def test_get_multiple_measurements(self):
distance_sensor = DistanceToPillarSensor()
height_sensor = HeightSensor()
distance1 = distance_sensor.get_distance()
distance2 = distance_sensor.get_distance()
distance3 = distance_sensor.get_distance()
height1 = height_sensor.get_height()
height2 = height_sensor.get_height()
height3 = height_sensor.get_height()
self.__log.write(
str(distance1) + ", " + str(distance2) + ", " + str(distance3) + ", " + str(height1) + ", " + str(
height2) + ", " + str(height3))
if distance1 is None or distance2 is None or distance3 is None:
average_distance = None
else:
average_distance = (distance1 + distance2 + distance3) / 3
print "Distance: " + str(average_distance) + " "
if height1 is None or height2 is None or height3 is None:
average_height = None
else:
average_height = (height1 + height2 + height3) / 3
print "Height: " + str(average_height) + " "
def test_get_multiple_measurements(self):
distance_sensor = DistanceToPillarSensor()
height_sensor = HeightSensor()
distance1 = distance_sensor.get_distance()
distance2 = distance_sensor.get_distance()
distance3 = distance_sensor.get_distance()
height1 = height_sensor.get_height()
height2 = height_sensor.get_height()
height3 = height_sensor.get_height()
print "Distance 1: " + str(distance1)
print "Distance 2: " + str(distance2)
print "Distance 3: " + str(distance3)
print "Height 1: " + str(height1)
print "Height 2: " + str(height2)
print "Height 3: " + str(height3)
average_distance = (distance1 + distance2 + distance3)/3
distance_difference = distance1 - average_distance
print "Difference: " + str(distance_difference)
average_height = (height1 + height2 + height3)/3
height_difference = height1 - average_height
print "Difference: " + str(height_difference)
assert -2.5 < distance_difference < 2.5
assert -2.5 < height_difference < 2.5
def test_get_multiple_measurements(self):
sensor = HeightSensor()
height1 = sensor.get_height()
height2 = sensor.get_height()
height3 = sensor.get_height()
print "Height 1: " + str(height1)
print "Height 2: " + str(height2)
print "Height 3: " + str(height3)
average_height = (height1 + height2 + height3) / 3
difference = height1 - average_height
print "Difference: " + str(difference)
assert -2.5 < difference < 2.5
def __init__(self):
super(PiController, self).__init__()
self.not_stopped = True
self.__height = 0.0
self.__distance = 0.0
self.__target_recognised = False
self.__distance_to_target = 0.0
self.__logger = LogFileWriter()
self.__communication_interface_listener = CommunicatorFactory.get_communication_interface_listener(
)
self.__communication_interface_sender = CommunicatorFactory.get_communication_interface_sender(
)
self.__camera_sensor_factory = CameraSensorFactory()
self.__camera_sensor = CameraSensorFactory.get_sensor_controller()
self.__height_sensor = HeightSensor()
self.__distance_sensor = DistanceToPillarSensor()
if isinstance(self.__communication_interface_listener,
CommunicationInterfaceListener):
self.__logger.info("Setting up listener")
self.__communication_interface_listener.start()
self.__communication_interface_listener.attach(self)
else:
self.__logger.warn("Listener not started!")
warnings.warn("Listener not started", RuntimeWarning)
if not isinstance(self.__communication_interface_sender,
CommunicationInterfaceSender):
self.__logger.warn(
"Sender is not subtype of CommunicationInterfaceSender")
warnings.warn(
"Sender is not subtype of CommunicationInterfaceSender")
log_file.write("Distance 1: " + str(distance1) + '\n')
log_file.write("Distance 2: " + str(distance2) + '\n')
log_file.write("Distance 3: " + str(distance3) + '\n')
log_file.write("Height 1: " + str(height1) + '\n')
log_file.write("Height 2: " + str(height2) + '\n')
log_file.write("Height 3: " + str(height3) + '\n')
if not (distance1 is None or distance2 is None or distance3 is None):
average_distance = (distance1 + distance2 + distance3) / 3
log_file.write(str(average_distance) + '\n')
if not (height1 is None or height2 is None or height3 is None):
average_height = (height1 + height2 + height3) / 3
log_file.write(str(average_height) + '\n')
log_file.close()
if __name__ == '__main__':
distance_sensor = DistanceToPillarSensor()
height_sensor = HeightSensor()
file = '/home/pi/logs/us_log' + str(datetime.datetime.now()) + '.log'
with open(file, 'w') as logfile:
logfile.write(str(datetime.datetime.now()) + '\n')
index = 1
while True:
test_get_multiple_measurements(file, index)
index += 1
def test_get_height(self):
sensor = HeightSensor()
height = sensor.get_height()
self.assertIsInstance(height, float)
print height
sensor.close()
class PiController(CommunicationInterfaceObserver):
# Implementation of SerialInterfaceObserver methods
def update(self, received_message):
if received_message == "SendData":
self.__logger.info("Received request for data from ET board")
data_to_send = ''
usb, lsb = self.__transform_to_char_ints(self.__height * 10)
data_to_send = usb + lsb
# Add 14cm, as the sensor is not in the middle
actual_distance = self.__distance + 14
usb, lsb = self.__transform_to_char_ints(actual_distance * 10)
data_to_send = data_to_send + usb + lsb
if self.__target_recognised:
# Add 18 cm, as the camera is in front
distance_to_send = self.__distance_to_target + 18.0
usb, lsb = self.__transform_to_char_ints(distance_to_send * 10)
data_to_send = data_to_send + usb + lsb
else:
data_to_send = data_to_send + chr(255) + chr(255)
self.__logger.info(data_to_send)
self.__communication_interface_sender.send_message(data_to_send)
def __transform_to_char_ints(self, value):
result_value = int(round(value))
integer_as_bitstring = '{0:016b}'.format(result_value)
upper_significant_byte_as_char = chr(int(integer_as_bitstring[:8], 2))
lower_significant_byte_as_char = chr(int(integer_as_bitstring[8:], 2))
return upper_significant_byte_as_char, lower_significant_byte_as_char
def print_debug_information(self):
self.__logger.info("Height: " + str(self.__height) + "; Distance: " +
str(self.__distance) + "; Target: " +
str(self.__distance_to_target))
def __init__(self):
super(PiController, self).__init__()
self.not_stopped = True
self.__height = 0.0
self.__distance = 0.0
self.__target_recognised = False
self.__distance_to_target = 0.0
self.__logger = LogFileWriter()
self.__communication_interface_listener = CommunicatorFactory.get_communication_interface_listener(
)
self.__communication_interface_sender = CommunicatorFactory.get_communication_interface_sender(
)
self.__camera_sensor_factory = CameraSensorFactory()
self.__camera_sensor = CameraSensorFactory.get_sensor_controller()
self.__height_sensor = HeightSensor()
self.__distance_sensor = DistanceToPillarSensor()
if isinstance(self.__communication_interface_listener,
CommunicationInterfaceListener):
self.__logger.info("Setting up listener")
self.__communication_interface_listener.start()
self.__communication_interface_listener.attach(self)
else:
self.__logger.warn("Listener not started!")
warnings.warn("Listener not started", RuntimeWarning)
if not isinstance(self.__communication_interface_sender,
CommunicationInterfaceSender):
self.__logger.warn(
"Sender is not subtype of CommunicationInterfaceSender")
warnings.warn(
"Sender is not subtype of CommunicationInterfaceSender")
def close(self):
self.__logger.info("Cleaning up PiController object")
self.__logger.close()
self.__communication_interface_listener.stop()
self.__height_sensor.close()
self.__distance_sensor.close()
self.__camera_sensor.close()
def control(self):
measured_height = self.__height_sensor.get_height()
if 0 < measured_height < 500:
self.__height = measured_height
measured_distance = self.__distance_sensor.get_distance()
if 0 < measured_distance < 500:
self.__distance = measured_distance
self.__camera_sensor.set_height(self.__height)
self.__target_recognised, distance = self.__camera_sensor.get_target_and_distance(
)