def main():
platform = Platform()
recipe = Recipe()
# Step 0: Preform hard reset to calibrate platform position during startup
#platform.hard_Reset()
# Step 1: get recipe from user either from onboard gui or android app
#sampleRecipe = sys.argv[1]
sampleRecipe = "1,19.3,2,19.3,3,19.3,4,19.3,5,19.3,6,19.3,7,19.3,8,19.3,true"
# Step 2: split recipe string to a stack of seperate ingredients
recipe.initilize_Stack(sampleRecipe)
# Step 3: specify the order of the recipe
if recipe.isOrdered == True:
recipeOrder = recipe.recipeStack
else:
recipeOrder = platform.get_Shortest_Path(recipe)
hbridge.turnOff()
time.sleep(.3)
# Step 4: interate over each ingredient then move platform
for ingred in recipeOrder:
print "Getting %rmL of segment %r" %(ingred.mL, ingred.segNum)
#segNum is NOT 0 indexed
platform.move_To_Segment(platform.segList[ingred.segNum-1].name)
time.sleep(WAIT)
# Step 5: once platform reached its mark, pour amount
hbridge.turnOn()
time.sleep(.2)
Actuator.actuate(Actuator.actDict[ingred.segNum-1], float(ingred.mL))
hbridge.turnOff()
time.sleep(WAIT)
# Step 6: repeat step 4 till stack is empty
# Step 7: Move platform back to the middle
print "Final offset: %r " % Platform.offset
platform.reset()
def get_braille(text):
global priority
global def_priority
global speed
if (priority == 2):
print("Decoding as per grade 2")
braille = GD2.braille.process_word(text)
if (braille == 1):
priority = 1
if (priority == 1):
print("Decoding as per grade 1")
braille = GD1.braille.encode_braille(text)
print("Given word: " + text)
print("Braille converted text: ")
print_braille(braille)
for i in braille:
Actuator.actuate(i)
sleep(speed)
Actuator.set_all_low()
sleep(0.4 * speed)
print(" ")
priority = def_priority
def __init__(self, stats):
self._machtoadd = 1
self._machtoaddBefore = 1 #set to 0 if Fibonacci sequence from the beggining
self._reconfigure = True
self._stats = stats
self._actuator = Actuator.Actuator(self._stats)
#current state of the system - initially is empty
self._machine_type = {}
self._current_config = {}
#DECISION MAKER PARAMETERS
self._CPU_IDLE_MIN = decisionmaker_config.cpu_idle_min
self._CPU_IDLE_MAX = decisionmaker_config.cpu_idle_max
self._IO_WAIT_MAX = decisionmaker_config.io_wait_max
self._CRITICAL_PERC = decisionmaker_config.critialStatePercentage
self._READ_WRITE_DISTANCE_MIN = decisionmaker_config.read_write_distance_min
self._MIN_SCAN_RATIO = decisionmaker_config.min_scan_ratio
logging.info('DecisionMaker started.')
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA import time import Communication from Communication import CommSimulator from Communication import CommSerial import Actuator from compiler.ast import Print #comm = CommSimulator() #TODO read a configuration file to use the correct parameters for CommSimulator comm_tty = CommSerial( ) #TODO read a configuration file to use the correct parameters for CommSimulator #comm.connect() comm_tty.connect() #actuator = Actuator.Actuator(comm) actuator_tty = Actuator.Actuator(comm_tty) motor_id = 6 print "actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000)" actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000) time.sleep(1) print "actuator_tty.setTorque(motor_id, False)" actuator_tty.setTorque(motor_id, False) time.sleep(1) print "actuator_tty.set_speed_actuator(motor_id, 0x200, 0x0)" actuator_tty.set_speed_actuator(motor_id, 0x200, 0x0) time.sleep(1)
# -*- coding: utf-8 -*-
import Braille_Dictionary_Grade_1 as GD1
import Braille_Dictionary_Grade_2 as GD2
import Actuator
import string
from time import sleep
import RPi.GPIO as GPIO
global priority
global def_priority
global speed
priority = 0
def_priority = 0
speed = 0.5
Actuator.init()
def ini():
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BOARD)
GPIO.setup(31, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(32, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(35, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
GPIO.setup(36, GPIO.IN, pull_up_down=GPIO.PUD_DOWN)
grade_left_stat = GPIO.input(35)
grade_right_stat = GPIO.input(36)
BackendPi = RaspPi()
# Actuators as define in schematic tab at https://upverter.com/design/blazesandersinc/tapomatic-v2020-1
immunityHealthAdditivePins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
#immunityHealthAdditivePins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.BOARD7]
vitaminHealthAdditivePins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
#vitaminsHealthAdditivePins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.BOARD11]
#TODO SWITCHED TO PUMPS actuatorList = [Actuator('S', IMMUNITY_ADDITIVE_SERVO, immunityHealthAdditivePins, "Immunity Boost Servo: Seamuing MG996R", Actuator.CW)]
#actuatorList.append(Actuator('S', VITAMIN_ADDITIVE_SERVO, vitaminsHealthAdditivePins, "Daily Vitamins Servo: Seamuing MG996R", Actuator.CW))
#powderActuatorList = actuatorList
rumFlavorPins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
pinaColadaFlavorPins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
pineappleFlavorPins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
orangeFlavorPins = [Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME, BackendPi.I2C_SCL1_NAME]
fluidActuatorList = [Actuator('R', RUM_PUMP, rumFlavorPins, "Rum Flavor Motor: Zjchao 202", Actuator.CW)]
fluidActuatorList.append(Actuator('R', PINA_COLADA_FLAVOR_PUMP, pinaColadaFlavorPins, "Pina Colada Flavor Motor: Zjchao 202", Actuator.CW))
fluidActuatorList.append(Actuator('R', PINEAPPLE_FLAVOR_PUMP, pineappleFlavorPins, "Orange Flavor Motor: Zjchao 202", Actuator.CW))
fluidActuatorList.append(Actuator('R', ORANGE_FLAVOR_PUMP, orangeFlavorPins, "Orange Flavor Motor: Zjchao 202", Actuator.CW))
fluidActuatorList.append(Actuator('R', IMMUNITY_ADDITIVE_PUMP, immunityHealthAdditivePins, "Immunity Boost Pump: Zjchao 202", Actuator.CW))
fluidActuatorList.append(Actuator('R', VITMAN_ADDITIVE_PUMP, vitaminHealthAdditivePins, "Daily Vitamins Pump: Zjchao 202", Actuator.CW))
# Add fluid actuators to the full system actuator list
actuatorList.append(fluidActuatorList)
liftMotor1Pins = [Actuator.HIGH_PWR_12V, Actuator.GND]
liftMotor2Pins = [Actuator.HIGH_PWR_12V, Actuator.GND]
liftingActuatorList = [Actuator('L', Z1_LINEAR_LIFT_MOTOR, liftMotor1Pins, "Lift Motor 1: PA-07-12-5V", Actuator.LINEAR_OUT)]
liftingActuatorList.append(Actuator('L', Z2_LINEAR_LIFT_MOTOR, liftMotor2Pins, "Lift Motor 2: PA-07-12-5V", Actuator.LINEAR_OUT))
# Add lifting actuators to the full system actuator list
'''
Created on May 7, 2013
@author: matias
'''
import time
from Communication import CommSerial
import Actuator
comm_tty = CommSerial()
comm_tty.connect()
actuator = Actuator.Actuator(comm_tty)
motor_id = 99
actuator.reset(0xfe)
time.sleep(2)
actuator.setear_id(motor_id)
for i in range(1, 50):
if (i%2 == 0):
actuator.led_state_change(motor_id, 1)
else:
actuator.led_state_change(motor_id, 0)
time.sleep(.1)
#
def main():
""" Run instances of encrypted LQG with Labeled Homomorphic Encryption."""
flag = 0 # The Setup computes gives the gain matrices Gamma to the cloud if flag = 0, otherwise, the cloud and actuator compute their encryption
verbose = 0 # Print values of variables if verbose = 1, does nothing otherwise
# folder = 'building_1_room'
# folder = 'Random_instance_5_1'
folder = 'building_2_rooms'
# folder = 'Random_instance_25_5'
# folder = 'Random_instance_50_10'
# folder = 'Random_instance_75_15'
# folder = 'Random_instance_100_20'
# folder = 'Random_instance_125_25'
lf = DEFAULT_PRECISION
T = 100
setup = Client.Client()
usk_setup = setup.usk
setup.Plant(T,folder)
n = setup.n; m = setup.m; p = setup.p; d = setup.d
A = setup.Af; B = setup.Bf; C = setup.Cf
K = setup.Kf; L = setup.Lf
W = setup.Wf; V = setup.Vf; F = setup.F
client = Client.Client()
usk_client = client.usk
client.setPoints(folder,n,m,p,d,T,setup.A,setup.B,setup.C,setup.W,setup.V,setup.F)
x0 = client.xf;
xr = client.xr; ur = client.ur
xrf = client.xrf; urf = client.urf
plaintext_x_series = np.zeros((n,T))
act = Actuator.Actuator(usk_setup,usk_client)
privkey = act.privkey
msk = privkey.msk; upk = privkey.upk
pubkey = act.pubkey
client.getPubkey(pubkey)
setup.getPubkey(pubkey)
start = time.time()
setup.genLabelsSetup(flag)
time_off_setup = time.time() - start
print('Offline time for setup: ', "%.5f" % (time_off_setup), ' sec')
start = time.time()
client.genLabels()
time_off_clients = time.time() - start
print('Offline time for clients: ', "%.5f" % (time_off_clients), ' sec')
start = time.time()
cloud = Cloud.Cloud(act.pubkey,n,m,p,T)
cloud.generateRandomness()
time_off_cloud = time.time() - start
print('Offline time for cloud: ', "%.5f" % (time_off_cloud), ' sec')
start = time.time()
act.genLabels(n,m,p,T,flag)
if flag == 1:
act.genProgramSecrets()
time_off_act = time.time() - start
print('Offline time for actuator: ', "%.5f" % (time_off_act), ' sec')
start = time.time()
setup.encryptMatrices(flag)
time_in_setup = time.time() - start
print('Online time to compute constants for setup: ', "%.5f" % (time_in_setup), ' sec')
start = time.time()
client.encryptSetPoints()
time_in_clients = time.time() - start
print('Online time to compute constants for clients: ', "%.5f" % (time_in_clients), ' sec')
if flag == 1:
start = time.time()
cloud.getCoeff(setup.enc_A,setup.enc_B,setup.enc_C,setup.enc_L,setup.enc_K,client.enc_xr,client.enc_ur)
cloud.getProgramSecrets(act.enc_bLC,act.enc_bLA,act.enc_bCA,act.enc_bLB,act.enc_bCB)
blinded_enc_Gamma3 = cloud.computeGamma3()
# The actuator needs to refresh Gamma3
start_act = time.time()
blinded_enc_Gamma3 = act.refresh_Gamma3(blinded_enc_Gamma3)
time_in_act = time.time() - start_act
cloud.getGamma3(blinded_enc_Gamma3)
blinded_enc_Gamma, blinded_enc_Gamma2 = cloud.computeProducts()
# The actuator needs to refresh Gamma, Gamma2, Gamma3
start_act = time.time()
blinded_enc_Gamma, blinded_enc_Gamma2 = act.refresh_Gamma1_2(blinded_enc_Gamma, blinded_enc_Gamma2)
time_in_act = time.time() - start_act + time_in_act
print('Online time to compute constants for actuator: ', "%.5f" % (time_in_act), ' sec')
cloud.getGamma1_2(blinded_enc_Gamma, blinded_enc_Gamma2)
cloud.computeConstants()
time_in_cloud = time.time() - start - time_in_act
print('Online time to compute constants for cloud: ', "%.5f" % (time_in_cloud), ' sec')
if flag == 0:
Gamma = setup.Gamma; Gamma2 = setup.Gamma2; Gamma3 = setup.Gamma3
enc_Gamma = setup.enc_Gamma; enc_Gamma2 = setup.enc_Gamma2; enc_Gamma3 = setup.enc_Gamma3
else:
Gamma = np.dot(np.eye(n, dtype = object) - np.dot(setup.L,setup.C),setup.A + np.dot(setup.B,setup.K))
Gamma2 = np.dot(np.eye(n, dtype = object) - np.dot(setup.L,setup.C),np.dot(setup.B,setup.K))
Gamma3 = np.dot(np.eye(n, dtype = object) - np.dot(setup.L,setup.C),setup.B)
enc_Gamma = util_fpv.von_enc(pubkey,util_fpv.vfp(Gamma),act.bGamma,act.enc_bGamma)
enc_Gamma2 = util_fpv.von_enc(pubkey,util_fpv.vfp(Gamma2),act.bGamma2,act.enc_bGamma2)
enc_Gamma3 = util_fpv.von_enc(pubkey,util_fpv.vfp(Gamma3),act.bGamma3,act.enc_bGamma3)
Gref = np.dot(Gamma3, client.ur) - np.dot(Gamma2, client.xr)
Gref_2 = 2**lf*Gref
uref = ur - np.dot(setup.K, client.xr)
uref_2 = np.dot(uref,2**lf*np.eye(m,dtype = object))
cloud.enc_Gamma = enc_Gamma
cloud.enc_Gamma2 = enc_Gamma2
cloud.enc_Gamma3 = enc_Gamma3
if flag == 0:
time_in_act = 0
start = time.time()
cloud.getCoeff(setup.enc_A,setup.enc_B,setup.enc_C,setup.enc_L,setup.enc_K,client.enc_xr,client.enc_ur)
cloud.computeConstants()
time_in_cloud = time.time() - start
print('Online time to compute constants for cloud: ', "%.5f" % (time_in_cloud), ' sec')
if verbose == 1:
hat_x = np.zeros((n,T+1))
enc_x0 = util_fpv.von_enc(pubkey,x0,act.bx[:,0],util_fpv.vencrypt(pubkey.Pai_key,act.bx[:,0]))
print('x0: ',util_fpv.vretrieve_fp(util_fpv.von_dec(privkey,enc_x0,
util_fpv.vencrypt(pubkey.Pai_key,act.bx[:,0]))))
start = time.time()
k = 0
cloud.xk = client.enc_x0
enc_u0 = cloud.computeInput()
u0 = act.getInput(enc_u0,k)
if verbose == 1:
plaintext_xk = client.x
plaintext_x_series[:,k] = plaintext_xk
hat_x[:,k] = util_fpv.vretrieve_fp(util_fpv.von_dec(privkey,cloud.xk,act.bx[:,k]))
print('decrypted x%d: '%k, ["%.5f"% i for i in hat_x[:,k]])
print('decrypted u%d: '%k, ["%.5f"% i for i in u0])
print('u0: ', ["%.5f"% i for i in np.dot(setup.K,client.x) + uref])
# Get next state and measurement
client.closedLoop(u0,k+1)
enc_zk = client.getMeasurement(k) # The measurement time is k+1 but the labels are generated for k
if verbose == 1:
plaintext_zk = client.z
print('z1: ', ["%.5f"% i for i in plaintext_zk])
print('decrypted z%d: '%(k+1), ["%.5f"% i for i in util_fpv.vretrieve_fp(util_fpv.von_dec(privkey,enc_zk))])
print('Online time for iteration %d: '%k, "%.5f" % (time.time() - start), ' sec')
time_act = np.zeros((T-1,1))
time_cloud = np.zeros((T-1,1))
time_client = np.zeros((T-1,1))
# Start the control loop
for k in range(1,T):
start_it = time.time()
blinded_xk = cloud.computeEstimate(cloud.xk,enc_zk)
start_act = time.time()
enc_xk2 = act.refresh_xk(blinded_xk,k)
end_act = time.time()-start_act
cloud.getEstimate(enc_xk2) # get xk
if verbose == 1:
hat_x[:,k] = util_fpv.vretrieve_fp(util_fpv.von_dec(privkey,cloud.xk,act.bx[:,k]))
print('decrypted x%d: '%k, ["%.5f"% i for i in hat_x[:,k]])
plaintext_xk = np.dot(Gamma,plaintext_xk)+np.dot(setup.L,plaintext_zk)+Gref
plaintext_x_series[:,k] = plaintext_xk
print('x%d: '%k, ["%.5f"% i for i in plaintext_xk])
enc_uk = cloud.computeInput()
start_act = time.time()
uk = act.getInput(enc_uk,k) # get uk
time_act[k-1] = end_act + time.time() - start_act
if verbose == 1:
print('decrypted u%d: '%k, uk)
print('u%d: '%k, ["%.5f"% i for i in np.dot(setup.K,plaintext_xk)+uref])
client.closedLoop(uk,k+1)
start_cl = time.time()
enc_zk = client.getMeasurement(k) # get zk+1
time_client[k-1] = time.time() - start_cl
if verbose == 1:
plaintext_zk = client.z
plaintext_zk = util_fpv.vretrieve_fp(util_fpv.von_dec(privkey,enc_zk,
util_fpv.vencrypt(pubkey.Pai_key,act.bz[:,k])))
print('z%d: '%(k+1), ["%.5f"% i for i in plaintext_zk])
time_cloud[k-1] = time.time() - start_it - time_act[k-1] - time_client[k-1]
print('Total online time for %d iterations: '%T, "%.5f" % (time.time() - start), ' sec')
print('Mean online time for client for one iteration: ', " %.5f" % np.mean(time_client), ' sec')
print('Mean online time for actuator for one iteration: ', " %.5f" % np.mean(time_act), ' sec')
print('Mean online time for cloud for one iteration: ', " %.5f" % np.mean(time_cloud), ' sec')
# print("%.5f, %.5f MB" % (memory_usage_resource(),memory_usage_psutil()))
with open(os.path.abspath('results_'+str(DEFAULT_KEYSIZE)+'_'+str(DEFAULT_PRECISION)+'.txt'),'a+') as f:
f.write("%d, %d, %d, flag %d\n " % (n,m,T,flag));
f.write("Offline time:\n setup: %.5f, client: %.5f, cloud: %.5f, actuator %.5f\n" % (time_off_setup, time_off_clients, time_off_cloud, time_off_act))
f.write("Initialization time:\n setup: %.5f, client: %.5f, cloud: %.5f, actuator %.5f\n" % (time_in_setup, time_in_clients, time_in_cloud, time_in_act))
f.write("Online time 1 iter:\n client: %.5f, cloud: %.5f, actuator %.5f\n" % (np.mean(time_client), np.mean(time_act), np.mean(time_cloud)))
if folder == 'building_2_rooms' and verbose == 1:
# evenly sampled time at 440s intervals
Ts = 420
t = Ts*np.arange(0., T)
fig, ax = plt.subplots(figsize=(16,8))
for i in range(int(n/2)):
ax.plot(t, hat_x[i,:-1], 'C'+str(i), linewidth=2)
ax.plot(t, hat_x[int(n/2)+i,:-1], 'C'+str(int(n/2)+i)+'--', linewidth=2)
# ax.plot(t, plaintext_x_series[i,:],'C'+str(i)+'--',linewidth=2)
ax.set(xlabel='Time (s)', ylabel='State x',
title='Evolution of the estimates')
ax.grid()
plt.legend(('$\hat x_1$', '$\hat x_6$', '$\hat x_2$', '$\hat x_7$', '$\hat x_3$', '$\hat x_8$',
'$\hat x_4$', '$\hat x_9$', '$\hat x_5$', '$\hat x_{10}$'),
loc='lower right', shadow=True)
fig.savefig("Figures/estimates.png")
fig.show()
fig2, ax = plt.subplots(figsize=(16,8))
t = Ts*np.arange(0., T)
for i in range(int(n/2)):
ax.plot(t, client.x_series[i,:-1], 'C'+str(i), linewidth=2)
ax.plot(t, client.x_series[int(n/2)+i,:-1], 'C'+str(int(n/2)+i)+'--', linewidth=2)
# ax.plot(t, plaintext_x_series[i,:],'C'+str(i)+'--',linewidth=2)
ax.set(xlabel='Time (s)', ylabel='State x',
title='Evolution of the true states')
ax.grid()
plt.legend(('$x_1$', '$x_6$', '$x_2$', '$x_7$', '$x_3$', '$x_8$',
'$x_4$', '$x_9$', '$x_5$', '$x_{10}$'),
loc='lower right', shadow=True)
fig.savefig("Figures/states.png")
plt.show()
#TODO tempDrink = CocoDrink2(CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE, CocoDrink2.NONE)
#TODO tempDrink = CocoDrink(CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE, CocoDrink.NONE)
vendQueue = np.array(MAX_VEND_QUEUE_SIZE)
GuiPi = RaspPi()
BackendPi = RaspPi()
# Actuators as define in schematic tab at https://upverter.com/design/blazesandersinc/tapomatic-v2020-1
immunityHealthAdditivePins = [
Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.BOARD7
]
vitaminsHealthAdditivePins = [
Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.BOARD11
]
actuatorList = [
Actuator('S', IMMUNITY_ADDITIVE_SERVO, immunityHealthAdditivePins,
"Immunity Boost Servo: Seamuing MG996R", Actuator.CW)
]
actuatorList.append(
Actuator('S', VITAMIN_ADDITIVE_SERVO, vitaminsHealthAdditivePins,
"Daily Vitamins Servo: Seamuing MG996R", Actuator.CW))
powderActuatorList = actuatorList
rumFlavorPins = [
Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME,
BackendPi.I2C_SCL1_NAME
]
pinaColadaFlavorPins = [
Actuator.HIGH_PWR_12V, Actuator.GND, BackendPi.I2C_SDA1_NAME,
BackendPi.I2C_SCL1_NAME
]
pineappleFlavorPins = [
def OrderedAliases(category=None):
return Actuator.OrderedAliases(category)
def ActuatorCategories():
return Actuator.ActuatorCategories()
def ToggleActuator(name):
actuator = Actuator.Find(name)
if actuator:
actuator.SetState(not actuator.State())
def NextOrder():
return Actuator.NextOrder()
def FindActuator(name):
return Actuator.Find(name)
def DeleteActuator(actuator_name):
actuator = Actuator.Find(actuator_name)
if actuator:
Actuator.Delete(actuator)
return ControllerType.GetTypes()
def GetControllerNames():
return Controller.GetNames()
def ActuatorCategories():
return Actuator.ActuatorCategories()
def ControllerCategories():
return Controller.ControllerCategories()
if __name__ == '__main__':
AutomationConfig.Read()
print "===== Controller Types ====="
ControllerType.Dump()
print "===== Controllers ====="
Controller.DumpControllers()
print "===== Actuators ====="
Actuator.DumpActuators()
if False:
print "=== Config ==="
config = AutomationConfig.Config()
for section in config.sections():
print '[', section, ']'
for item in config.items(section):
print ' ', item[0], '=', item[1]