def __init__(self, env):
NoRewardTask.__init__(self, env)
self.rewardSensor = ["EdgesSumReal"]
self.obsSensors = ["EdgesReal", "EdgesTarget"]
self.inDim = len(self.getObservation())
self.plotString = [
"World Interactions", "Size", "Reward on Growing Task"
]
self.env.mySensors = sensors.Sensors(self.obsSensors +
self.rewardSensor)
self.epiLen = 200 #suggested episode length
def __init__(self, env):
NoRewardTask.__init__(self, env)
self.rewardSensor = ["DistToOrigin"]
self.obsSensors = [
"EdgesTarget", "EdgesReal", "VerticesContact", "Time"
]
self.inDim = len(self.getObservation())
self.plotString = [
"World Interactions", "Distance", "Reward on Walking Task"
]
self.env.mySensors = sensors.Sensors(self.obsSensors +
self.rewardSensor)
self.epiLen = 2000 #suggested episode length
def __init__(self, env):
NoRewardTask.__init__(self, env)
self.rewardSensor = ["VerticesMinHight"]
self.obsSensors = ["EdgesTarget", "EdgesReal", "VerticesContact"]
self.inDim = len(self.getObservation())
self.plotString = [
"World Interactions", "Distance", "Reward on Walking Task"
]
self.env.mySensors = sensors.Sensors(self.obsSensors +
self.rewardSensor)
self.epiLen = 500
self.maxReward = 0.0
self.maxSpeed = self.dif / 10.0
def __init__(self, gpo_count=2):
self.sensors = sensors.Sensors()
self.sensorlist = self.sensors.get_ids(
) #after initialisation then sensor can't be added until restart
self.set_threads()
self.gpo_count = gpo_count #max number of gpos is 7 atm
#create separate instances of GPO. Not sure if this is the right thing to do....
for gpo_num in range(self.gpo_count):
self.gpo.append(gpo.GPO(gpo_num))
self.control_sensor.append(None)
self.setpoints.append({})
self.setpoints[gpo_num]['temp_on'] = 15.0
self.setpoints[gpo_num]['temp_off'] = 21.0
def __init__(self, env):
WalkTask.__init__(self, env)
self.rewardSensor = ["Target"]
self.obsSensors.append("Target")
self.inDim = len(self.getObservation())
self.plotString = [
"World Interactions", "Distance", "Reward on Target Approach Task"
]
self.env.mySensors = sensors.Sensors(self.obsSensors)
self.env.mySensors.sensors[4].targetList = [array([160.0, 0.0, 0.0])]
if self.env.hasRenderInterface():
self.env.getRenderInterface(
).target = self.env.mySensors.sensors[4].targetList[0]
self.epiLen = 2000
def main():
global noise
sensor = sensors.Sensors()
display = disp.Display(rotation=270)
t_logger = threading.Thread(target=retardar_logger)
t_logger.start()
for v in variables:
values[v] = np.ones(160)
noise = noise * 60
delay = 0.5 # Debounce the proximity tap
ultimo_toque = 0 # cuando se hizo el ultimo toque
# The main loop
try:
while True:
proximity = sensor.get_proximity()
if proximity > 1500 and time.time() - ultimo_toque > delay:
ultimo_toque = time.time()
# display.prender_apagar() Lo comento porque tengo activado el por luminocidad
brillo_prom = values['light'][-60:].mean()
display.prender_apagar_por_luminocidad(brillo_prom)
# Everything on one screen
raw_data = sensor.get_temperature()
save_data(0, raw_data)
raw_data = sensor.get_pressure()
save_data(1, raw_data)
raw_data = sensor.get_humidity()
save_data(2, raw_data)
if sensor.get_proximity() < 10:
raw_data = sensor.get_lux()
else:
raw_data = 1
save_data(3, raw_data)
display.display_everything(variables, values, units)
# Exit cleanly
except KeyboardInterrupt:
sys.exit(0)
def main():
p = Predict()
s = sensors.Sensors()
data = None
try:
while True:
data = s.read() or data
y_pred = p.predict(data)
print("\r%s" % data, end='')
if y_pred is None:
print(" " * 25, end='')
else:
print(" Prediction: %s" % (y_pred) + " " * 5, end='')
except KeyboardInterrupt:
print("Interrupted." + " " * 36)
def __init__(self, startPos, startDirection):
self.cam = camera.Camera()
self.sens = sensors.Sensors()
self.enc = encoders.Encoders()
self.serv = servos.Servos()
self.centeredInSquareLength = 7.5
self.sideDistance = 7.05
self.distanceBetweenSquares = 18
self.speed = 7
self.detectWallDistance = 15
self.nav = navigate.Navigate(startPos, startDirection)
self.useColor = False
self.colorList = []
self.foundColorList = []
self.foundColorNorth = False
self.foundColorEast = False
self.foundColorSouth = False
self.foundColorWest = False
def start_iotly():
"""Starting..."""
conf = config.load_config()
mqttInstance = MqttHandler.MqttHandler(conf)
mqttInstance.start()
sensors = Sensors.Sensors(conf, mqttInstance)
sensors.start()
try:
log.info("Ready.")
while 1:
time.sleep(100)
except KeyboardInterrupt:
mqttInstance.stop()
sensors.stop()
log.info("Quit")
def __init__(self):
self.logFileName = "./data/system/" + datetime.today().strftime(
'%Y-%m-%d---%H-%M-%S') + ".txt"
self.config = configparser.ConfigParser()
self.config.read(configLocation)
self.opMode = 'startup'
self.sensors = sensors.Sensors()
callsign = self.config['COMMUNICATION']['Callsign']
self.communication = communication.Coms(callsign)
self.previousAltitude_checkLanded = 0
self.landed = False
self.previousAltitude_checkDescending = 0
self.descending = False
def main():
#Initialize the time
#rtc = machine.RTC()
#rtc.init((2014, 5, 1, 4, 13, 0, 0, 0))
# sck = connect_to_lora()
sck = 0
sensor = sensors.Sensors()
day = {}
day['date'] = []
# Every 24 hours, do a check on battery, light, acceleration and how much storage is left
# while(True):
# check_status(sck)
# time.sleep(30)
sensor.movement_detection(sensor, day)
def __init__(self, x=100, y=100, o=0\
, genotype=None\
, energy=2000):
# init
self.x = x
self.y = y
self.o = o
# from genotype
self.genotype = genotype
self.energy = self.genotype.energy
self.r = self.genotype.r
self.max_speed = self.genotype.max_speed
self.wheels_sep = self.genotype.r
self.feed_range = self.genotype.feed_range
self.feed_rate = self.genotype.feed_rate
self.com = np.random.rand()
# modules
self.sensors = sensors.Sensors(s_points=self.genotype.s_points,
ir_angle=self.genotype.ir_angle,
ray_length=self.genotype.ray_length,
beam_spread=self.genotype.beam_spread,
olf_angle=self.genotype.olf_angle,
olf_range=self.genotype.olf_range,
aud_angle=self.genotype.aud_angle,
aud_range=self.genotype.aud_range)
self.net = evol_net.RNN(n_input=self.genotype.n_in,
n_hidden=self.genotype.n_hidden,
n_output=self.genotype.n_out,
upper_t=self.genotype.ut,
lower_t=self.genotype.lt,
veto_t=self.genotype.vt,
W=self.genotype.W,
V=self.genotype.V)
self.genotype.W = self.net.W
self.genotype.V = self.net.V
# SM state = [ir1, ir2, olf, aud1, aud2, e]
self.state = None
# data
self.states = []
self.positions = []
self.body_states = []
self.feeding_states = []
def __init__(self, address, port, password):
self.address = address
self.port = port
self.password = password
self.Server = Sockets.HandleSockets(self.address,
self.port,
self.password,
mode="s",
on_message=self.on_message)
self.Server.start()
self.Sensors = sensors.Sensors(50)
flight_maneuvers.arm()
self.controller = Controller.SimpleController()
self.loop = DoEvery(1 / 50, self.update)
self.loop.start()
self.input_loop()
class SensorNode:
"""SensorNode class:
main code to execute
"""
nodeAddresses = ["A0:A0:A0:A0:A0"]
port = "/dev/ttyAMA0"
baudrate = 9600
sens = sensors.Sensors(port, baudrate)
for nodeAddr in nodeAddresses:
#print(nodeAddr)
sens.SetNodeAddress(nodeAddr)
sens.Update()
sens.InterpretResponse()
print(sens)
sens.spawnSensors()
for sob in sens.sensorObjList:
#print(sob)
thr.append(Thread(UpdateThreads, (sob)))
while 1:
try:
pass
except (KeyboardInterrupt):
for t in thr:
t.join()
for s in sens.sensorObjList:
s.signal = 0
sleep(1)
sys.exit()
def FloorShopManager():
# Declare variables
op = operators.Operators()
sen = sensors.Sensors(op)
arm = armController.ArmController(op)
inv = inventory.Inventory(op, sen)
# Loop through process of completing orders on the shop floor
while not rospy.is_shutdown():
# Listen for orders
if len(op.currentOrders) > 0:
# There are orders to be processed
order = orders.Orders(op.currentOrders[0])
agv = 'agv1'
tray = 'Left'
# loop through each kit and process
for kit in order.kits:
# Get type of parts we need to add to tray
for part in kit['Objects']:
# Set procede to false
proceed = False
# Check whether this part has successfully being placed on tray and should procede
while proceed == False:
# Return part location from inventory
inventoryPart = False
# Set desired pose of part in tray
desiredPose = part.pose
# Wait for step to complete
while inventoryPart == False:
# Loop and wait for part to be found
inventoryPart = inv.getPart(part.type)
# Get part pose
rospy.loginfo("Part: " + str(inventoryPart))
rospy.loginfo("Desired Pose: " + str(desiredPose))
# Check if found, if not wait and try again
if inventoryPart == False:
# Wait
rospy.sleep(1.0)
# Scan inventory and update (this is really only for later when new parts
# are being actively placed on belt)
inv.updateInventory()
print "=========== Transfer Part: " + str(inventoryPart['Type'])
while op.gripperStateData.attached != True:
# Move arm to above part position
pose = arm.transformPose(inventoryPart['Pose'], [-0.2,0,0], [0,0,0,0], 'logical_camera_1_frame')
arm.poseTarget(pose)
rospy.loginfo("Arm Pose for part" + str(pose))
# Plan
arm.planPose()
# Execute plan
arm.executePlan()
# Wait
rospy.sleep(1.5)
# Move arm into contact with part
pose = arm.transformPose(inventoryPart['Pose'], [-0.02,0,0], [0,0,0,0], 'logical_camera_1_frame')
arm.poseTarget(pose)
# Plan
arm.planPose()
# Execute plan
arm.executePlan()
# Wait
rospy.sleep(0.5)
# Activate gripper first attempt
arm.gripper(True)
# Check
if op.gripperStateData.attached != True:
# Gripper failed
print "Gripper attempt failed!"
# Move arm into contact with part
pose = arm.transformPose(inventoryPart['Pose'], [-0.01,0,0], [0,0,0,0], 'logical_camera_1_frame')
arm.poseTarget(pose)
arm.planPose()
#raw_input("Press Enter to continue...")
arm.executePlan()
# Wait
rospy.sleep(0.5)
# Set count
count = 0
# Activate gripper in loop for 1.0 second
while op.gripperStateData.attached != True and count < 5:
arm.gripper(True)
# Update count and wait
count += 1
# Wait
rospy.sleep(0.2)
while arm.armState() == 'Moving':
# Hold here
pass
#raw_input("Press Enter to continue...")
# Wait
rospy.sleep(1.0)
while arm.armState() == 'Moving':
# Hold here
pass
# Return arm to holding position
arm.handlePart()
# Wait
rospy.sleep(1.5)
while arm.armState() == 'Moving':
# Hold here
pass
#raw_input("Press Enter to continue...")
# Move part to desired tray location
arm.moveToTray(tray)
#raw_input("Press Enter to continue...")
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Move part to desired tray location
arm.moveOverTray(tray)
#raw_input("Press Enter to continue...")
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Get tray pose
trayPose = arm.trayPose(agv + '_load_point_frame')
if agv == 'agv1':
# Check desired pose values
if desiredPose.position.x > 0.12:
# Lower value
desiredPose.position.x = 0.1
if desiredPose.position.y > 0.12:
# Lower value
desiredPose.position.y = 0.055
if desiredPose.position.x < -0.12:
# Lower value
desiredPose.position.x = -0.1
elif agv == 'agv2':
# Check desired pose values
if desiredPose.position.x > 0.09:
# Lower value
desiredPose.position.x = 0.055
if desiredPose.position.y < -0.12:
# Lower value
desiredPose.position.y = -0.055
if desiredPose.position.x < -0.12:
# Lower value
desiredPose.position.x = -0.1
# Offset to desired pose of part on tray
trayPose.pose.position.x += desiredPose.position.x
trayPose.pose.position.y += desiredPose.position.y
trayPose.pose.position.z += (desiredPose.position.z + 0.3)
# Set orinetation, currently just use these values, not sure how to get correct orientation from world yet
trayPose.pose.orientation.x = 0
trayPose.pose.orientation.y = 0.917
trayPose.pose.orientation.z = 0
trayPose.pose.orientation.w = 0.398
# Place part in correct position on tray according to order
arm.poseTarget(trayPose)
arm.planPose()
arm.executePlan()
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Check whether we should procede
if op.gripperStateData.attached != True:
# Part has fallen off
print "Gripper is empty, Oh My!!"
proceed = False
else:
# Successful
proceed = True
# Inactivate gripper
arm.gripper(False)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Remove part from inventory
inv.removePart(inventoryPart)
# Retract arm
arm.moveToTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Return arm to holding position
arm.handlePart()
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Move over inventory
arm.moveOverInventory()
# Wait for some reason otherwise moveit screws up
rospy.sleep(1.0)
# Update inventory
inv.buildInventory()
# Send AGV away
print "Sending AGV away,..."
if agv == 'agv1':
# Submit 1st agv
op.submitAGV(0, 'order_0')
else:
# Submit 2nd agv
op.submitAGV(1, 'order_0')
else:
# Do nothing and wait
pass
import paho.mqtt.client as mqtt
import datetime
import time
import ssl
import sensors
import json
host = "node02.myqtthub.com"
port = 1883
clean_session = True
client_id = "magnetometers"
user_name = "*****@*****.**"
password = "******"
# The sensor module that collects the data
magnetometers = sensors.Sensors()
def on_connect(client, userdata, flags, rc):
""" Callback called when connection/reconnection is detected """
print("Connect %s result is: %s" % (host, rc))
if rc == 0:
client.connected_flag = True
print("connected OK")
# Publish and retain a message describing magnetometers used to detect chicken with magnets attached to their legs in beds
sensor = {
"id": {2, 3},
"name": {"SenseHat Magnetometer", "HMC5883L Magnetometer"},
"type": "magnetometer",
"isHostedBy": {
"location": "Aberdeen"
def FloorShopManager():
# Declare variables
op = operators.Operators()
sen = sensors.Sensors(op)
arm = armController.ArmController(op)
inv = inventory.Inventory(op, sen)
# Loop through process of completing orders on the shop floor
while not rospy.is_shutdown():
# Listen for orders
if len(op.currentOrders) > 0:
# There are orders to be processed
order = orders.Orders(op.currentOrders[0])
agv = 'agv1'
tray = 'Left'
# loop through each kit and process
for kit in order.kits:
# Get type of parts we need to add to tray
for part in kit['Objects']:
# Set procede to false
proceed = False
# Check whether this part has successfully being placed on tray and should procede
while proceed == False:
# Return part location from inventory
inventoryPart = None
# Set desired pose of part in tray
desiredPose = part.pose
# Update inventory
inv.updateInventory()
# Wait for step to complete
while inventoryPart is None:
# Loop and wait for part to be found
inventoryPart = inv.getPart(part.type)
# Get part pose
#rospy.loginfo("Part: " + str(inventoryPart))
#rospy.loginfo("Desired Pose: " + str(desiredPose))
# Check if found, if not wait and try again
if inventoryPart is None:
# Wait
rospy.sleep(1.0)
# Scan inventory and update (this is really only for later when new parts
# are being actively placed on belt)
inv.updateInventory()
# Check belt
print "=========== Transfer Part: " + str(inventoryPart['Type'])
print "=========== Transfer Source: " + str(inventoryPart['Source'])
while op.gripperStateData.attached != True:
# Move over inventory
arm.moveOverInventory()
# Wait
rospy.sleep(1.0)
# Move arm to above part position
print 'Move arm to part'
pose = arm.transformPose(inventoryPart['Pose'], [0,0,0.2], [0,0,0,0], inventoryPart['Source'] + '_frame')
arm.poseTarget(pose)
#rospy.loginfo("Arm Pose for part" + str(pose))
# Plan
arm.planPose()
# Execute plan
arm.executePlan()
# Wait
rospy.sleep(1.5)
# Move arm into contact with part
pose = arm.transformPose(inventoryPart['Pose'], [0.0,0,0.02], [0,0,0,0], inventoryPart['Source'] + '_frame')
arm.poseTarget(pose)
# Plan
arm.planPose()
# Execute plan
arm.executePlan()
# Wait
rospy.sleep(0.5)
# Activate gripper first attempt
arm.gripper(True)
# Check
if op.gripperStateData.attached != True:
# Gripper failed
print "Gripper attempt failed!"
# Move arm into contact with part
pose = arm.transformPose(inventoryPart['Pose'], [0.0,0,0.01], [0,0,0,0], inventoryPart['Source'] + '_frame')
arm.poseTarget(pose)
arm.planPose()
arm.executePlan()
# Wait
rospy.sleep(0.5)
# Set count
count = 0
# Activate gripper in loop for 1.0 second
while op.gripperStateData.attached != True and count < 5:
arm.gripper(True)
# Update count and wait
count += 1
# Wait
rospy.sleep(0.2)
while arm.armState() == 'Moving':
# Hold here
pass
# Wait
rospy.sleep(1.0)
# Return arm to holding position
arm.handlePart()
# Wait
rospy.sleep(1.5)
while arm.armState() == 'Moving':
# Hold here
pass
if op.gripperStateData.attached != True:
# Gripper failed
print "Gripper failed part has fallen!"
# Reset inventory part and find a new one
inventoryPart = None
# are being actively placed on belt)
inv.updateInventory()
# Find part
while inventoryPart is None:
# Loop and wait for part to be found
inventoryPart = inv.getPart(part.type)
# Check if found, if not wait and try again
if inventoryPart is None:
# Wait
rospy.sleep(1.0)
# Scan inventory and update (this is really only for later when new parts
# are being actively placed on belt)
inv.updateInventory()
# Move part to desired tray location
arm.moveToTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Move part to desired tray location
arm.moveOverTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Get tray pose
trayPose = arm.trayPose(desiredPose, 'logical_camera_5_kit_tray_1_frame', inv)
trayPose.pose.position.z += 0.3
# Place part in correct position on tray according to order
arm.poseTarget(trayPose)
arm.planPose()
arm.executePlan()
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Check whether we should procede
if op.gripperStateData.attached != True:
# Part has fallen off
print "Gripper is empty, Oh My!!"
proceed = False
else:
# Successful
proceed = True
# If our part fell off, retrieve from tray and place again
if (proceed == False):
# Move part to desired tray location
arm.moveOverTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Attempt to pick up part, first get part on tray
fallenPart = arm.getFallenTrayPart('logical_camera_5_kit_tray_1_frame', inv)
# Offset z axis
fallenPart.pose.position.z += 0.02
arm.poseTarget(fallenPart)
# Plan
arm.planPose()
# Execute plan
arm.executePlan()
# Wait
rospy.sleep(1.5)
# Activate gripper first attempt
arm.gripper(True)
# Check
if op.gripperStateData.attached != True:
# Gripper failed
print "Gripper attempt failed!"
# Move arm into contact with part
fallenPart.pose.position.z -= 0.01
arm.poseTarget(fallenPart)
arm.planPose()
arm.executePlan()
# Wait
rospy.sleep(0.5)
# Set count
count = 0
# Activate gripper in loop for 1.0 second
while op.gripperStateData.attached != True and count < 5:
arm.gripper(True)
# Update count and wait
count += 1
# Wait
rospy.sleep(0.2)
while arm.armState() == 'Moving':
# Hold here
pass
# Move part to desired tray location
arm.moveOverTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Get tray pose
trayPose = arm.trayPose(desiredPose, 'logical_camera_5_kit_tray_1_frame', inv)
trayPose.pose.position.z += 0.3
# Place part in correct position on tray according to order
arm.poseTarget(trayPose)
arm.planPose()
arm.executePlan()
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Check whether we should procede
if op.gripperStateData.attached != True:
# Part has fallen off
print "Gripper is empty, Oh My!!"
proceed = False
else:
# Successful
proceed = True
# Inactivate gripper
arm.gripper(False)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Remove part from inventory
#inv.removePart(inventoryPart)
# Retract arm
arm.moveToTray(tray)
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Return arm to holding position
arm.handlePart()
# Wait
rospy.sleep(0.5)
while arm.armState() == 'Moving':
# Hold here
pass
# Move over inventory
arm.moveOverInventory()
# Wait for some reason otherwise moveit screws up
rospy.sleep(1.0)
# Update inventory
inv.buildInventory()
# Send AGV away
print "Sending AGV away,..."
# Set current agv state
state = op.getAGVState(1)
# Check
if agv == 'agv1':
# Submit 1st agv
op.submitAGV(0, 'order_0')
rospy.sleep(0.5)
# Wait for return
while state != op.getAGVState(1):
# Hold here and wait for agv to return
if state == op.getAGVState(1):
print "AGV 1 back, restart!,.."
break
# Remove order
op.removeOrder(order.ID)
else:
# Submit 2nd agv
op.submitAGV(1, 'order_0')
# Wait for return
while state != op.getAGVState(2):
# Hold here and wait for agv to return
if state == op.getAGVState(2):
print "AGV 2 back, restart!,.."
break
# Remove order
op.removeOrder(order.ID)
print "Next kit?"
else:
# Do nothing and wait
print "No Orders!!"
op.endCompetition()
rospy.sleep(2.5)
import config import db import io_data import sensors import dashboard import resources import ambient import random import socket from tendo import singleton from utils import log_stderr, os_async_command io_status = io_data.Status() sensor = sensors.Sensors() lcd = dashboard.Dashboard() ambient = ambient.Ambient() TEST_INIT_TEMP = 20.0 TEST_DELTA_EXT_INT_COEFF = .001 TEST_DELTA_THERMO_ON_TEMP_C = .03 current_status = '' sig_command = False is_status_changed = True initial_time = datetime.datetime.now() sig_switch_timeout = [datetime.datetime.now()]*len(config.BUTTONS) temp = temp_avg_accu = temp_avg_sum = 0.0 temp_avg_counter = 0
def main():
parser = argparse.ArgumentParser()
parser.add_argument('file',
nargs='?',
default=None,
help="Name of the file to save")
parser.add_argument('-d',
'--duration',
type=int,
nargs='?',
default=None,
help="Duration to record in seconds")
parser.add_argument('-a',
'--activities',
type=int,
nargs='?',
default=1,
help="Number of activities to record")
args = parser.parse_args()
filename = args.file
duration = args.duration
activities = args.activities
if filename is None:
i = 1
while os.path.exists("data/data%d.csv" % i):
i += 1
filename = "data/data%d.csv" % i
# Create directory if it doesn't exist
if not os.path.exists(os.path.dirname(filename)):
try:
os.makedirs(os.path.dirname(filename))
except OSError as exc: # Guard against race condition
if exc.errno != errno.EEXIST:
raise
# Start reading from serial port
s = sensors.Sensors()
print("Press Ctrl+C to terminate.")
i = 0
while i < activities:
print("\n ACTIVITY %d:" % (i + 1))
start_time = None
total_time = None
record_time = 0
reply = None
dq = deque()
while duration is None or start_time is None or total_time <= duration:
try:
data = s.read()
if data is None:
continue
elif start_time is None:
start_time = time.time()
record_time = start_time - 0.5
total_time = time.time() - start_time
print("\r[%ds] " % (total_time), end='')
print(str(data) + " " * 10, end='')
if time.time() - record_time >= 0.5:
record_time = time.time()
dq.append({
'time': total_time,
'data': sensors.SensorData(*data.data())
})
if dq and total_time - dq[0][
'time'] >= 1: # if time more than 1 second
save_data = data - dq.popleft()['data']
with open(filename, "a", newline='') as csv_file:
csv_writer = csv.writer(csv_file)
csv_writer.writerow([i] + list(save_data.data()))
print(" Saved %s " % (save_data), end='')
except KeyboardInterrupt:
print()
reply = input("\n\n(C)ontinue, (q)uit, or next (a)ctivity?" +
" " * 100)
if reply in ('a', 'A', 'q', 'Q'):
break
else:
start_time = time.time()
dq.clear()
continue
print("\r[%ds] " % (total_time), end='')
if reply in ('q', 'Q'):
break
i += 1
if not i >= activities and not (reply == "a" or reply == "A"):
input("Press ENTER to continue")
import wheels
import sensors
from time import sleep
#wheels.turn_left(0.2)
#wheels.forward(0.2)
#wheels.forward(0.2)
#wheels.forward(0.2)
#wheels.backward(0.2)
#wheels.turn_right(0.2)
sensor = sensors.Sensors(15, 14)
wheels = wheels.Wheels(27, 22, 25, 24, sensor)
wheels.setSpeed(0.7)
wheels.calibrate(1.1)
for i in range(10):
wheels.forwardUntilClose(40)
wheels.backwardUntilFurther(60)
# def createTableWaypoints():
# try:
# curs.execute('''CREATE TABLE IF NOT EXISTS Waypoint (Number int, Latitude text, Longitude text, Completed boolean)''')
# except:
# print("Table Waypoint not created")
# #below is run once per second
# def dataLog(time, speed, rudder, aftWin, forWin):
# curs.execute("INSERT INTO stocks VAlUES (')")
#Creating single objects for each class
rudderMain = rudder.Rudder(0)
sailMain = SailControl.sailControl(0, 0)
sensor = sensors.Sensors(0, 0, 0, 0)
class actionThreading:
def threadStart():
print("Threads Started")
threading.Thread(target=startSteer).start()
def startSteer():
print("Rudder Steering Initialized")
while True:
rudderMain.Steer() #get current heading, target heading)
time.sleep(.1)
def updateGPS():
#gets gps data and updates the current craft heading
from xmlrpc_server import XMLRPC_Server
import signal
import sys
import time
import logger
print("Starting atlantis service...")
dpy = display.Display()
dpy.printMessage("Initializing...", 0)
arduino_comm = arduinocomm.ArduinoComm()
leds = leds.RGBLEDStrip(GlobalConfig.leds_r, GlobalConfig.leds_g, GlobalConfig.leds_b)
leds.configPWM()
sensors = sensors.Sensors(arduino_comm)
relays = relay.RelayModule( GlobalConfig.relay_pins )
for dev in GlobalConfig.relay_devices:
relays.registerDevice(dev[0], dev[1])
stream = streaming.Stream()
# Wait some seconds, to wait for the network to be completely configured before trying to start the server
time.sleep(10)
xmlrpc_server = XMLRPC_Server(relays, stream, sensors, leds)
rot = rotary.RotaryEncoder()
main_menu = menu.Menu(rot, dpy, relays, stream)
import sqlite3
import sensors
import dataxml
from flask import Flask, render_template, jsonify
app = Flask(__name__, template_folder="web", static_folder="web")
sensors = sensors.Sensors()
@app.route('/')
def index():
return render_template("index.html")
@app.route('/get_data')
def get_data():
conn = sqlite3.connect("data.db")
cursor = conn.cursor()
cursor.execute("SELECT * FROM mesures")
lines = cursor.fetchall()
data = []
for line in lines:
new_data = {
"id": line[0],
"pression": round(line[3], 2),
"temperature": round(line[2], 2),
"timestamp": line[1],
"altitude": round(line[4], 2)
}
data.append(new_data)
Arguments:
agrs {float} -- value of arg
"""
# create the Server object and start it
Server = Sockets.HandleSockets("localhost",
1337,
"admin",
mode="s",
on_message=on_message)
Server.start()
# create sensor thread
Sensors = sensors.Sensors(send=send_telemetry)
Sensors.isDaemon = True
Sensors.start()
# get user input
try:
while running:
i = input("\r-> ")
# parse for commands
if i == "q":
Server.close_all()
Sockets.should_be_running = False
exit()
Server.join()
print("server joined")
running = False
# (r"/images/(.*)",tornado.web.StaticFileHandler, {"path": "static/images"},),
# (r"/js/(.*)",tornado.web.StaticFileHandler, {"path": "static/js"},)
],
debug=False,
static_hash_cache=False)
if __name__ == "__main__":
listDirs = ['static/logs']
for directory in listDirs:
if not os.path.exists(directory):
print("create new dir " + directory)
os.makedirs(directory)
tornado.options.parse_command_line()
# signal.signal(signal.SIGINT, application.signal_handler)
try:
suit = sensors.Sensors(options.host, options.port)
suit.isDaemon = True
suit.start()
application.listen(options.port)
logger.info("start websocketServer on port: " + str(options.port))
# tornado.ioloop.PeriodicCallback(application.try_exit, 1000).start()
logger.info("Press Ctrl-C for stop the server.")
tornado.autoreload.watch(os.path.join(root_dir, "eaServer.py"))
tornado.autoreload.watch(os.path.join(root_dir, "index.html"))
for dir, _, files in os.walk('static/js'):
for f in files:
if not f.startswith('.'):
#logger.debug(dir + '/' +f)
tornado.autoreload.watch(dir + '/' + f)
logger.debug("start Sensors thread")
tornado.ioloop.IOLoop.instance().start()
def __init__(self, conf, args):
self._conf = conf
self._args = args
# Create Sensors
if sensors is not None:
self._sensors = sensors.Sensors()
self._sensors.begin()
else:
self._sensors = None
logging.warn("sensors module not loaded.")
# Background image manager
if config.HAS_DISPLAY:
self._display = display.Display()
# Evaluate experiment setup expression
self._control = eval(conf['experiment']['controller'])
self._stim = eval(conf['experiment']['stimulus'])
trigger_exp = conf['experiment']['trigger']
trigger_code = compile(trigger_exp, '<string>', 'eval')
def _trigger_func(pos_tank):
xpos, ypos = pos_tank
return eval(trigger_code)
self._trigger = _trigger_func
wiring.IR_on()
if 'ambient_light_level' in conf['experiment']:
wiring.visible_on(conf['experiment']['ambient_light_level'])
# setup Stream (*after* starting stimulus, visible light bar, and IR light bar)
if args.vidfile:
self._stream = tracking.Stream(args.vidfile)
args.width = self._stream.width
args.height = self._stream.height
else:
params = {}
self._stream = tracking.Stream(0,
conf=conf['camera'],
params=params)
# Tank bounds in pixel coordinates
# NOTE: tank Y coordinate is inverted w.r.t. pixel coordinates, hence (1.0 - ...).
self._tx1 = int(self._stream.width *
self._conf['camera']['tank_min_x'])
self._tx2 = int(self._stream.width *
self._conf['camera']['tank_max_x'])
self._ty1 = int(self._stream.height *
(1.0 - self._conf['camera']['tank_max_y']))
self._ty2 = int(self._stream.height *
(1.0 - self._conf['camera']['tank_min_y']))
# Vidfile stats, if relevant
if self._stream.sourcetype == 'file':
# Get frame count, fps for calculating frame times
self._framecount, self._fps = self._stream.get_video_stats()
logging.info("Video file: %d frames, %d fps", self._framecount,
self._fps)
# Tracking: Simple
tank_width = self._tx2 - self._tx1
tank_height = self._ty2 - self._ty1
self._track = tracking.VelocityTracker(w=tank_width, h=tank_height)
# Frame processing (though these feed into the Tracker, some also rely on its position estimate)
filt_bgsub = tracking.TargetFilterBGSub()
filt_bright = tracking.TargetFilterBrightness()
filt_dist = tracking.TargetFilterDistance(self._track,
maxdist=int(tank_width *
0.1))
# First try the AND of both filters' outputs;
# then the background subtractor alone;
# then the brightness filter alone but with a distance limit
# (brightness should only be needed if fish isn't moving,
# so don't accept large jumps from brightness filter)
self._framefilters = [
filt_bgsub & filt_bright, filt_bgsub, filt_bright & filt_dist
]
self._proc = tracking.FrameProcessor()
# For measuring status percentages
self._statuses = collections.defaultdict(int)
# Setup printing stats on exit
atexit.register(self._print_stats)
# Record status of previous frame to know when tracking is first lost.
self._prev_status = None
