def __init__(self):
self.bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
self.mode = START_JOURNEY
self.coordX = 0
self.coordY = 0
# invoking hmc5833l i2c bus inside mpu6050
self.bus.write_byte_data(mpu_address, 0x6A, 0)
self.bus.write_byte_data(mpu_address, 0x37, 2)
self.bus.write_byte_data(mpu_address, power_mgmt_1, 0)
self.bus.write_byte_data(hmc_address, 0, 0b01110000) # Set to 8 samples @ 15Hz
self.bus.write_byte_data(hmc_address, 1, 0b00100000) # 1.3 gain LSb / Gauss 1090 (default)
self.bus.write_byte_data(hmc_address, 2, 0b00000000) # Continuous sampling
# update time
self.go_forward_time = 0
self.turn_time = 0
self.stairs_time = 0
# initializing variables needed for imu readings
self.accel_val = Vector(0, 0, 0)
# used for step detection (peak-to-peak detection)
self.peak_direction = MINIMA
self.accel_maxima = Vector(0, 0, 0)
self.accel_minima = Vector(0, 0, 0)
self.num_steps = 0
self.sample_new = Vector(0, 0, 0)
self.time_window = 0
self.peak_threshold = 0
self.steps = 0
# used for calculating the distance (stride-length and total distance within update time)
self.accel_list = []
self.distance = 0
self.total_distance = 0
# used for accelerometer filtering
self.gravity = Vector(0, 0, 0)
self.moving_index = 0
self.accel_filter_list = []
self.calculate_distance = False
self.first_time = True
self.startNavi = True
# used for compass heading
self.compass_val = Vector(0, 0, 0)
self.heading = 0
# used for barometer
self.barometer = BMP085(BMP085_STANDARD, BMP085_I2CADDR, 1)
self.altitude = 0
# download map
self.mapinfolist = MapInfoList()
class Navigation:
def __init__(self):
self.bus = smbus.SMBus(1) # or bus = smbus.SMBus(1) for Revision 2 boards
self.mode = START_JOURNEY
self.coordX = 0
self.coordY = 0
# invoking hmc5833l i2c bus inside mpu6050
self.bus.write_byte_data(mpu_address, 0x6A, 0)
self.bus.write_byte_data(mpu_address, 0x37, 2)
self.bus.write_byte_data(mpu_address, power_mgmt_1, 0)
self.bus.write_byte_data(hmc_address, 0, 0b01110000) # Set to 8 samples @ 15Hz
self.bus.write_byte_data(hmc_address, 1, 0b00100000) # 1.3 gain LSb / Gauss 1090 (default)
self.bus.write_byte_data(hmc_address, 2, 0b00000000) # Continuous sampling
# update time
self.go_forward_time = 0
self.turn_time = 0
self.stairs_time = 0
# initializing variables needed for imu readings
self.accel_val = Vector(0, 0, 0)
# used for step detection (peak-to-peak detection)
self.peak_direction = MINIMA
self.accel_maxima = Vector(0, 0, 0)
self.accel_minima = Vector(0, 0, 0)
self.num_steps = 0
self.sample_new = Vector(0, 0, 0)
self.time_window = 0
self.peak_threshold = 0
self.steps = 0
# used for calculating the distance (stride-length and total distance within update time)
self.accel_list = []
self.distance = 0
self.total_distance = 0
# used for accelerometer filtering
self.gravity = Vector(0, 0, 0)
self.moving_index = 0
self.accel_filter_list = []
self.calculate_distance = False
self.first_time = True
self.startNavi = True
# used for compass heading
self.compass_val = Vector(0, 0, 0)
self.heading = 0
# used for barometer
self.barometer = BMP085(BMP085_STANDARD, BMP085_I2CADDR, 1)
self.altitude = 0
# download map
self.mapinfolist = MapInfoList()
# call this method when receive start and destination id
def getShortestPath(self, startBuilding, startLevel, startNode, endBuilding, endLevel, endNode):
tup = self.mapinfolist.shortestPath(startBuilding, startLevel, startNode, endBuilding, endLevel, endNode)
def execute(self, queue):
##### initialization stage #####
accel_xout = read_word_2c(self.bus, mpu_address, 0x3b)
accel_yout = read_word_2c(self.bus, mpu_address, 0x3d)
accel_zout = read_word_2c(self.bus, mpu_address, 0x3f)
for i in range(4) :
accel_xout = read_word_2c(self.bus, mpu_address, 0x3b)
accel_yout = read_word_2c(self.bus, mpu_address, 0x3d)
accel_zout = read_word_2c(self.bus, mpu_address, 0x3f)
self.accel_val = Vector(accel_xout, accel_yout, accel_zout)
self.accel_filter_list.append(self.accel_val)
print "\n\nSTRIDE_COEFFICIENT: ", STRIDE_COEFFICIENT
print "PEAK THRESHOLD", PEAK_THRESHOLD
print "TIME THRESHOLD", TIME_THRESHOLD
print "START!!"
while(True):
### mode GO_FORWARD will update the distance and heading ###
##### get accelermeter reading #####
# filter accelerometer values
accel_xout = read_word_2c(self.bus, mpu_address, 0x3b)
accel_yout = read_word_2c(self.bus, mpu_address, 0x3d)
accel_zout = read_word_2c(self.bus, mpu_address, 0x3f)
self.accel_val = Vector(accel_xout, accel_yout, accel_zout)
self.gravity.x = HIGH_PASS * self.gravity.x + (1 - HIGH_PASS) * self.accel_val.x
self.gravity.y = 0
self.gravity.z = HIGH_PASS * self.gravity.z + (1 - HIGH_PASS) * self.accel_val.z
self.accel_val.x = self.accel_val.x - self.gravity.x
self.accel_val.y = self.accel_val.y - self.gravity.y
self.accel_val.z = self.accel_val.z - self.gravity.z
self.accel_val.x = (self.accel_filter_list[0].x + self.accel_filter_list[1].x + self.accel_filter_list[2].x + self.accel_filter_list[3].x + self.accel_val.x) / 5
self.accel_val.y = (self.accel_filter_list[0].y + self.accel_filter_list[1].y + self.accel_filter_list[2].y + self.accel_filter_list[3].y + self.accel_val.y) / 5
self.accel_val.z = (self.accel_filter_list[0].z + self.accel_filter_list[1].z + self.accel_filter_list[2].z + self.accel_filter_list[3].z + self.accel_val.z) / 5
self.accel_filter_list.insert(self.moving_index, self.accel_val)
self.moving_index = (self.moving_index + 1) % 4
# step detection - peak-to-peak detection
if(not self.first_time):
if( math.fabs( self.sample_new.y - self.accel_val.y ) >= ACCEL_THRESHOLD):
self.sample_new = self.accel_val
self.accel_list.append(self.accel_val)
# looking for a minima peak
if(self.peak_direction == MINIMA):
if(self.accel_val.y > self.accel_maxima.y):
self.accel_maxima = self.accel_val
else:
if(self.calculate_distance):
#if(self.mode == GO_FORWARD):
stride = getStrideLength(self.accel_list)
print "--------------- STRIDE", stride
self.distance += stride
self.total_distance += stride
self.accel_list = []
self.calculate_distance = False
if( self.accel_maxima.y - self.accel_val.y >= self.peak_threshold ):
if(time.time() - self.time_window >= TIME_THRESHOLD):
# a maxima has been detected and a step is detected
#if(self.mode == GO_FORWARD):
# #beep at every step
# q_step.put(1)
self.num_steps += 1
self.steps += 1
self.peak_direction = MAXIMA
self.accel_minima = self.accel_val
self.time_window = time.time()
print "\n--------------- PEAK DETECTED MINIMA", self.num_steps
self.peak_threshold = PEAK_THRESHOLD
self.calculate_distance = True
# looking for a maxima peak
if( self.peak_direction == MAXIMA ):
if( self.accel_val.y < self.accel_minima.y):
self.accel_minima = self.accel_val
else:
if(self.calculate_distance):
#if(self.mode == GO_FORWARD):
stride = getStrideLength(self.accel_list)
print "--------------- STRIDE", stride
self.distance += stride
self.total_distance += stride
self.calculate_distance = False
self.accel_list = []
if(self.accel_val.y - self.accel_minima.y >= self.peak_threshold ):
if(time.time() - self.time_window >= TIME_THRESHOLD):
# a maxima has been detected and a step is detected
#if(self.mode == GO_FORWARD):
# #beep at every step
# q_step.put(1)
self.num_steps += 1
self.steps += 1
self.peak_direction = MINIMA
self.accel_maxima = self.accel_val
self.time_window = time.time()
print "\n--------------- PEAK DETECTED MAXIMA", self.num_steps
self.peak_threshold = PEAK_THRESHOLD
self.calculate_distance = True
else:
self.peak_direction = MINIMA
self.peak_threshold = PEAK_THRESHOLD / 2
self.accel_maxima = self.accel_val
self.first_time = False
self.sample_new = self.accel_val
self.time_window = time.time()
# reading compass values
compass_xout = read_word_2c(self.bus, hmc_address, 3) - COMPASS_X_AXIS
compass_yout = read_word_2c(self.bus, hmc_address, 7)
compass_zout = read_word_2c(self.bus, hmc_address, 5) - COMPASS_Z_AXIS
self.compass_val = Vector(compass_xout, compass_yout, compass_zout)
self.heading = GetHeading(self.compass_val)
### mode STAIRS will update barometer
if(self.mode == STAIRS):
self.altitude = self.barometer.read_altitude(SEA_LEVEL)
# # check qrcode updates
# try:
# qrstring = q_qrcode.get(block=False)
# if qrstring != None:
# #mapid-nodeid eg. 3-02
# print qrstring
# ids = qrstring.split('-')
# mapid = int(ids[0])
# nodeid = int(ids[1])
# dic = self.mapinfolist.updateCurrentCoordinates(mapid, nodeid)
# self.coordX = dic[COORDX]
# self.coordY = dic[COORDY]
# # Queue.empty
# except Exception:
# #ignore
# pass
##### check state machine #####
result = self.mapinfolist.giveDirection(self.distance, self.heading, self.altitude, self.coordX, self.coordY, self.steps)
self.steps = 0
self.distance = 0
self.mode = result[MODE]
self.coordX = result[COORDX]
self.coordY = result[COORDY]
feedback = ""
if(self.mode == START_JOURNEY):
numberBuildings = result[NUMBER_OF_BUILDINGS]
#feedback is "You have to walk through " + str(numberBuildings) + " building(s)"
# feedback = "sj," + str(numberBuildings)
print "\n\nMODE: START_JOURNEY ---\n" + "sj," + str(numberBuildings)
if(self.mode == START_BUILDING):
# numberNodes = result[NUMBER_NODES]
currentBuilding = result[CURRENT_BUILDING]
currentNode = result[CURRENT_NODE]
# building = "COM 1"
# level = 2
# if(currentBuilding == 1):
# building = "COM 2"
# level = 2
# elif(currentBuilding == 2):
# building = "COM 2"
# level = 3
# feedback is "You are currently at building " + str(building) + " level " + str(level) + "\nYou have to walk pass " + str(numberNodes) + " nodes" "\nNow starting at node " + str(currentNode)
# feedback = "sb," + str(building) + "," + str(level) + "," + str(numberNodes) + "," + str(currentNode)
feedback = "bn," + str(currentBuilding) + "," + str(currentNode)
self.startNavi = True
print "\n\n--- MODE: START_BUILDING ---\n" + feedback + "\nCOORDX: " + str(self.coordX) + " COORDY: " + str(self.coordY)
elif(self.mode == REACH_NODE):
currentNode = result[CURRENT_NODE]
# feedback is "You have reached node " + str(currentNode)
feedback = "rn," + str(currentNode)
print "\n\n--- MODE: REACH_NODE ---\n" + feedback + "\nCOORDX: " + str(self.coordX) + " COORDY: " + str(self.coordY)
elif (self.mode == TURN):
if(self.startNavi == False):
if(time.time() - self.turn_time >= TURN_UPDATE_TIME):
isLeft = result[LEFTORRIGHT]
angle = int(result[ANGLE])
self.turn_time = time.time()
if(isLeft == LEFT):
# feedback is "Turn left by " + str(angle) + " degrees"
feedback = "tl"
else:
# feedback is "Turn right by " + str(angle) + " degrees"
feedback = "tr"
print "\n\n--- MODE: TURN ---\n" + feedback + " " + str(angle)
else:
self.startNavi = False
self.turn_time = time.time()
elif(self.mode == GO_FORWARD):
if(time.time() - self.go_forward_time >= GO_FORWARD_UPDATE_TIME):
self.go_forward_time = time.time()
feedback = "gf"
print "\n\n--- MODE: GO_FORWARD ---\n" + "Go forward" + "\nCOORDX: " + str(self.coordX) + " COORDY: " + str(self.coordY)
elif(self.mode == STAIRS):
if(time.time() - self.stairs_time >= STAIRS_UPDATE_TIME):
self.stairs_time = time.time()
feedback = "gu"
print "\n\n--- MODE: STAIRS ---\n" + "Stairs"
elif(self.mode == ARRIVE_DESTINATION):
feedback = "r"
print "\n\nMODE: ARRIVE DESTINATION ---"
queue.put(feedback)
break
if feedback != "":
queue.put(feedback)