def ShutAllBatteryHeaters():
""" shut all heaters off """
heaterIdentifers = (PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO,\
PSS_HTR_EN_3_GPIO, PSS_HTR_EN_4_GPIO)
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for iden in heaterIdentifers:
SensorManager.gpio_output(heaterIdentifers[i], OFF)
def main():
ds1624 = [TEMP_PAYLOAD_A, TEMP_BAT_1]
ds18b20 = [PANEL0, PANEL1]
for temp_sensor in ds1624:
SensorManager.init_temp_sensor(temp_sensor)
SensorManager.gpio_output(PSS_HTR_EN_1_GPIO, ON)
with open("/root/csdc3/src/sensors/temp_log.txt", "a") as f:
for i in range(1):
start = time.time()
temperatures = []
for temp_sensor in ds1624:
value = SensorManager.read_temp_sensor(temp_sensor)
temperatures.append(value)
for temp_sensor in ds18b20:
value = SensorManager.get_panel_data(temp_sensor)
temperatures.append(value)
readtime = time.time() - start
temperatures.append(readtime)
f.write(str(temperatures) + '\n')
SensorManager.gpio_output(PSS_HTR_EN_1_GPIO, OFF)
for temp_sensor in ds1624:
SensorManager.stop_temp_sensor(temp_sensor)
def test_gpio(self):
for i in range(5):
SensorManager.gpio_output(PAYLOAD_HTR_A_GPIO, ON)
time.sleep(0.2)
retval = SensorManager.gpio_output(PAYLOAD_HTR_A_GPIO, OFF)
time.sleep(0.2)
self.assertEqual(True, retval)
def set_heaters(self, experiment=0, state=False):
if state == False:
SensorManager.gpio_output(self.heater, OFF)
else:
SensorManager.gpio_output(self.heater, ON)
return True
def test_magnetometer(self):
hmc5883 = [MAG_0, MAG_1, MAG_2]
for sensor in hmc5883:
SensorManager.init_magnetometer(sensor)
value = SensorManager.read_magnetometer(sensor)
self.assertNotEqual(value, -1)
SensorManager.stop_magnetometer(sensor)
def main():
parser = argparse.ArgumentParser(description="Deployment script", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("-t", "--time", type=int, default=5, help="Time deployment switch is on")
args = parser.parse_args()
deploy_time = args.time
SensorManager.gpio_output(DEPLOYMENT_SW_A_GPIO, ON)
sleep(deploy_time)
SensorManager.gpio_output(DEPLOYMENT_SW_A_GPIO, OFF)
def end(self):
print("Payload ending...")
insertDebugLog(NOTICE, "Ending", PAYLOAD, int(time.time()))
SensorManager.stop_temp_sensor(self.temp_sensor)
SensorManager.stop_adc_sensor(ADC)
self.set_heaters(self.experiment, False)
self.set_power(False)
def main():
hmc5883 = [MAG_0, MAG_1, MAG_2]
for sensor in hmc5883:
SensorManager.init_magnetometer(sensor)
while True:
for sensor in hmc5883:
value = SensorManager.read_magnetometer(sensor)
print(value)
print
sleep(1)
def set_power(self, isOn=False):
insertDebugLog(NOTICE, "Power to %d" % (isOn), PAYLOAD, int(time.time()))
print("Setting power for payload: ", isOn)
if isOn == False:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, OFF)
SensorManager.gpio_output(OLD_PAYLOAD_EN_GPIO, OFF)
else:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, ON)
SensorManager.gpio_output(OLD_PAYLOAD_EN_GPIO, ON)
SensorManager.gpio_output(SENSORS_EN_GPIO, ON)
return True
def start(self):
insertDebugLog(NOTICE, "Starting. Runtime: %ds, Actuate time: %ds, Max strain: %d, Sampling Freq: %d." % \
(self.max_time, self.actuate_time, self.max_loadcell, \
self.heater_period), PAYLOAD, int(time.time()))
print("Starting payload...")
print("Runtime: %ds, Actuate time: %ds, Max strain: %d, Sampling period: %ds" % \
(self.max_time, self.actuate_time, self.max_loadcell, \
self.heater_period))
if not self.check_initial_conditions():
return False
self.lock.acquire()
self.set_power(True)
self.init_sensors()
start_time = time.time()
elapsed = 0
while True:
heater_temp = 0
if elapsed <= self.actuate_time or heater_temp < self.max_temp:
self.set_heaters(self.experiment, True)
time.sleep(self.heater_period)
else:
print("No longer turning heaters on")
time.sleep(self.heater_period)
self.set_heaters(self.experiment, False)
self.set_heaters(self.experiment, False)
elapsed = time.time() - start_time
off_time = time.time()
print("[" + str(round(elapsed, 3)) + " s] ", end='')
strain, force, adc_temp = SensorManager.read_adc(self.experiment, ADC)
heater_temp = SensorManager.read_temp_sensor(self.temp_sensor)
print(strain, force, adc_temp, heater_temp)
sleep_time = time.time() - off_time
elapsed = time.time() - start_time
time.sleep(abs(self.heater_period - sleep_time))
elapsed = time.time() - start_time
strain, force, adc_temp = SensorManager.read_adc(self.experiment, ADC)
heater_temp = SensorManager.read_temp_sensor(self.temp_sensor)
print("[" + str(round(elapsed, 3)) + " s] ", end='')
print(strain, force, adc_temp, heater_temp)
if self.is_end_condition(strain, elapsed):
break
if self.experiment:
exp = 'B'
else:
exp = 'A'
insertPayloadLog(int(start_time), int(time.time()), exp)
self.end()
self.lock.release()
return True
def test_pss_gpio(self):
gpios = [PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO, PSS_HTR_EN_3_GPIO, \
PSS_HTR_EN_4_GPIO, PSS_HTR_MUX_SEL_GPIO]
for gpio in gpios:
retval = SensorManager.gpio_output(gpio, self.gpioState)
self.assertEqual(True, retval)
def main():
ds18b20 = [PANEL0, PANEL1, PANEL2, PANEL3]
while True:
for temp_sensor in ds18b20:
value = SensorManager.get_panel_data(temp_sensor)
print value,
print
def check_initial_conditions(self):
# Check battery voltage
SensorManager.init_power_sensor(POWER)
power = SensorManager.read_power_sensor(POWER)
vbat = power[0] / 1000.
# Check available memory
free_space = utility.get_disk_usage('/')
#print("Free space", free_space)
if free_space >= self.PAYLOAD_MIN_SPACE and vbat >= self.PAYLOAD_MIN_VBAT:
return True
else:
print("Experiment cancelled")
print(free_space, vbat)
insertDebugLog(NOTICE, "Cancelled. Free space: %d, vbat: %.2f" % \
(free_space, vbat, PAYLOAD, int(time.time())))
return False
def main():
ser = init_transceiver()
SensorManager.gpio_output(RADIO_EN_GPIO, ON)
time.sleep(5)
if ser.isOpen():
for i in range(5):
curr_time = int(time.time())
power_tuple = selectTelemetryLog(POWER)
cdh_brd_temp = selectTelemetryLog(TEMP_CDH_BRD)
power = power_tuple[0][1]
temp = cdh_brd_temp[0][1]
print(temp)
SC_writeCallback(SC_transmit("POWER:%s| CDH_TEMP:%s | %d" % (power, temp, curr_time)), ser)
time.sleep(5)
else:
ser.open()
SensorManager.gpio_output(RADIO_EN_GPIO, OFF)
def main():
SensorManager.gpio_output(PAYLOAD_EN_GPIO, ON)
SensorManager.init_adc(ADC)
start_time = time.time()
try:
while True:
strain, force, adc_temp = SensorManager.read_adc(0, ADC)
elapsed = time.time() - start_time
print("[" + str(round(elapsed, 3)) + " s] ")
print(strain, force, adc_temp)
time.sleep(2)
except KeyboardInterrupt:
SensorManager.stop_adc_sensor(ADC)
SensorManager.gpio_output(PAYLOAD_EN_GPIO, OFF)
def test_adc_init(self):
SensorManager.mux_select(ADC)
SensorManager.init_adc(ADC)
addr = SensorEntropy.addr(ADC)
adc_reg = SensorEntropy.reg(ADC)
bus = SensorManager.bus
config = bus.read_byte_data(addr, adc_reg['CONFIG_REG'])
mode = bus.read_byte_data(addr, adc_reg['ADV_CONFIG_REG'])
conv = bus.read_byte_data(addr, adc_reg['CONV_RATE_REG'])
ch = bus.read_byte_data(addr, adc_reg['CHANNEL_DISABLE_REG'])
limits = bus.read_byte_data(addr, adc_reg['LIMIT_REG_BASE'])
self.assertEqual(config, 0x01)
self.assertEqual(mode, 0x04)
self.assertEqual(conv, 0x01)
self.assertEqual(ch, 0x00)
self.assertEqual(limits, 0x05)
def test_adc_stop(self):
SensorManager.mux_select(ADC)
SensorManager.stop_adc_sensor(ADC)
SensorManager.mux_select(ADC)
SensorManager.init_adc(ADC)
addr = SensorEntropy.addr(ADC)
adc_reg = SensorEntropy.reg(ADC)
bus = SensorManager.bus
config = bus.read_byte_data(addr, adc_reg['CONFIG_REG'])
self.assertEqual(config, 0x00)
def main():
bat_temp = [TEMP_BAT_1,TEMP_BAT_2,TEMP_BAT_3,TEMP_BAT_4]
brd_temp = [TEMP_EPS_BRD, TEMP_CDH_BRD, TEMP_PAYLOAD_BRD]
payload_temp = [TEMP_PAYLOAD_A, TEMP_PAYLOAD_B]
chassis_temp = [TEMP_PAYLOAD_CHASSIS, TEMP_END_CAP]
for sensor in (bat_temp + brd_temp + payload_temp + chassis_temp):
SensorManager.init_temp_sensor(sensor)
while True:
print "\nBattery temperature"
for sensor in bat_temp:
print(SensorManager.read_temp_sensor(sensor)),
print "\nBoard temperatures"
for sensor in brd_temp:
print(SensorManager.read_temp_sensor(sensor)),
"""
print "Chassis temperatures"
for sensor in brd_temp:
print(SensorManager.read_temp_sensor(sensor)),
print "Payload temperatures"
for sensor in brd_temp:
print(SensorManager.read_temp_sensor(sensor)),
"""
print
sleep(1)
for sensor in bat_temp:
SensorManager.stop_temp_sensor(sensor)
def __init__(self):
rospy.init_node('pf')
self.particle_publisher = rospy.Publisher("particlecloud",
PoseArray,
queue_size=10)
self.occupancy_field = OccupancyField()
self.transform_helper = TFHelper()
self.particle_manager = ParticleManager()
self.sensor_manager = SensorManager()
self.particle_manager.init_particles(self.occupancy_field)
self.scanDistance = 0.2
self.scanAngle = 0.5
self.moved = (0, 0)
def main():
magSensorList= [MAG_0, MAG_1, MAG_2]
SensorManager.mux_select(magSensorList[0])
bus = smbus.SMBus(0)
address = 0x1e
write_byte(0, 0b01110000) # Set to 8 samples @ 15Hz
write_byte(1, 0b00100000) # 1.3 gain LSb / Gauss 1090 (default)
write_byte(2, 0b00000000) # Continuous sampling
scale = 0.92
""" ***************** """
# for i in range(0,500):
# x_out = read_word_2c(3)
# y_out = read_word_2c(7)
# z_out = read_word_2c(5)
#
# bearing = math.atan2(y_out, x_out)
# if (bearing < 0):
# bearing += 2 * math.pi
#
# print x_out, y_out, (x_out * scale), (y_out * scale)
# time.sleep(0.1)
""" ***************** """
x_out = read_word_2c(3) * scale
y_out = read_word_2c(7) * scale
z_out = read_word_2c(5) * scale
bearing = math.atan2(y_out, x_out)
if (bearing < 0):
bearing += 2 * math.pi
print("Bearing: {}".format(math.degrees(bearing)))
""" ***************** """
def adc_driver_test():
SensorManager.gpio_output(PAYLOAD_EN_GPIO, ON)
SensorManager.init_adc_driver()
try:
while True:
for i in range(7):
value = SensorManager.read_adc_driver(i)
print value,
print
time.sleep(1)
except KeyboardInterrupt:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, OFF)
def check_health(self):
"""
Determines whether battery chargers must be set manually
"""
# Check if sensors are reading data in the system
# if areSensorsAcquiringData():
# return
# Check if ShutAllBatteryHeaters is running
if self.heaterShutDownLock.isLocked():
# Shut all battery heaters off
print('Battery heaters must remain shut off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifers:
SensorManager.gpio_output(heater, OFF)
return
# # Get temperature inputs
# tempIdentifiers = (TEMP_BAT_1,) # TEMP_BAT_2, TEMP_BAT_3, TEMP_BAT_4)
# tempValues = []
# for iden in tempIdentifiers:
# SensorManager.init_temp_sensor(iden)
# valueList = []
# # Get median of 5 value readings to remove outliers
# for i in range(0,5):
# valueList.append(SensorManager.read_temp_sensor(iden))
# tempValue = median(valueList)
# print(tempValue)
# SensorManager.stop_temp_sensor(iden)
# # Keep final value of sensor
# tempValues.append(tempValue)
#
# # Get status identifiers
# statusIdentifiers = (PSS_HTR_STAT_1_GPIO, PSS_HTR_STAT_2_GPIO,\
# PSS_HTR_STAT_3_GPIO, PSS_HTR_STAT_4_GPIO)
# statusValues = []
# for iden in statusIdentifiers:
# statusValues.append(SensorManager.gpio_input(iden,0))
batteryTempAndStatusDict = BatteryHeatersReader()
tempValues = [item["temp"] for item in batteryTempAndStatusDict]
statusValues = [item["heaters"] for item in batteryTempAndStatusDict]
# Define manual heater identifiers
heaterIdentifers = (PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO,\
PSS_HTR_EN_3_GPIO, PSS_HTR_EN_4_GPIO)
print('Status value: ' + str(statusValues[0]))
print('Is analog:', SensorManager.gpio_input(PSS_HTR_MUX_SEL_GPIO, time.time()))
# Check if payload is running
if self.isPayloadAcquiringData():
# Shut all battery heaters off
print('Payload is running... shutting off all battery heaters')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifers:
SensorManager.gpio_output(heater, OFF)
return
# Find out if analog or OBC is in control
for i in range(0,len(tempValues)):
if (self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1)\
or (self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0):
# OBC will take control
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
break
else:
# Analog will take control
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
# Perform OBC control if required
if self.controlStatus == True:
for i in range(0,len(tempValues)):
if tempValues[i] != None:
if self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 0:
print('Case 1: Temp > threshold, heaters off, no action required')
elif self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1:
print('Case 2: Temp > threshold, heaters on, OBC must shut off heater')
SensorManager.gpio_output(heaterIdentifers[i], OFF)
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0:
print('Case 3: Temp < threshold, heaters off, OBC must activate heater')
if self.is_battery_safe():
SensorManager.gpio_output(heaterIdentifers[i], ON)
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 1:
print('Case 4: Temp < threshold, heaters on, no action required')
def test_ds1624(self):
ds1624 = [TEMP_PAYLOAD_A, TEMP_BAT_1]
for sensor in ds1624:
SensorManager.init_temp_sensor(sensor)
value = SensorManager.read_temp_sensor(sensor)
self.assertNotEqual(value, -1)
def main():
while True:
SensorManager.gpio_output(PAYLOAD_EN_GPIO, ON)
time.sleep(2)
SensorManager.gpio_output(PAYLOAD_EN_GPIO, OFF)
time.sleep(2)
def main():
while True:
payload_current = SensorManager.read_switch_current(PAYLOAD_SWITCH_ADC_ID, True)
radio_current = SensorManager.read_switch_current(RADIO_SWITCH_ADC_ID, True)
print(payload_current, radio_current)
sleep(1)
def test_ds18b20(self):
ds18b20 = [PANEL0, PANEL1]
for sensor in ds18b20:
value = SensorManager.get_panel_data(sensor)
self.assertNotEqual(value, -1)
#!/usr/bin/env python3
from sensor_manager import SensorManager
from ble_controller import BleController, BleDelegate
from mqtt import MqttBroker
import json
import time
SENSOR_ADDR = "F0:C7:7F:94:7D:D1"
SENSOR_UUID = "0000ffe1-0000-1000-8000-00805f9b34fb"
SENSOR_HANDLE = 0x12
TOPIC_ENVIRONMENT = "home/env/"
TOPIC_DATASET = "dataset"
TOPIC_GET = "/raw"
sensor_manager = SensorManager()
ble = BleController()
mqtt = MqttBroker()
def on_ble_data(data):
sensor_manager.receive_raw_data(data)
def on_valid_data(data):
print("New dataset received -> {}".format(data))
mqtt.publish(TOPIC_ENVIRONMENT + TOPIC_DATASET, json.dumps(data))
def on_sensor_data(sensor, data):
mqtt.publish(TOPIC_ENVIRONMENT + sensor + TOPIC_GET, data)
def check_health(self):
"""
Determines whether battery chargers must be set manually
"""
# Check if sensors are reading data in the system
# if areSensorsAcquiringData():
# return
print('Threshold voltage:', self.thresholdVoltage)
# Get temperature inputs
tempIdentifiers = (TEMP_BAT_1) #, TEMP_BAT_2, TEMP_BAT_3, TEMP_BAT_4)
tempValues = []
for iden in tempIdentifiers:
SensorManager.init_temp_sensor(iden)
valueList = []
# Get median of 5 value readings to remove outliers
for i in range(0,5):
valueList.append(SensorManager.read_temp_sensor(iden))
tempValue = median(valueList)
print('Current temperature:', tempValue)
SensorManager.stop_temp_sensor(iden)
# Keep final value of sensor
tempValues.append(tempValue)
# Get status identifiers
statusIdentifiers = (PSS_HTR_STAT_1_GPIO, PSS_HTR_STAT_2_GPIO,\
PSS_HTR_STAT_3_GPIO, PSS_HTR_STAT_4_GPIO)
statusValues = []
for iden in statusIdentifiers:
statusValues.append(SensorManager.gpio_input(iden,0))
# Define manual heater identifiers
heaterIdentifiers = (PSS_HTR_EN_1_GPIO, PSS_HTR_EN_2_GPIO,\
PSS_HTR_EN_3_GPIO, PSS_HTR_EN_4_GPIO)
# Check if ShutAllBatteryHeaters is running
if self.heaterShutDownLock.isLocked():
# Shut all battery heaters off
print('Battery heaters must remain shut off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifiers:
SensorManager.gpio_output(heater, OFF)
return
# Check if payload is running
if self.isPayloadAcquiringData():
# Shut all battery heaters off
print('Payload is running... shutting off all battery heaters')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
for heater in heaterIdentifiers:
SensorManager.gpio_output(heater, OFF)
return
# Take control if required
for i in range(0,len(tempValues)):
if self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 0:
print('Case 1: [Analog] Heaters are turned on')
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
return
elif self.temp_threshold(tempValues[i], 'GT') and statusValues[i] == 1:
print('Case 2: [Digital] Heaters are turned off')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
SensorManager.gpio_output(heaterIdentifiers[i], OFF)
return
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 0:
print('Case 3: [Digital] Heaters are turned on')
self.controlStatus = True
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, OFF)
if self.is_battery_safe():
SensorManager.gpio_output(heaterIdentifiers[i], ON)
return
elif self.temp_threshold(tempValues[i], 'LT') and statusValues[i] == 1:
print('Case 4: [Analog] Heaters are turned off')
self.controlStatus = False
SensorManager.gpio_output(PSS_HTR_MUX_SEL_GPIO, ON)
return
def test_deployment_gpio(self):
gpios = [DEPLOYMENT_SW_A_GPIO, DEPLOYMENT_SW_B_GPIO]
for gpio in gpios:
retval = SensorManager.gpio_output(gpio, self.gpioState)
self.assertEqual(True, retval)
def test_cdh_gpio(self):
gpios = [WATCHDOG_GPIO, SENSORS_EN_GPIO, RADIO_EN_GPIO, I2C_MUX_RESET_GPIO]
for gpio in gpios:
retval = SensorManager.gpio_output(gpio, self.gpioState)
self.assertEqual(True, retval)
def test_payload_gpio(self):
gpios = [PAYLOAD_HTR_A_GPIO, PAYLOAD_HTR_B_GPIO, PAYLOAD_EN_GPIO]
for gpio in gpios:
retval = SensorManager.gpio_output(gpio, self.gpioState)
self.assertEqual(True, retval)
def test_ds1624(self):
ds1624 = [TEMP_CDH_BRD]
for sensor in ds1624:
SensorManager.init_temp_sensor(sensor)
value = SensorManager.read_temp_sensor(sensor)
self.assertNotEqual(value, -1)
