Esempio n. 1
0
class InterfaceSource(Source):
    def __init__(self):
        Source.__init__(self)
        
        try:
            self._device = InterfaceKit()
        except RuntimeError as e:
            print("Runtime Error: %s" % e.message)
            
        try:
            self._device.openPhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.detail))
        
        self._device.setOnSensorChangeHandler(self.sensor_changed)
        
        print("Phidget: Waiting for Connection")
        self._device.waitForAttach(10000)
        
        self._device.setSensorChangeTrigger(0, 0)
        self._device.setDataRate(0, 1)
        
        print("Phidget: Connected")
    
    def sensor_changed(self, e):
        if self.sink is not None:
            self.sink([e.value])
Esempio n. 2
0
def setup_phidgets():
    global interfaceKits
    interfaceKits = InterfaceKits()

    "Print Creating phidget manager"
    try:
        manager = Manager()
    except RuntimeError as e:
        output("Runtime Exception: %s" % e.details)
        output("Exiting....")
        exit(1)

    try:
        manager.setOnAttachHandler(ManagerDeviceAttached)
        manager.setOnDetachHandler(ManagerDeviceDetached)
        manager.setOnErrorHandler(ManagerError)
    except PhidgetException as e:
        output("Phidget Exception %i: %s" % (e.code, e.details))
        output("Exiting....")
        exit(1)

    output("Opening phidget manager....")
    logging.info("Opening phidget manager....")

    try:
        manager.openManager()
        #manager.openRemote("hydropi","hydropi")
    except PhidgetException as e:
        output("Phidget Exception %i: %s" % (e.code, e.details))
        logging.error("Phidget Exception %i: %s" % (e.code, e.details))
        output("Exiting....")
        logging.error("Exiting....")
        exit(1)

    # Wait a moment for devices to attache......
    output("\nWaiting one sec for devices to attach....\n\n")
    logging.info("Waiting one sec for devices to attach....")
    time.sleep(1)

    output("Phidget manager opened.")

    attachedDevices = manager.getAttachedDevices()
    for attachedDevice in attachedDevices:
     
        output("Found %30s - SN %10d" % (attachedDevice.getDeviceName(), attachedDevice.getSerialNum()))
        if attachedDevice.getDeviceClass() == PhidgetClass.INTERFACEKIT:
            output("  %s/%d is an InterfaceKit" % ( attachedDevice.getDeviceName(),attachedDevice.getSerialNum()))
            #Create an interfacekit object
            try:
                newInterfaceKit = InterfaceKit()
            except RuntimeError as e:
                output("Runtime Exception: %s" % e.details)
                output("Exiting....")
                exit(1)

            output("  Opening...")
            try:
                newInterfaceKit.openPhidget()
            except PhidgetException as e:
                output("Phidget Exception %i: %s" % (e.code, e.details))
                output("Exiting....")

            output("  Setting handlers...")
            try:
                newInterfaceKit.setOnAttachHandler(interfaceKitAttached)
                newInterfaceKit.setOnDetachHandler(interfaceKitDetached)
                newInterfaceKit.setOnErrorhandler(interfaceKitError)
            except PhidgetException as e:
                output("Phidget Exception %i: %s" % (e.code, e.details))
                output("Exiting....")
                exit(1)

            output("  Attaching...")
            try:
                newInterfaceKit.waitForAttach(5000)
            except PhidgetException as e:
                output("Phidget Exception %i: %s" % (e.code, e.details))
                try:
                    newInterfaceKit.closePhidget()
                except PhidgetException as e:
                    output("Phidget Exception %i: %s" % (e.code, e.details))
                    output("Exiting....")
                    exit(1)
                output("Exiting....")
                exit(1)

            output("  Setting the data rate for each sensor index to 1000ms....")
            for i in range(newInterfaceKit.getSensorCount()):
                try:
                    newInterfaceKit.setDataRate(i, 1000)
                except PhidgetException as e:
                    output("Phidget Exception %i: %s" % (e.code, e.details))

            interfaceKits.kitList.append(newInterfaceKit)
            
        
    display_device_info(manager)
    return manager 
Esempio n. 3
0
class PhidgetSensorHandler(AbstractSensorHandler):

    def __init__(self):
        self.device = None
        self._attach_timeout = None
        self._data_rate = None
        self._sensors = None

    def _try_init(self):
        if all([self._data_rate, self._attach_timeout, self._sensors]):
            try:
                from Phidgets.Devices.InterfaceKit import InterfaceKit
                from Phidgets.PhidgetException import PhidgetException
                self.interface_kit = InterfaceKit()
                self.interface_kit.setOnAttachHandler(lambda e: self._attach(e))
                self.interface_kit.setOnDetachHandler(lambda e: self._detach(e))
                self.interface_kit.setOnErrorhandler(lambda e: self._error(e))
                self.interface_kit.setOnSensorChangeHandler(lambda e: self._sensor_change(e))
                self.interface_kit.openPhidget()
                self.interface_kit.waitForAttach(self._attach_timeout)
                for i in range(self.interface_kit.getSensorCount()):
                    self.interface_kit.setDataRate(i, self._data_rate)
                logging.info("Phidget Sensor Handler Initalized")
                for s in self._sensors:
                    if s.port_num is not None:
                        s.current_data = self.interface_kit.getSensorValue(s.port_num)
                        logging.debug("Setting Initial Value for Sensor {} to {}".format(s.port_num, s.current_data))
                    else:
                        logging.warn("Cannot set Initial Value for Sensor {}".format(s.port_num))
            except ImportError:
                self.interface_kit = None
                logging.error('Phidget Python Module not found. Did you install python-phidget?')
            except PhidgetException as e:
                self.interface_kit = None
                logging.error("Could not Initalize Phidget Kit: {}".format(e.details))

    def _read_sensors(self):
        ready_sensors = []
        for s in self._sensors:
            if s.data is not None:
                ready_sensors.append(s)
        return ready_sensors

    def _set_sensors(self, v):
        logging.debug('Adding Phidget Sensors :: {}'.format(v))
        self._sensors = v
        self._try_init()

    sensors = property(_read_sensors, _set_sensors)

    attach_timeout = property(lambda self: self._attach_timeout,
                              lambda self, v: self._set_config('attach_timeout', v))

    data_rate = property(lambda self: self._data_rate,
                         lambda self, v: self._set_config('data_rate', v))

    def _set_config(self, prop, value):
        if prop == 'data_rate':
            self._data_rate = value
        elif prop == 'attach_timeout':
            self._attach_timeout = value
        self._try_init()

    def _attach(self, e):
        self.device = e.device
        logging.info("Phidget InterfaceKit {} Attached".format(self.device.getSerialNum()))

    def _detach(self, e):
        logging.warn("Phidget InterfaceKit {} Removed".format(e.device.getSerialNum()))
        self.device = None

    def _error(self, e):
        logging.error("Phidget Error {} :: {}".format(e.eCode, e.description))

    def _sensor_change(self, e):
        # logging.debug("Phidget Analog Sensor Change :: Port: {} / Data: {}".format(e.index, e.value))
        for s in self._sensors:
            if s.port_type == 'analog' and s.port_num == e.index:

                # Set a default ID if none given in config file
                if s.id is None:
                    # Default ID is kit serial number::port
                    s.id = '{}:{}:{}'.format(self.device.getSerialNum(),
                                             s.port_type, s.port_num)

                s.current_data = e.value
Esempio n. 4
0
class InterfaceKitHelper:
    __inputs = np.zeros(8)
    __sensors = np.zeros(8)

    attached = False
    led = None

    def __init__(self):
        # Create an interfacekit object
        try:
            self.__interfaceKit = InterfaceKit()
        except RuntimeError as e:
            print('Runtime Exception: %s' % e.details)
            return 1

        try:
            # logging example, uncomment to generate a log file
            #self.__interfaceKit.enableLogging(PhidgetLogLevel.PHIDGET_LOG_VERBOSE, 'phidgetlog.log')

            self.__interfaceKit.setOnAttachHandler(self.__interfaceKitAttached)
            self.__interfaceKit.setOnDetachHandler(self.__interfaceKitDetached)
            self.__interfaceKit.setOnErrorhandler(self.__interfaceKitError)
            self.__interfaceKit.setOnInputChangeHandler(
                self.__interfaceKitInputChanged)
            self.__interfaceKit.setOnOutputChangeHandler(
                self.__interfaceKitOutputChanged)
            self.__interfaceKit.setOnSensorChangeHandler(
                self.__interfaceKitSensorChanged)
        except PhidgetException as e:
            print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
            return 1

        print('[INFO] [InterfaceKitHelper] Opening phidget object....')

        try:
            self.__interfaceKit.openPhidget()
        except PhidgetException as e:
            print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
            return 1

        print('[INFO] [InterfaceKitHelper] Waiting for attach....')

        try:
            self.__interfaceKit.waitForAttach(10000)
        except PhidgetException as e:
            print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
            try:
                self.__interfaceKit.closePhidget()
            except PhidgetException as e:
                print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
                return 1
            return 1
        else:
            # self.__displayDeviceInfo()
            pass

        print(
            '[INFO] [InterfaceKitHelper] Setting the data rate for each sensor index to 4ms....'
        )
        for i in range(self.__interfaceKit.getSensorCount()):
            try:
                self.__interfaceKit.setDataRate(i, 4)
            except PhidgetException as e:
                print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))

        self.led = LED(self)

    def getInputs(self):
        return InterfaceKitHelper.__inputs[:]

    def getSensors(self):
        return InterfaceKitHelper.__sensors[:]

    def setOutputState(self, *args):
        if self.attached:
            self.__interfaceKit.setOutputState(*args)

    def destroy(self):
        self.attached = False
        self.led.destroy()
        try:
            print(
                '[INFO] [InterfaceKitHelper] Closing interface kit phidget...')
            self.__interfaceKit.closePhidget()
        except PhidgetException as e:
            print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))
            return 1

    def __displayDeviceInfo(self):
        """
        Information Display Function
        """
        print(
            '|------------|----------------------------------|--------------|------------|'
        )
        print(
            '|- Attached -|-              Type              -|- Serial No. -|-  Version -|'
        )
        print(
            '|------------|----------------------------------|--------------|------------|'
        )
        print('|- %8s -|- %30s -|- %10d -|- %8d -|' %
              (self.__interfaceKit.isAttached(),
               self.__interfaceKit.getDeviceName(),
               self.__interfaceKit.getSerialNum(),
               self.__interfaceKit.getDeviceVersion()))
        print(
            '|------------|----------------------------------|--------------|------------|'
        )
        print('Number of Digital Inputs: %i' %
              (self.__interfaceKit.getInputCount()))
        print('Number of Digital Outputs: %i' %
              (self.__interfaceKit.getOutputCount()))
        print('Number of Sensor Inputs: %i' %
              (self.__interfaceKit.getSensorCount()))

    def __interfaceKitAttached(self, e):
        """
        Event Handler Callback Functions
        """
        attached = e.device
        print('[INFO] [InterfaceKitHelper] InterfaceKit %i Attached!' %
              (attached.getSerialNum()))
        self.attached = True

    def __interfaceKitDetached(self, e):
        detached = e.device
        print('[INFO] [InterfaceKitHelper] InterfaceKit %i Detached!' %
              (detached.getSerialNum()))
        self.attached = False

    def __interfaceKitError(self, e):
        try:
            source = e.device
            print(
                '[INFO] [InterfaceKitHelper] InterfaceKit %i: Phidget Error %i: %s'
                % (source.getSerialNum(), e.eCode, e.description))
        except PhidgetException as e:
            print('[ERROR] Phidget Exception %i: %s' % (e.code, e.details))

    def __interfaceKitInputChanged(self, e):
        # source = e.device
        # print('InterfaceKit %i: Input %i: %s' % (source.getSerialNum(), e.index, e.state))
        InterfaceKitHelper.__inputs[e.index] = e.state

    def __interfaceKitSensorChanged(self, e):
        # source = e.device
        # print('InterfaceKit %i: Sensor %i: %i' % (source.getSerialNum(), e.index, e.value))
        InterfaceKitHelper.__sensors[e.index] = e.value

    def __interfaceKitOutputChanged(self, e):
        # source = e.device
        # print('InterfaceKit %i: Output %i: %s' % (source.getSerialNum(), e.index, e.state))
        pass
        interfaceKitHUB.closePhidget()
        #interfaceKitLCD.closePhidget()
        
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        print("Exiting....")
        exit(1)
    print("Exiting....")
    exit(1)
else:
    displayDeviceInfo()

#print("Setting the data rate for each sensor index to 4ms....")
for i in range(interfaceKitHUB.getSensorCount()):
    try:
        interfaceKitHUB.setDataRate(i, 2)
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))

print "\n"

#Make sure the ratiometric setting is set (required by sonar)
if not interfaceKitHUB.getRatiometric:
    interfaceKitHUB.setRatiometric(True)

#Register interupt callback
signal.signal(signal.SIGINT, signal_handler)

#Setup zmq sockets
context = zmq.Context()
distance_socket = context.socket(zmq.PUB)
Esempio n. 6
0
class Phidgets:
    def __init__(self):
        self.V1 = 0.0
        self.V2list = [
            0, 0, 0, 0, 0, 0, 0
        ]  #lista dei valori associati alle porte analogiche, corrispondenza porta analogica posizione nella lista
        self.running = True

    def ponteDiWheatstone(self):
        R1 = 1000.0  #1KOhm
        R2 = 1000.0  #1KOhm
        R3 = 1000.0  #1KOhm
        Vs = 5.0

        for pos, v in enumerate(self.V2list):
            if v == 0:
                continue

            Vm = v - self.V1  #ingresso differenziale
            print Vm
            #formula per il calcolo della resistenza
            p1 = R3 / (R1 + R3) + (Vm / Vs)
            p2 = 1 - p1
            Rx = R2 * (p1 / p2)

            #
            date = datetime.now().strftime('%Y-%m-%d')
            time = datetime.now().strftime('%H:%M:%S')
            self.monitoring.insertValue(Rx, pos + 1, date, time)
            #
            print("la resistenza sull'input %d vale %f: " % (pos + 1, Rx))

    def partitoreDiTensione(self, val):
        if val != 1:
            r1 = 1000
            Vref = 12  #5V tensione applicata al partitore
            V2 = (5.0 / 1023.0) * val  #tensione letta ai capi della resistenza
            r2 = r1 * V2 / (Vref - V2)
            print("la resistenza vale %f: " % r2)

    def interfaceKitSensorChanged(self, e):
        source = e.device
        if e.value == 1:  #1 indica che non sta nulla collegato e resetto anche il suo valore nella lista
            if e.index == 0:
                self.V1 = 0
            else:
                self.V2list[e.index - 1] = 0
            return

        if e.index == 0:  #V1 va collegato sempre sul pin 0
            self.V1 = (5.0 / 1023.0) * e.value
            print self.V1
        else:
            val = (5.0 / 1023.0) * e.value
            self.V2list[
                e.index -
                1] = val  #corrispondenza porta analogica posizione nella lista
            print str(self.V2list)

        self.ponteDiWheatstone()

        #if e.value != 1:
        #    self.monitoring.insertPos(e.index)
        #print("InterfaceKit %i: Sensor %i: %i" % (source.getSerialNum(), e.index, e.value))

    def run(self):
        try:
            self.interfaceKit = InterfaceKit(
            )  #instanzio la classe per interfacciarmi con la scheda di acquisizione
            self.monitoring = sm.SensorMonitoring(
            )  #tabella dove sono memorizzati i valori dei sensori collegati
            self.monitoring.open()
            self.monitoring.create()
        except RuntimeError as e:
            print("Runtime Exception: %s" % e.details)
            print("Exiting....")
            exit(1)

        try:
            self.interfaceKit.setOnSensorChangeHandler(
                self.interfaceKitSensorChanged)
        except PhidgetException as e:
            print("Exiting....")
            exit(1)

        try:
            self.interfaceKit.openPhidget()
        except PhidgetException as e:
            print("Exiting....")
            exit(1)

        try:
            self.interfaceKit.waitForAttach(10000)
        except PhidgetException as e:
            try:
                self.interfaceKit.closePhidget()
            except PhidgetException as e:
                exit(1)
            print(
                "Assicurarsi di aver collegato la scheda di acquisizione Phidget 1019 al PC. Exiting...."
            )
            exit(1)
        else:
            print "Scheda di acquisizione rilevata."

        for i in range(self.interfaceKit.getSensorCount()):
            try:
                self.interfaceKit.setDataRate(i, 4)
            except PhidgetException as e:
                pass

    def close(self):
        self.running = False
        self.monitoring.close()
        print("Closing...")
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)

        print("Done.")
        exit(0)
class SitwPhidgetsKey(wx.Frame):
    
 
    def __init__(self, image, parent = None, id = -1,
                 pos = wx.DefaultPosition, title = sitwPara.Title):
        

        wx.Frame.__init__(self, parent, id, title)
                
        self.SetBackgroundColour((0, 0, 0))    
        self.SetSize((360, 80))
        self.Center()
        self.Iconize()
        
        self.panel = wx.Panel(self, size=(320, 336)) 
        self.panel.Bind(wx.EVT_PAINT, self.OnPaint) 
        #self.panel.Bind(wx.EVT_ERASE_BACKGROUND, self.OnEraseBackground)
        self.Fit() 
            
        
        self.SampleCount = 12 #for detecting environment 12 x 10sec = 2min
        self.KeyPressed = ''
        self.CurAction = ''
        self.CurPos = win32api.GetCursorPos()
        self.PreAction = ''
        self.PrePos = win32api.GetCursorPos()
        self.bKeyIntervalOK = True
        self.KeyMatReady = False
        self.ListValMat = []
        self.ListValEnv = []
        self.ListValBrt = []
        self.KeySearch = False
        self.dtSearchStart = datetime.datetime.now()
        self.dtAction = datetime.datetime.now()
        self.dtRefresh = datetime.datetime.now()
        self.ChannelCount = 0
        self.bNight = False
        self.ctEvn = 0
        
        #self.edgeTop = 50
        #self.edgeBottom = sitwPara.MoveEdgeBottom1
        #self.edgeLeft = 50
        #self.edgeRight = 50
        
        self.edgeTop = 18
        self.edgeBottom = 18
        self.edgeLeft = 18
        self.edgeRight = 18        
       
        self.strLogAction = ''
        self.strLogBrightness = ''
                      
        self.subp = None
        self.List_ProgramFile = []
        self.List_Program = []
        self.OnScreenApp = ''
        
        #self.utSchedule = SitwScheduleTools(self)
        self.utLogAction = SitwLog(self, 'logAction')
        self.utLogBrightness = SitwLog(self, 'logBrightness')
       
       
       
        
        #self.Bind(wx.EVT_SIZE, self.OnResize)
        self.Bind(wx.EVT_CLOSE, self.OnCloseWindow)
        self.Bind(wx.EVT_IDLE, self.OnIdle)
        
 
        self.prtMsg('PhidgetsKey Starting...')
 
        self.readIniFile()
                
        
        self.initPhidgets()
        self.initKeys()
                            
        
        '''collect ambient light info'''
        self.timer1 = wx.Timer(self)
        self.Bind(wx.EVT_TIMER, self.CheckEnv, self.timer1)
        self.timer1.Start(sitwPara.SampleInterval_Env) #1000 = 1 second        


        '''check if there is any key has been covered'''
        self.timer2 = wx.Timer(self)
        self.Bind(wx.EVT_TIMER, self.CheckKey, self.timer2)
        self.timer2.Start(sitwPara.SampleInterval_Key) #1000 = 1 second   
            
            
        '''find current on screen experience according to schedule file'''    
        ''' -- removed --'''

                
        '''collect sensor readings for analysis'''
        if sitwPara.Log_Brightness == 'Yes':
            print '<Log_Brightness On>'
            self.timer5 = wx.Timer(self)
            self.Bind(wx.EVT_TIMER, self.logBrightness, self.timer5)
            self.timer5.Start(60 * 1000) #1000 = 1 second   
            
            self.utLogBrightness.logMsg('------ log is starting ------\t' + sitwPara.Title)
            self.logBrightness(None)
        else:
            print '<Log_Brightness Off>'     
            
                        
        '''collect keypad actions for analysis'''
        if sitwPara.Log_Action == 'Yes':
            print '<Log_Action On>'
            self.timer6 = wx.Timer(self)
            self.Bind(wx.EVT_TIMER, self.logActions, self.timer6)
            self.timer6.Start(9 * 1000) #1000 = 1 second      
            
            self.utLogAction.logMsg('------ log is starting ------\t' + sitwPara.Title)
        else:
            print '<Log_Action Off>'            
            
            
            
        ###Change Cursor
        ###http://converticon.com/
        ### http://stackoverflow.com/questions/7921307/temporarily-change-cursor-using-python
        self.SetSystemCursor = windll.user32.SetSystemCursor #reference to function
        self.SetSystemCursor.restype = c_int #return
        self.SetSystemCursor.argtype = [c_int, c_int] #arguments
        
        self.LoadCursorFromFile = windll.user32.LoadCursorFromFileA #reference to function
        self.LoadCursorFromFile.restype = c_int #return
        self.LoadCursorFromFile.argtype = c_char_p #arguments
         
        CursorPath ='../pic/handr.cur'
        NewCursor = self.LoadCursorFromFile(CursorPath)
        
        if NewCursor is None:
            print "Error loading the cursor"
        elif self.SetSystemCursor(NewCursor, win32con.IDC_ARROW) == 0:
            print "Error in setting the cursor"
        ###Change Cursor
        
                    
        self.DimScreen = wx.DisplaySize()
        print 'Screen Dimensions: ' + str(self.DimScreen[0]) + ' x ' + str(self.DimScreen[1])     
        
                
        ##########################################             
        '''m,b parameters for each sensor'''      
        for i in range(len(sitwPara.List_mb)):
            print '=====   ', sitwPara.List_mb[i][0], sitwPara.List_mb[i][1]            
        ##########################################    
                
                
                
    ### not in use at the moment
    def OnEraseBackground(self, event):
        return True
        
                
                        
    def OnPaint(self, event):
        '''
        # establish the painting surface
        dc = wx.PaintDC(self.panel)
        dc.SetPen(wx.Pen('blue', 4))
        # draw a blue line (thickness = 4)
        dc.DrawLine(50, 20, 300, 20)
        dc.SetPen(wx.Pen('red', 1))
        # draw a red rounded-rectangle
        rect = wx.Rect(50, 50, 100, 100) 
        dc.DrawRoundedRectangleRect(rect, 8)
        # draw a red circle with yellow fill
        dc.SetBrush(wx.Brush('yellow'))
        x = 250
        y = 100
        r = 50
        dc.DrawCircle(x, y, r)
        '''

        #dc = wx.PaintDC(self.panel)
        
        dc = wx.BufferedPaintDC(self.panel)
        dc.SetBackground(wx.BLUE_BRUSH)
        dc.Clear()        
        
        self.onDraw(dc)       

                
                
    def onDraw(self, dc):                

        strColorPen1 = 'red'
        strColorPen2 = 'blue'
        
        for i in range(sitwPara.KeyCount):
            
            rect = sitwPara.List_ButtonPos[i]
            dc.SetBrush(wx.Brush((0, 255*self.ListValBrt[i], 255*self.ListValBrt[i])))    
            if self.KeyPressed == sitwPara.List_Action[i]:
                dc.SetPen(wx.Pen(strColorPen1, 5))
            else:
                dc.SetPen(wx.Pen(strColorPen2, 1))
                #dc.SetPen(wx.TRANSPARENT_PEN)
            dc.DrawRoundedRectangleRect(rect, 8)
        
        
                
    def initPhidgets(self):
        try:
            self.interfaceKit = InterfaceKit()
        except RuntimeError as e:
            print("Runtime Exception: %s" % e.details)
            print("Exiting....")
            exit(1)
        
        try:
            self.interfaceKit.setOnAttachHandler(self.inferfaceKitAttached)
            self.interfaceKit.setOnDetachHandler(self.interfaceKitDetached)
            self.interfaceKit.setOnErrorhandler(self.interfaceKitError)
            self.interfaceKit.setOnInputChangeHandler(self.interfaceKitInputChanged)
            self.interfaceKit.setOnOutputChangeHandler(self.interfaceKitOutputChanged)
            self.interfaceKit.setOnSensorChangeHandler(self.interfaceKitSensorChanged)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)
        
        print("Opening phidget object....")
        
        try:
            self.interfaceKit.openPhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)
        
        print("Waiting for attach....")
        
        try:
            self.interfaceKit.waitForAttach(10000)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            self.closePhidgets()
        else:
            self.displayDeviceInfo()
        
        
        #get sensor count
        try:
            self.ChannelCount = self.interfaceKit.getSensorCount()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            self.closePhidgets()
            sitwPara.KeyCount = 0 #no sensor has been detected
            self.prtMsg('   ****** No sensor has been detected !!!\n')
        
        
        print("Setting the data rate for each sensor index to 4ms....")
        for i in range(sitwPara.KeyCount):
            try:
                self.interfaceKit.setDataRate(i, 4)
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
        
        
        ### depends on the low light performance of the sensor
        print("Setting the sensitivity for each sensor index to ???....")
        for i in range(sitwPara.KeyCount):
            try:
                self.interfaceKit.setSensorChangeTrigger(i, 2)              #~~~~*YL*~~~~
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
        
        

    def closePhidgets(self):
        #print("Press Enter to quit....")
        #chr = sys.stdin.read(1)
        #print("Closing...")
        
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)
        
        #print("Done.")
        #exit(1)



    def initKeys(self):
        
        self.KeyPressed = ''

        self.ListValMat = []                
        for i in range(sitwPara.KeyCount):
            self.ListValEnv = []
            for j in range(self.SampleCount):
                self.ListValEnv.append(self.readSensorValue(i))
            self.ListValMat.append(self.ListValEnv)
        
        self.KeyMatReady = True
     
             
        self.ListValBrt = []
        for i in range(sitwPara.KeyCount):
            self.ListValBrt.append(0)
        
     
     
    def readIniFile(self):
        self.prtMsg('Read system ini file...')
        
        try: 
            config = ConfigParser.ConfigParser()
            config.readfp(open(sitwPara.FilePath_Ini))
            
            for eachIniData in self.iniData():
                Section = eachIniData[0]
                Keys = eachIniData[1]
                            
                for Key in Keys:
                    val = config.get(Section, Key)
                    if (Section == "General"):
                        if (Key == "KeyCount"):
                            sitwPara.KeyCount = int(val)
                        elif (Key == "Sensitivity"):
                            sitwPara.Sensitivity = float(val)
                        elif (Key == "MovingPace"):
                            sitwPara.MovingPace = int(val)                            
                        elif (Key == "SampleInterval_Key"):
                            sitwPara.SampleInterval_Key = int(val)
                        elif (Key == "SampleInterval_Env"):
                            sitwPara.SampleInterval_Env = int(val)           
                        elif (Key == "Log_Action"):
                            sitwPara.Log_Action = str(val)           
                        elif (Key == "Log_Brightness"):
                            sitwPara.Log_Brightness = str(val) 
                                                                                                         
                        else:
                            pass
                            
                    print('[' + Section + '] ' + Key + ' = ' + val)
                    continue
                
        except: #IOError
            self.prtMsg('Error: readIniFile()')
        finally:
            pass
        
                

    def iniData(self):
        return (("General",
                ("KeyCount",
                 "Sensitivity",
                 "MovingPace",
                 "SampleInterval_Key",
                 "SampleInterval_Env",
                 "Log_Action",
                 "Log_Brightness")),)
                 
                 
                     
    #Information Display Function
    def displayDeviceInfo(self):
        print("|------------|----------------------------------|--------------|------------|")
        print("|- Attached -|-              Type              -|- Serial No. -|-  Version -|")
        print("|------------|----------------------------------|--------------|------------|")
        print("|- %8s -|- %30s -|- %10d -|- %8d -|" % (self.interfaceKit.isAttached(), self.interfaceKit.getDeviceName(), self.interfaceKit.getSerialNum(), self.interfaceKit.getDeviceVersion()))
        print("|------------|----------------------------------|--------------|------------|")
        print("Number of Digital Inputs: %i" % (self.interfaceKit.getInputCount()))
        print("Number of Digital Outputs: %i" % (self.interfaceKit.getOutputCount()))
        print("Number of Sensor Inputs: %i" % (self.interfaceKit.getSensorCount()))
    
    
    #Event Handler Callback Functions
    def inferfaceKitAttached(self, e):
        attached = e.device
        print("InterfaceKit %i Attached!" % (attached.getSerialNum()))
    
    
    def interfaceKitDetached(self, e):
        detached = e.device
        print("InterfaceKit %i Detached!" % (detached.getSerialNum()))
    
    def interfaceKitError(self, e):
        try:
            source = e.device
            print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
    
    def interfaceKitInputChanged(self, e):
        source = e.device
        print("InterfaceKit %i: Input %i: %s" % (source.getSerialNum(), e.index, e.state))
    
    
    
    def interfaceKitSensorChanged(self, e):
        
        if not self.KeyMatReady:
            return
                
        #source = e.device
        #print("InterfaceKit %i: Sensor %i: %i" % (source.getSerialNum(), e.index, e.value))
        
        if not self.KeySearch:
            self.KeySearch = True
            
        self.dtSearchStart = datetime.datetime.now()
            
                                       

    def interfaceKitOutputChanged(self, e):
        source = e.device
        print("InterfaceKit %i: Output %i: %s" % (source.getSerialNum(), e.index, e.state))





    def readSensorValue(self, channel_id):
        val = 0.0
        try:
            val = self.interfaceKit.getSensorValue(channel_id)
            #val = self.interfaceKit.getSensorRawValue(channel_id) / 4.095
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))

        #val = 1.478777 * float(val) + 33.67076         #------ for 1142_0: Lux = m * SensorValue + b
        #val = math.exp(0.02385 * float(val) - 0.56905) #------ for 1143_0: Lux = math.exp(m * SensorValue + b)
        #val = math.exp(sitwPara.List_mb[channel_id][0] * float(val) + sitwPara.List_mb[channel_id][1]) #------ for 1143_0: Lux = math.exp(m * SensorValue + b)
        
        return val



    def CheckEnv(self, event):
        
        for i in range(sitwPara.KeyCount):
            
            ValIns = self.readSensorValue(i)
            ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])
            
            if (float(ValIns) / float(ValEnv)) > 0.70 or self.ctEvn >= 2: #natural change or the big change keeps for long time
                self.ListValMat[i].pop(0)
                self.ListValMat[i].append(ValIns)
                self.ctEvn = 0
            else:
                self.ctEvn += 1    #ignore those suddenly changes 
            
            
        ###test 
        #for val in self.ListValMax:
        #    print val, '->', sum(val)/len(val)
        #print '-------------------------------------------------------'
                    

    def CheckKey(self, event):
        
        if not self.KeySearch:
            return
        
        dtCurrentTime = datetime.datetime.now()
        
        if dtCurrentTime - self.dtSearchStart > datetime.timedelta(microseconds = 6000000): # =6s ; 1000000 = 1s 
            self.KeySearch = False
        
        if dtCurrentTime - self.dtAction > datetime.timedelta(microseconds = 500000): # =0.5s ; 1000000 = 1s
            self.bKeyIntervalOK = True
        else:
            self.bKeyIntervalOK = False
        
            
        self.bNight = True
        
        for i in range(sitwPara.KeyCount):
            ValIns = self.readSensorValue(i)
            ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])

            if ValEnv > 20.0:
                self.bNight = False

            self.ListValBrt[i] = float(ValIns) / float(ValEnv) 
            
            if self.ListValBrt[i] > 1.0:
                self.ListValBrt[i] = 1.0
                
                            
        #sort
        #self.ListValBrt.sort(cmp = None, key = None, reverse = False) 
        
        if self.bNight == False:
            NightFactor = 1.0
        else:
            NightFactor = 1.8        
    
    
        #KeyID = self.ListValBrt.index(min(self.ListValBrt))
        for i in range(sitwPara.KeyCount):   
            KeyID = sitwPara.List_KeyCheckOrder[i]
            if self.ListValBrt[KeyID] < (sitwPara.Sensitivity * NightFactor):
                bKey = True                    
                break
            else:
                bKey = False
                
                        
        if bKey == True:                        
            if KeyID == 1:
                if self.KeyPressed == 'left' or self.bKeyIntervalOK == True:
                    self.KeyPressed = 'left'
                    self.dtAction = datetime.datetime.now()
                else:
                    self.KeyPressed = ''                    
            elif KeyID == 2:
                if self.KeyPressed == 'right' or self.bKeyIntervalOK == True:
                    self.KeyPressed = 'right'
                    self.dtAction = datetime.datetime.now()
                else:
                    self.KeyPressed = ''                     
            elif KeyID == 3:
                if self.KeyPressed == 'up' or self.bKeyIntervalOK == True:
                    self.KeyPressed = 'up'
                    self.dtAction = datetime.datetime.now()
                else:
                    self.KeyPressed = ''                             
            elif KeyID == 4:
                if self.KeyPressed == 'down' or self.bKeyIntervalOK == True:
                    self.KeyPressed = 'down'
                    self.dtAction = datetime.datetime.now()
                else:
                    self.KeyPressed = ''                     
            elif KeyID == 0: 
                if self.KeyPressed != 'click' and self.KeyPressed != 'clicked' and self.KeyPressed != 'dclick' and self.KeyPressed != 'dclicked' and self.bKeyIntervalOK == True:
                    self.KeyPressed = 'click'
                    self.dtAction = datetime.datetime.now()       
                elif self.KeyPressed != 'dclick' and self.KeyPressed != 'dclicked' and (dtCurrentTime - self.dtAction > datetime.timedelta(microseconds = 2200000)): # =2.2s ; 1000000 = 1s
                    self.KeyPressed = 'dclick'
                    self.dtAction = datetime.datetime.now()      

        else:
            self.KeyPressed = ''
        
        
        
        if len(self.KeyPressed) > 0:
                        
            ###filter
            #-- removed ---
            ###filter
                        
            pos = win32api.GetCursorPos()
            if self.KeyPressed == 'up':
                if pos[1] >= self.edgeTop:
                    #nx = (pos[0]) * 65535.0 / self.DimScreen[0]
                    #ny = (pos[1] - sitwPara.MovingPace) * 65535.0 / self.DimScreen[1]
                    win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, 0, -sitwPara.MovingPace)
                    #win32api.SetCursorPos((pos[0], pos[1] - sitwPara.MovingPace))            
            elif self.KeyPressed == 'down':
                if pos[1] <= self.DimScreen[1] - self.edgeBottom:
                    #nx = (pos[0]) * 65535.0 / self.DimScreen[0]
                    #ny = (pos[1] + sitwPara.MovingPace) * 65535.0 / self.DimScreen[1]
                    win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, 0, +sitwPara.MovingPace)                   
                    #win32api.SetCursorPos((pos[0], pos[1] + sitwPara.MovingPace))            
            elif self.KeyPressed == 'left':                                                         
                if pos[0] >= self.edgeLeft:
                    #nx = (pos[0] - sitwPara.MovingPace) * 65535.0 / self.DimScreen[0]
                    #ny = (pos[1]) * 65535.0 / self.DimScreen[1]
                    win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, -sitwPara.MovingPace, 0)                    
                    #win32api.SetCursorPos((pos[0] - sitwPara.MovingPace, pos[1]))          
            elif self.KeyPressed == 'right':
                if pos[0] <= self.DimScreen[0] - self.edgeRight:
                    #nx = (pos[0] + sitwPara.MovingPace) * 65535.0 / self.DimScreen[0]
                    #ny = (pos[1]) * 65535.0 / self.DimScreen[1]
                    win32api.mouse_event(win32con.MOUSEEVENTF_MOVE, +sitwPara.MovingPace, 0)                    
                    #win32api.SetCursorPos((pos[0] + sitwPara.MovingPace, pos[1]))      
            elif self.KeyPressed == 'click':
                self.click(pos[0], pos[1])
                #print '**********click**************'         
                self.KeyPressed = 'clicked'   
            elif self.KeyPressed == 'dclick':
                self.dclick(pos[0], pos[1])   
                #print '**********dclick**************'         
                self.KeyPressed = 'dclicked'
                    
            
        ###Action Log
        if sitwPara.Log_Action == 'Yes':
            self.CurAction = self.KeyPressed
            self.CurPos = win32api.GetCursorPos()
                         
            if self.CurAction != self.PreAction and len(self.PreAction) > 0:                 
                #dtCurrentTime = datetime.datetime.now()
                #strTimeTag = datetime.datetime.strftime(dtCurrentTime, '%Y-%m-%d %H:%M:%S')
                #pos = win32api.GetCursorPos()
                strLog = self.PreAction + '\t(' + str(self.PrePos[0]) + ',' + str(self.PrePos[1]) + ')' \
                            + '\t' + self.OnScreenApp
                self.utLogAction.logMsg(strLog)
                    
            self.PreAction = self.CurAction
            self.PrePos = self.CurPos
                
        
            
    def click(self, x,y):
        win32api.SetCursorPos((x,y))
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
        
        
    def dclick(self, x,y):
        win32api.SetCursorPos((x,y))
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTDOWN,x,y,0,0)
        win32api.mouse_event(win32con.MOUSEEVENTF_LEFTUP,x,y,0,0)
        


    def logBrightness(self, event):
        strValEnv = ''
        for i in range(sitwPara.KeyCount):
            ValEnv = sum(self.ListValMat[i]) / len(self.ListValMat[i])
            strValEnv += str('%06.2f'%(ValEnv)) + '\t'
        
        self.utLogBrightness.logMsg(strValEnv)    
        self.utLogBrightness.wrtLog(False)



    def logActions(self, event):
        self.utLogAction.wrtLog(False)
                
                        
            
    def GetSchedule(self, event):
        # --removed --
        pass
        
                             

    def FindAppName(self, event):
        # --removed --
        pass
    
                

    def prtMsg(self, strMsg):
        dtCurrentTime = datetime.datetime.now()
        strTimeTag = datetime.datetime.strftime(dtCurrentTime, '%Y-%m-%d %H:%M:%S')
        #strTimeTag += str('%03d'%(int(datetime.datetime.strftime(dtCurrentTime, '%f'))/1000))
        print(strTimeTag + '   ' + strMsg + "\n")  
          
                    

    def OnIdle(self, event):    
        if not self.KeySearch:
            return
        dtCurrentTime = datetime.datetime.now()
        
        if dtCurrentTime - self.dtRefresh > datetime.timedelta(microseconds = 200000): #1000000 = 1s 
            self.dtRefresh = dtCurrentTime
            self.panel.Refresh(eraseBackground = False)
     
        pass


                
                
    def OnCloseWindow(self, event):
        print "Do something b4 closing..."

        ###Change Cursor        
        CursorPath = "../pic/arrow.cur"
        NewCursor = self.LoadCursorFromFile(CursorPath)
        if NewCursor is None:
            print "Error loading the cursor"
        elif self.SetSystemCursor(NewCursor, win32con.IDC_ARROW) == 0:
            print "Error in setting the cursor"
        ###Change Cursor
        
                    
        self.closePhidgets()
        
        self.prtMsg('Destroy Phidgets Key')
   
        if sitwPara.Log_Action == 'Yes':
            self.utLogAction.wrtLog(True) #force to log all messages
        if sitwPara.Log_Brightness == 'Yes':
            self.utLogBrightness.wrtLog(True) #force to log all messages            
        
        #time.sleep(1)
        self.Destroy()
Esempio n. 8
0
class Phidgets:
    
    def __init__(self):
        self.V1 = 0.0
        self.V2list = [0,0,0,0,0,0,0] #lista dei valori associati alle porte analogiche, corrispondenza porta analogica posizione nella lista
        self.running = True
        
    def ponteDiWheatstone(self):
        R1 = 1000.0#1KOhm
        R2 = 1000.0#1KOhm
        R3 = 1000.0#1KOhm
        Vs = 5.0
        
        for pos, v in enumerate(self.V2list):
            if v==0:
                continue
            
            Vm = v-self.V1 #ingresso differenziale
            print Vm
            #formula per il calcolo della resistenza
            p1 = R3/(R1+R3) + (Vm/Vs)
            p2 = 1 - p1
            Rx = R2*(p1/p2);
            
            #
            date = datetime.now().strftime('%Y-%m-%d')
            time = datetime.now().strftime('%H:%M:%S')
            self.monitoring.insertValue(Rx, pos+1, date,time)
            #
            print ("la resistenza sull'input %d vale %f: " % (pos+1, Rx))

    def partitoreDiTensione(self, val):
        if val != 1:
            r1 = 1000
            Vref = 12 #5V tensione applicata al partitore
            V2 = (5.0/1023.0)*val #tensione letta ai capi della resistenza
            r2 =  r1*V2/(Vref-V2)
            print ("la resistenza vale %f: " % r2)
        
    def interfaceKitSensorChanged(self, e):
        source = e.device
        if e.value == 1:#1 indica che non sta nulla collegato e resetto anche il suo valore nella lista
            if e.index==0:
                self.V1=0
            else:
                self.V2list[e.index-1]=0
            return
        
        if e.index == 0:#V1 va collegato sempre sul pin 0
            self.V1 = (5.0/1023.0)*e.value 
            print self.V1
        else:
            val = (5.0/1023.0)*e.value
            self.V2list[e.index-1]=val #corrispondenza porta analogica posizione nella lista
            print str(self.V2list)
        
        self.ponteDiWheatstone()
            
        #if e.value != 1:
        #    self.monitoring.insertPos(e.index)
        #print("InterfaceKit %i: Sensor %i: %i" % (source.getSerialNum(), e.index, e.value))
    
    def run(self):
            try:
                self.interfaceKit = InterfaceKit() #instanzio la classe per interfacciarmi con la scheda di acquisizione
                self.monitoring = sm.SensorMonitoring() #tabella dove sono memorizzati i valori dei sensori collegati
                self.monitoring.open()
                self.monitoring.create()
            except RuntimeError as e:
                print("Runtime Exception: %s" % e.details)
                print("Exiting....")
                exit(1)
            
            try:
                self.interfaceKit.setOnSensorChangeHandler(self.interfaceKitSensorChanged)
            except PhidgetException as e:
                print("Exiting....")
                exit(1)
                
            try:
                self.interfaceKit.openPhidget()
            except PhidgetException as e:
                print("Exiting....")
                exit(1)
                
            try:
                self.interfaceKit.waitForAttach(10000)
            except PhidgetException as e:
                try:
                    self.interfaceKit.closePhidget()
                except PhidgetException as e:
                    exit(1)
                print("Assicurarsi di aver collegato la scheda di acquisizione Phidget 1019 al PC. Exiting....")
                exit(1)
            else:
                print "Scheda di acquisizione rilevata."
                
            for i in range(self.interfaceKit.getSensorCount()):
                try:
                    self.interfaceKit.setDataRate(i, 4)
                except PhidgetException as e:
                    pass
                
                 
    def close(self):
        self.running = False
        self.monitoring.close()
        print("Closing...")
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)
        
        print("Done.")
        exit(0)
Esempio n. 9
0
def setupSensorHandlers():
    global interfaceKit, batteryPublisher, rangePublisher
    global batteryVoltageChannel, batteryFullLevel, batteryDepletedLevel, batteryRange, frontRangeChannel, backRangeChannel
    global batteryInfo, rangeInfo

    try:
        interfaceKit = InterfaceKit()

    except RuntimeError as e:
        rospy.logfatal('Failed to create InterfaceKit: %s' % (e.details))
        rospy.signal_shutdown('Failed to connect to InterfaceKit')

    try:
        interfaceKit.setOnAttachHandler(attachHandler)
        interfaceKit.setOnDetachHandler(detachHandler)
        interfaceKit.setOnErrorhandler(errorHandler)
        interfaceKit.setOnInputChangeHandler(inputChangeHandler)
        interfaceKit.setOnOutputChangeHandler(outputChangeHandler)
        interfaceKit.setOnSensorChangeHandler(sensorChangeHandler)

    except PhidgetException as e:
        rospy.logfatal('Failed to set handlers: %i, %s' % (e.code, e.details))
        rospy.signal_shutdown('Failed to connect to InterfaceKit')

    try:
        interfaceKit.openPhidget()

    except PhidgetException as e:
        rospy.logfatal("Failed to openPhidget() %i: %s" % (e.code, e.details))
        rospy.signal_shutdown('Failed to openPhidget()')

    try:
        interfaceKit.waitForAttach(10000)

    except PhidgetException as e:
        rospy.logfatal("Failed on waitForAttach() %i: %s" %
                       (e.code, e.details))
        interfaceKit.closePhidget()
        rospy.signal_shutdown('Failed on waitForAttach()')

    for sensor in range(interfaceKit.getSensorCount()):
        try:
            interfaceKit.setDataRate(sensor, 16)

        except PhidgetException as e:
            rospy.logwarn("Failed to setDateRate() %i: %s" %
                          (e.code, e.details))

    batteryPublisher = rospy.Publisher('batteryInfo', Battery)
    rangePublisher = rospy.Publisher('rangeInfo', Range)

    batteryVoltageChannel = rospy.get_param('RoverState/battery/channel')
    batteryFullLevel = float(rospy.get_param('RoverState/battery/fullCharge'))
    batteryDepletedLevel = rospy.get_param('RoverState/battery/depletedCharge')
    batteryRange = batteryFullLevel - batteryDepletedLevel
    frontRangeChannel = rospy.get_param('RoverState/range/front/channel')
    backRangeChannel = rospy.get_param('RoverState/range/back/channel')

    sendRange()
    sendBattery()

    return
Esempio n. 10
0
class Node(object):

    name = None
    sensors = []
    outputs = []
    inputs = []
    triggers = []
    clocks = []
    repeaters = []
    interface_kit = None

    def __init__(self, name, *args, **kwargs):
        self.name = name
        self.initializing = True
        if LIVE: self.interface_kit = InterfaceKit()
        self.manager = PubSub(self, pub_port=settings.NODE_PUB, sub_port=settings.NODE_SUB, sub_filter=self.name)
        self.logger = util.get_logger("%s.%s" % (self.__module__, self.__class__.__name__))
        self.initialize()    
        self.run()

    def initialize(self):
        while self.initializing:            
            self.logger.info("Waiting for manager")
            json = dict(name=self.name, method='add_node')
            self.publish(json)
            gevent.sleep(1)
        return

    def publish(self, message):
        message['name'] = self.name
        message['method'] = message.get('method', 'node_change')
        self.manager.publish(aes.encrypt(json.dumps(message, cls=ComplexEncoder), settings.KEY))
        self.test_triggers(message)

    def test_triggers(self, message):
        for t in self.triggers:
            t.handle_event(message)

    def initialize_rpc(self, obj, **kwargs):
        rpc = zmq.Context()
        rpc_socket = rpc.socket(zmq.REP)
        rpc_socket.bind("tcp://*:%s" % obj.get('port'))
        self.logger.info("RPC listening on: %s" % obj.get('port'))
        settings.KEY = base64.urlsafe_b64decode(str(obj.get('key')))
        self.logger.info("%s Initialized" % self.name)        
        while True:                    
            if self.initializing:
                self.initializing = False
                self.publish(dict(method='initialized'))

            message = aes.decrypt(rpc_socket.recv(), settings.KEY)
            ob = json.loads(message)
            try:
                res = getattr(self, ob.get("method"))(ob)
                st = json.dumps(res, cls=ComplexEncoder)
                rpc_socket.send(aes.encrypt(st, settings.KEY))
            except Exception as e:
                self.logger.exception(e)
            gevent.sleep(.1)

    def hello(self, obj):
        return self.json()

    def get_sensor(self, index):
        for sensor in self.sensors:
            if sensor.index == index: return sensor

        return False

    def get_output(self, index):
        for output in self.outputs:
            if output.index == index: return output

        return False

    def get_input(self, index):
        for input in self.inputs:
            if input.index == index: return input

        return False

    def get_sensor_values(self, ob):
        res = {}
        for sensor in self.sensors:
            res[sensor.id] = sensor.json()

        return res

    def get_output_values(self):
        res = {}
        for output in self.outputs:
            res[ouput.id] = output.json()

        return res    

    def set_output_state(self, ob):
        output = self.get_output(ob.get('index'))
        if output:
            self.logger.info("%s: turning %s to %s index: %s" % (self.name, ob.get('type'), ob.get('state'), output.index))
            output.set_state(ob.get('state'))
            return dict(state=output.current_state)

    def json(self, ob=None):
        return dict(
            name=self.name,
            sensors=[s.json() for s in self.sensors],
            outputs=[o.json() for o in self.outputs],
            inputs=[i.json() for i in self.inputs],
            triggers=[t.json() for t in self.triggers],
            repeaters=[r.json() for r in self.repeaters],
            clocks=[c.json() for c in self.clocks],
            cls=self.__class__.__name__
        )

    def __conform__(self, protocol):
        return json.dumps(self.json(), cls=ComplexEncoder)

    def displayDeviceInfo(self):pass
        
    #Event Handler Callback Functions
    def inferfaceKitAttached(self, e):
        attached = e.device
        self.logger.info("InterfaceKit %i Attached!" % (attached.getSerialNum()))

    def interfaceKitDetached(self, e):
        detached = e.device
        self.logger.info("InterfaceKit %i Detached!" % (detached.getSerialNum()))

    def interfaceKitError(self, e):
        try:
            if e.eCode not in (36866,):
                source = e.device
                self.logger.info("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
        except PhidgetException as e:
            self.logger.exception(e)

    def interfaceKitInputChanged(self, e):
        input = self.get_input(e.index)
        if not input: return
        val = input.do_conversion(e.value)
        ob = input.json()
        self.publish(ob)
        self.logger.info("%s Input: %s" % (input.display, val))

    def interfaceKitSensorChanged(self, e):
        sensor = self.get_sensor(e.index)
        if not sensor: return
        val = sensor.do_conversion(float(e.value)) if sensor else 0
        ob = sensor.json()
        self.publish(ob)
        self.logger.info("%s Sensor: %s" % (sensor.display, val))

    def interfaceKitOutputChanged(self, e):
        output = self.get_output(e.index)
        if not output: return
        output.current_state = e.state
        ob = output.json()
        self.publish(ob)
        self.logger.info("%s Output: %s" % (output.display, output.current_state))


    def run(self):
        if LIVE: self.init_kit()
        while True: gevent.sleep(.1)

    def init_kit(self):
        try:
            self.interface_kit.setOnAttachHandler(self.inferfaceKitAttached)
            self.interface_kit.setOnDetachHandler(self.interfaceKitDetached)
            self.interface_kit.setOnErrorhandler(self.interfaceKitError)
            self.interface_kit.setOnInputChangeHandler(self.interfaceKitInputChanged)
            self.interface_kit.setOnOutputChangeHandler(self.interfaceKitOutputChanged)
            self.interface_kit.setOnSensorChangeHandler(self.interfaceKitSensorChanged)
        except PhidgetException as e:
            self.logger.exception(e)
            
        self.logger.info("Opening phidget object....")

        try:
            self.interface_kit.openPhidget()
        except PhidgetException as e:
            self.logger.exception(e)
            
        self.logger.info("Waiting for attach....")

        try:
            self.interface_kit.waitForAttach(10000)
        except PhidgetException as e:
            self.logger.exception(e)
            try:
                self.interface_kit.closePhidget()
            except PhidgetException as e:
                self.logger.exception(e)
                self.logger.info("Exiting....")
                exit(1)
            self.logger.info("Exiting....")
        else:
            self.displayDeviceInfo()

        self.logger.info("Initializing Sensors")
        for i in range(self.interface_kit.getSensorCount()):
            try:
                sensor = self.get_sensor(i)
                if sensor:
                    self.logger.info("Setting Up: %s" % sensor.display)
                    self.logger.info("Change: %s" % sensor.change)
                    self.logger.info("Data Rate: %s" % sensor.data_rate)
                    self.interface_kit.setSensorChangeTrigger(i, sensor.change)
                    self.interface_kit.setDataRate(i, sensor.data_rate)
            except PhidgetException as e:
                self.logger.exception(e)
class force_glove:
    def __init__(self, log_file):
        self.interfaceKit = InterfaceKit()
        self.log_file = log_file
        try:
            self.interfaceKit.setOnAttachHandler(self.interfaceKitAttached)
            self.interfaceKit.setOnDetachHandler(self.interfaceKitDetached)
            self.interfaceKit.setOnErrorhandler(self.interfaceKitError)
            self.interfaceKit.setOnSensorChangeHandler(self.interfaceKitSensorChanged)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)

        print("Turning on glove....")

        try:
            self.interfaceKit.openPhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)

        print("Waiting for glove to attach....")

        try:
            self.interfaceKit.waitForAttach(10000)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            try:
                self.interfaceKit.closePhidget()
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
                print("Exiting....")
                exit(1)
            print("Exiting....")
            exit(1)
        else:
            print "Glove connected..."
            # self.displayDeviceInfo()
        return

    def setSensorRates(self):
        for i in range(self.interfaceKit.getSensorCount()):
            try:
                self.interfaceKit.setDataRate(i, 2)
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
        return

    def closeForceGlove(self):
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
        print("Closed force glove...")
        return

    # Information Display Function
    #def displayDeviceInfo(self):
    #    print("Glove " + self.interfaceKit.getDeviceName() + " found")
    #    print("Number of Sensor Inputs: %i" % (self.interfaceKit.getSensorCount()))

    # Event Handler Callback Functions
    def interfaceKitAttached(self, e):
        attached = e.device
        print("InterfaceKit %i Attached!" % (attached.getSerialNum()))

    def interfaceKitDetached(self, e):
        detached = e.device
        print("InterfaceKit %i Detached!" % (detached.getSerialNum()))

    def interfaceKitError(self, e):
        try:
            source = e.device
            print("InterfaceKit %i: Phidget Error %i: %s" % (source.getSerialNum(), e.eCode, e.description))
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))

    def interfaceKitSensorChanged(self, e):
        force_data = "%i,%i" % (e.index, e.value)
        self.write_log(force_data)
        print("Sensor %i: %i" % (e.index, e.value))

    def write_log(self, glove_data):
        if glove_data is not None:
            to_log = ('%f,%s\r\n') % (time.time(), glove_data)
            if not self.log_file.closed:
                self.log_file.write(to_log)
Esempio n. 12
0
class Pot:

    __sensorPort = 1
    __sampleRate = 4 # Maybe too high?

    __potMin = 242
    __potZero = 490
    __potMax = 668


    def __init__(self):
        #Create an interfacekit object
        try:
            self.interfaceKit = InterfaceKit()
        except RuntimeError as e:
            print("Runtime Exception: %s" % e.details)
            print("Exiting....")
            exit(1)

        try:
            self.interfaceKit.openPhidget()
            self.interfaceKit.waitForAttach(10000)
            self.interfaceKit.setDataRate(self.__sensorPort, self.__sampleRate)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            try:
                self.interfaceKit.closePhidget()
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
                print("Exiting....")
                exit(1)


    def __del__(self):
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)

    def getRawPot(self):
        try:
            resp = self.interfaceKit.getSensorValue(self.__sensorPort)
        except PhidgetException as e:
            # suppress print (makes testing harder) #TODO restore!!
            resp = float('nan')
            #print("Skipping reading - phidget Exception %i: %s" % (e.code, e.details))
        return resp

    #def recconect(self):


    def getPot(self):
        rawSensor = self.getRawPot()
        value = 0.0

        if rawSensor > self.__potMax:
            #warnings.warn("Pot measuremens out of bounds.") 
            return 1.0
        if rawSensor < self.__potMin: 
            #warnings.warn("Pot measuremens out of bounds.")
            return -1.0

        if rawSensor >= self.__potZero:
            value = float(rawSensor - self.__potZero) / (self.__potMax - self.__potZero)
        else:
            value = float(rawSensor - self.__potZero) / (self.__potZero - self.__potMin)

        return value
Esempio n. 13
0
class PhidgetSensorHandler(AbstractSensorHandler):
    def __init__(self):
        self.device = None
        self._attach_timeout = None
        self._data_rate = None
        self._sensors = None

    def _try_init(self):
        if all([self._data_rate, self._attach_timeout, self._sensors]):
            try:
                from Phidgets.Devices.InterfaceKit import InterfaceKit
                from Phidgets.PhidgetException import PhidgetException
                self.interface_kit = InterfaceKit()
                self.interface_kit.setOnAttachHandler(
                    lambda e: self._attach(e))
                self.interface_kit.setOnDetachHandler(
                    lambda e: self._detach(e))
                self.interface_kit.setOnErrorhandler(lambda e: self._error(e))
                self.interface_kit.setOnSensorChangeHandler(
                    lambda e: self._sensor_change(e))
                self.interface_kit.openPhidget()
                self.interface_kit.waitForAttach(self._attach_timeout)
                for i in range(self.interface_kit.getSensorCount()):
                    self.interface_kit.setDataRate(i, self._data_rate)
                logging.info("Phidget Sensor Handler Initalized")
                for s in self._sensors:
                    if s.port_num is not None:
                        s.current_data = self.interface_kit.getSensorValue(
                            s.port_num)
                        logging.debug(
                            "Setting Initial Value for Sensor {} to {}".format(
                                s.port_num, s.current_data))
                    else:
                        logging.warn(
                            "Cannot set Initial Value for Sensor {}".format(
                                s.port_num))
            except ImportError:
                self.interface_kit = None
                logging.error(
                    'Phidget Python Module not found. Did you install python-phidget?'
                )
            except PhidgetException as e:
                self.interface_kit = None
                logging.error("Could not Initalize Phidget Kit: {}".format(
                    e.details))

    def _read_sensors(self):
        ready_sensors = []
        for s in self._sensors:
            if s.data is not None:
                ready_sensors.append(s)
        return ready_sensors

    def _set_sensors(self, v):
        logging.debug('Adding Phidget Sensors :: {}'.format(v))
        self._sensors = v
        self._try_init()

    sensors = property(_read_sensors, _set_sensors)

    attach_timeout = property(
        lambda self: self._attach_timeout,
        lambda self, v: self._set_config('attach_timeout', v))

    data_rate = property(lambda self: self._data_rate,
                         lambda self, v: self._set_config('data_rate', v))

    def _set_config(self, prop, value):
        if prop == 'data_rate':
            self._data_rate = value
        elif prop == 'attach_timeout':
            self._attach_timeout = value
        self._try_init()

    def _attach(self, e):
        self.device = e.device
        logging.info("Phidget InterfaceKit {} Attached".format(
            self.device.getSerialNum()))

    def _detach(self, e):
        logging.warn("Phidget InterfaceKit {} Removed".format(
            e.device.getSerialNum()))
        self.device = None

    def _error(self, e):
        logging.error("Phidget Error {} :: {}".format(e.eCode, e.description))

    def _sensor_change(self, e):
        # logging.debug("Phidget Analog Sensor Change :: Port: {} / Data: {}".format(e.index, e.value))
        for s in self._sensors:
            if s.port_type == 'analog' and s.port_num == e.index:

                # Set a default ID if none given in config file
                if s.id is None:
                    # Default ID is kit serial number::port
                    s.id = '{}:{}:{}'.format(self.device.getSerialNum(),
                                             s.port_type, s.port_num)

                s.current_data = e.value
Esempio n. 14
0
        #   print("Exiting....")
        exit(1)
    print("Exiting....")
    exit(1)
else:
    displayDeviceInfo()

interfaceKit.setOutputState(7, 1)
val = interfaceKit.getSensorValue(5)
print(val)

#print("Setting the data rate for each sensor index to 4ms....")
for i in range(interfaceKit.getSensorCount()):
    try:

        interfaceKit.setDataRate(i, 4)
    except PhidgetException as e:
        pass
        #print("Phidget Exception %i: %s" % (e.code, e.details))

print("Closing...")
interfaceKit.setOutputState(7, 0)
try:
    interfaceKit.closePhidget()
except PhidgetException as e:
    print("Phidget Exception %i: %s" % (e.code, e.details))
    print("Exiting....")
    exit(1)

print("Done.")
exit(0)
       print iii+1
       interfaceKit.setOutputState (7, True)
       interfaceKit.setOutputState (0, True)
       sleep(0.38)

       interfaceKit.setOutputState (7, False)
       interfaceKit.setOutputState (0, False)
       sleep(0.38)

except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))

print("Setting the data rate for each sensor index to 16ms....")
for i in range(interfaceKit.getSensorCount()):
    try:
        interfaceKit.setDataRate(0, 16)
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))

print("Closing program")

try:
    interfaceKit.closePhidget()
except PhidgetException as e:
    print("Phidget Exception %i: %s" % (e.code, e.details))
    print("Exiting....")
    exit(1)

print("Done.")
exit(0)
    try:
        interfaceKit.closePhidget()
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        print("Exiting....")
        exit(1)
    print("Exiting....")
    exit(1)
else:
    displayDeviceInfo()


print("Setting the data rate for each sensor index to 4ms....")
for i in range(interfaceKit.getSensorCount()):
    try:        
        interfaceKit.setDataRate(i, 4)
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        

HOST = ''                                             
PORT = 20000       
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
s.bind((HOST, PORT))                            
s.listen(1)


print("Press Enter to quit....")
    
    except PhidgetException as e:
        print("InterfaceKit Close: Phidget Exception %i: %s" % (e.code, e.details))
    try:
        textLCD.closePhidget()
    except PhidgetException as e:
        print("LCD Close: Phidget Exception %i: %s" % (e.code, e.details))
    print("Exiting....")
    exit(1)
else:
    DisplayInterfaceKitDeviceInfo()


print("Setting the data rate for each sensor index to 128ms....")
for i in range(interfaceKit.getSensorCount()):
    try:
        interfaceKit.setDataRate(i, 128)
    except PhidgetException as e:
        print("InterfaceKit SetDataRate: Phidget Exception %i: %s" % (e.code, e.details))

while (1):
    try:
        if textLCD.getDeviceID()==PhidgetID.PHIDID_TEXTLCD_ADAPTER:
            textLCD.setScreenIndex(0)
            textLCD.setScreenSize(TextLCD_ScreenSize.PHIDGET_TEXTLCD_SCREEN_2x8)
            
        textLCD.setBacklight(True)
            
#         print("Writing to first row....")
#         textLCD.setDisplayString(0, "  Cisco Live 2014   ")
#        sleep(2)
Esempio n. 18
0
class Pot:

    __sensorPort = 1
    __sampleRate = 4 # Maybe too high?

    __potMin = 242
    __potZero = 490
    __potMax = 668


    def __init__(self):
        #Create an interfacekit object
        try:
            self.interfaceKit = InterfaceKit()
        except RuntimeError as e:
            print("Runtime Exception: %s" % e.details)
            print("Exiting....")
            exit(1)

        try:
            self.interfaceKit.openPhidget()
            self.interfaceKit.waitForAttach(10000)
            self.interfaceKit.setDataRate(self.__sensorPort, self.__sampleRate)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            try:
                self.interfaceKit.closePhidget()
            except PhidgetException as e:
                print("Phidget Exception %i: %s" % (e.code, e.details))
                print("Exiting....")
                exit(1)


    def __del__(self):
        try:
            self.interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)

    def getRawPot(self):
        try:
            resp = self.interfaceKit.getSensorValue(self.__sensorPort)
        except PhidgetException as e:
            # suppress print (makes testing harder) #TODO restore!!
            resp = float('nan')
            #print("Skipping reading - phidget Exception %i: %s" % (e.code, e.details))
        return resp

    #def recconect(self):


    def getPot(self):
        rawSensor = self.getRawPot()
        value = 0.0

        if rawSensor > self.__potMax:
            #warnings.warn("Pot measuremens out of bounds.") 
            return 1.0
        if rawSensor < self.__potMin: 
            #warnings.warn("Pot measuremens out of bounds.")
            return -1.0

        if rawSensor >= self.__potZero:
            value = float(rawSensor - self.__potZero) / (self.__potMax - self.__potZero)
        else:
            value = float(rawSensor - self.__potZero) / (self.__potZero - self.__potMin)

        return value
def main():
    
    
    
    try:
        interfaceKit = InterfaceKit()
    except RuntimeError as e:
        print("Runtime Exception: %s" % e.details)
        print("Exiting....")
        exit(1)

    try:
        interfaceKit.setOnAttachHandler(inferfaceKitAttached)
        interfaceKit.setOnDetachHandler(interfaceKitDetached)
        interfaceKit.setOnErrorhandler(interfaceKitError)
        interfaceKit.setOnInputChangeHandler(interfaceKitInputChanged)
        interfaceKit.setOnOutputChangeHandler(interfaceKitOutputChanged)
        interfaceKit.setOnSensorChangeHandler(interfaceKitSensorChanged)
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        print("Exiting....")
        exit(1)

    print("Opening phidget object....")

    try:
        interfaceKit.openPhidget()
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        print("Exiting....")
        exit(1)

    print("Waiting for attach....")

    try:
        interfaceKit.waitForAttach(10000)
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        try:
            interfaceKit.closePhidget()
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))
            print("Exiting....")
            exit(1)
        print("Exiting....")
        exit(1)

    print("Setting the data rate for each sensor index to 4ms....")
    for i in range(interfaceKit.getSensorCount()):
        try:
            interfaceKit.setDataRate(i, 4)
        except PhidgetException as e:
            print("Phidget Exception %i: %s" % (e.code, e.details))

    sys.exit(app.exec_())
    try:
        interfaceKit.closePhidget()
    except PhidgetException as e:
        print("Phidget Exception %i: %s" % (e.code, e.details))
        print("Exiting....")
        exit(1)