import board
import busio
import adafruit_ads1x15.ads1115 as ADS
from adafruit_ads1x15.analog_in import AnalogIn
import time
import json
from mqtt_client.publisher import Publisher
i2c = busio.I2C(board.SCL, board.SDA)
ads = ADS.ADS1115(i2c)
ads.gain = 1
chan = AnalogIn(ads, ADS.P0)
pubber = Publisher(client_id="adc-values")
def publish_compas_status():
message = {
'value': chan.value,
'voltage': chan.voltage,
}
print(json.dumps(message))
app_json = json.dumps(message)
pubber.publish("/status/adc", app_json)
try:
while True:
publish_adc_status()
time.sleep(1)
jet2_current = 0 #port
pack_voltage = 0
vector = 0
magnitude = 0
gyro_z = 0
kalman_lp = 0
kalman = 0
logging_stopped=False
prev_name = None
cur_name = None
# Base Name for Log files
_LOG_BASE = "log"
pubber = Publisher(client_id="logger-pubber")
exists = False
def on_log_received(client, userdata, message):
global _LOG_BASE
global exists
log_title = message.payload.decode("utf-8")
time = datetime.today()
log_time = (
f"{time.year}-{time.month}-{time.day}-{time.hour}:{time.minute}:{time.second}"
)
_LOG_BASE = log_title + "_" + log_time
print("received")
exists = True
from tkinter import *
import tkinter as tk
import tk_tools
from mqtt_client.publisher import Publisher
pubber = Publisher(client_id="log_command", broker_ip="192.168.1.170")
stop = False
class Application(tk.Frame):
#GUI
def __init__(self, master):
tk.Frame.__init__(self, master)
self.grid()
self.create_widgets()
# self.updater()
def create_widgets(self):
global stop
# Pack Voltage Gauge
self.pvgauge = tk_tools.Gauge(self,
height=200,
width=400,
min_value=10,
max_value=20,
label='Pack Voltage',
unit=' V',
divisions=30,
yellow=66,
os.system('modprobe w1-gpio')
os.system('modprobe w1-therm')
base_dir = '/sys/bus/w1/devices/'
device_folder = glob.glob(base_dir + '28*')[0]
device_file = device_folder + w1_slave'
# Setup ADC Sensor
i2c = busio.I2C(board.SCL, board.SDA)
ads = ADS.ADS1115(i2c)
ads.gain = 1
chan = AnalogIn(ads, ADS.P0)
chan2 = AnalogIn(ads,ADS.P1)
# Setup Pubber
pubber = Publisher(client_id="jet-pubber")
def read_temp_raw():
f = open(device_file, 'r')
lines = f.readlines()
f.close()
return lines
def read_temp():
lines = read_temp_raw()
while lines[0].strip()[-3:] != 'YES':
time.sleep(0.2)
lines = read_temp_raw()
equals_pos = lines[1].find('t=')
if equals_pos != -1:
temp_string = lines[1][equals_pos+2:]
from mqtt_client.publisher import Publisher
import time
# ==================
# -- MAIN METHOD --
# ==================
if __name__ == '__main__':
pubber = Publisher(client_id="time_pubber", broker_ip="192.168.1.170")
while (True):
milli = time.time() * 1000
pubber.publish("/status/time", str(milli))
#time.sleep(.01)
import math import gps_pub from haversine import haversine,Unit import numpy as np import nvector as nv from mqtt_client.publisher import Publisher import time import json # Setup publisher pubber = Publisher(client_id="vector-pubber") #vector math wgs84 = nv.FrameE(name='WGS84') distance = 0 def publish_vector(): global distance # --------- CONSTANTS --------- # 5 - full chat # 4 - comfortable planning # 3 - min-plane-speed # 2 - max efficency displacement # 1 - low speed trolling # 0 - stop FULL_CHAT = 0.5 # ~ 100 meters PLANE = 0.5 MIN_PLANE = 0.5 MAX_EFFICENCY = 0.00674946 # ~ 25m TROLL = 0.008 # ~ 15m radius
#calibration function values
ext_magXmin = 0
ext_magYmin = 0
ext_magXmax = 0
ext_magYmax = 0
ext_magZmax = 0
ext_magZmin = 0
IMU.detectIMU() #Detect if BerryIMUv1 or BerryIMUv2 is connected.
IMU.initIMU() #Initialise the accelerometer, gyroscope and compass
a = datetime.datetime.now()
# Setup publisher
pubber = Publisher(client_id="nav-pubber")
speed = 0
current_lat = 0
current_lon = 0
#vector math
wgs84 = nv.FrameE(name='WGS84')
distance = 0
def publish_gps_status():
global prev_pos
global current_pos
global total_distance
global distance_traveled
gyroXangle = 0.0 gyroYangle = 0.0 gyroZangle = 0.0 CFangleX = 0.0 CFangleY = 0.0 i2c = busio.I2C(board.SCL, board.SDA) sensor = adafruit_lsm9ds0.LSM9DS0_I2C(i2c) M_PI = 3.14159265358979323846 G_GAIN = 0.070 RAD_TO_DEG = 57.29578 AA = 0.40 # Complementary filter constant pubber = Publisher(client_id="compass-pubber") a = datetime.datetime.now() current = 0 previous = 0 ### sqrt of the variance is the error distance (aka. meters or degrees) ### # how much error there is in the process model (how much do we trust the model) process_var = 4. # how much error there is in each sensor measurement (how much do we trust the sensor) sensor_var = .3 ## Initial State ## # [position, variance, sensor_var] sensor state # [(meters, degrees), (meters, degrees), ] ## remember sqrt of variance is distance error
a = datetime.datetime.now()
def getCurLat():
return lat
def getCurLon():
return lon
def getCurSpeed():
return speed
pubber = Publisher(client_id="gps-values")
try:
while True:
report = gpsd.next()
if report['class'] == 'TPV':
lat = getattr(report, 'lat', 0.0)
lon = getattr(report, 'lon', 0.0)
speed = getattr(report, 'speed', 'nan')
time.sleep(.2)
# #Read the accelerometer,gyroscope and magnetometer values
# ACCx = IMU.readACCx()
# ACCy = IMU.readACCy()
from gps3.agps3threaded import AGPS3mechanism
import time
import json
from mqtt_client.publisher import Publisher
agps_thread = AGPS3mechanism() # Instantiate AGPS3 Mechanisms
agps_thread.stream_data() # From localhost (), or other hosts, by example, (host='gps.ddns.net')
agps_thread.run_thread() # Throttle time to sleep after an empty lookup, default '()' 0.2 two tenths of a second
pubber = Publisher(client_id="gps-values")
def publish_gps_status():
message = {
'time' : agps_thread.data_stream.time,
'latitude' : agps_thread.data_stream.lat,
'longitude' : agps_thread.data_stream.lon,
'speed (m/s)' : agps_thread.data_stream.speed,
'speed (kn)' : agps_thread.data_stream.speed * 1.943844,
'course': agps_thread.data_stream.track
}
app_json = json.dumps(message)
pubber.publish("/status/gps",app_json)
time.sleep(0.1)
while True: # All data is available via instantiated thread data stream attribute.
publish_gps_status()
from mqtt_client.publisher import Publisher
import json
pubber = Publisher(client_id="log_command", broker_ip="192.168.8.170")
while True:
# Wait for the broker to retur the message
command = str.lower(input("Enter the log filename base, `start`, or `stop` : "))
# Check the start stop function
if command == 'start':
message = {
'running': 1
}
print('Starting the Logger')
pubber.publish("/command/log/startstop", json.dumps(message))
elif command == 'stop':
message = {
'running': 0
}
print('Stopping the Logger')
pubber.publish("/command/log/startstop", json.dumps(message))
else:
message = {
'name': str(command)
}
print('Renaming the Log')
pubber.publish("/command/log/name", json.dumps(message))
agps_thread.stream_data(
) # From localhost (), or other hosts, by example, (host='gps.ddns.net')
agps_thread.run_thread(
) # Throttle time to sleep after an empty lookup, default '()' 0.2 two tenths of a second
#global variables
speed = 0
current_lat = 0
current_lon = 0
distance_traveled = 0
total_distance = 0
current_pos = (0, 0)
prev_pos = (0, 0)
# Setup publisher
pubber = Publisher(client_id="gps-pubber")
def publish_gps_status():
global prev_pos
global current_pos
global total_distance
global distance_traveled
global speed
global current_lat
global current_lon
try:
# determine if real values are being produced, convert to knots, then calculate distance traveled
if (agps_thread.data_stream.speed != 'n/a'
and agps_thread.data_stream.speed != 0):
import time
import numpy
import board
import busio
import json
from mqtt_client.publisher import Publisher
import adafruit_lsm9ds0
# I2C connection:
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_lsm9ds0.LSM9DS0_I2C(i2c)
pubber = Publisher(client_id="compass-values")
def publish_compas_status():
mag_x, mag_y, mag_z = sensor.magnetic
temp = sensor.temperature
compass = round(-(24 + numpy.degrees(numpy.arctan2(mag_x, mag_y))))
if compass < 0:
compass = 360 + compass
message = {
'temp': temp,
'compass': compass,
}
print(json.dumps(message))
app_json = json.dumps(message)
pubber.publish("/status/compass", app_json)