class ThreadedFilter(AbstractServer):
def __init__(self, addr_input, addr_output):
AbstractServer.__init__(self)
shm_in = shm()
shm_out = shm()
self._receiver = Receiver(addr_input, shm_in)
self._handler = FilterHandler(shm_in, shm_out)
self._emitter = Listener(addr_output, Emitter(shm_out))
def start(self):
self._receiver.start()
self._handler.start()
self._emitter.start()
AbstractServer.start(self)
def _serve(self):
time.sleep(0.5)
def _free(self):
for s in [self._receiver, self._handler, self._emitter]:
print('Stopping ', s)
s.stop()
s.join(2)
print(s, 'stopped')
class ThreadedFilter(AbstractServer):
def __init__(self, addr_input, addr_output):
AbstractServer.__init__(self)
shm_in = shm()
shm_out = shm()
self._receiver = Receiver(addr_input, shm_in)
self._handler = FilterHandler(shm_in, shm_out)
self._emitter = Listener(addr_output, Emitter(shm_out))
def start(self):
self._receiver.start()
self._handler.start()
self._emitter.start()
AbstractServer.start(self)
def _serve(self):
time.sleep(0.5)
def _free(self):
for s in [self._receiver, self._handler, self._emitter]:
print('Stopping ', s)
s.stop()
s.join(2)
print(s, 'stopped')
def __init__(self, addr_input, addr_output):
AbstractServer.__init__(self)
shm_in = shm()
shm_out = shm()
self._receiver = Receiver(addr_input, shm_in)
self._handler = FilterHandler(shm_in, shm_out)
self._emitter = Listener(addr_output, Emitter(shm_out))
def __init__(self, addr_input, addr_output):
AbstractServer.__init__(self)
shm_in = shm()
shm_out = shm()
self._receiver = Receiver(addr_input, shm_in)
self._handler = FilterHandler(shm_in, shm_out)
self._emitter = Listener(addr_output, Emitter(shm_out))
def __init__(self, addr_input, addr_output):
AbstractServer.__init__(self)
# Offset en bits
# gyr_offset_x = 4.18973187447
# gyr_offset_y = -7.3076830588
# gyr_offset_z = 14.5367319947
acc_scale = 1.0 # bits -> mg -> g
gyr_scale = math.pi / 180.0 * 8.75 / 1000 # bits -> deg -> rad
tr_accel = lambda bits, avg: (
(bits[0] - avg[0]) * 0.00376390 * acc_scale,
(bits[1] - avg[1]) * 0.00376009 * acc_scale,
(bits[2] - avg[2]) * 0.00349265 * acc_scale + 1)
tr_gyro = lambda bits, avg: ((bits[0] - avg[0]) * gyr_scale,
(bits[1] - avg[1]) * gyr_scale,
(bits[2] - avg[2]) * gyr_scale)
tr_compass = lambda bits: (0.019292 * (bits[0] - 50.097), 0.019780 *
(bits[1] + 313.964), 0.018400 *
(bits[2] - 197.500))
transformation = lambda bits, a_avg, g_avg: (tr_accel(
bits[0:3], a_avg) + tr_gyro(bits[3:6], g_avg) + tr_compass(bits[6:9
]))
shm_data = shm()
# shm_accel = shm()
# shm_gyro = shm()
# shm_compass = shm()
shm_serial = shm(serial.Serial(addr_input, 115200, timeout=0))
self._handler = SerialHandler('R', 'r', transformation, shm_serial,
shm_data)
# self._accel_handler = SerialHandler('A', 'a', tr_accel, shm_serial, shm_accel)
# self._gyro_handler = SerialHandler('G', 'g', tr_gyro, shm_serial, shm_gyro)
# self._compass_handler = SerialHandler('C', 'c', tr_compass, shm_serial, shm_compass)
self._emitter = Listener(
addr_output,
Emitter(shm_data)) #shm_accel, shm_gyro, shm_compass))
