres2 = pressure2.read_sensor()
pres4, time_pres4 = pressure4.read_sensor()
pressure_list.append(pressure)
pressure_time_list.append(time_pres + wait_time * n)
pressure0_list.append(pres0)
pressure2_list.append(pres2)
pressure4_list.append(pres4)
if pressure >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
actuator_solenoid.open()
actuator_prop.partial_open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressure_cold_flow.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
actuator_solenoid.close()
actuator_prop.close()
print(time_relief_end)
break
current_time = 'Time Update: {} seconds'.format(time.time() - time_start)
print(current_time)
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'a', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
for z in range(21):
pres_temp = pressure_cold_flow.read_sensor()
print(pres_temp[0])
from sensors import Sensor
from valve import Valve
import front_end
percentage = 100
# Valve Definition and Classes
lox_main = Valve('LOX Propellant Valve', 'P8_13', 'P8_13', 'Prop', 4,
percentage)
lox_vent = Valve('LOX Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
met_vent = Valve('Methane Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
p_valve = Valve('Pressurant Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12', 'P9_14',
'P9_16', '000', '000', '000')
# Temperature Sensor Definition and Classes
temperature_fill_line = Sensor('temperature_fill_line', 'temperature', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
temperature_empty_line = Sensor('temperature_empty_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000', '000')
print(
"Before Test Start: Verify Electronic Connections and Follow Safety Procedures\n"
)
print("------------------------------------------")
print("\nProject Daedalus: Powerhead Hardware/Software Test\n")
print("""\
._ o o
def test_reading(self):
temperatureSensor = Sensor("temperature")
reading = temperatureSensor.getReading()
self.assertTrue(reading['value'] >= 0 and reading['value'] <= 100)
class Worker():
""" This class runs on the background using GPIO Events Changes.
It uses a json file to store the settings and a log file to store the logs.
When a sensor changes state after the alarm is activated it can enable
the Serene, send Mail, call through VoIP.
Also there is the updateUI method wich it has to be overridden in
the main application.
"""
def __init__(self, jsonfile, logfile, sipcallfile, optsUpdateUI=None):
""" Init for the Worker class """
print("{0}------------ INIT FOR DOOR SENSOR CLASS! ----------------{1}"
.format(bcolors.HEADER, bcolors.ENDC))
# Global Variables
self.jsonfile = jsonfile
self.logfile = logfile
self.sipcallfile = sipcallfile
self.settings = self.ReadSettings()
self.limit = 10
self.logtypes = 'all'
# Stop execution on exit
self.kill_now = False
# Init Alarm
self.mynotify = Notify(self.settings)
self.mynotify.setupUpdateUI(optsUpdateUI)
self.mynotify.setupSendStateMQTT()
mylogs = Logs(self.logfile)
self.getSensorsLog = mylogs.getSensorsLog
self.writeLog("system", "Alarm Booted")
mylogs.startTrimThread()
# Event Listeners
self.sensors = Sensor()
self.sensors.on_alert(self.sensorAlert)
self.sensors.on_alert_stop(self.sensorStopAlert)
self.sensors.on_error(self.sensorError)
self.sensors.on_error_stop(self.sensorStopError)
self.sensors.add_sensors(self.settings)
# Init MQTT Messages
self.mynotify.on_disarm_mqtt(self.deactivateAlarm)
self.mynotify.on_arm_mqtt(self.activateAlarm)
self.mynotify.on_sensor_set_alert(self.sensorAlert)
self.mynotify.on_sensor_set_stopalert(self.sensorStopAlert)
self.mynotify.sendStateMQTT()
def sensorAlert(self, sensorUUID):
""" On Sensor Alert, write logs and check for intruder """
name = self.settings['sensors'][sensorUUID]['name']
print("{0}-> Alert Sensor: {2}{1}".format(
bcolors.OKGREEN, bcolors.ENDC, name))
self.settings['sensors'][sensorUUID]['alert'] = True
self.settings['sensors'][sensorUUID]['online'] = True
self.writeNewSettingsToFile(self.settings)
stateTopic = self.settings['mqtt']['state_topic'] + '/sensor/' + name
self.mynotify.sendSensorMQTT(stateTopic, 'on')
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
self.writeLog("sensor,start," + sensorUUID, name)
self.checkIntruderAlert()
def sensorStopAlert(self, sensorUUID):
""" On Sensor Alert Stop, write logs """
name = self.settings['sensors'][sensorUUID]['name']
print("{0}<- Stop Alert Sensor: {2}{1}".format(
bcolors.OKGREEN, bcolors.ENDC, name))
self.settings['sensors'][sensorUUID]['alert'] = False
self.settings['sensors'][sensorUUID]['online'] = True
self.writeNewSettingsToFile(self.settings)
stateTopic = self.settings['mqtt']['state_topic'] + '/sensor/' + name
self.mynotify.sendSensorMQTT(stateTopic, 'off')
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
self.writeLog("sensor,stop," + sensorUUID, name)
def sensorError(self, sensorUUID):
""" On Sensor Error, write logs """
name = self.settings['sensors'][sensorUUID]['name']
print("{0}!- Error Sensor: {2}{1}".format(
bcolors.FAIL, bcolors.ENDC, name))
# print("Error Sensor", sensorUUID)
name = self.settings['sensors'][sensorUUID]['name']
self.settings['sensors'][sensorUUID]['alert'] = True
self.settings['sensors'][sensorUUID]['online'] = False
self.writeNewSettingsToFile(self.settings)
self.writeLog("error", "Lost connection to: " + name)
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
def sensorStopError(self, sensorUUID):
""" On Sensor Stop Error, write logs """
name = self.settings['sensors'][sensorUUID]['name']
print("{0}-- Error Stop Sensor: {2}{1}".format(
bcolors.FAIL, bcolors.ENDC, name))
name = self.settings['sensors'][sensorUUID]['name']
self.settings['sensors'][sensorUUID]['online'] = True
self.writeNewSettingsToFile(self.settings)
self.writeLog("error", "Restored connection to: " + name)
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
def checkIntruderAlert(self):
""" Checks if the alarm is armed and if it finds an active
sensor then it calls the intruderAlert method """
if (self.settings['settings']['alarmArmed'] is True):
for sensor, sensorvalue in self.settings['sensors'].items():
if (sensorvalue['alert'] is True and
sensorvalue['enabled'] is True and
self.settings['settings']['alarmTriggered'] is False):
self.settings['settings']['alarmTriggered'] = True
threadIntruderAlert = threading.Thread(
target=self.intruderAlert)
threadIntruderAlert.daemon = True
threadIntruderAlert.start()
def ReadSettings(self):
""" Reads the json settings file and returns it """
with open(self.jsonfile) as data_file:
settings = json.load(data_file)
return settings
def writeNewSettingsToFile(self, settings):
""" Write the new settings to the json file """
self.mynotify.updateSettings(settings)
with open(self.jsonfile, 'w') as outfile:
json.dump(settings, outfile, sort_keys=True,
indent=4, separators=(',', ': '))
def writeLog(self, logType, message):
""" Write log events into a file and send the last to UI.
It also uses the timezone from json file to get the local time.
"""
try:
mytimezone = pytz.timezone(self.settings['settings']['timezone'])
except Exception:
mytimezone = pytz.utc
myTimeLog = datetime.now(tz=mytimezone).strftime("%Y-%m-%d %H:%M:%S")
logmsg = '({0}) [{1}] {2}\n'.format(logType, myTimeLog, message)
with open(self.logfile, "a") as myfile:
myfile.write(logmsg)
self.mynotify.updateUI('sensorsLog', self.getSensorsLog(
self.limit, selectTypes=self.logtypes))
def intruderAlert(self):
""" This method is called when an intruder is detected. It calls
all the methods whith the actions that we want to do.
Sends MQTT message, enables serene, Send mail, Call Voip.
"""
self.writeLog("alarm", "Intruder Alert")
self.enableSerene()
self.mynotify.sendStateMQTT()
self.mynotify.updateUI('alarmStatus', self.getTriggeredStatus())
threadSendMail = threading.Thread(target=self.sendMail)
threadSendMail.daemon = True
threadSendMail.start()
threadCallVoip = threading.Thread(target=self.callVoip)
threadCallVoip.daemon = True
threadCallVoip.start()
def callVoip(self):
""" This method uses a prebuild application in C to connect to the SIP provider
and call all the numbers in the json settings file.
"""
sip_domain = str(self.settings['voip']['domain'])
sip_user = str(self.settings['voip']['username'])
sip_password = str(self.settings['voip']['password'])
sip_repeat = str(self.settings['voip']['timesOfRepeat'])
if self.settings['voip']['enable'] is True:
for phone_number in self.settings['voip']['numbersToCall']:
phone_number = str(phone_number)
if self.settings['settings']['alarmTriggered'] is True:
self.writeLog("alarm", "Calling " + phone_number)
cmd = (self.sipcallfile, '-sd', sip_domain,
'-su', sip_user, '-sp', sip_password,
'-pn', phone_number, '-s', '1', '-mr', sip_repeat)
print("{0}Voip command: {2}{1}".format(
bcolors.FADE, bcolors.ENDC, " ".join(cmd)))
proc = subprocess.Popen(cmd, stderr=subprocess.PIPE)
for line in proc.stderr:
sys.stderr.write(line)
proc.wait()
self.writeLog("alarm", "Call to " +
phone_number + " endend")
print("{0}Call Ended{1}".format(
bcolors.FADE, bcolors.ENDC))
def sendMail(self):
""" This method sends an email to all recipients
in the json settings file. """
if self.settings['mail']['enable'] is True:
mail_user = self.settings['mail']['username']
mail_pwd = self.settings['mail']['password']
smtp_server = self.settings['mail']['smtpServer']
smtp_port = int(self.settings['mail']['smtpPort'])
bodyMsg = self.settings['mail']['messageBody']
LogsTriggered = self.getSensorsLog(
fromText='Alarm activated')['log']
LogsTriggered.reverse()
for logTriggered in LogsTriggered:
bodyMsg += '<br>' + logTriggered
msg = MIMEText(bodyMsg, 'html')
sender = mail_user
recipients = self.settings['mail']['recipients']
msg['Subject'] = self.settings['mail']['messageSubject']
msg['From'] = sender
msg['To'] = ", ".join(recipients)
smtpserver = smtplib.SMTP(smtp_server, smtp_port)
smtpserver.ehlo()
smtpserver.starttls()
smtpserver.login(mail_user, mail_pwd)
smtpserver.sendmail(sender, recipients, msg.as_string())
smtpserver.close()
self.writeLog("alarm", "Mail sent to: " + ", ".join(recipients))
def enableSerene(self):
""" This method enables the output pin for the serene """
if self.settings['serene']['enable'] is True:
self.writeLog("alarm", "Serene started")
serenePin = int(self.settings['serene']['pin'])
outputGPIO().enableOutputPin(serenePin)
def stopSerene(self):
""" This method disables the output pin for the serene """
if self.settings['serene']['enable'] is True:
serenePin = self.settings['serene']['pin']
outputGPIO().disableOutputPin(serenePin)
def activateAlarm(self, zones=None):
""" Activates the alarm """
if zones is not None:
if type(zones) == str:
zones = [zones]
self.setSensorsZone(zones)
self.writeLog("user_action", "Alarm activated")
self.settings['settings']['alarmArmed'] = True
self.mynotify.sendStateMQTT()
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
self.writeNewSettingsToFile(self.settings)
def deactivateAlarm(self):
""" Deactivates the alarm """
self.writeLog("user_action", "Alarm deactivated")
self.settings['settings']['alarmTriggered'] = False
self.settings['settings']['alarmArmed'] = False
self.stopSerene()
self.mynotify.sendStateMQTT()
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
self.writeNewSettingsToFile(self.settings)
def getSensorsArmed(self):
""" Returns the sensors and alarm status
as a json to use it to the UI """
sensorsArmed = {}
sensors = self.settings['sensors']
orderedSensors = OrderedDict(
sorted(sensors.items(), key=lambda k_v: k_v[1]['name']))
sensorsArmed['sensors'] = orderedSensors
sensorsArmed['triggered'] = self.settings['settings']['alarmTriggered']
sensorsArmed['alarmArmed'] = self.settings['settings']['alarmArmed']
return sensorsArmed
def getTriggeredStatus(self):
""" Returns the status of the alert for the UI """
return {"alert": self.settings['settings']['alarmTriggered']}
def setLogFilters(self, limit, logtypes):
""" Sets the global filters for the getSensorsLog method """
self.limit = limit
self.logtypes = logtypes
def getSereneSettings(self):
""" Gets the Serene Settings """
return self.settings['serene']
def getMailSettings(self):
return self.settings['mail']
def getVoipSettings(self):
""" Gets the Voip Settings """
return self.settings['voip']
def getTimezoneSettings(self):
""" Get the Timezone Settings """
return self.settings['settings']['timezone']
def getMQTTSettings(self):
""" Gets the MQTT Settings """
return self.settings['mqtt']
def setSereneSettings(self, message):
""" set Serene Settings """
if self.settings['serene'] != message:
self.settings['serene'] = message
self.writeLog("user_action", "Settings for Serene changed")
self.writeNewSettingsToFile(self.settings)
def setMailSettings(self, message):
""" Set Mail Settings """
if self.settings['mail'] != message:
self.settings['mail'] = message
self.writeLog("user_action", "Settings for Mail changed")
self.writeNewSettingsToFile(self.settings)
def setVoipSettings(self, message):
""" Set Voip Settings """
if self.settings['voip'] != message:
self.settings['voip'] = message
self.writeLog("user_action", "Settings for VoIP changed")
self.writeNewSettingsToFile(self.settings)
def setTimezoneSettings(self, message):
""" Set the Timezone """
if self.settings['settings']['timezone'] != message:
self.settings['settings']['timezone'] = message
self.writeLog("user_action", "Settings for UI changed")
self.writeNewSettingsToFile(self.settings)
def setMQTTSettings(self, message):
""" Set MQTT Settings """
if self.settings['mqtt'] != message:
self.settings['mqtt'] = message
self.writeLog("user_action", "Settings for MQTT changed")
self.writeNewSettingsToFile(self.settings)
self.mynotify.setupSendStateMQTT()
def setSensorState(self, sensorUUID, state):
""" Activate or Deactivate a sensor """
self.settings['sensors'][sensorUUID]['enabled'] = state
self.writeNewSettingsToFile(self.settings)
logState = "Deactivated"
if state is True:
logState = "Activated"
logSensorName = self.settings['sensors'][sensorUUID]['name']
self.writeLog("user_action", "{0} sensor: {1}".format(
logState, logSensorName))
self.writeNewSettingsToFile(self.settings)
def setSensorsZone(self, zones):
for sensor, sensorvalue in self.settings['sensors'].items():
sensorZones = sensorvalue.get('zones', [])
sensorZones = [item.lower() for item in sensorZones]
if not set(sensorZones).isdisjoint(zones):
sensorvalue['enabled'] = True
else:
sensorvalue['enabled'] = False
self.mynotify.updateUI('settingsChanged', self.getSensorsArmed())
self.writeNewSettingsToFile(self.settings)
def addSensor(self, sensorValues):
""" Add a new sensor """
print("{0}New Sensor: {2}{1}".format(
bcolors.WARNING, bcolors.ENDC, sensorValues))
key = next(iter(sensorValues))
sensorValues[key]['enabled'] = True
sensorValues[key]['online'] = False
sensorValues[key]['alert'] = True
if 'undefined' in sensorValues:
sensorUUID = str(uuid.uuid4())
sensorValues[sensorUUID] = sensorValues.pop('undefined')
else:
self.sensors.del_sensor(key)
self.settings['sensors'].update(sensorValues)
self.writeNewSettingsToFile(self.settings)
self.sensors.add_sensors(self.settings)
self.mynotify.setupSendStateMQTT()
def delSensor(self, sensorUUID):
""" Delete a sensor """
self.sensors.del_sensor(sensorUUID)
del self.settings['sensors'][sensorUUID]
self.writeNewSettingsToFile(self.settings)
def leak_test():
global input_flag
global counter
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 20)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
fill_valve = Valve('Fill Valve', 'P8_8', 0, 'solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_45', 0, 'solenoid', 0, 0)
actuator_solenoid.open()
actuator_prop.partial_open()
time.sleep(2)
# Pressure Sensor Definition and Classes
pressureall = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '010', '100')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
print('Welcome to the Team Daedalus: Leak Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_solenoid.close()
actuator_prop.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
fill_valve.open()
print(fill_valve.get_state())
print(vent_valve.get_state())
print('Press Enter When Desired Pressure is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
maximum_pressure = 10000
nominal_pressure = 500
while input_flag == 1:
a = pressure0.read_sensor()
b = pressure2.read_sensor()
c = pressure4.read_sensor()
e = pressureall.read_sensor()
d = [e[0], a[0], b[0], c[0]]
if e[0] >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
vent_valve.open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressureall.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
vent_valve.close()
print(time_relief_end)
break
print(d)
time.sleep(.2)
fill_valve.close()
vent_valve.close()
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open Actuator at 10%')
actuator_solenoid.open()
actuator_prop.partial_open()
input('Press Enter to Open Vent Valve')
vent_valve.open()
input('Enter all Other Valves')
vent_valve.close()
time.sleep(1)
fill_valve.open()
actuator_solenoid.open()
actuator_prop.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
input('Press Enter to End and Close all valves')
vent_valve.close()
fill_valve.close()
actuator_solenoid.close()
actuator_prop.close()
def try_bricklet(self, uid, device_identifier, position):
if device_identifier == 26:
for x in ["relay_a", "relay_b"]:
s = Sensor(self.controller, x, uid)
self.relays[s.uid] = s
def __init__(self, game, res):
self.ball_image = res.image_dict[const.BALL_IMAGE]
center_image(self.ball_image)
self.width = self.ball_image.width
self.height = self.ball_image.height
self.game = game
self.res = res
x = y = 200
self.sprite = Sprite(self.ball_image, x = x, y = y)
self.x = x
self.y = y
# State Machine
self.state = "Stopped"
# Sensors
self.sensor_bottom = Sensor(self.res)
self.sensor_top = Sensor(self.res)
self.sensor_left = Sensor(self.res)
self.sensor_right = Sensor(self.res)
self.sensor_ground = Sensor(self.res)
self.sensor_ground.red = 0.5
self.sensor_ground.alpha = 0.5
self.sensor_left_ground = TinySensor(self.res)
self.sensor_middle_ground = TinySensor(self.res)
self.sensor_right_ground = TinySensor(self.res)
self.sensors = [self.sensor_bottom,
self.sensor_top,
self.sensor_left,
self.sensor_right,
self.sensor_ground,
self.sensor_left_ground,
self.sensor_middle_ground,
self.sensor_right_ground]
# Values according to the Sonic Physics Guide
self.acc = 0.046875 * const.SCALE
self.frc = 0.046875 * const.SCALE
self.rfrc = 0.0234375 * const.SCALE
self.dec = 0.5 * const.SCALE
self.max = 6.0 * const.SCALE
self.rol = 1.03125 * const.SCALE
self.slp = 0.125 * const.SCALE
self.ruslp = 0.078125 * const.SCALE
self.rdslp = 0.3125 * const.SCALE
self.air = 0.09375 * const.SCALE
self.grv = 0.21875 * const.SCALE
self.maxg = 16.0 * const.SCALE
self.drg = 0.96875
self.jmp = 6.5 * const.SCALE
self.jmpweak = 4.0 * const.SCALE
# Flags
self.flagGround = False
self.flagAllowJump = False
self.flagAllowHorizMovement = True
self.flagAllowVertMovement = True
self.flagJumpNextFrame = False
self.flagFellOffWallOrCeiling = False
# Trig
self.angle = 0.0
self.gangle = 0.0
self.rangle = 0.0
# Movement (dh = horizontal, dv = vertical.)
# These can be rotated using angle and gangle above.
self.dh = 0.0
self.dv = 0.0
self.keyUp = False
self.keyDown = False
self.keyLeft = False
self.keyRight = False
self.keyJump = False
# Control lock timers
self.hlock = 0
from sensors import Sensor
from sensors import Sensors
from wheels import Wheel
from wheels import MockWheel
from wheels import Wheels
import RPi.GPIO as GPIO
from runtime import Runtime
from processor import Processor
GPIO.setmode(GPIO.BOARD)
sensor1 = Sensor(11, 13)
sensor3 = Sensor(15, 16)
sensor5 = Sensor(18, 19)
sensor6 = Sensor(21, 22)
sensor8 = Sensor(23, 24)
sensor10 = Sensor(26, 29)
leftMotor = Wheel(5, 3, 7, 7)
rightMotor = Wheel(8, 10, 12, 1)
# rightMotor = MockWheel("rightWheel")
zrobot_runtime = Runtime(
Sensors([sensor1, sensor3, sensor5, sensor6, sensor8, sensor10]),
Processor(), Wheels(leftMotor, rightMotor))
zrobot_runtime.start()
def leak_test():
global input_flag, counter
time_duration = 36000
# Data Frames for Saving
pressure_list = ["Pressure"]
pressure_time_list = ["time"]
pressure0_list = ["Pressure0"]
pressure2_list = ["Pressure2"]
pressure4_list = ["Pressure4"]
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop',
4, 20)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid',
0, 0)
fill_valve = Valve('Fill Valve', 'P8_8', 0, 'solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_45', 0, 'solenoid', 0, 0)
actuator_solenoid.open()
actuator_prop.open()
fill_valve.open()
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_16',
'P9_16', 'P9_16', '000', '010', '100')
pressure0 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '000', '000')
pressure2 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '010', '010', '010')
pressure4 = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '100', '100', '100')
saved_data_combined = [
pressure_list, pressure_time_list, pressure0_list, pressure2_list,
pressure4_list
]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('leak_data.csv', 'w', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
print('Welcome to the Team Daedalus: Leak Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
print("\nVerifying Sensor and Valve Connections\n")
while not pressure_cold_flow.verify_connection():
input("\nPress Enter to Start Verification Again:")
print("\nAll Sensors are Functional\n")
while not actuator_prop.verify_connection_valve and actuator_solenoid.verify_connection_valve and \
fill_valve.verify_connection_valve and vent_valve.verify_connection_valve:
input("\nPress Enter to Start Verification Again:")
print("\nAll Valves are Functional\n")
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_solenoid.close()
actuator_prop.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
fill_valve.open()
print(fill_valve.get_state())
print(vent_valve.get_state())
print('Press Enter When Desired Pressure is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
maximum_pressure = 640
nominal_pressure = 500
while input_flag == 1:
a = pressure0.read_sensor()
b = pressure2.read_sensor()
c = pressure4.read_sensor()
e = pressure_cold_flow.read_sensor()
d = [e[0], a[0], b[0], c[0]]
if e[0] >= maximum_pressure:
counter = counter + 1
else:
counter = 0
if counter >= 3:
time_relief = time.process_time()
actuator_prop_relief = Valve('Actuator Propellant Valve', 'P8_4',
'P8_4', 'prop', 4, 10)
actuator_solenoid.open()
actuator_prop_relief.partial_open()
print('Pressure Exceeded Maximum: Opening Relief Valve')
print(time_relief)
while True:
pres_relief = pressure_cold_flow.read_sensor()
if pres_relief[0] < nominal_pressure:
time_relief_end = time.process_time()
print('Closing Relief Valve')
actuator_solenoid.close()
actuator_prop_relief.close()
print(time_relief_end)
break
print(d)
time.sleep(.2)
fill_valve.close()
vent_valve.close()
print(fill_valve.get_state())
print(vent_valve.get_state())
final_pressure = pressure_cold_flow.read_sensor()
print("Filling Completed: Current Pressure is...")
print(final_pressure[0])
input("Press Enter to Begin Leak Test")
print('Beginning Leak Test')
input_flag = 1
time_start = time.time()
wait_time = 300
n = 0
while time.time() - time_start < time_duration:
read_sensors(n, time_start, wait_time)
time.sleep(wait_time)
n = n + 1
print('done')
print(time.time() - time_start)
input('Press Enter to Open Actuator at 20%')
actuator_solenoid.open()
actuator_prop.partial_open()
input('Press Enter to Open All Valves')
fill_valve.open()
actuator_solenoid.open()
actuator_prop.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
class Environment(object):
"""
Represents the virtual environment -- the 'OS'
behind Tal, which manages all other running apps and services,
and centrally monitors and dispatches updates to Tals
peripherals.
"""
ENABLED_APPS = [
ReaderApp,
TracerApp,
]
ENABLED_SERVICES = [
NetworkService,
]
activeHandlers = [
LuxControlHandler,
]
activeSession = None
runningServices = []
message = ''
tiltSensorRight = None
tiltSensorLeft = None # for now
display = None
def __init__(self):
self.beforeStartUp()
self.startUp()
self.afterStartUp()
def beforeStartUp(self):
self.message = 'Starting up ...'
def startUp(self):
if YAPI.RegisterHub('usb', YRefParam()) != YAPI.SUCCESS:
sys.exit('Connection error: connection through USB failed')
self.tiltSensorRight = Sensor()
self.display = Display()
# bootstrap handlers
for h in self.activeHandlers:
self.tiltSensorRight.attachHandler(h())
self.tiltSensorRight.startWatching()
# start display update loop
def loop():
threading.Timer(.10, loop).start()
self.display.updateStatus()
# for debugging, show data in the message row for now
self.display.updateMessage('P:{} R:{}'.format(
str(pitch), str(roll)))
loop()
def afterStartUp(self):
self.message = 'Idle'
def beforeStartApp(self, app):
if app not in self.ENABLED_APPS:
return False
self.message = 'Starting {}...'.format(app.name)
def startApp(self, app):
if app in self.ENABLED_APPS:
self.activeSession = app(environment=self)
else:
return False
def afterStartApp(self, app):
self.message = 'Running {}'.format(app.name)
def beforeCloseApp(self, app):
if not self.activeSession:
return False
self.activeSession.beforeClose()
def closeApp(self, app):
if not self.activeSession:
return False
self.activeSession = None
def afterCloseApp(self, app):
return
def registerHandler(self, handlerInstance):
self.activeHandlers.append(handlerInstance)
def unregisterHandler(self, handlerInstance):
self.activeHandlers.remove(handlerInstance)
def insulation_test():
# Data Frames for Saving
pressure_list = ["Pressure"]
pressure_time_list = ["time"]
# Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_13', 'P8_13',
'Prop', 4, 10)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_12', 0,
'Solenoid', 0, 0)
fill_valve = Valve('Fill Valve', 'P8_12', 0, 'Solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_12', 0, 'Solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_12',
'P9_14', 'P9_16', '000', '000', '000')
# Temperature Sensor Definition and Classes
temperature_fill_line = Sensor('temperature_fill_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000',
'000')
temperature_empty_line = Sensor('temperature_empty_line', 'temperature',
'P9_12', 'P9_14', 'P9_16', '000', '000',
'000')
saved_data_combined = [pressure_list, pressure_time_list]
export_data = zip_longest(*saved_data_combined, fillvalue='')
with open('insulation_data.csv', 'w', encoding="ISO-8859-1",
newline='') as myfile:
wr = csv.writer(myfile)
wr.writerows(export_data)
myfile.close()
print('Welcome to the Team Daedalus: Insulation Test')
input('Please Press Enter to Confirm Start')
print('Starting System Check')
print()
print("\nVerifying Sensor and Valve Connections\n")
while not pressure_cold_flow.verify_connection() and temperature_fill_line.verify_connection() \
and temperature_empty_line.verify_connection():
input("\nPress Enter to Start Verification Again:")
print("\nAll Sensors are Functional\n")
while not actuator_prop.verify_connection_valve and actuator_solenoid.verify_connection_valve and \
fill_valve.verify_connection_valve and vent_valve.verify_connection_valve:
input("\nPress Enter to Start Verification Again:")
print("\nAll Valves are Functional\n")
input("\nVerification Complete, Press Enter to Continue:\n")
print()
print('Closing All Valves')
actuator_prop.close()
actuator_solenoid.close()
fill_valve.close()
vent_valve.close()
print(actuator_prop.get_state())
print(actuator_solenoid.get_state())
print(fill_valve.get_state())
print(vent_valve.get_state())
input('Press Enter to Open filling valve')
print('Opening Fill Valve: Begin Filling Procedure')
input('Press Enter to begin filling and Enter again to end filling')
vent_valve.open()
print(vent_valve.get_state())
print('Press Enter When Desired Tank Ullage is Met')
time.sleep(3)
i = threading.Thread(target=get_input)
i.start()
while input_flag == 1:
temp_fill = temperature_fill_line.read_sensor()
temp_empty = temperature_empty_line.read_sensor()
pressure = pressure_cold_flow.read_sensor()
print(temp_fill[0], temp_empty[0], pressure[0])
time.sleep(.1)
vent_valve.close()
print(vent_valve.get_state())
final_pressure = pressure_cold_flow.read_sensor()
print("Filling Completed: Current Pressure is...")
print(final_pressure[0])
input("Press Enter to Begin Leak Test")
print('Beginning Leak Test')
time_start = time.time()
wait_time = 1
n = 0
k = threading.Thread(target=test_end_input)
k.start()
while test_flag == 1:
read_sensors(n, time_start, wait_time)
time.sleep(wait_time)
n = n + 1
print('done')
print(time.time() - time_start)
input('Press Enter to Open Valves and Depressurize Tank')
actuator_prop.open()
actuator_solenoid.open()
fill_valve.open()
vent_valve.open()
actuator_prop.get_state()
actuator_solenoid.get_state()
fill_valve.get_state()
vent_valve.get_state()
def getRules(filename):
threading.Timer(5.0, getRules, [filename]).start()
return RuleList(filename)
try:
ruleList = getRules(ruleFilename).rl
if ruleList is not None:
for rule in ruleList:
print rule.sensor
rad = SensorRadio()
while(True):
buff = rad.listen()
print buff
if buff is not None:
newsensor = Sensor(buff[0], buff[1], buff[3])
if any(oldsensor.idx == newsensor.idx for oldsensor in sensors):
for oldsensor in sensors:
if oldsensor.idx == newsensor.idx:
oldsensor.value = newsensor.value
print 'Already in list. Update the values'
time.sleep(1)
else:
sensors.append(newsensor)
listToJson(sensors)
time.sleep(1)
except KeyboardInterrupt:
print 'Got interrupt from keyboard'
GPIO.cleanup()
"""
Some example usage of the Sensor class
"""
from sensors import Sensor
temperatureSensor = Sensor("temperature")
reading = temperatureSensor.getReading()
reading2 = temperatureSensor.getReading()
reading3 = temperatureSensor.getReading()
print(reading)
print(reading['value'])
print(reading2['value'])
print(reading3['value'])
def try_bricklet(self, uid, device_identifier, position):
if device_identifier == 26:
s = Sensor(self.controller, "dualrelay", uid)
for instance in ["0", "1"]:
self.relays[s.uid + instance] = s
def test_bad_sensorType(self):
with self.assertRaises(Exception) as context:
Sensor("bad value")
self.assertEqual('sensorType must be in {"temperature", "humidity"}',
str(context.exception))
pS.on()
sta_if = WLAN(STA_IF)
while not sta_if.isconnected():
pass
pS.off()
s = socket.socket() # Create socket
#ad = socket.getaddrinfo('000.000.000.000', 4444)[0][-1] # Change your IP and Port here
s.connect(ad)
ss = wrap_socket(s) # Wrap as a ssl socket
#ss.write("aPASSWORD".encode()) # Set your password here
ss.write("tu".encode())
pS.on()
irSender = Sender()
sens = Sensor(ss, irSender)
while True:
data = ss.read(1).decode() # Read one byte
pS.off()
if data is "q":
ss.write("q".encode())
utime.sleep(0.4)
break
elif (ord(data) >= 97 and ord(data) <= 122) or ord(data) == 10:
irSender.got_data(data)
sleep(0.1)
pS.on()
ss.close()
s.close()
except Exception as e:
print("Fehler", e)
def __init__(self, id, macAddr):
Sensor.__init__(self, id, macAddr, 'CC2650 SensorTag')
pressure_list = ["Pressure"]
pressure_time_list = ["time"]
temperature_fill_list = ["Temperature Fill"]
temperature_fill_time_list = ["time"]
temperature_empty_list = ["Temperature Empty"]
temperature_empty_time_list = ["time"]
official_time_list = ["Official Time"]
# # Valve Definition and Classes
actuator_prop = Valve('Actuator Propellant Valve', 'P8_4', 'P8_4', 'prop', 4, 20)
actuator_solenoid = Valve('Actuator Solenoid Valve', 'P8_4', 0, 'solenoid', 0, 0)
fill_valve = Valve('Fill Valve', 'P8_8', 0, 'solenoid', 0, 0)
vent_valve = Valve('Vent Valve', 'P8_45', 0, 'solenoid', 0, 0)
# Pressure Sensor Definition and Classes
pressure_cold_flow = Sensor('pressure_cold_flow', 'pressure', 'P9_16', 'P9_16',
'P9_16', '000', '010', '100')
# Temperature Sensor Definition and Classes
temperature_fill_line = Sensor('temperature_fill_line', 'temperature', 'P9_12',
'P9_12', 'P9_12', '000', '000', '000')
temperature_empty_line = Sensor('temperature_empty_line', 'temperature',
'P9_14', 'P9_14', 'P9_16', '000', '000', '000')
# Relief Valve Counter: Will always start at zero
counter = 0
# Valve States and Tracking Global Variables
filling_trigger = False
data = [dict(x=[0], y=[0], type='scattergl', mode='lines+markers')]
layout_pressure = dict(title=dict(text='Live Pressure'),
