self._cb.cancel()
if __name__ == "__main__":
import time
import pigpio
import read_PWM
PWM_GPIO = 4
RUN_TIME = 1000.0
SAMPLE_TIME = 2.0
pi = pigpio.pi() # Grants access t Pi's GPIO
p = read_PWM.reader(pi, PWM_GPIO)
start = time.time()
while (time.time() - start) < RUN_TIME:
time.sleep(SAMPLE_TIME)
pp = p.pulse_period()
pw = p.pulse_width()
conc = 5000.0 * (pw - 2) / (pp - 4)
print("t={} pp={} pw={} c={:.1f}".format(time.time(), pp, pw, conc))
p.cancel()
#motor command pigpio
Servo = pigpio.pi()
#motor pigpio mode
Servo.set_mode(ServoPin, pigpio.OUTPUT)
#reciever pigpio
RCJoyXPigpio = pigpio.pi() # RC Channel 1 (left/right)
RCJoyYPigpio = pigpio.pi() # RC channel 2 (forward/back)
ServoControlPigpio = pigpio.pi() # RC channel 3 (forward/back)
KillSwitchPigpio = pigpio.pi() # RC channel 5 (robot kill switch)
RCSwitchPigpio = pigpio.pi() # RC channel 6 (RC/Autonomous switch)
#start pigpio reader
RCJoyXReader = read_PWM.reader(RCJoyXPigpio,
RCJoyXPin) # RC Channel 1 (left/right)
RCJoyYReader = read_PWM.reader(RCJoyYPigpio,
RCJoyYPin) # RC channel 2 (forward/back)
ServoControlReader = read_PWM.reader(
ServoControlPigpio, ServoControlPin) # RC channel 3 (forward/back)
KillSwitchReader = read_PWM.reader(
KillSwitchPigpio, KillSwitchPin) # RC channel 5 (robot kill switch)
RCSwitchReader = read_PWM.reader(
RCSwitchPigpio, RCSwitchPin) # RC channel 6 (RC/Autonomous switch)
#Give time to initialize
time.sleep(1.0)
try:
while True:
LeftMotor.ChangeDutyCycle(100)
def acquire_data(main_queue, killer, pi, i2c_handle_6b, i2c_handle_69,
i2c_handle_ADS7828, reporting_interval): #new_data_event):
#target data string:
#timestamp ,lat, ,lon ,el ,press , temp , level, qual,rpm
#2016-03-16T16:15:04Z,32.758,-97.448,199.700,32.808,63.722,26.887,2.144,0.000
PWM_GPIO = 24 # to pin 18 on pi, mistakenly labeled "5" on rev c of the interface PCB
RPM_GPIO = 17 # to pin 11 on the pi.
#for reference, the ups uses gpio 27 (pin 13) to shutdown the pi (FSSD) and 22 (pin 15) is use for pulse train output to the ups (watchdog), 4 is used by the GPS PPS output, STACounter enable on 25 (pin 22)
led_state = 0
analog_sensors = ADS7828.ADS7828(pi, i2c_handle_ADS7828)
oil_sensor = read_PWM.reader(pi, PWM_GPIO)
rpm_sensor = read_RPM.reader(pi, RPM_GPIO)
UPS_Pico_run_prior = 0
UPS_Pico_run_temp = 0
UPS_Pico_run_read_count = 0
UPS_Pico_run_read_errors = 0
UPS_PICO_RUN_MAX_READ_ERRORS = 5
if (reporting_interval == 0):
reporting_interval = 5
gps_sensor = GPS_AdafruitSensor(interface='/dev/ttyAMA0')
time_format_str = '%Y-%m-%dT%H:%M:%SZ'
system_clock_set_from_gps = False
while not killer.kill_now:
try:
logging.debug('acquire_data process launched...')
while not killer.kill_now:
#---------verifying that the Pico UPS is running properly -------------
UPS_Pico_run_now = pi.i2c_read_word_data(
i2c_handle_69,
0x0e) #rolling vale, should change after each read.
if (UPS_Pico_run_now == UPS_Pico_run_prior):
UPS_Pico_run_read_errors += 1
if (UPS_Pico_run_read_errors >=
UPS_PICO_RUN_MAX_READ_ERRORS):
raise TimeoutError(
'The UPS Pico_run register (UPS Pico module status register 69 0x0E) has returend the same value ('
+ str(UPS_Pico_run_now) + ') ' +
str(UPS_Pico_run_read_errors) +
' times, which most likely indicates that the UPS is not running (either shutdown or locked up). The number of successful reads prior to error: '
+ str(UPS_Pico_run_read_count))
else:
UPS_Pico_run_read_errors = 0
UPS_Pico_run_read_count += 1
UPS_Pico_run_prior = UPS_Pico_run_now
time.sleep(reporting_interval)
#---------begin data colection -------------
timestamp = gps_sensor.timestamp
timestamp_str = timestamp.strftime(time_format_str)
pressure_str = analog_sensors.getUpdate()
oil_str = oil_sensor.getUpdate()
rpm_str = rpm_sensor.getUpdate()
#---------concatenating, checking minimum number of fields and date validity -------------
# all of the fields have leading commas.
data_str = timestamp_str + gps_sensor.data_str(
) + pressure_str + oil_str + rpm_str
if (len(data_str.split(',')) < 10):
logging.debug(
'Invalid data length, < 10 after split on comma, ACTUAL DATA: '
+ data)
continue
if (timestamp.year < 2016):
logging.debug(
'Discarding sample with an invalid timestamp: ' +
timestamp_str)
continue
else:
if not system_clock_set_from_gps: #only done once at startup
logging.debug('Setting date according to GPS')
os.system('sudo date -s ' + timestamp_str)
system_clock_set_from_gps = True
filename = gps_sensor.timestamp.strftime(
"%Y-%m-%d_%H.csv") #change log file every hour
main_queue.put(('new data', filename, data_str))
# print(data_str)
led_state = 1 - led_state
pi.i2c_write_byte_data(
i2c_handle_6b, 0x0D, led_state
) #toggle the red LED to show data is being processed
except Exception as ex:
logging.error('acquire_data: ' + traceback.format_exc())
main_queue.put(('quit', ))
finally:
logging.debug('DAQ thread caught stop signal.')
try:
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D,
0) #turn off the red LED
r.cancel() #stop the call backs
p.cancel()
except:
pass
main_queue.put(('DAQ thread stopped', ))
logging.debug('DAQ thread is exiting.')
if __name__ == "__main__": #debug test routine if called standalone (not from a parent program)
import time
import pigpio
import read_PWM
import threading
PWM_GPIO = 24 #pin 18
RUN_TIME = 60.0
print("PWM GPIO= " + str(PWM_GPIO) + ", RUN_TIME= " + str(RUN_TIME))
pi = pigpio.pi()
pi.set_mode(PWM_GPIO, pigpio.INPUT)
p = read_PWM.reader(pi, PWM_GPIO)
start = time.time()
while (time.time() - start) < RUN_TIME:
time.sleep(5)
f = p.frequency()
pw = p.pulse_width()
dc = p.duty_cycle()
print(p.getUpdate_debug())
p.cancel()
pi.stop()
def acquire_data(main_queue, killer, pi, i2c_handle_6b, i2c_handle_69, i2c_handle_ADS7828, reporting_interval): #new_data_event):
#target data string:
#timestamp ,lat, ,lon ,el ,press , temp , level, qual,rpm
#2016-03-16T16:15:04Z,32.758,-97.448,199.700,32.808,63.722,26.887,2.144,0.000
PWM_GPIO = 24 # to pin 18 on pi, mistakenly labeled "5" on rev c of the interface PCB
RPM_GPIO = 17 # to pin 11 on the pi.
#for reference, the ups uses gpio 27 (pin 13) to shutdown the pi (FSSD) and 22 (pin 15) is use for pulse train output to the ups (watchdog), 4 is used by the GPS PPS output, STACounter enable on 25 (pin 22)
led_state = 0
analog_sensors = ADS7828.ADS7828(pi, i2c_handle_ADS7828)
oil_sensor = read_PWM.reader(pi, PWM_GPIO)
rpm_sensor = read_RPM.reader(pi, RPM_GPIO)
UPS_Pico_run_prior = 0
UPS_Pico_run_temp = 0
UPS_Pico_run_read_count = 0
UPS_Pico_run_read_errors = 0
UPS_PICO_RUN_MAX_READ_ERRORS = 5
if(reporting_interval == 0):
reporting_interval = 5
gps_sensor = GPS_AdafruitSensor(interface='/dev/ttyAMA0')
time_format_str = '%Y-%m-%dT%H:%M:%SZ'
system_clock_set_from_gps = False
while not killer.kill_now:
try:
logging.debug('acquire_data process launched...')
while not killer.kill_now:
#---------verifying that the Pico UPS is running properly -------------
UPS_Pico_run_now = pi.i2c_read_word_data(i2c_handle_69, 0x0e) #rolling vale, should change after each read.
if(UPS_Pico_run_now == UPS_Pico_run_prior):
UPS_Pico_run_read_errors += 1
if(UPS_Pico_run_read_errors >= UPS_PICO_RUN_MAX_READ_ERRORS):
raise TimeoutError('The UPS Pico_run register (UPS Pico module status register 69 0x0E) has returend the same value (' + str(UPS_Pico_run_now) + ') ' + str(UPS_Pico_run_read_errors) + ' times, which most likely indicates that the UPS is not running (either shutdown or locked up). The number of successful reads prior to error: ' + str(UPS_Pico_run_read_count))
else:
UPS_Pico_run_read_errors = 0
UPS_Pico_run_read_count += 1
UPS_Pico_run_prior = UPS_Pico_run_now
time.sleep(reporting_interval)
#---------begin data colection -------------
timestamp = gps_sensor.timestamp
timestamp_str = timestamp.strftime(time_format_str)
pressure_str = analog_sensors.getUpdate()
oil_str = oil_sensor.getUpdate()
rpm_str = rpm_sensor.getUpdate()
#---------concatenating, checking minimum number of fields and date validity -------------
# all of the fields have leading commas.
data_str = timestamp_str + gps_sensor.data_str() + pressure_str + oil_str + rpm_str
if(len(data_str.split(',')) < 10):
logging.debug('Invalid data length, < 10 after split on comma, ACTUAL DATA: ' + data)
continue
if(timestamp.year < 2016):
logging.debug('Discarding sample with an invalid timestamp: ' + timestamp_str)
continue
else:
if not system_clock_set_from_gps: #only done once at startup
logging.debug('Setting date according to GPS')
os.system('sudo date -s ' + timestamp_str)
system_clock_set_from_gps = True
filename = gps_sensor.timestamp.strftime("%Y-%m-%d_%H.csv") #change log file every hour
main_queue.put(('new data', filename, data_str))
# print(data_str)
led_state = 1 - led_state
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D, led_state) #toggle the red LED to show data is being processed
except Exception as ex:
logging.error('acquire_data: ' + traceback.format_exc())
main_queue.put(('quit',))
finally:
logging.debug('DAQ thread caught stop signal.')
try:
pi.i2c_write_byte_data(i2c_handle_6b, 0x0D, 0) #turn off the red LED
r.cancel() #stop the call backs
p.cancel()
except:
pass
main_queue.put(('DAQ thread stopped',))
logging.debug('DAQ thread is exiting.')
import pigpio
import read_PWM
## input pins ##
PWM_GPIO1 = 4
PWM_GPIO2 = 5
################
RUN_TIME = 60.0
SAMPLE_TIME = 1.0
pi = pigpio.pi()
for g in GPIO:
pi.set_mode(g, pigpio.OUTPUT)
p1 = read_PWM.reader(pi, PWM_GPIO1)
p2 = read_PWM.reader(pi, PWM_GPIO2)
start = time.time()
while (time.time() - start) < RUN_TIME:
time.sleep(SAMPLE_TIME)
## signal information from input pins ##
## first pin (4) ##
f1 = p1.frequency()
pw1 = p1.pulse_width()
dc1 = p1.duty_cycle()
## second pin (5) ##
f2 = p2.frequency()
from flask import Flask, request, jsonify, render_template, Response
from flask_restful import Resource, Api
import json
import serial
from threading import Thread
import binascii
import time
import pigpio
import read_PWM
# GPIO pin to read the frequency from fuel sensor
FUELSENSOR_GPIO = 4
pi = pigpio.pi()
fuelsensor_input = read_PWM.reader(pi, FUELSENSOR_GPIO)
# Length of low pass filter
frequencies_length = 100
# Circular buffer to store previous n frequencies
frequencies = []
# Index to keep track of the oldest frequency to be replaced
frequencies_index = 0
port = serial.Serial("/dev/serial0", baudrate=19200, timeout=3.0)
# Starting value for the engine data
engine_data = {'FUEL': 0, 'PWR': 0, 'RPM': 0, 'MANP': 0, 'FUELP': 0,
'OILP': 0, 'OILT': 0, 'CHT1': 0, 'CHT2': 0, 'CHT3': 0,
'CHT4': 0, 'CHT5': 0, 'CHT6': 0, 'EGT1': 0, 'EGT2': 0,
'EGT3': 0, 'EGT4': 0, 'EGT5': 0, 'EGT6': 0, 'ERRORS':[] }
# All the possible faults
faults = { 0: "Manifold Pressure Sensor Fault",
1: "Fuel Pressure Sensor Fault",
TRIAL_NUM = 0
for file in os.listdir('.'):
if 'drive_trial_' in file:
TRIAL_NUM += 1
# Setup the camera
camera = PiCamera()
camera.resolution = (FRAME_W, FRAME_H)
camera.framerate = FRAME_RATE
rawCapture = PiRGBArray(camera, size=(FRAME_W, FRAME_H))
time.sleep(0.1)
# Setup PWM reader
pi = pigpio.pi()
steer_pwm = read_PWM.reader(pi, STEER_GPIO)
# Start recording
trial = 'drive_trial_' + str(TRIAL_NUM)
print trial
os.system('mkdir ' + trial)
os.system('mkdir ' + trial + '/image')
os.system('mkdir ' + trial + '/steer')
counter = 0
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# Grab the raw NumPy array representing the image
image = cv2.flip(frame.array, 0)
#cv2.imshow("Frame", image)
