def read_filters_from_textfile():
del filters_list[:]
f = open("save.txt", "r")
for line in f:
filter_name = re.match('[\w\s]*\w', line)
conditions = re.findall('([+-][\w\s]*\w)', line)
filt = Filter(filter_name.group(0))
for condit in conditions:
if condit[0] == "+":
filt.add(Condition(condit[1:], "include"))
elif condit[0] == "-":
filt.add(Condition(condit[1:], "exclude"))
filters_list.append(filt)
from filter import Filter
import time
file = open("text.txt", mode="r", encoding="utf-8")
values = file.read().split(' ')
f = Filter(len(values) * 10, len(values))
f.add(values)
words_to_find = ["nonproprietary", "catharsis"]
for x in words_to_find:
print("\nОпределение наличия методом Блума: ")
t = time.perf_counter_ns()
res = f.exists(x)
res_time = time.perf_counter_ns() - t
print(f"Слово {x} {'найдено' if res else 'не найдено'}")
print(f"Операция заняла {res_time} нс")
print("Определение наличия стандартным методом: ")
t = time.perf_counter_ns()
res = False
for val in values:
if val == x:
res = True
print(f"Слово {x} {'найдено' if res else 'не найдено'}")
res_time = time.perf_counter_ns() - t
print(f"Операция заняла {res_time} нс")
class InertialSensors2Thread(threading.Thread):
def __init__(self, save_to_file=False):
threading.Thread.__init__(self)
self.is_running = False
dt = 0.01
self.dt = dt
self.sensor = mpu6050(0x68)
self.is_new = True
self.acceleration = []
self.filter_acceleration = Filter(size=3, dt=dt, t=0.04)
self.orientation = []
self.filter_orientation = Filter(size=3, dt=dt, t=0.04)
self.magnetometer = []
self.filter_magnetometer = Filter(size=3, dt=dt, t=1.0)
self.gyro = []
self.filter_gyro = Filter(size=3, dt=dt, t=0.04)
self.time = 0.0
self.time_start = 0.0
self.save_to_file = save_to_file
if self.save_to_file:
self.file_name = "inertialSensors2Logs.csv"
self.file = open(self.file_name, "w")
def run(self):
print("Start inertial sensors2 thread")
self.is_running = True
self.acceleration = [0, 0, 0]
self.orientation = [0, 0, 0]
self.magnetometer = [0, 0, 0]
self.gyro = [0, 0, 0]
self.time_start = time.time()
self.time = self.time_start
while self.is_running:
# print(line)
if not self.is_running:
break
next_time = time.time()
dt = next_time - self.time
self.time = next_time
data = self.sensor.get_all_data()
self.acceleration[0] = data[0]["x"]
self.acceleration[1] = data[0]["y"]
self.acceleration[2] = data[0]["z"]
self.filter_acceleration.add(self.acceleration)
self.gyro[0] = data[1]["x"]
self.gyro[1] = data[1]["y"]
self.gyro[2] = data[1]["z"]
self.filter_gyro.add(self.gyro)
orientation = self.calc_orientation()
self.is_new = True
self.orientation = orientation
self.filter_orientation.add(self.orientation)
self.filter_magnetometer.add(self.magnetometer)
if self.save_to_file:
self.to_file()
dt1 = time.time() - next_time
time.sleep(self.dt - dt1 if self.dt - dt1 > 0 else 0)
def dist(self, a, b):
return math.sqrt(a * a + b * b)
def get_y_rotation(self, x, y, z):
radians = math.atan2(x, self.dist(y, z))
return -math.degrees(radians)
def get_x_rotation(self, x, y, z):
radians = math.atan2(y, self.dist(x, z))
return math.degrees(radians)
def get_z_rotation(self, x, y, z):
return 0
def angle(self, prev, gyro, accel):
return 0.98 * (prev + gyro * self.dt) + 0.02 * accel
def calc_orientation(self):
gyro = self.filter_gyro.get()
orientation = self.orientation
acc = self.filter_acceleration.get()
Ux = self.angle(orientation[0], gyro[0],
self.get_x_rotation(acc[0], acc[1], acc[2]))
Uy = self.angle(orientation[1], gyro[1],
self.get_y_rotation(acc[0], acc[1], acc[2]))
Uz = self.angle(orientation[2], gyro[2],
self.get_z_rotation(acc[0], acc[1], acc[2]))
return [Ux, Uy, Uz]
def to_file(self):
data_to_file = ""
data_to_file += "Orientation;"
for item in list(self.orientation):
data_to_file += " {:8.3f};".format(item)
data_to_file += "OrientationFilter;"
for item in list(self.filter_orientation.get()):
data_to_file += " {:8.3f};".format(item)
data_to_file += "OrientationPrediction;"
for item in list(self.filter_orientation.prediction(t=None)):
data_to_file += " {:8.3f};".format(item)
data_to_file += "Acceleration;"
for item in list(self.acceleration):
data_to_file += " {:8.5f};".format(item)
data_to_file += "AccelerationFilter;"
for item in list(self.filter_acceleration.get()):
data_to_file += " {:8.5f};".format(item)
data_to_file += "AccelerationPrediction;"
for item in list(self.filter_acceleration.prediction(t=None)):
data_to_file += " {:8.5f};".format(item)
data_to_file += "Gyro;"
for item in list(self.gyro):
data_to_file += " {:8.5f};".format(item)
data_to_file += "GyroFilter;"
for item in list(self.filter_gyro.get()):
data_to_file += " {:8.5f};".format(item)
data_to_file += "Magnetometer;"
for item in list(self.magnetometer):
data_to_file += " {:8.3f};".format(item)
data_to_file += "MagnetometerFilter;"
for item in list(self.filter_magnetometer.get()):
data_to_file += " {:8.3f};".format(item)
self.file.write("Time; {:12.6f}; ; {} ; \n".format(
self.time - self.time_start, data_to_file))
def stop(self):
self.is_running = False
if self.save_to_file:
self.save_to_file = False
self.file.close()
self.file = open(self.file_name, "r")
data = self.file.read()
new_data = data.replace(".", ",")
self.file.close()
self.file = open(self.file_name, "w")
self.file.write(new_data)
self.file.close()
print('Stop')
def __del__(self):
self.stop()
def config(self):
self.sensor.set_gyro_range(self.sensor.GYRO_RANGE_250DEG)
self.sensor.set_accel_range(self.sensor.ACCEL_RANGE_2G)
def get_data(self):
obj = dict()
is_new = self.is_new
obj["acceleration"] = self.acceleration
obj["orientation"] = self.orientation
obj["magnetometer"] = self.magnetometer
obj["gyro"] = self.gyro
self.is_new = False
return (obj, is_new, self.time)
