def signalInterruptUSR1(signum, stack):
# -------------------------
# signalInterruptUSR1
# SIGUSR1 was send to this process (from setDefaults)
#
# read Defaults again
# -------------------------
global adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX, approximationY, distRight, distFront, distAxis
print(signum, ' received: read defaults again')
(adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX,
approximationY, distRight, distFront,
distAxis) = CaravanPiFiles.readAdjustment()
def main():
# -------------------------
# main
# -------------------------
# lesen der Werte aus der HTML form
cgitb.enable(display=0, logdir="/var/log/apache2")
form = cgi.FieldStorage()
cgi_adjustX = form.getvalue('adjustX')
cgi_adjustY = form.getvalue('adjustY')
cgi_adjustZ = form.getvalue('adjustZ')
#print(cgi_adjustX, cgi_adjustY, cgi_adjustZ)
(adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX, approximationY, distRight, distFront, distAxis) = CaravanPiFiles.readAdjustment()
if (cgi_adjustX != None and cgi_adjustY != None and cgi_adjustZ != None):
adjustX = float(cgi_adjustX)
adjustY = float(cgi_adjustY)
adjustZ = float(cgi_adjustZ)
CaravanPiFiles.writeAdjustment(0, 0, adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX, approximationY, distRight, distFront, distAxis)
# Ergebnis Website schreiben
print("Content-Type: text/html; charset=utf-8\n\n")
print("<html>")
print("<head>")
print("<title>CaravanPi Konfiguration</title>")
print("<meta http-equiv='refresh' content='2; URL=position.php'>")
print("<link rel='stylesheet' type='text/css' href='css/main.css'>")
print("<link rel='stylesheet' type='text/css' href='css/custom.css'>")
print("</head>")
print("<body>")
print('<header class="header">CaravanPi Konfiguration - manuelle Einstellungen Lage-Sensor</header>')
if (cgi_adjustX != None and cgi_adjustY != None and cgi_adjustZ != None):
print("Die eingegebenen Werte wurden erfolgreich gespeichert")
else:
print("ES KONNTEN KEINE WERTE AUS DEM FORMULAR GELESEN WERDEN!")
print("<br/><br/>Sie werden zur Eingabeseite weitergeleitet")
print("</body>")
print("</html>")
def main():
# -------------------------
# main
# -------------------------
global adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX, approximationY, distRight, distFront, distAxis
global LED_HR, LED_HL, LED_ZR, LED_ZL, LED_VR, LED_VL, LED_Vo
global globY, globAdjustY, globAdjustSwitchY
global lengthOverAll, width, lengthBody
global pinSwitchNowHorizontal, pinSwitchLive, pinLEDLive
global liveMode
# -------------------------
# tactile switches
# -------------------------
GPIO.setmode(GPIO.BCM)
GPIO.setup(pinSwitchNowHorizontal, GPIO.IN)
GPIO.add_event_detect(pinSwitchNowHorizontal,
GPIO.RISING,
callback=switchInterruptNowHorizontal,
bouncetime=400)
GPIO.setup(pinSwitchLive, GPIO.IN)
GPIO.add_event_detect(pinSwitchLive,
GPIO.RISING,
callback=switchInterruptLive,
bouncetime=400)
GPIO.setup(pinLEDLive, GPIO.OUT)
GPIO.output(pinLEDLive, False)
# -------------------------
# process call parameters
# -------------------------
opts = []
args = []
writeFile = 0
displayScreen = 0
liveMode = 0
try:
opts, args = getopt.getopt(sys.argv[1:], shortOptions, longOptions)
except getopt.GetoptError:
print(datetime.datetime.now().strftime("%Y%m%d%H%M%S "),
"ERROR: options not correct")
usage()
sys.exit()
for o, a in opts:
if o == "--help" or o == "-h":
print("HELP")
usage()
sys.exit()
elif o == "--file" or o == "-f":
print("output also to file ", filePosition)
writeFile = 1
elif o == "--screen" or o == "-s":
print("output also to this screen")
displayScreen = 1
elif o == "--live" or o == "-l":
print("start in live mode")
liveMode = 1
GPIO.output(pinLEDLive, True)
for a in args:
print("further argument: ", a)
# -------------------------
# avoid outliers - init values
# -------------------------
lastX = None
lastY = None
lastZ = None
secondLastX = None
# read defaults
# The 3-axis sensor may not be installed exactly horizontally. The values to compensate for this installation difference are read from a file.
# --> adjustX, adjustY, adjustZ
# In addition, the LEDs should already indicate "horizontal" as soon as the deviation from the horizontal is within a tolerance.
# --> approximationX, approximationY
(adjustX, adjustY, adjustZ, toleranceX, toleranceY, approximationX,
approximationY, distRight, distFront,
distAxis) = CaravanPiFiles.readAdjustment()
# dimensions of the caravan
(lengthOverAll, width, lengthBody) = CaravanPiFiles.readDimensions()
# -------------------------
# listen to SIGUSR1 for renew the defaults
# -------------------------
signal.signal(signal.SIGUSR1, signalInterruptUSR1)
signal.signal(signal.SIGUSR2, signalInterruptUSR2)
# -------------------------
# initialize LEDs
# -------------------------
LED_HR = setupHR()
LED_HL = setupHL()
LED_ZR = setupZR()
LED_ZL = setupZL()
LED_VR = setupVR()
LED_VL = setupVL()
LED_Vo = setupVo()
# -------------------------
# leds off if non-live-mode
# -------------------------
if liveMode == 0:
ledOff()
# read sensor and adjust LEDs
while True:
print(datetime.datetime.now().strftime("%Y%m%d%H%M%S "), "live Modus:",
liveMode)
try:
i = 0
arrayX = []
arrayY = []
arrayZ = []
# read sensor 200 times and put values in a list
while i < 200:
(x, y, z) = accelerometer.acceleration
arrayX.append(x)
arrayY.append(y)
arrayZ.append(z)
i += 1
# no sleep here, because the accuracy of Python/Raspberry Sleep is not sufficient anyway
# instead a high number of passes over the loop variable
# normalize values over the calculation of the median (extreme values/outliers are not considered)
# Adjustment of the values by subtraction of the initial value
x = statistics.median(arrayX)
# determine the index of the first occurrence of x in the list
try:
i = arrayX.index(x)
# set the counterparts for y and z belonging to the value x
y = arrayY[i]
z = arrayZ[i]
except (ValueError, IndexError):
# the median did not result in a value that appears in the list (i.e. an actually calculated value).
# Then set the other median values as well
y = statistics.median(arrayY)
z = statistics.median(arrayZ)
# save values for tactile switch adjustment
globY = y
globAdjustY = adjustY
tolX = checkTolerance(x, adjustX, toleranceX)
tolY = checkTolerance(y, adjustY, toleranceY)
# calculate the horizontal distance
# Attention: If the 3-axis sensor is mounted behind the axis (in driving direction),
# the distance to the axis is positive. Otherwise this constant is negative.
distLeft = width - distRight
distBack = lengthBody - distFront
# ADXL345 data sheet:
# resolution typical 3.9 mg = 0.0039g
# arcsin(0.0039) = 0.223454 degree
#
# diff = dist * sin(angle)
#
# x is the gravity in longitudinal direction
# arcsin (gravity) = angle
# sin(angle) = sin(arcsin(gravity)) = gravity
# difference negative = position is "too high"
diffHL = round((distLeft * tolY / 10) +
(distBack * tolX / 10) * -1)
diffHR = round((distRight * tolY / 10) +
(distBack * tolX / 10) * -1)
diffZL = round((distLeft * tolY / 10) + (distAxis * tolX / 10))
diffZR = round((distRight * tolY / 10) + (distAxis * tolX / 10))
diffVL = round((distLeft * tolY / 10) + (distFront * tolX / 10))
diffVR = round((distRight * tolY / 10) + (distFront * tolX / 10))
# where is the sensor left or right of the middle?
if distRight <= (width / 2):
# sensor is on the right side in driving direction of the caravan
diffVo = round((((width / 2) - distRight) * tolY / 10) +
((distFront +
(lengthOverAll - lengthBody)) * tolX / 10))
else:
diffVo = round((((width / 2) - distLeft) * tolY / 10) +
((distFront +
(lengthOverAll - lengthBody)) * tolX / 10))
# one of the Z-values should be zero - normalise the others
if diffZL >= diffZR:
diffNormal = diffZL
else:
diffNormal = diffZR
diffHL = diffHL - diffNormal
diffHR = diffHR - diffNormal
diffZL = diffZL - diffNormal
diffZR = diffZR - diffNormal
diffVL = diffVL - diffNormal
diffVR = diffVR - diffNormal
diffVo = diffVo - diffNormal
# write values to file and or screen
write2file(writeFile, displayScreen, x, y, z, tolX, tolY,
z - adjustZ, lastX, secondLastX, diffHL, diffHR, diffVL,
diffVR, diffZL, diffZR, diffVo)
if liveMode == 1:
ledX = x
ledY = y
ledZ = z
# avoid outliers
# if lastX and secondLastX have already been assigned values once
# and the current value is not equal to lastX and is also not equal to secondLastX,
# but the two values lastX and secondLastX are equal, it may be an outlier.
# Then the current values are not used for LED control, but the previous values.
#Only the comparison with the X values is necessary, because y and z are dependent on x.
if (lastX != None and secondLastX != None):
if (x != lastX and x != secondLastX
and lastX == secondLastX):
ledX = lastX
ledY = lastY
ledZ = lastZ
LED(ledX, ledY, ledZ, adjustX, adjustY, globAdjustSwitchY,
adjustZ, toleranceX, toleranceY, approximationX,
approximationY)
# avoid outliers - swap vars
secondLastX = lastX
lastX = x
lastY = y
lastZ = z
sleep(.1)
else:
j = 0
while j < 120 and liveMode == 0: # 120/.5 = 60 Sekunden
j = j + 1
sleep(.5)
# falls inzwsichen LEDtest gestartet wurde, alle LEDs aus
ledOff()
except KeyboardInterrupt:
ledOff()
GPIO.cleanup()
break
except:
print("unprocessed Error:", sys.exc_info()[0])
ledOff()
GPIO.cleanup()
raise
GPIO.cleanup()