def __init__(self):
Process.__init__(self)
self.exit = Event()
self.csv = CSVExport()
self.i2cMux = PCA9547()
self.settings0 = RTIMU.Settings(SETTINGS_FILE_0)
self.settings1 = RTIMU.Settings(SETTINGS_FILE_1)
self.settings2 = RTIMU.Settings(SETTINGS_FILE_2)
self.settings3 = RTIMU.Settings(SETTINGS_FILE_3)
self.settings4 = RTIMU.Settings(SETTINGS_FILE_4)
self.settings5 = RTIMU.Settings(SETTINGS_FILE_5)
self.imu0 = RTIMU.RTIMU(self.settings0)
self.imu1 = RTIMU.RTIMU(self.settings1)
self.imu2 = RTIMU.RTIMU(self.settings2)
self.imu3 = RTIMU.RTIMU(self.settings3)
self.imu4 = RTIMU.RTIMU(self.settings4)
self.imu5 = RTIMU.RTIMU(self.settings5)
self.settings = [
self.settings0, self.settings1, self.settings2, self.settings3,
self.settings4, self.settings5
]
self.imus = [
self.imu0, self.imu1, self.imu2, self.imu3, self.imu4, self.imu5
]
self.detectedIMU = [False] * 6
self.detectImu()
self.pollInterval = 2
def start(self):
## Reference for the Threaded serial adquisition
#
# Threaded adquisition for a serial device with interrupts
# using Qt4 signals
self.data = SerialThread(str(self.ui.cBox_IMU.currentText()))
self.data.openPort(str(self.ui.cBox_Port.currentText()),
int(self.ui.cBox_Speed.currentText()))
## Register the data object with the cube
self.cube = Cube(self.data)
# start file
if self.ui.chBox_export.isChecked():
## export data
self.csv = CSVExport()
self.ui.statusbar.showMessage("Exporting data")
else:
self.ui.statusbar.showMessage("Adquiring data")
# start data thread
self.data.start()
# dataThread new data signal
self.connect(self.data, QtCore.SIGNAL('newData()'),
self.updateData)
# update UI
self.setUILocked(True)
# start timer for updating plot
self.timer.start(20)
# start timer every second for activity
self.timerActivity.start(1000)
## Reference for the activity detection algorithm
#
# Activity detection algorithm propossed by Dr. Pablo Reyes
self.activity = ActivityDetection(70, 175, 20, .02)
## Reference for the fall detection algorithm
#
# Fall detection algorithm propossed by Dr. Pablo Reyes
self.fall = FallDetection(.02, 2.8, .65)
#~ self.fall = FallDetection(.02, 2.0, .65)
## Reference for
self.posture = Posture()
def start(self):
self.data = SerialProcess(self.queue)
# Select serial port configuration form ui
self.data.openPort(str(self.ui.cBox_Port.currentText()),
int(self.ui.cBox_Speed.currentText()))
if self.data.start() is False:
QtGui.QMessageBox.question(self,
"Can't open Serial Port",
"Serial port is already opened.",
QtGui.QMessageBox.Ok)
else:
# start CSV data export if enabled
if self.ui.chBox_export.isChecked():
# export data
self.csv = CSVExport()
self.ui.statusbar.showMessage("Exporting data")
else:
self.ui.statusbar.showMessage("Acquiring data")
# start data process, lock the ui and set plot update time
self.set_ui_locked(True)
self.timer_plot_update.start(PLOT_UPDATE_TIME)
self.timer_freq_update.start(PLOT_UPDATE_TIME*10)
class MainWindow(QtGui.QMainWindow):
##
# @brief Configures initial settings of the window.
# Initialize data, plots, imported functions and timers
# @param self Object handler
def __init__(self):
QtGui.QMainWindow.__init__(self)
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
# Initializes plots
self.ui.plt.setBackground(background=None)
self.ui.plt.setAntialiasing(True)
self.plt1 = self.ui.plt.addPlot(row=1, col=1)
# Variables
self.queue = Queue(N_SAMPLES)
self.data = None
self.csv = None
self.DATA0 = deque([], maxlen=N_SAMPLES)
self.TIME = deque([], maxlen=N_SAMPLES)
self.reset_buffers()
##
# @brief Reference update plot timer
# Qt4 timer to trigger the @updatePlot function
self.timer_plot_update = QtCore.QTimer(self)
self.timer_freq_update = QtCore.QTimer(self)
# Qt signals and slots
QtCore.QObject.connect(self.ui.pButton_Start,
QtCore.SIGNAL('clicked()'), self.start)
QtCore.QObject.connect(self.ui.pButton_Stop,
QtCore.SIGNAL('clicked()'), self.stop)
QtCore.QObject.connect(self.timer_plot_update,
QtCore.SIGNAL('timeout()'), self.update_plot)
QtCore.QObject.connect(self.timer_freq_update,
QtCore.SIGNAL('timeout()'), self.update_freq)
# Configure UI
ports = getSerialPorts()
if len(ports) <= 0:
ans = QtGui.QMessageBox.question(self,
"No serial ports available",
"Connect a serial device.\n" +
"Scan again?",
QtGui.QMessageBox.Yes,
QtGui.QMessageBox.No)
if ans == QtGui.QMessageBox.Yes:
ports = getSerialPorts()
self.ui.cBox_Port.addItems(ports)
self.ui.cBox_Speed.addItems(["9600", "57600", "115200"])
self.ui.cBox_Speed.setCurrentIndex(2)
self.set_ui_locked(False)
# Configure plots
self.configure_plot(self.plt1, "CSV1", "")
##
# @brief Start SerialProcess for data acquisition
# @param self Object handler
def start(self):
self.data = SerialProcess(self.queue)
# Select serial port configuration form ui
self.data.openPort(str(self.ui.cBox_Port.currentText()),
int(self.ui.cBox_Speed.currentText()))
if self.data.start() is False:
QtGui.QMessageBox.question(self,
"Can't open Serial Port",
"Serial port is already opened.",
QtGui.QMessageBox.Ok)
else:
# start CSV data export if enabled
if self.ui.chBox_export.isChecked():
# export data
self.csv = CSVExport()
self.ui.statusbar.showMessage("Exporting data")
else:
self.ui.statusbar.showMessage("Acquiring data")
# start data process, lock the ui and set plot update time
self.set_ui_locked(True)
self.timer_plot_update.start(PLOT_UPDATE_TIME)
self.timer_freq_update.start(PLOT_UPDATE_TIME*10)
##
# @brief Updates graphs and writes to CSV files if enabled
# @param self Object handler
def update_plot(self):
# Get new data from buffer
while self.queue.qsize() != 0:
data = self.queue.get(True, 1)
self.TIME.append(data[0])
self.DATA0.append(data[1])
# If enabled, write to log file
if self.ui.chBox_export.isChecked():
self.csv.csvWrite(data)
# Draw new data
self.plt1.clear()
self.plt1.plot(x=list(self.TIME)[-PLOT_UPDATE_POINTS:], y=list(self.DATA0)[-PLOT_UPDATE_POINTS:], pen='#2196F3')
def update_freq(self):
# Show adquisition frequency
self.ui.statusbar.showMessage("Sampling at " + str(1/(self.TIME[-1] - self.TIME[-2])) + " Hz")
##
# @brief Stops SerialProcess for data acquisition
# @param self Object handler
def stop(self):
self.data.closePort()
self.data.join()
self.timer_plot_update.stop()
self.timer_freq_update.stop()
self.set_ui_locked(False)
self.reset_buffers()
self.ui.statusbar.showMessage("Stopped data acquisition")
##
# @brief Basic configurations for a plot
# @param self Object handler
# @param plot Plot to be customized
# @param title Title for the plot
# @param unit Unit for the plot
# @param plot_range List with min and max values to show in the plot
@staticmethod
def configure_plot(plot, title, unit, y_min=0, y_max=0,
label_color='#2196F3', label_size='11pt'):
label_style = {'color': label_color, 'font-size': label_size}
plot.setLabel('left', title, unit, **label_style)
plot.setLabel('bottom', 'Time', 's', **label_style)
plot.showGrid(x=False, y=True)
if y_min != y_max:
plot.setYRange(y_min, y_max)
else:
plot.enableAutoRange(axis=None, enable=True)
plot.setMouseEnabled(x=False, y=False)
##
# @brief Basic configurations for a plot
# @param self Object handler
# @param enabled Sets the ui locked
def set_ui_locked(self, enabled):
self.ui.pButton_Stop.setEnabled(enabled)
self.ui.pButton_Start.setEnabled(not enabled)
self.ui.cBox_Port.setEnabled(not enabled)
self.ui.cBox_Speed.setEnabled(not enabled)
self.ui.chBox_export.setEnabled(not enabled)
##
# @brief Clears the buffers
# @param self Object handler
def reset_buffers(self):
self.DATA0.clear()
self.TIME.clear()
##
# @brief Function to be executed while closing the main window
# @param self Object handler
# @param event Event who calls the exit
def closeEvent(self, event):
log.i('Starting close')
try:
if self.data.is_alive():
log.w('SerialProcess running, stopping it')
self.stop()
except:
pass
app.exit()
sys.exit()
class MainProcess(Process):
## Constructor
#
# Inits the process, the CSV file, the PCA9547 Multiplexor, the settings
# file for each sensor (with calibration)
# @param self The object pointer
def __init__(self):
Process.__init__(self)
self.exit = Event()
self.csv = CSVExport()
self.i2cMux = PCA9547()
self.settings0 = RTIMU.Settings(SETTINGS_FILE_0)
self.settings1 = RTIMU.Settings(SETTINGS_FILE_1)
self.settings2 = RTIMU.Settings(SETTINGS_FILE_2)
self.settings3 = RTIMU.Settings(SETTINGS_FILE_3)
self.settings4 = RTIMU.Settings(SETTINGS_FILE_4)
self.settings5 = RTIMU.Settings(SETTINGS_FILE_5)
self.imu0 = RTIMU.RTIMU(self.settings0)
self.imu1 = RTIMU.RTIMU(self.settings1)
self.imu2 = RTIMU.RTIMU(self.settings2)
self.imu3 = RTIMU.RTIMU(self.settings3)
self.imu4 = RTIMU.RTIMU(self.settings4)
self.imu5 = RTIMU.RTIMU(self.settings5)
self.settings = [
self.settings0, self.settings1, self.settings2, self.settings3,
self.settings4, self.settings5
]
self.imus = [
self.imu0, self.imu1, self.imu2, self.imu3, self.imu4, self.imu5
]
self.detectedIMU = [False] * 6
self.detectImu()
self.pollInterval = 2
## Detectes the number of IMUs avaliable in each channel
#
# @param self The object pointer
# @return number of detected IMUs
def detectImu(self):
try:
for n, imu in enumerate(self.imus):
self.i2cMux.setChannel(n)
if imu.IMUInit():
self.detectedIMU[n] = True
else:
self.detectedIMU[n] = False
except:
print("Error in detection")
return self.detectedIMU
def setPollInterval(self, pollInterval):
self.pollInterval = pollInterval
## Sets file name for the CSV file
#
# @param self The object pointer
# @param txt file name
def setFileName(self, txt):
self.csv.setTitle(txt)
## gets the current data from the current sensor
#
# @param self The object pointer
# @return all sensor data as a vector
def getData(self):
return self.allData
## stops the thread and signals to exit
#
# @param self The object pointer
def stop(self):
self.exit.set()
def saveSettings(self):
try:
for s in self.setting:
s.save()
except:
print("Error in detection")
return self.detectedIMU
## Thread loop
#
# Get data in the polling interval definid time, and stores
# data form all the avaliable sensor with his identificator and timestamp
# @param self The object pointer
# @return finalized job
def run(self):
self.csv.createFile()
init_time = time.time()
while not self.exit.is_set():
try:
for n, imu in enumerate(self.imus):
if self.detectedIMU[n]:
self.i2cMux.setChannel(n)
if imu.IMURead():
data0 = imu.getIMUData()
quaternion = data0["fusionQPose"]
acceleration = data0["accel"]
gyro = data0["gyro"]
compass = data0["compass"]
nowTime = time.time() - init_time
self.allData = [n] + \
[nowTime] + \
[acceleration[0]] + \
[acceleration[1]] + \
[acceleration[2]] + \
[gyro[0]] + \
[gyro[1]] + \
[gyro[2]] + \
[compass[0]] + \
[compass[1]] + \
[compass[2]] + \
[quaternion[0]] + \
[quaternion[1]] + \
[quaternion[2]] + \
[quaternion[3]]
self.csv.csvWrite(self.allData)
#print(self.allData)
time.sleep(self.pollInterval * 1.0 / 1000.0)
except (KeyboardInterrupt, SystemExit):
print("Finishing Thread bad")
self.exit.set()
print("Finished Adquisition")
return
