class ResetThread(QtCore.QThread):
"""Thread for resetting Vectrino"""
def __init__(self):
QtCore.QThread.__init__(self)
print("Vectrino reset thread initialized")
self.vec = PdControl()
self.comport = "COM2"
self.isconnected = self.vec.connected
self.vecstatus = "Vectrino disconnected "
self.enable = True
print("Vectrino thread init done")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.3)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.3)
print("Vectrino in data confirmation mode")
self.stop()
def stop(self):
self.vec.stop_disk_recording()
self.vec.stop()
while self.vec.state != "Command mode":
time.sleep(0.3)
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
class ResetThread(QtCore.QThread):
"""Thread for resetting Vectrino"""
def __init__(self):
QtCore.QThread.__init__(self)
print("Vectrino reset thread initialized")
self.vec = PdControl()
self.comport = "COM2"
self.isconnected = self.vec.connected
self.vecstatus = "Vectrino disconnected "
self.enable = True
print("Vectrino thread init done")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.3)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.3)
print("Vectrino in data confirmation mode")
self.stop()
def stop(self):
self.vec.stop_disk_recording()
self.vec.stop()
while self.vec.state != "Command mode":
time.sleep(0.3)
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
class TurbineTow(QtCore.QThread):
towfinished = QtCore.pyqtSignal()
def __init__(self,
acs_hcomm,
U,
tsr,
y_R,
z_H,
turbine_properties,
nidaq=True,
vectrino=True,
vecsavepath="",
fbg=False,
fbg_properties={},
settling=False,
vec_salinity=0.0):
"""Turbine tow run object."""
QtCore.QThread.__init__(self)
self.hc = acs_hcomm
self.U = float(U)
self.tsr = tsr
self.y_R = y_R
self.z_H = z_H
self.R = turbine_properties["radius"]
self.H = turbine_properties["height"]
self.vectrino = vectrino
self.nidaq = nidaq
self.fbg = fbg
self.settling = settling
self.build_acsprg()
self.acsdaqthread = daqtasks.AcsDaqThread(self.hc)
self.maxvel = U * 1.3
self.usetrigger = True
self.vecsavepath = vecsavepath
self.recordvno = True
self.vecstatus = "Vectrino disconnected "
self.autoaborted = False
self.aborted = False
self.vec_salinity = vec_salinity
commit = check_output(["git", "rev-parse", "--verify", "HEAD"])[:-1]
self.metadata = {
"Tow speed (m/s)": float(U),
"Tip speed ratio": tsr,
"Time created": time.asctime(),
"TurbineDAQ version": commit
}
if self.vectrino:
self.vec = PdControl()
self.metadata["Vectrino metadata"] = {"y/R": y_R, "z/H": z_H}
if self.nidaq:
self.daqthread = daqtasks.NiDaqThread(usetrigger=self.usetrigger)
self.nidata = self.daqthread.data
self.metadata["NI metadata"] = self.daqthread.metadata
if self.fbg:
self.fbgthread = daqtasks.FbgDaqThread(fbg_properties,
usetrigger=self.usetrigger)
self.metadata["FBG metadata"] = self.fbgthread.metadata
self.fbgdata = self.fbgthread.data
def build_acsprg(self):
"""Create the ACSPL+ program for running the run.
This run should send a trigger pulse."""
if self.settling:
endpos = 9.0
else:
endpos = 0.0
self.acs_prg = acsprgs.turbine_tow_prg(self.U,
self.tsr,
self.R,
endpos=endpos)
def setvecconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.coordinate_system = "XYZ"
self.vec.power_level = "High"
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.vec_salinity
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
elif self.maxvel <= 0.3 or self.settling:
self.vec.vel_range = 3
self.vec.set_config()
self.metadata["Vectrino metadata"]["Velocity range (index)"] = \
self.vec.vel_range
self.metadata["Vectrino metadata"]["Sample rate (Hz)"] = \
self.vec.sample_rate
self.metadata["Vectrino metadata"]["Coordinate system"] = \
self.vec.coordinate_system
self.metadata["Vectrino metadata"]["Salinity (ppt)"] = \
self.vec.salinity
self.metadata["Vectrino metadata"]["Transmit length"] = \
self.vec.transmit_length
self.metadata["Vectrino metadata"]["Sampling volume"] = \
self.vec.sampling_volume
print("Vectrino configuration set")
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R * self.R)
acsc.toPoint(self.hc, None, 1, self.z_H * self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def reset_vec(self):
self.vec.connect()
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vec.data = {}
print("Vectrino reset")
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
import time
import matplotlib.pyplot as plt
import numpy as np
vec = PdControl()
vec.serial_port = "COM8"
vec.start_on_sync = False
vec.sync_master = True
vec.sample_rate = 100
vec.vel_range = 2
vec.transmit_length = 3
vec.sampling_volume = 3
vec.salinity = 0.0
vec.power_level = "High"
vec.connect()
while not vec.connected:
print "Connecting..."
time.sleep(0.5)
print "Connected!"
vec.set_config()
vec.stop()
vec.start_disk_recording("test/test", False)
vec.start()
while vec.state != "Confirmation mode":
time.sleep(0.2)
print "Collecting data..."
class TurbineTow(QtCore.QThread):
towfinished = QtCore.pyqtSignal()
def __init__(self, acs_hcomm, U, tsr, y_R, z_H,
turbine_properties, nidaq=True, vectrino=True, vecsavepath="",
fbg=False, fbg_properties={}, settling=False, vec_salinity=0.0):
"""Turbine tow run object."""
QtCore.QThread.__init__(self)
self.hc = acs_hcomm
self.U = float(U)
self.tsr = tsr
self.y_R = y_R
self.z_H = z_H
self.R = turbine_properties["radius"]
self.H = turbine_properties["height"]
self.vectrino = vectrino
self.nidaq = nidaq
self.fbg = fbg
self.settling = settling
self.build_acsprg()
self.acsdaqthread = daqtasks.AcsDaqThread(self.hc)
self.maxvel = U*1.3
self.usetrigger = True
self.vecsavepath = vecsavepath
self.recordvno = True
self.vecstatus = "Vectrino disconnected "
self.autoaborted = False
self.aborted = False
self.vec_salinity = vec_salinity
commit = check_output(["git", "rev-parse", "--verify", "HEAD"])[:-1]
self.metadata = {"Tow speed (m/s)" : float(U),
"Tip speed ratio" : tsr,
"Time created" : time.asctime(),
"TurbineDAQ version" : commit}
if self.vectrino:
self.vec = PdControl()
self.metadata["Vectrino metadata"] = {"y/R": y_R, "z/H": z_H}
if self.nidaq:
self.daqthread = daqtasks.NiDaqThread(usetrigger=self.usetrigger)
self.nidata = self.daqthread.data
self.metadata["NI metadata"] = self.daqthread.metadata
if self.fbg:
self.fbgthread = daqtasks.FbgDaqThread(fbg_properties,
usetrigger=self.usetrigger)
self.metadata["FBG metadata"] = self.fbgthread.metadata
self.fbgdata = self.fbgthread.data
def build_acsprg(self):
"""Create the ACSPL+ program for running the run.
This run should send a trigger pulse."""
if self.settling:
endpos = 9.0
else:
endpos = 0.0
self.acs_prg = acsprgs.turbine_tow_prg(self.U, self.tsr, self.R,
endpos=endpos)
def setvecconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.coordinate_system = "XYZ"
self.vec.power_level = "High"
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.vec_salinity
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
elif self.maxvel <= 0.3 or self.settling:
self.vec.vel_range = 3
self.vec.set_config()
self.metadata["Vectrino metadata"]["Velocity range (index)"] = \
self.vec.vel_range
self.metadata["Vectrino metadata"]["Sample rate (Hz)"] = \
self.vec.sample_rate
self.metadata["Vectrino metadata"]["Coordinate system"] = \
self.vec.coordinate_system
self.metadata["Vectrino metadata"]["Salinity (ppt)"] = \
self.vec.salinity
self.metadata["Vectrino metadata"]["Transmit length"] = \
self.vec.transmit_length
self.metadata["Vectrino metadata"]["Sampling volume"] = \
self.vec.sampling_volume
print("Vectrino configuration set")
def run(self):
"""Start the run. Comms should be open already with the controller."""
if acsc.getOutput(self.hc, 1, 16):
acsc.setOutput(self.hc, 1, 16, 0)
if self.vectrino:
acsc.enable(self.hc, 0)
acsc.enable(self.hc, 1)
while not acsc.getMotorState(self.hc, 0)["enabled"] or not \
acsc.getMotorState(self.hc, 1)["enabled"]:
self.msleep(100)
acsc.toPoint(self.hc, None, 0, self.y_R*self.R)
acsc.toPoint(self.hc, None, 1, self.z_H*self.H)
while not acsc.getMotorState(self.hc, 0)["in position"] or not \
acsc.getMotorState(self.hc, 1)["in position"]:
self.msleep(300)
print("y- and z-axes in position")
acsc.disable(self.hc, 0)
acsc.disable(self.hc, 1)
self.vec.serial_port = "COM2"
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
self.msleep(300)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
break
if not self.timeout:
self.vec.stop()
self.setvecconfig()
if self.recordvno:
self.vec.start_disk_recording(self.vecsavepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
self.msleep(100)
print("Vectrino in data collection mode")
print("Waiting 6 seconds")
self.sleep(6)
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
elif self.nidaq:
self.daqthread.start()
if self.fbg:
self.fbgthread.start()
self.start_motion()
else:
# Start motion
self.start_motion()
def start_motion(self):
self.acsdaqthread.start()
nbuf = 19
acsc.loadBuffer(self.hc, nbuf, self.acs_prg, 2048)
acsc.enable(self.hc, 4)
acsc.enable(self.hc, 5)
acsc.runBuffer(self.hc, nbuf)
prgstate = acsc.getProgramState(self.hc, nbuf)
while prgstate == 3:
time.sleep(0.3)
prgstate = acsc.getProgramState(self.hc, nbuf)
self.acsdaqthread.stop()
if self.nidaq:
self.daqthread.clear()
print("NI tasks cleared")
if self.fbg:
self.fbgthread.stop()
if self.vectrino:
if self.settling:
# Wait 10 minutes to measure tank settling time
print("Waiting 10 minutes")
t0 = time.time()
dt = 0.0
while not self.aborted and dt < 600:
time.sleep(0.5)
dt = time.time() - t0
if self.recordvno:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
print("Tow finished")
if self.vectrino:
if self.vec.state == "Not connected":
self.vecstatus = "Vectrino disconnected "
print("Resetting Vectrino")
self.reset_vec()
self.towfinished.emit()
def reset_vec(self):
self.vec.connect()
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vec.data = {}
print("Vectrino reset")
def abort(self):
"""This should stop everything."""
print("Aborting turbine tow")
self.aborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
def autoabort(self):
"""This should stop everything and return carriage and turbine back
to zero."""
self.autoaborted = True
acsc.stopBuffer(self.hc, 19)
acsc.halt(self.hc, 0)
acsc.halt(self.hc, 1)
acsc.halt(self.hc, 4)
acsc.halt(self.hc, 5)
acsc.toPoint(self.hc, None, 4, 0.0)
acsc.setVelocity(self.hc, 5, 0.5)
acsc.toPoint(self.hc, None, 5, 0.0)
class VectrinoThread(QtCore.QThread):
"""Thread for running Vectrino"""
collecting = QtCore.pyqtSignal()
connectsignal = QtCore.pyqtSignal(bool)
def __init__(self,
maxvel=2.5,
usetrigger=True,
record=False,
salinity=0.0):
QtCore.QThread.__init__(self)
print("Vectrino thread initialized")
self.vec = PdControl()
self.vecdata = self.vec.data
self.usetrigger = usetrigger
self.maxvel = maxvel
self.comport = "COM2"
self.record = record
self.isconnected = self.vec.connected
self.savepath = ""
self.vecstatus = "Vectrino disconnected "
self.enable = True
self.salinity = salinity
print("Vectrino thread init done")
def setconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.salinity
self.vec.power_level = "High"
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
self.vec.set_config()
print("Vectrino configuration set")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.5)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
self.connectsignal.emit(False)
break
if not self.timeout:
self.connectsignal.emit(True)
self.vec.stop()
self.setconfig()
if self.record:
self.vec.start_disk_recording(self.savepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.1)
print("Vectrino in data collection mode")
time.sleep(6)
self.collecting.emit()
print("Vectrino collecting")
def getstatus(self):
return self.vec.state
def stop(self):
self.enable = False
if self.record:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "
import time
import matplotlib.pyplot as plt
import numpy as np
vec = PdControl()
vec.serial_port = "COM8"
vec.start_on_sync = False
vec.sync_master = True
vec.sample_rate = 100
vec.vel_range = 2
vec.transmit_length = 3
vec.sampling_volume = 3
vec.salinity = 0.0
vec.power_level = "High"
vec.connect()
while not vec.connected:
print "Connecting..."
time.sleep(0.5)
print "Connected!"
vec.set_config()
vec.stop()
vec.start_disk_recording("test/test", False)
vec.start()
while vec.state != "Confirmation mode":
time.sleep(0.2)
print "Collecting data..."
class VectrinoThread(QtCore.QThread):
"""Thread for running Vectrino"""
collecting = QtCore.pyqtSignal()
connectsignal = QtCore.pyqtSignal(bool)
def __init__(self, maxvel=2.5, usetrigger=True, record=False, salinity=0.0):
QtCore.QThread.__init__(self)
print("Vectrino thread initialized")
self.vec = PdControl()
self.vecdata = self.vec.data
self.usetrigger = usetrigger
self.maxvel = maxvel
self.comport = "COM2"
self.record = record
self.isconnected = self.vec.connected
self.savepath = ""
self.vecstatus = "Vectrino disconnected "
self.enable = True
self.salinity = salinity
print("Vectrino thread init done")
def setconfig(self):
self.vec.start_on_sync = self.usetrigger
self.vec.sync_master = not self.usetrigger
self.vec.sample_on_sync = False
self.vec.sample_rate = 200
self.vec.transmit_length = 3
self.vec.sampling_volume = 3
self.vec.sound_speed_mode = "measured"
self.vec.salinity = self.salinity
self.vec.power_level = "High"
if self.maxvel <= 4.0 and self.maxvel > 2.5:
self.vec.vel_range = 0
elif self.maxvel <= 2.5 and self.maxvel > 1.0:
self.vec.vel_range = 1
elif self.maxvel <= 1.0 and self.maxvel > 0.3:
self.vec.vel_range = 2
self.vec.set_config()
print("Vectrino configuration set")
def run(self):
self.vec.serial_port = self.comport
self.vec.connect()
tstart = time.time()
self.timeout = False
self.vecstatus = "Connecting to Vectrino..."
while not self.vec.connected:
time.sleep(0.5)
if time.time() - tstart > 10:
print("Vectrino timed out")
self.timeout = True
self.connectsignal.emit(False)
break
if not self.timeout:
self.connectsignal.emit(True)
self.vec.stop()
self.setconfig()
if self.record:
self.vec.start_disk_recording(self.savepath)
self.vec.start()
self.vecstatus = "Vectrino connected "
while self.vec.state != "Confirmation mode":
time.sleep(0.1)
print("Vectrino in data collection mode")
time.sleep(6)
self.collecting.emit()
print("Vectrino collecting")
def getstatus(self):
return self.vec.state
def stop(self):
self.enable = False
if self.record:
self.vec.stop_disk_recording()
self.vec.stop()
self.vec.disconnect()
self.vecstatus = "Vectrino disconnected "