def _average(self, name):
data = []
Sensors.get_data(
lambda obj: obj['name'] == name,
data,
max_age=self._period)
if data:
value = sum(elem['value'] for elem in data) / len(data)
timestamp = max(elem['timestamp'] for elem in data)
return self._make(name, value, timestamp)
def _any(self, name):
data = []
Sensors.get_data(
lambda obj: obj['name'] == name,
data,
max_age=self._period)
if data:
for obj in data:
if obj['value']:
return self._make(name, True, obj['timestamp'])
def run(self):
while True:
time.sleep(1 / Geometry._frequency)
pos_lats = []
pos_lngs = []
Sensors.get_data(lambda obj: obj['name'] == 'latitude',
pos_lats, 3)
Sensors.get_data(lambda obj: obj['name'] == 'longitude',
pos_lngs, 3)
if len(pos_lats) < 3 or len(pos_lngs) < 3:
continue
p0, p1, p2 = ((a['value'], b['value'])
for a, b in zip(pos_lats, pos_lngs))
t0, t1, t2 = (pos_lats[i]['timestamp'] for i in range(3))
Geometry._time = t2
Geometry._pos = p2
Geometry._r = Geometry._make_r(p1, p2)
Geometry._v = Geometry._r / (t2 - t1)
Geometry._a = (Geometry._v - Geometry._make_r(p0, p1) /
(t1 - t0)) / ((t2 + t1) / 2 - (t1 + t0) / 2)
if self._last_stamp != t2:
if self._last_time is None:
self._last_time = time.time()
alph = 0.7
self.step_size = alph * self._step_size + \
(1 - alph) * (time.time() - self._last_time)
if Geometry._inter_pos is None:
Geometry._inter_pos = p2
# Stabilize
self._dir = 0.3 * (np.array(p2) - Geometry._inter_pos) + 0.7 * (
self._dir if self._dir is not None else np.array(p2) - Geometry._inter_pos)
self._last_stamp = t2
self._last_update_time = time.time()
self._last_time = time.time()
k = (time.time() - self._last_update_time) / self._step_size
self._last_update_time = time.time()
Geometry._inter_pos = list(self._dir * k + Geometry._inter_pos)
Geometry._build_marker()
def run(self):
while True:
time.sleep(1.0 / self._frequency)
wheel_rot = []
if Geometry._pos is None:
continue
lat, lng = Geometry._pos
Sensors.get_last(
lambda obj: obj['name'] == 'steering_wheel_angle',
wheel_rot,
max_age=1)
if wheel_rot:
wheel_rot = wheel_rot[0]['value']
if abs(wheel_rot) > 75 or self._street_address is None:
self._last_turn = time.time()
if self._last_turn is not None and time.time() - self._last_turn < 3:
address = self._street_address
try: # Haults (stucks) after quota of 2500 lookups per day.
response = self._cli.reverse_geocode(
(lat, lng), result_type="route")
response = response[0]
for line in response['address_components']:
if 'route' in line['types']:
address = line['long_name']
break
except Exception as e:
logging.debug(e)
if self._street_address is None:
self._street_address = address
elif address != self._street_address:
self._street_address = address
signaled = []
Sensors.get_data(
lambda e: e['name'] == 'turn_signals',
signaled,
max_age=12)
signaled = [e for e in signaled if e['value'] != 'off']
if not signaled:
self._event.set()
Distributor.analyzes.put({'name': 'forgot_signals', 'value': 1,
'timestamp': Geometry._time})
class BalloonMissionComputer():
# ---------------------------------------------------------------------------
def __init__(self):
if not os.path.exists('tmp/'):
os.makedirs('tmp/')
logging.basicConfig(
format='%(asctime)s %(levelname)s %(name)s: %(message)s',
level=logging.DEBUG,
datefmt='%Y-%m-%d %H:%M:%S')
self.logger = logging.getLogger(__name__)
hdlr = logging.FileHandler('tmp/program.log')
formatter = logging.Formatter(
'%(asctime)s - %(name)s - %(levelname)s - %(message)s',
datefmt='%Y-%m-%d %H:%M:%S')
hdlr.setFormatter(formatter)
self.logger.addHandler(hdlr)
#---------------------------------------------------------------------------
def handle_log(self, msg):
self.webserver.log(msg)
#---------------------------------------------------------------------------
def calc_status_bits(self, gpsdata, sensordata):
bits = [
True, False, sensordata['cam2'] == "ok",
sensordata['cam1'] == "ok", gpsdata['status'] == "fix",
gpsdata['status'] == "lost", gpsdata['status'] == "comm error",
gpsdata['status'] == "i2c error"
]
return ''.join(['1' if val else '0' for val in bits])
status_names = [
'gps i2c err', "gps comm err", "gps no fix", "gps ok", "cam1 ok",
"cam2 ok"
]
# ---------------------------------------------------------------------------
def calc_balloon_state(self, gpsdata):
current_alt = float(gpsdata['alt'])
if self.state == "init" and current_alt > 0:
self.state = "ground"
self.send_bulltin()
if self.state == "ground" and current_alt > self.min_alt + 2000:
self.state = "ascent"
self.send_bulltin()
if self.state == "ascent" and current_alt < self.max_alt - 2000:
self.state = "descent"
self.send_bulltin()
if self.state == "descent" and current_alt < 2000:
self.state = "landed"
self.send_bulltin()
self.timers.set_state('BUZZER', True)
if current_alt > self.max_alt:
self.max_alt = current_alt
if current_alt > 0 and current_alt < self.min_alt:
self.min_alt = current_alt
self.prev_alt = current_alt
# ---------------------------------------------------------------------------
def update_system_datetime(self, gpsdata):
if gpsdata['status'] != "fix":
return
if 'date' not in gpsdata:
return
now = datetime.datetime.now()
gpstime = datetime.datetime.strptime(
gpsdata['date'] + " " + gpsdata['fixTimeStr'], "%d%m%y %H:%M:%S")
diff = int(abs((now - gpstime).total_seconds() / 60))
if diff > 100:
self.logger.info("system time %s" % now)
self.logger.info("gps time %s" % gpstime)
self.logger.info("updating")
# os.system('date -s %s' % gpstime.isoformat())
proc = subprocess.Popen(
["date", "-s %s" % gpstime.isoformat()],
stdout=subprocess.PIPE,
shell=True)
(out, err) = proc.communicate()
self.logger.info("program output:" % out)
self.logger.info("program error:" % err)
#todo: verify we have premissions
# ---------------------------------------------------------------------------
def send_bulltin(self):
try:
self.logger.info("state changed to %s" % self.state)
frame = self.aprs.create_message_msg(
"BLN1BALON", "changed state to %s" % self.state)
self.modem.encode(frame)
self.modem.saveToFile(os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
except:
pass
# ---------------------------------------------------------------------------
def capture_image(self, archive=True):
# self.logger.debug("capture start")
self.cam.capture()
if archive:
self.cam.archive()
# self.logger.debug("capture end")
# ---------------------------------------------------------------------------
def prep_image(self, id, gpsdata, sensordata):
self.logger.debug("image manutulation start")
self.cam.select(id)
self.cam.resize((320, 256))
self.cam.overlay(self.config['callsign'], gpsdata, sensordata)
self.cam.saveToFile(os.path.join(self.tmp_dir, "image.jpg"))
self.logger.debug("image manipulation end")
# ---------------------------------------------------------------------------
def process_ssdv(self):
self.logger.debug("process ssdv start")
self.logger.debug("jpg->ssdv")
self.ssdv.convert('tmp/image.jpg', 'tmp/image.ssdv')
self.logger.debug("ssdv->aprs")
packets = self.ssdv.prepare(os.path.join(self.tmp_dir, "image.ssdv"))
self.logger.debug("aprs->wav")
self.ssdv.encode(packets, 'tmp/ssdv.wav')
self.timers.trigger("PLAY-SSDV")
self.logger.debug("process ssdv end")
# ---------------------------------------------------------------------------
def process_sstv(self):
self.logger.debug("process sstv start")
self.sstv.image = self.cam.image
self.sstv.process()
self.sstv.saveToFile(os.path.join(self.tmp_dir, 'sstv.wav'))
self.timers.trigger("PLAY-SSTV")
self.logger.debug("process sstv end")
# ---------------------------------------------------------------------------
def gps_reset(self):
self.logger.warning("reset gps")
GPIO.setup(self.config['pins']['GPS_RST'], GPIO.OUT)
GPIO.output(self.config['pins']['GPS_RST'], GPIO.LOW)
time.sleep(1)
GPIO.output(self.config['pins']['GPS_RST'], GPIO.HIGH)
# ---------------------------------------------------------------------------
def setup(self):
self.logger.info("--------------------------------------")
self.logger.info(" Balloon Mission Computer V4.01 ")
self.logger.info("--------------------------------------")
self.logger.debug("setup")
# setup files and directories
with open('data/config.json') as fin:
self.config = json.load(fin)
self.images_dir = self.config["directories"][
"images"] if "directories" in self.config and "images" in self.config[
"directories"] else "./images"
self.tmp_dir = self.config["directories"][
"tmp"] if "directories" in self.config and "tmp" in self.config[
"directories"] else "./tmp"
if not os.path.exists(self.tmp_dir):
os.makedirs(self.tmp_dir)
if not os.path.exists(self.images_dir):
os.makedirs(self.images_dir)
# setup gpio
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM) # Broadcom pin-numbering scheme
GPIO.setup(self.config['pins']['BUZZER'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED1'], GPIO.OUT)
GPIO.setup(self.config['pins']['LED2'], GPIO.OUT)
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
# modules
self.aprs = APRS(self.config['callsign'], self.config['ssid'],
"idoroseman.com")
self.modem = AFSK()
try:
self.gps = Ublox()
self.gps.start()
except:
pass
self.radio = Dorji(self.config['pins'])
self.radio.init()
self.radio_q = queue.Queue()
self.radio_thread = threading.Thread(target=self.radio_worker)
self.radio_thread.start()
self.timers = Timers(self.config['timers'])
self.sensors = Sensors()
self.cam = Camera()
self.ssdv = SSDV(self.config['callsign'], self.config['ssid'])
self.sstv = SSTV()
self.webserver = WebServer()
self.radio_queue(self.config['frequencies']['APRS'],
'data/boatswain_whistle.wav')
self.syslog = logging.getLogger()
kh = MyLogHandler()
kh._listeners.append(self.handle_log)
kh.setLevel(logging.DEBUG)
formatter2 = logging.Formatter('%(levelname)s: %(name)s - %(message)s')
kh.setFormatter(formatter2)
self.syslog.addHandler(kh)
# timers
for item in ["APRS", "APRS-META", "Imaging", 'Capture']:
self.timers.set_state(item, self.config['timers'][item] > 0)
self.timers.set_state("Buzzer", False)
# lets go
self.ledState = 1
self.imaging_counter = 1
self.state = "init"
self.min_alt = sys.maxsize
self.max_alt = 0
self.prev_alt = 0
self.send_bulltin()
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
# ---------------------------------------------------------------------------
def run(self):
self.logger.debug("run")
telemetry = {}
telemCoef = {
'SatCount': 1,
'outside_temp': 10,
'inside_temp': 10,
'barometer': 1,
'battery': 100
}
exitFlag = False
self.prev_gps_status = ""
while not exitFlag:
try:
# blink
self.ledState = 1 - self.ledState
GPIO.output(self.config['pins']['LED1'], GPIO.HIGH)
watchdog = Watchdog(60)
# gps
self.gps.loop()
gpsdata = self.gps.get_data()
self.calc_balloon_state(gpsdata)
if gpsdata['status'] == "fix" and gpsdata['alt'] > 0:
self.sensors.calibrate_alt(gpsdata['alt'])
if gpsdata['status'] != "fix":
gpsdata['alt'] = self.sensors.read_pressure()
# sensors
sensordata = self.sensors.get_data()
sensordata.update(self.cam.status)
status_bits = self.calc_status_bits(gpsdata, sensordata)
telemetry[
'Satellites'] = gpsdata['SatCount'] * telemCoef['SatCount']
telemetry['outside_temp'] = sensordata[
'outside_temp'] * telemCoef['outside_temp']
telemetry['inside_temp'] = sensordata[
'inside_temp'] * telemCoef['inside_temp']
telemetry['barometer'] = sensordata['barometer'] * telemCoef[
'barometer']
telemetry[
'battery'] = sensordata['battery'] * telemCoef['battery']
if gpsdata['status'] != self.prev_gps_status:
frame = self.aprs.create_telem_data_msg(
telemetry, status_bits, gpsdata['alt'])
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
self.prev_gps_status = gpsdata['status']
# UI
self.webserver.update(gpsdata, sensordata, self.state)
self.update_system_datetime(gpsdata)
if self.timers.expired("APRS"):
if gpsdata['status'] == "fix":
self.logger.debug("sending location")
frame = self.aprs.create_location_msg(
gpsdata, telemetry, status_bits)
else:
self.logger.debug("sending only telemetry")
frame = self.aprs.create_telem_data_msg(
telemetry, status_bits, gpsdata['alt'])
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
with open(os.path.join(self.tmp_dir, "flight.log"),
'a+') as f:
merged = dict()
merged.update(gpsdata)
merged.update(sensordata)
merged['datatime'] = datetime.datetime.now().isoformat(
)
f.write(json.dumps(merged, indent=2))
f.write(',\n')
if self.timers.expired("APRS-META"):
frame = self.aprs.create_telem_name_msg(
telemetry, self.status_names)
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'aprs.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'aprs.wav'))
frame = self.aprs.create_telem_eqns_msg(telemCoef)
self.modem.encode(frame)
self.modem.saveToFile(
os.path.join(self.tmp_dir, 'coef.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'coef.wav'))
if self.timers.expired("Capture"):
self.capture_image()
if self.timers.expired("Snapshot"):
self.imaging_counter += 1
cam_select = self.imaging_counter % CAMERAS
self.capture_image(archive=False)
self.prep_image(cam_select, gpsdata, sensordata)
self.webserver.snapshot()
if self.timers.expired("Imaging"):
self.imaging_counter += 1
cam_select = self.imaging_counter % CAMERAS
cam_system = self.imaging_counter % (CAMERAS + 1)
self.logger.info("imageing trigger")
self.logger.debug("cam %s system %s" %
(cam_select, cam_system))
self.capture_image(archive=False)
self.prep_image(cam_select, gpsdata, sensordata)
self.webserver.snapshot()
if cam_system == 0:
self.logger.info("->sstv")
_thread.start_new_thread(self.process_sstv, ())
else:
self.logger.info("->ssdv")
_thread.start_new_thread(self.process_ssdv, ())
if self.timers.expired("PLAY-SSDV"):
self.logger.debug("sending ssdv")
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join("data", 'starting_ssdv.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join("data", 'habhub.wav'))
self.radio_queue(self.config['frequencies']['APRS'],
os.path.join(self.tmp_dir, 'ssdv.wav'))
if self.timers.expired("PLAY-SSTV"):
self.logger.debug("sending sstv")
self.radio_queue(
self.config['frequencies']['APRS'],
os.path.join("data", 'switching_to_sstv.wav'))
self.radio_queue(self.config['frequencies']['SSTV'],
os.path.join("data", 'starting_sstv.wav'))
self.radio_queue(self.config['frequencies']['SSTV'],
os.path.join(self.tmp_dir, 'sstv.wav'))
if self.timers.expired("Buzzer"):
for i in range(3):
GPIO.output(self.config['pins']['BUZZER'], GPIO.HIGH)
time.sleep(0.5)
GPIO.output(self.config['pins']['BUZZER'], GPIO.LOW)
time.sleep(0.5)
GPIO.output(self.config['pins']['LED1'], GPIO.LOW)
watchdog.stop()
time.sleep(1)
except Watchdog:
self.logger.error("task timedout!")
except KeyboardInterrupt: # If CTRL+C is pressed, exit cleanly
exitFlag = True
self.gps.stop()
break
except Exception as x:
self.logger.exception(x)
self.logger.info("Done.")
# ---------------------------------------------------------------------------
def radio_queue(self, freq, filename):
self.radio_q.put({'freq': freq, 'filename': filename})
# ---------------------------------------------------------------------------
def radio_worker(self):
while True:
item = self.radio_q.get()
self.radio.play(item['freq'], item['filename'])
self.radio_q.task_done()
