def Reception(mybaudrate=19200):
global com
'''
受信
アスキーコードから文字列に変換したものを返す
mybaudrate:ボーレート
'''
try:
com.flushInput()
#print("a")
text = com.readline().decode('utf-8').strip() #受信と空白の削除
#print(text)
com.flushOutput()
text = text.replace("\r\n", "")
#power=text.split(":")[0]
#print(text)
text = text.split(":")[1]
#print(text)
text = text.split(",")
#print("d")
cngtext = ""
#print(text)
for x in text:
cngtext += chr(int(x, 16))
Other.saveLog(receptionLog, cngtext, datetime.datetime.now())
#f.write(text)
#f.write("\n")
#print(text)
except Exception:
cngtext = ""
print("NO DATA")
#com.close()
return cngtext
def takePhoto(): global photoName global gpsData photo = "" photo = Capture.Capture(photopath) gpsData = GPS.readGPS() if not(photo == "Null"): photoName = photo Other.saveLog(captureLog, time.time() - t_start, gpsData, BME280.bme280_read(), photoName)
def to_list(self):
elements_list = list()
elements_list.append(self.trip_id)
elements_list.append(Other.to_real_time(self.arrival_time))
elements_list.append(Other.to_real_time(self.departure_time))
elements_list.append(self.stop_id)
elements_list.append(self.stop_sequence)
elements_list.append(self.pickup_type)
elements_list.append(self.drop_off_type)
return elements_list
def rotate_control(θ, azimuth, t_start):
try:
timeout_count = time.time()
while azimuth - 30 > θ or θ > azimuth + 30:
if 0 <= azimuth < 30:
if azimuth - 30 + 360 <= θ <= 360:
break
if 330 <= azimuth <= 360:
if 0 <= θ <= azimuth + 30 - 360:
break
if azimuth < 180:
if azimuth < θ < azimuth + 180:
run = pwm_control.Run()
run.turn_right_l()
time.sleep(1)
else: #-- 0 < θ < azimuth or azimuth + 180 < θ < 360 --#
run = pwm_control.Run()
run.turn_left_l()
time.sleep(1)
else: #-- 180 < azimuth --#
if azimuth - 180 < θ < azimuth:
run = pwm_control.Run()
run.turn_left_l()
time.sleep(1)
else: #-- 0 < θ < azimuth - 180 or azimuth < θ < 360 --#
run = pwm_control.Run()
run.turn_right_l()
time.sleep(1)
#run = pwm_control.Run()
#run.stop()
#time.sleep(0.5)
#get_magdata_average()
get_data()
θ = calculate_angle_2D(magx, magy, magx_off, magy_off)
Other.saveLog(Calibration_rotate_controlLog,
'Calibration_rotate_control',
time.time() - t_start, θ, azimuth)
if time.time() - timeout_count >= 60:
print('rotate control timeout')
break
print("rotate control finished")
#print(θ)
except KeyboardInterrupt:
run = pwm_control.Run()
run.stop()
print("faulted to rotate control to goal direction")
finally:
#run = pwm_control.Run()
#run.stop()
pass
def transmitPhoto():
global t_start
photoName = Capture.Capture(photopath)
Other.saveLog(captureLog,
time.time() - t_start, GPS.readGPS(), BME280.bme280_read(),
photoName)
print("Send Photo")
sendPhoto.sendPhoto(photoName)
print("Send Photo Finished")
Other.saveLog(sendPhotoLog,
time.time() - t_start, GPS.readGPS(), photoName)
class Child(object):
def __init__(self):
self.other = Other()
def implicit(self):
self.other.implicit()
def override(self):
print "CHILD ovrried()"
def altered(self):
print "CHILD before Other altered()"
self.other.altered()
print "CHILD after other altered()"
def read_coordinates():
try:
with open("sgtfs/coordinates.txt", 'r', encoding="utf-8") as file:
lines = file.readlines()
stop_counter = 0
coordinates_counter = 0
list_of_coordinates = list()
for i, line in enumerate(lines):
if i == 0:
if ord(line[0]) > 1000:
line = line[1:]
stop_counter += 1
# Here we parse the line
parsed_line = Other.split_by(line, "\t")
# We add it to the list if it contains coordinates
if len(parsed_line) > 1:
# Parsing the coordinates
coordinates = re.split(", ", parsed_line[1])
list_of_coordinates.append([parsed_line[0], coordinates[0], coordinates[1]])
coordinates_counter += 1
print(str(stop_counter) + " stops were in the file")
print(str(coordinates_counter) + " coordinates were in the file")
return list_of_coordinates
except FileNotFoundError:
print("There is no sgtfs/coordinates.txt file")
def update_stops(self, li, comparator):
# First add the stops
for i, stop in enumerate(li):
li[i].name = comparator.look_for_stop(li[i].name)
char = stop.name[0]
# Here we check if it's not a false stop or "*" or "/" or "//"
if char != "*" and char != "/" and char != "$":
stop_id = Other.to_id(stop.name)
# Then we go into the list of stops in the agency to see if it was already there
found = False
for stop_in_memory in self.stops:
if normalize(stop_in_memory.id) == normalize(stop_id):
found = True
break
if not found:
for stop_in_memory in self.stops:
if comparator.compare(stop_in_memory.name, stop.name):
li[i].name = stop_in_memory.name
found = True
break
if not found:
self.stops.append(Stop.Stop(stop.name))
def payserverresults(self):
#self.paymomey=self.driver.find_element_by_css_selector("#pay_count_detail .price_change").text #支付金额
#self.driver.find_element_by_class_name("show").click()
#peoplecount=self.driver.find_element_by_css_selector(".order_sub_name_details td:nth-child(1)").text #出行人数
#self.peoplecounts=other.splittext(peoplecount,1,"：")
messagepeople=self.driver.find_element_by_css_selector(".order_sub_name_details td:nth-child(2)").text #联系人
self.messagepeoples=Other.splittext(messagepeople,1,"：")
def init_routes_from_file(self, path="gtfs"):
path += "/routes.txt"
issue = Other.read_csv(path, self.add_route)
if issue:
print("The file routes.txt was not found")
print(str(self.count) + " routes were imported")
self.count = 0
def makeDepthPressureTemperatureData(self):
if self.finalData is None: return
s1 = self.finalData.iloc[:, 4]
s1.dropna(inplace=True, how='all')
s2, s3 = pd.Series(), pd.Series()
PresDF = self.finalData.iloc[:, [0, 1]]
TemperDF = self.finalData.iloc[:, [0, 2]]
for i in range(s1.size):
s2 = s2.append(pd.Series([
Other.searchAndInterpolate(PresDF, self.finalData.iloc[i, 3])
]),
ignore_index=True)
s3 = s3.append(pd.Series([
Other.searchAndInterpolate(TemperDF, self.finalData.iloc[i, 3])
]),
ignore_index=True)
self.depthPressureTemperatureData = pd.concat([s1, s2, s3], axis=1)
def sqlBed(bedID):
with Other.sqlQuery() as connection:
cursor = connection.cursor()
cursor.execute(
'''SELECT ots_bn.sosbed.bedname from ots_bn.sosbed
WHERE ots_bn.sosbed.bedid = :bedid''',
bedid=bedID)
row = cursor.fetchone()
return row[0]
def init_stops_from_file(self, path="gtfs"):
path += "/stops.txt"
issue = Other.read_csv(path, self.add_stop)
if issue:
print("No stop.txt file")
print(str(self.count) + " stops have been imported from the file")
self.count = 0
def Mission(photo_path1,photo_path2):
photo_path1 = ''
photo_path2 = ''
try:
# --- Save photos in two resolution --- #
camera = picamera.PiCamera()
camera.resolution = (320,240)
camera.capture(photo_path1)
camera.resolution = (640,480)
camera.capture(photo_path2)
# --- Read two images --- #
img1 = cv2.imread(photo_path1)
img2 = cv2.imread(photo_path2)
# --- hight resolution --- #
dst1 = cv2.resize(img1, (img1.shape[1]*4, img1.shape[0]*4), interpolation=cv2.INTER_NEAREST)
dst2 = cv2.resize(img1, (img1.shape[1]*4, img1.shape[0]*4), interpolation=cv2.INTER_LINEAR)
dst3 = cv2.resize(img1, (img1.shape[1]*4, img1.shape[0]*4), interpolation=cv2.INTER_CUBIC)
# --- Save high resolution images --- #
filepath = ''
filepath = Other.fileName('/home/pi/photo/nearest','jpg') # nearest
cv2.imwrite(filepath, dst1)
filepath = Other.fileName('/home/pi/photo/linear','jpg') # linear
cv2.imwrite(filepath, dst2)
filepath = Other.fileName('/home/pi/photo/cubic','jpg') # cubic
cv2.imwrite(filepath, dst3)
# --- Convert to grayscale --- #
gray0 = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY)
gray1 = cv2.cvtColor(dst1, cv2.COLOR_BGR2GRAY)
gray2 = cv2.cvtColor(dst2, cv2.COLOR_BGR2GRAY)
gray3 = cv2.cvtColor(dst3, cv2.COLOR_BGR2GRAY)
# --- Calculate ssim --- #
print("ssim_n: " + str(measurement_nearest(compare_ssim, gray0 = gray0, gray1 = gray1)))
print("ssim_l: " + str(measurement_linear(compare_ssim, gray0 = gray0, gray2 = gray2)))
print("ssim_c: " + str(measurement_cubic(compare_ssim, gray0 = gray0, gray3 = gray3)))
except picamera.exc.PiCameraMMALError:
photo_path = 'Null'
time.sleep(1)
except:
print(traceback.format_exc())
time.sleep(0.1)
return photo_path
def preciseCalcStaticLevel(self, referencePoint):
lowBound = int(max(1, referencePoint - 50))
highBound = int(min(self.maxDepth, referencePoint + 50))
if self.tableInd == 0:
tempDF11 = self.finalData.iloc[:self.centralDots[1], [4, 3]]
tempDF22 = self.finalData.iloc[:self.centralDots[0], [0, 1]]
else:
tempDF11 = self.finalData.iloc[self.centralDots[1]:, [4, 3]]
tempDF22 = self.finalData.iloc[self.centralDots[0]:, [0, 1]]
tempDF1 = tempDF11.dropna(how='all')
tempDF2 = tempDF22.dropna(how='all')
prevPres = 9000
for i in range(lowBound, highBound):
timeDepth = Other.searchAndInterpolate(tempDF1, i)
newPres = Other.searchAndInterpolate(tempDF2, timeDepth)
if (newPres - prevPres) * 10 > 0.7:
return i
else:
prevPres = newPres
return referencePoint
def __init__(self, name, id=None, description="", latitude="", longitude="",
url="", location_type="", parent_station=""):
self.name = name
if id is None:
self.id = Other.to_id(name)
else:
self.id = id
self.description = description
self.latitude = latitude
self.longitude = longitude
self.url = url
self.locationType = location_type
self.parent_station = parent_station
def fuse_two_stops(real_name, alias):
real_id = Other.to_id(real_name)
alias_id = Other.to_id(alias)
# We first take care of stops.txt
Other.replace_in_file("gtfs/stops.txt", alias, delete_line=True, escape=True)
# Now we take care of stop_times.txt
Other.replace_in_file("gtfs/stop_times.txt", alias_id, real_id, escape=True)
def __init__(self):
self.list_differentiation = list()
self.list_of_list_of_identical_stops = list()
self.threshold = None
try:
with io.open("sgtfs/same_stops.txt", "r", encoding="utf-8") as f:
equalities = f.readlines()
except FileNotFoundError:
print("same_stops.txt not found")
equalities = list()
try:
with io.open("sgtfs/different_stops.txt", "r", encoding="utf-8") as f:
differences = f.readlines()
except FileNotFoundError:
print("different_stops.txt not found")
differences = list()
for line in equalities:
list_of_same_names = Other.split_by(line, "=")
self.list_of_list_of_identical_stops.append(list_of_same_names)
for line in differences:
different_stops = Other.split_by(line, "!")
self.list_differentiation.append(different_stops)
try:
with io.open("threshold.txt", encoding="utf-8") as f:
line = f.readline()
threshold = re.sub("\\n", "", line)
threshold = threshold[1:]
except FileNotFoundError:
print("threshold.txt not found")
threshold = "0.6"
self.threshold = float(threshold)
def LongtransmitPhoto(sendimgName = ""):
global t_start
photo = ""
IM920.Send("G" + str(nLat) + " " + str(nLon))
IM920.Send("G" + str(nLat) + " " + str(nLon))
IM920.Send("G" + str(nLat) + " " + str(nLon))
if sendimgName == "":
IM920.Strt("2") #distancemode!
time.sleep(1)
Motor.motor(15, 15, 0.9)
Motor.motor(0, 0, 1)
takePhoto()
print("Send Photo")
sendPhoto.sendPhoto(photoName)
print("Send Photo Finished")
Other.saveLog(sendPhotoLog, time.time() - t_start, GPS.readGPS(), photoName)
IM920.Strt("2") #distancemode
time.sleep(1)
else: # 1st time transmit
print("airphoto")
IM920.Strt("2") #distancemode!
time.sleep(1)
Motor.motor(15, 15, 0.9)
Motor.motor(0, 0, 1)
print("Send Photo")
sendPhoto.sendPhoto(sendimgName)
print("Send Photo Finished")
Other.saveLog(sendPhotoLog, time.time() - t_start, GPS.readGPS(), sendimgName)
IM920.Strt("2") #distancemode
time.sleep(1)
IM920.Send("G" + str(nLat) + " " + str(nLon))
IM920.Send("G" + str(nLat) + " " + str(nLon))
IM920.Send("G" + str(nLat) + " " + str(nLon))
def calibration():
global ellipseScale
mPL, mPR, mPS = 0, 0, 0
dt = 0.05
roll = 0
time.sleep(1)
fileCal = Other.fileName(calibrationLog, "txt")
print("Calibration Start")
IM920.Send("P7C")
Motor.motor(30, 0, 1)
t_cal_start = time.time()
while(math.fabs(roll) <= 600):
if(time.time() - t_cal_start >= 10):
calData = ellipseScale
Motor.motor(0, 0, 1)
Motor.motor(-60, -60, 2)
print("Calibration Failed")
Other.saveLog(stuckLog, time.time() - t_start, GPS.readGPS(), 3, 0)
Other.saveLog(fileCal, time.time() - t_start, "Calibration Failed")
break
mPL, mPR, mPS, bmx055data = pidControl.pidSpin(-300, 1.0, 1.1, 0.2, dt)
with open(fileCal, 'a') as f:
for i in range(6, 8):
#print(str(bmx055data[i]) + "\t", end="")
f.write(str(bmx055data[i]) + "\t")
#print()
f.write("\n")
roll = roll + bmx055data[5] * dt
Motor.motor(mPL, mPR, dt, 1)
else:
Motor.motor(0, 0, 1)
calData = Calibration.Calibration(fileCal)
Other.saveLog(fileCal, calData)
Other.saveLog(fileCal, time.time() - t_start)
Motor.motor(0, 0, 1)
setup()
print("Calibration Finished")
return calData
def setup():
global phaseChk
pi.set_mode(17, pigpio.OUTPUT)
pi.set_mode(22, pigpio.OUTPUT)
pi.write(22, 1)
pi.write(17, 0)
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
phaseChk = int(Other.phaseCheck(phaseLog))
def Capture(path, width = 320, height = 240): filepath = "" try: with picamera.PiCamera() as camera: #camera.rotation = 270 camera.resolution = (width,height) filepath = Other.fileName(path,"jpg") camera.capture(filepath) except picamera.exc.PiCameraMMALError: filepath = "Null" time.sleep(0.8) except: print(traceback.format_exc()) time.sleep(0.1) filepath = "Null" return filepath
def init_from_line(self, line):
# Initialise values from the line
splited_line = Other.split_by(line, "\t")
# We get the name
self.name = splited_line[0]
# Here we get the directions the bus can go
# No number means both directions are possible
try:
if splited_line[1] == '1':
self.link_up = False
elif splited_line[1] == '2':
self.link_down = False
except IndexError:
pass
def setup():
global phaseChk
pi.set_mode(17, pigpio.OUTPUT)
pi.set_mode(22, pigpio.OUTPUT)
pi.write(22, 1) #IM920 Turn On
pi.write(17, 0) #Outcasing Turn Off
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
#if it is End to End Test, then
phaseChk = int(Other.phaseCheck(phaseLog))
#if it is debug
phaseChk = 8
def __init__(self, field, wname, data):
self.field = field
self.wellName = wname
self.data = data
self.resID = Other.makeID()
self.tableModels = None
self.checks = None
self.tableInd = None
self.ro = None
self.ppl = None
self.pvnk = None
self.finalData = None
self.finalFig = None
self.supTimes = None
self.dataFromSupTimes = None
self.vdp = None
self.layer = None
self.otsFieldID = None
self.otsWellID = None
self.otsMesID = None
self.otsNewMesID = None
self.tpID = None
self.region = None
self.tzehID = None
self.avgTempGradient = None
self.GOB = None
self.OWB = None
self.GWB = None
self.staticLevel = None
self.maxDepth = None
self.depthPressureTemperatureData = None
self.layersIDs = None
self.otsResearchWellID = None
self.otsResearchLayerInputIds = []
self.otsResearchMarkerLayer = {}
self.centralDots = []
self.warning = False
self.interpreted = False
self.discretMan = None
self.discretSPS = None
def setup():
global phaseChk
global startPosStatus
pi.set_mode(17,pigpio.OUTPUT)
pi.set_mode(22,pigpio.OUTPUT)
pi.write(22,1) #IM920 Turn On
IM920.Strt("2") #distance mode
pi.write(17,0) #Outcasing Turn Off
time.sleep(1)
BME280.bme280_setup()
BME280.bme280_calib_param()
BMX055.bmx055_setup()
TSL2561.tsl2561_setup()
GPS.openGPS()
with open(phaseLog, 'a') as f:
pass
#if it is End to End Test, then
try:
phaseChk = int(Other.phaseCheck(phaseLog))
except:
phaseChk = 0
#if it is debug
#phaseChk = 8
if phaseChk == 0:
Other.saveLog(positionLog, "Goal", gLat, gLon, "\t")
startPosStatus = 1
else:
Other.saveLog(positionLog, "\t")
if(Other.positionCheck(positionLog) == [0.0, 0.0]):
print("Not Logged Start Position")
startPosStatus = 1
else:
rsLat, rsLon = Other.positionCheck(positionLog)
print(rsLat, rsLon)
startPosStatus = 0
run.turn_right_l()
time.sleep(0.1)
run = pwm_control.Run()
run.straight_n()
if __name__ == '__main__':
try:
print('Program Start {0}'.format(time.time()))
t_start = time.time()
# --- Setup Phase --- #
setup()
print('Start {0}'.format(phaseChk))
if phaseChk == 1:
IM920.Send('P1S')
Other.saveLog(phaseLog, '1', 'Program Started', time.time() - t_start)
IM920.Send('P1F')
phaseChk += 1
print('phaseChk = '+str(phaseChk))
# --- Sleep Phase --- #
if phaseChk == 2:
IM920.Send('P2S')
t_sleep_start = time.time()
Other.saveLog(phaseLog, '2', 'Sleep Phase Started', time.time() - t_start)
IM920.Send('P2F')
phaseChk += 1
print('phaseChk = '+str(phaseChk))
# --- Release Phase --- #
def init_from_file(self, path="gtfs"):
path += "/agency.txt"
issue = Other.read_csv(path, self.init_from_line)
if issue:
print("No file found, please answer the following questions: ")
self.init_from_line(["", "", "", "", "", "", "", "", "", ""])
def print(self):
# Print everything into files to the gtfs folder
print("write in gtfs folder")
Other.export_in_csv([self, ], "agency.txt")
Other.export_in_csv(self.calendar.services, "calendar.txt")
list_of_stops = sorted(self.stops)
Other.export_in_csv(list_of_stops, "stops.txt")
list_of_routes = sorted(self.routes)
Other.export_in_csv(list_of_routes, "routes.txt")
list_of_trips = list()
for route in list_of_routes:
sorted_list_of_trips = sorted(route.trips)
list_of_trips += sorted_list_of_trips
Other.export_in_csv(list_of_trips, "trips.txt")
list_of_stops_times = list()
for trip in list_of_trips:
list_of_stops_times += trip.stop_times
Other.export_in_csv(list_of_stops_times, "stop_times.txt")
self.print_coordinates_file()
print("finished exporting coordinates.txt")
def add_timetable(self, file_path="sgtfs/timetable.txt"):
# This function takes a timetable and convert it to a list of trips
try:
with io.open(file_path, encoding="utf-8") as f:
lines = f.readlines()
except FileNotFoundError:
print("No timetable file")
return None
for line in lines:
line.strip()
# Here we get the name of the line and the service
metadata = Other.split_by(lines[0], "\t")
route_name = metadata[0]
trips_service = metadata[1]
try:
empty_time = metadata[2]
except IndexError:
empty_time = "-"
try:
separator = metadata[3]
except IndexError:
separator = ":"
lines.pop(0)
list_stops_names = list()
list_times = list()
for line in lines:
name, times_list = Agency.get_list_of_times_and_stop_name(line, separator, empty_time)
list_stops_names.append(name)
list_times.append(times_list)
# Here we perform a check to ensure that
# Right now, we have a table of horizontal lines.
# We have to get vertical lines instead.
count = 0
# The if is here in case there is actually no times in the timetable.txt
if len(list_times) > 0:
# It's time for a little check.
# It would be inconvenient that a bug allows to write anything in the files
lenght = len(list_times[0])
i = 0
for times in list_times:
i += 1
lenght2 = len(times)
if lenght != lenght2:
print("issue of lenght at the list " + list_stops_names[i])
print("The lenght is " + str(lenght2) + " instead of " + str(lenght))
assert lenght == lenght2
# Transposed is the transposition of the table list_times
transposed = list(map(list, zip(*list_times)))
# Now we find the bus line in memory
route1 = None
for route in self.routes:
if route.id == route_name:
route1 = route
break
if route1 is None:
# Then we have to create the bus line (add a route to the agency)
route1 = Route.Route.from_stops_list(route_name, list_stops_names)
self.routes.append(route1)
# Here we initialise the graph (just getting the stops names in the file)
route1.graph = LinkedStops.LinkedStops(route1.id)
# We make comparison with the list of stops in memory to avoid to have sames
# stops with different names
with Comparator.Comparator() as comparator:
self.update_stops(route1.graph.list_stops_of_graph, comparator)
# Now that we made sure that the list of stops has nothing unusual, we can actually draw the graph
route1.graph.create_from_file()
# Here we check that the stops of the timetable correspond to the stops of the graph
list_stops_names = route1.graph.check_stops(list_stops_names, comparator)
for times in transposed:
route1.add_trip_from_times(list_stops_names, times, trips_service)
count += 1
print(str(count) + " trips have been added to the line " + route_name)
break
else:
returnVal = 0
print(data, power)
return returnVal
if __name__ == "__main__":
try:
mode = 0
logPath = "photoRecieveLog.txt"
photoPath = "receivePhoto"
photoSize = (120, 160)
convertedPhotoSize = (320, 240)
Other.saveLog(receptionLog, "0", "receiveprogram start",
datetime.datetime.now())
print("Ready")
while 1:
im920data = read(baudrate)
mode = receiveData(im920data)
if (mode == 1):
t_start = time.time()
print("Photo Receive")
receivePhoto(logPath, photoPath, photoSize, convertedPhotoSize)
print(time.time() - t_start)
print("MissionFinish")
else:
print("mode : " + str(mode) + " " +
str(datetime.datetime.now()))
def init_trips_from_file(self, path="gtfs"):
path += "/trips.txt"
Other.read_csv(path, self.add_trip)
def altered(self):
print "CHILD, BEFORE altered()"
return Other.altered()
print "CHILD,AFTER altered9)"
def timer(t):
global cond
time.sleep(t)
cond = False
if __name__ == '__main__'
try:
print('Program Start {0}'.format(time.time()))
t_start = time.time()
# --- Setup Phase --- #
setup()
print('Start {0}'.format(phaseChk))
if phaseChk <= 1:
IM920.Send('P1S')
Other.SaveLog(phaseLog, '1', 'Program Started', time.time() - t_atart)
IM920.Send('P1F')
# --- Sleep Phase --- #
if phaseChk <= 2:
Im920.Send('P2S')
t_sleep_start = time.time()
Other.SaveLog(phaseLog, '2', 'Sleep Phase Started', time.time - t_start)
Im920.Send('P2F')
# --- Release Phase --- #
if phaseChk <= 3:
IM920.Send('P3S')
Other.SaveLog(phaseLog, '3', 'Release Phase Started', time.time - t_start)
t_relase_start = tim.time()
print('Release Phase Started {}'.format(time.time - t_start))
def write_to_disk(self):
# Here we write the data from the object in files so that it can be destroyed
Other.write_list_of_list_in_file("sgtfs/same_stops.txt", self.list_of_list_of_identical_stops, "=")
Other.write_list_of_list_in_file("sgtfs/different_stops.txt", self.list_differentiation, "!")
Other.write_list_of_list_in_file("threshold.txt", [str(self.threshold)], "")
def receiveData(data):
returnVal = 0
#print(data)
comdata, power = getCommand(data)
if (comdata == ['50,51,53']):
Other.saveLog(receptionLog, "1-1", "Program Started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Program Started")
elif (comdata == ['50,31,46']):
Other.saveLog(receptionLog, "1-2", "Program Started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Program Started2")
elif (comdata == ['50,32,53']):
Other.saveLog(receptionLog, "2", "Sleep Started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Sleep Started")
elif (comdata == ['50,32,44']):
Other.saveLog(receptionLog, "2", "Sleep now", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Sleep Now")
elif (comdata == ['50,32,46']):
Other.saveLog(receptionLog, "2", "Sleep Finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Sleep Finished")
elif (comdata == ['50,33,53']):
Other.saveLog(receptionLog, "3", "Release started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Release Started")
elif (comdata == ['50,33,44']):
Other.saveLog(receptionLog, "3", "Release judge now", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Release judge now")
elif (comdata == ['50,33,46']):
Other.saveLog(receptionLog, "3", "Release judge finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Release judge finished")
elif (comdata == ['50,34,53']):
Other.saveLog(receptionLog, "4", "Land started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Land judge started")
elif (comdata == ['50,34,44']):
Other.saveLog(receptionLog, "4", "Land judge now", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Land judge now")
elif (comdata == ['50,34,46']):
Other.saveLog(receptionLog, "4", "Land FInished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Land judge finished")
elif (comdata == ['50,35,53']):
Other.saveLog(receptionLog, "5", "Melt started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Melt Started")
elif (comdata == ['50,35,46']):
Other.saveLog(receptionLog, "5", "Melt Finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Melt finished")
elif (comdata == ['50,36,53']):
Other.saveLog(receptionLog, "6", "ParaAvoidance started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("ParaAvoidance started")
elif (comdata == ['50,36,46']):
Other.saveLog(receptionLog, "6", "ParaAvoidance finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("ParaAvoidance finished")
elif (comdata == ['50,37,53']):
Other.saveLog(receptionLog, "7", "Running Phase Started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Running Phase Started")
elif (comdata == ['50,37,46']):
Other.saveLog(receptionLog, "7", "Running Phase Finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Running Phase Finished")
elif (comdata == ['50,38,53']):
Other.saveLog(receptionLog, "8", "GoalDetection Phase Started", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("GoalDeetection Phase Started")
elif (comdata == ['50,38,46']):
Other.saveLog(receptionLog, "8", "GoalDetection Phase Finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("GoalDeetection Phase Finished")
elif (comdata == ['50,40,46']):
Other.saveLog(receptionLog, "10", "all Finished", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("Running Phase Finished")
elif (comdata == ['45,4F']):
Other.saveLog(receptionLog, "11", "Error Occured", power,
datetime.datetime.now())
returnVal = 2
powerread(power)
print("EO")
elif str('47') in str(comdata): #GPS
gps = int(comdata, 16)
print(gps)
Other.saveLog(receptionLog, "0", "GPS", gps, power,
datetime.datetime.now())
elif (comdata == ['4D']):
for i in range(3):
if (comdata == ['4D']):
Send("M", baudrate)
Send("M", baudrate)
#print(data)
time.sleep(0.1)
data = read(baudrate)
data = getCommand(data)
time.sleep(0.2)
returnVal = 1
else:
returnVal = 0
break
else:
returnVal = 0
print(data, power)
return returnVal
import os
import Other
a = os.listdir("sgtfs")
for filename in a:
Other.delete_BOM("sgtfs/" + filename)
def init_stop_times(self, path="gtfs"):
path += "/stop_times.txt"
Other.read_csv(path, self.add_stop_time)
#mPLeft = mPLeft + mPS
#mPRight = mPRight - mPS
#Limited motor at motorPowerMax
mPLeft = int(motorPowerMax if mPLeft > motorPowerMax else mPLeft)
mPLeft = int(motorPowerMax / 2 if mPLeft < motorPowerMax / 2 else mPLeft)
mPRight = int(motorPowerMax if mPRight > motorPowerMax else mPRight)
mPRight = int(motorPowerMax / 2 if mPRight < motorPowerMax / 2 else mPRight)
return [mPLeft, mPRight, mPS]
if __name__ == "__main__":
try:
setup()
time.sleep(1)
fileCal = Other.fileName(calibrationLog, "txt")
Motor.motor(40, 0, 1)
Calibration.readCalData(fileCal)
Motor.motor(0, 0, 1)
ellipseScale = Calibration.Calibration(fileCal)
Other.saveLog(fileCal, ellipseScale)
gpsInterval = 0
#Get GPS data
#print("Getting GPS Data")
while(not checkGPSstatus(gpsData)):
gpsData = GPS.readGPS()
time.sleep(1)
run.turn_right_l()
time.sleep(0.1)
run = pwm_control.Run()
run.straight_n()
if __name__ == '__main__':
try:
print('Program Start {0}'.format(time.time()))
t_start = time.time()
# --- Setup Phase --- #
setup()
print('Start {0}'.format(phaseChk))
if phaseChk == 1:
IM920.Send('P1S')
Other.saveLog(phaseLog, '1', 'Program Started', time.time() - t_start)
IM920.Send('P1F')
phaseChk += 7
print('phaseChk = '+str(phaseChk))
'''
# --- Sleep Phase --- #
if phaseChk == 2:
IM920.Send('P2S')
t_sleep_start = time.time()
Other.saveLog(phaseLog, '2', 'Sleep Phase Started', time.time() - t_start)
IM920.Send('P2F')
phaseChk += 1
print('phaseChk = '+str(phaseChk))
# --- Release Phase --- #
GPS.closeGPS()
Motor.motor(0, 0, 2)
Motor.motor_stop()
pi.write(17, 0)
if __name__ == "__main__":
try:
t_start = time.time()
# ------------------- Setup Fhase ------------------- #
setup()
print("Program Start {0}".format(time.time()))
print(phaseChk)
if (phaseChk <= 1):
IM920.Send("P1S")
Other.saveLog(phaseLog, "1", "Program Started",
time.time() - t_start)
IM920.Send("P1F")
# ------------------- Sleep Phase --------------------- #
Other.saveLog(phaseLog, "2", "Sleep Phase Started",
time.time() - t_start)
if (phaseChk <= 2):
print("Sleep Phase Started {0}".format(time.time()))
IM920.Send("P2S")
pi.write(22, 0) #IM920 Turn Off
t_wait_start = time.time()
while (time.time() - t_wait_start <= t_sleep):
bme280Data = BME280.bme280_read() #Read BME280 data
bmx055Data = BMX055.bmx055_read() #Read BMX055 data
luxData = TSL2561.readLux() #Read TSL2561 data
gpsData = GPS.readGPS() #Read GPS data
def implicit(self):
return Other.implicit()
pi.write(17, 0)
Motor.motor(0, 0, 1)
Motor.motor_stop()
if __name__ == "__main__":
try:
print("Program Start {0}".format(time.time()))
t_start = time.time()
#-----setup phase ---------#
setup()
print("Start Phase is {0}".format(phaseChk))
if (phaseChk <= 1):
IM920.Send("P1S")
Other.saveLog(phaseLog, "1", "Program Started",
time.time() - t_start)
IM920.Send("P1F")
# ------------------- Sleep Phase --------------------- #
if (phaseChk <= 2):
Other.saveLog(phaseLog, "2", "Sleep Phase Started",
time.time() - t_start)
print("Sleep Phase Started {0}".format(time.time() - t_start))
IM920.Send("P2S")
#pi.write(22, 0) #IM920 Turn Off
t_sleep_start = time.time()
# --- Sleep --- #
while (time.time() - t_sleep_start <= t_sleep):
Other.saveLog(sleepLog,
time.time() - t_start, GPS.readGPS(),
pi.write(17, 0)
Motor.motor(0, 0, 1)
Motor.motor_stop()
if __name__ == "__main__":
try:
print("Program Start {0}".format(time.time()))
t_start = time.time()
#-----setup phase ---------#
setup()
print("Start Phase is {0}".format(phaseChk))
if (phaseChk <= 1):
IM920.Send("P1S")
Other.saveLog(phaseLog, "1", "Program Started",
time.time() - t_start)
IM920.Send("P1F")
# ------------------- Sleep Phase --------------------- #
if (phaseChk <= 2):
Other.saveLog(phaseLog, "2", "Sleep Phase Started",
time.time() - t_start)
print("Sleep Phase Started {0}".format(time.time() - t_start))
IM920.Send("P2S")
pi.write(22, 1)
#IM920 Turn Off
t_sleep_start = time.time()
# --- Sleep --- #
while (time.time() - t_sleep_start <= t_sleep):
photoName = Capture.Capture(photopath)
def __init__(self):
self.other = Other()
def rotate_control(θ, lon2, lat2, t_start):
direction = calculate_direction(lon2, lat2)
azimuth = direction["azimuth1"]
#--- 0 <= azimuth <= 360 ---#
print('goal azimuth = ' + str(azimuth))
#print('θ = '+str(θ))
try:
t1 = time.time()
while azimuth - 30 > θ or θ > azimuth + 30:
if 0 <= azimuth < 30:
if azimuth - 30 + 360 <= θ <= 360:
break
if 330 <= azimuth <= 360:
if 0 <= θ <= azimuth + 30 - 360:
break
#--- use Timer ---#
global cond
cond = True
thread = Thread(target=timer, args=([1]))
thread.start()
while cond:
run = pwm_control.Run()
run.turn_right()
get_data()
θ = math.degrees(math.atan((magy - magy_off) / (magx - magx_off)))
#--- -90 <= θ <= 90 ---#
if θ >= 0:
if magx - magx_off < 0 and magy - magy_off < 0: #Third quadrant
θ = θ + 180 #180 <= θ <= 270
if magx - magx_off > 0 and magy - magy_off > 0: #First quadrant
pass #0 <= θ <= 90
else:
if magx - magx_off < 0 and magy - magy_off > 0: #Second quadrant
θ = 180 + θ #90 <= θ <= 180
if magx - magx_off > 0 and magy - magy_off < 0: #Fourth quadrant
θ = 360 + θ #270 <= θ <= 360
#--- Half turn ---#
θ += 180
if θ >= 360:
θ -= 360
#--- 0 <= θ <= 360 ---#
print('θ = ' + str(θ))
Other.saveLog(Calibration_rotate_controlLog,
'Calibration_rotate_control',
time.time() - t_start, θ, azimuth)
run = pwm_control.Run()
run.stop()
time.sleep(0.5)
if time.time() - t1 >= 60:
#judge = False
print('rotate control timeout')
break
#judge = True
print("rotate control finished")
#print(θ)
except KeyboardInterrupt:
run = pwm_control.Run()
run.stop()
print("faulted to rotate control to goal direction")
finally:
run = pwm_control.Run()
run.stop()
return judge
pi.write(17, 0)
Motor.motor(0, 0, 1)
Motor.motor_stop()
if __name__ == "__main__":
try:
t_start = time.time()
# ------------------- Setup Phase --------------------- #
print("Program Start {0}".format(time.time()))
setup()
print(phaseChk)
IM920.Send("Start")
# ------------------- Waiting Phase --------------------- #
Other.saveLog(phaseLog, "2", "Waiting Phase Started",
time.time() - t_start)
if (phaseChk <= 2):
t_wait_start = time.time()
while (time.time() - t_wait_start <= t_setup):
Other.saveLog(waitingLog,
time.time() - t_start, GPS.readGPS(),
BME280.bme280_read(), TSL2561.readLux(),
BMX055.bmx055_read())
print("Waiting")
IM920.Send("Sleep")
time.sleep(1)
IM920.Send("Waiting Finished")
pi.write(22, 0) #IM920 Turn Off
# ------------------- Release Phase ------------------- #
Other.saveLog(phaseLog, "3", "Release Phase Started",
