def main():
# Initial check for update; exit if there is an update
if git_utils.git_pull() != 'Already up-to-date.\n':
# TO-DO: This currently logs an update even when there is a git pull error
utils.log_error('update')
return 0
if not os.path.isdir(LOG_DIR):
os.mkdir(LOG_DIR)
utils.log_error('bootup', data=git_utils.git_tag())
global DRIVE_AUTH
DRIVE_AUTH = utils.google_auth()
global OPEN_DOOR_DISTANCE_CM
OPEN_DOOR_DISTANCE_CM = set_threshold()
print('Threshold set to {} cm'.format(OPEN_DOOR_DISTANCE_CM))
global RASPI_SERIAL_NUM
RASPI_SERIAL_NUM = utils.get_serial()
setup_gpio()
firebase_connection = firebase_utils.get_firebase_connection(FIREBASE_URL)
previous_door_state = get_door_state_from_str(firebase_utils.get_status(firebase_connection, RASPI_SERIAL_NUM))
if not previous_door_state:
previous_door_state = DoorState.unknown
while True:
# Upload log file at 01:00-01:01
if datetime.datetime.now().hour == 1 and datetime.datetime.now().minute < 2:
utils.upload_log_files(DRIVE_AUTH)
command = firebase_utils.get_command(firebase_connection, RASPI_SERIAL_NUM)
if command:
process_command(firebase_connection, command)
current_door_state = check_door_status()
if current_door_state != previous_door_state:
# Double check this new reading in case it was faulty
time.sleep(1)
door_state_verification = check_door_status()
if current_door_state == door_state_verification:
previous_door_state = current_door_state
firebase_utils.update_status(firebase_connection, utils.get_serial(), current_door_state.name)
firebase_utils.notify_users(firebase_connection, RASPI_SERIAL_NUM, API_KEY, current_door_state.name)
# Exit if there is an update.
git_pull_result = git_utils.git_pull()
if git_pull_result:
if git_pull_result != 'Already up-to-date.\n':
utils.log_error('update')
return 0
time.sleep(0.5)
def __init__(self):
self.mesh = MeshNet(master=True)
self.api = Api()
self.id = get_serial()
self.node_addresses = {}
self.node_info = NodeInfo()
def process_command(firebase_connection, command):
utils.print_with_timestamp('Processing command: {}'.format(command))
if command == ValidCommands.checkDoorStatus.name:
utils.print_with_timestamp('checkDoorStatus command')
status = check_door_status()
firebase_utils.update_status(firebase_connection, utils.get_serial(), status.name)
print('Door is {}'.format(status.name))
elif command == ValidCommands.openDoor.name:
utils.print_with_timestamp('openDoor command')
open_door()
elif command == ValidCommands.closeDoor.name:
utils.print_with_timestamp('closeDoor command')
close_door()
elif command == ValidCommands.calibrate.name:
utils.print_with_timestamp('calibrate command')
calibrate(firebase_connection)
elif command.split('-')[0] == ValidCommands.updateLogFile.name:
# Proper structure of this firebase command is "udateLogFile-YYY_MM_DD"
# If the date poriton is omittied ("updateLogFile"), today's file will be uploaded
# as was previously the case
if len(command.split('-')) > 1:
date = command.split('-')[1]
else:
# Create today's date
date = datetime.datetime.strftime(datetime.datetime.now(), '%Y_%m_%d')
utils.print_with_timestamp('updateLogFile command')
utils.upload_log_files(DRIVE_AUTH, desired_date=date)
else:
utils.print_with_timestamp('invalid command')
utils.log_error('processed-invalid-command', data=command)
def get_firebase_connection(url):
# Get password from secrets.txt (created manually on each device)
# This is located in firebase under settings>Service accounts> Database secrets
# You must be logged in as admin, not as rasmcfall
with open('secrets.txt', 'r') as f:
password = f.readline().strip()
authentication = firebase.FirebaseAuthentication(password, '*****@*****.**',
extra={'id': utils.get_serial()})
return firebase.FirebaseApplication(url, authentication=authentication)
def __init__(self, temperature_sensor):
self.temperature_sensor = temperature_sensor
self.rotary_encoder = RotaryEncoder(self)
self.power = Power(POWER_PIN)
self.model = ServerModel(get_serial())
self.boil_temps = [60, 65, 70, 75, 80, 85, 90, 95, 100]
self.boil_volumes = [0.50, 0.75, 1.00, 1.25, 1.50, 1.75]
self.menu = RpiLCDMenu()
self.init_menu()
debug_flag = 0
mqtt_flag = 0
file_flag = 0
# Edge parameters, environment variable based
DEFAULT_LAT = '0.0001'
DEFAULT_LON = '0.0001'
DEFAULT_CONTRACT_ADDR = '0x0000000000000000000000000000000000000000'
## Get edge device env var's for WIoTP publish
# Check primary env vars first
hzn_organization = utils.check_env_var(
'HZN_ORGANIZATION') # automatically passed in by Horizon
#wiotp_device_auth_token = utils.check_env_var('WIOTP_DEVICE_AUTH_TOKEN') # note: this is no longer needed because we can now send msgs an an app to edge-connector unauthenticated, as long as we are local.
hzn_device_id = utils.check_env_var(
'HZN_DEVICE_ID', utils.get_serial()
) # automatically passed in by Horizon. Wiotp automatically gives this a value of: g@mygwtype@mygw
# When the Workload is deployed by WIoTP-Horizon; HZN_DEVICE_ID ~= 'g@mygwtype@mygw'.
ids = hzn_device_id.split('@')
if len(ids) == 3:
class_id, device_type, device_id = ids # the class id is not actually used anymore
else:
utils.print_("Error: HZN_DEVICE_ID must have the format: g@mygwtype@mygw")
#utils.print_("Workload config.py: Optional override environment variables:")
#utils.print_("Workload config.py: WIOTP_CLASS_ID=" + utils.check_env_var('WIOTP_CLASS_ID', '', False))
#utils.print_("Workload config.py: WIOTP_DEVICE_TYPE=" + utils.check_env_var('WIOTP_DEVICE_TYPE', '', False))
#utils.print_("Workload config.py: WIOTP_DEVICE_ID=" + utils.check_env_var('WIOTP_DEVICE_ID', '', False))
utils.print_("Workload config.py: Derived variables:")
#utils.print_("Workload config.py: CLASS_ID=" + class_id)
def print_trajectory():
coord_by_axis = tuple(zip(*trajectory))
print("\n".join(map(repr, trajectory)))
print("\nRange: [{}, {}], [{}, {}], [{}, {}]".format(
min(coord_by_axis[0]),
max(coord_by_axis[0]),
min(coord_by_axis[1]),
max(coord_by_axis[1]),
min(coord_by_axis[2]),
max(coord_by_axis[2]),
))
# Uncomment the statement below to print the double integration results
# when the program exits.
#atexit.register(print_trajectory)
ser = get_serial(None, 115200)
sample_period = 1.0 / 200
ma = mg.MadgwickAHRS(sampleperiod=sample_period)
count = 0
x_bias = 29.69433
y_bias = 3.20569
z_bias = -22.26908
l = 0.5
verticies = [[l, -l, -l],[l, l, -l],[-l, l, -l],[-l, -l, -l],[l, -l, l],[l, l, l],[-l, -l, l],[-l, l, l]]
# ini_qua = Quaternion(0.05, -0.116, 0.984, 0.001)
# for i in range(len(verticies)):
# verticies[i] = ini_qua.rotate(verticies[i])
final_verticies = [[1, -1, -1],[1, 1, -1],[-1, 1, -1],[-1, -1, -1],[1, -1, 1],[1, 1, 1],[-1, -1, 1],[-1, 1, 1]]
edges = [[0,1],[0,3],[0,4],[2,1],[2,3],[2,7],[6,3],[6,4],[6,7],[5,1],[5,4],[5,7]]
def __init__(self):
self.mesh = MeshNet(master=False)
self.id = get_serial()
self.functionality = None
self.is_init = False