def getData(alive, duration, precision, imuRate, lidarRate, datafile, rowList):
pre_exec()
global imu
startTime = time.time()
lastTimeLidar = time.time()
lastTimeIMU = lastTimeLidar
lastTime = lastTimeLidar
current = time.time()
while current - startTime < duration and not alive.is_set():
#define the precision, i.e. the gap between two consecutive IMU or LiDar read
if current - lastTime > precision:
lastTime = current
if current - lastTimeIMU > imuRate and lib.lsm9ds1_accelAvailable(
imu
) > 0 and current - lastTimeLidar > lidarRate and ser.in_waiting > 8:
lastTimeIMU = time.time()
IMUdata = getIMU()
Lidardata = getLidar()
currentTime = str(datetime.datetime.fromtimestamp(lastTimeIMU))
#currentTime = str(lastTimeIMU)
lastTimeLidar = lastTimeIMU
rowList.append([
currentTime, Lidardata, IMUdata[0], IMUdata[1], IMUdata[2],
IMUdata[3], IMUdata[4], IMUdata[5], IMUdata[6], IMUdata[7],
IMUdata[8]
])
elif current - lastTimeIMU > imuRate and lib.lsm9ds1_accelAvailable(
imu) > 0:
lastTimeIMU = time.time()
IMUdata = getIMU()
currentTime = str(datetime.datetime.fromtimestamp(lastTimeIMU))
#currentTime = str(lastTimeIMU)
rowList.append([
currentTime, "NA", IMUdata[0], IMUdata[1], IMUdata[2],
IMUdata[3], IMUdata[4], IMUdata[5], IMUdata[6], IMUdata[7],
IMUdata[8]
])
elif current - lastTimeLidar > lidarRate and ser.in_waiting > 8:
lastTimeLidar = time.time()
Lidardata = getLidar()
currentTime = str(
datetime.datetime.fromtimestamp(lastTimeLidar))
#currentTime = str(lastTimeLidar)
rowList.append([
currentTime, Lidardata, "NA", "NA", "NA", "NA", "NA", "NA",
"NA", "NA", "NA"
])
current = time.time()
print("start writing data")
with open(datafile, "w") as csvfile:
spamwriter = csv.writer(csvfile,
delimiter=',',
quoting=csv.QUOTE_MINIMAL)
for row in rowList:
spamwriter.writerow(row)
def getData():
global lasttime
global imu
current = time.time()
while current - startTime < 10:
current = time.time()
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
IMUdata = getIMU()
Lidardata = getLidar()
currentTime = str(datetime.datetime.now()); #timestamp data
row = [currentTime,Lidardata,IMUdata[0],IMUdata[1],IMUdata[2],IMUdata[3],IMUdata[4],IMUdata[5]] #the row being written to csv file, just x and y accel
rowList.append(row)
diff = time.time() - lasttime
timeDiffer.append(diff)
#print(diff)
lasttime = time.time()
#print(row)
print("start writing data")
with open(datafile,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(rowList)):
row = [rowList[i]]
spamwriter.writerow(row)
print("start writing frequency")
with open(filename,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(timeDiffer)):
row = [timeDiffer[i]]
spamwriter.writerow(row)
def getData():
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
while True:
#get IMU accel data
global lasttime
#new structure testing
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
#TFmini data
recv = ser.read(9)
ser.reset_input_buffer()
if recv[0] == 0x59 and recv[1] == 0x59:
distance = recv[2] + recv[3] * 256
ser.reset_input_buffer()
currentTime = str(datetime.datetime.now())
#timestamp data
row = [
currentTime, distance, cax, cay
] #the row being written to csv file, just x and y accel
diff = time.time() - lasttime
print(diff)
lasttime = time.time()
print(row)
def detect(self):
"""
This function tests if accel, gyro and mag are all available
"""
if lib.lsm9ds1_accelAvailable(self.__conn) and lib.lsm9ds1_gyroAvailable(self.__conn) and lib.lsm9ds1_magAvailable(self.__conn):
return True
else:
return False
def getData():
global lasttime
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
current = time.time()
while current - startTime < 10:
current = time.time()
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
#TFmini data
recv = ser.read(9)
ser.reset_input_buffer()
if recv[0] == 0x59 and recv[1] == 0x59:
distance = recv[2] + recv[3] * 256
ser.reset_input_buffer()
currentTime = str(datetime.datetime.now()); #timestamp data
row = [currentTime,distance,cax,cay,caz,cgx,cgy,cgz] #the row being written to csv file, just x and y accel
rowList.append(row)
diff = time.time() - lasttime
timeDiffer.append(diff)
#print(diff)
lasttime = time.time()
#print(row)
print("start writing data")
with open(datafile,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(rowList)):
row = [rowList[i]]
spamwriter.writerow(row)
print("start writing frequency")
with open(filename,"a",newline = '') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',', quoting=csv.QUOTE_MINIMAL)
for i in range(len(timeDiffer)):
row = [timeDiffer[i]]
spamwriter.writerow(row)
def getData():
global lasttime
global imu
current = time.time()
while current - startTime < 10:
current = time.time()
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
## result1 = pool.apply_async(getIMU,)
## result2 = pool.apply_async(getLidar,)
## IMUdata = result1.get(timeout=1)
## Lidardata = result2.get(timeout=1)
q = Queue()
q2 = Queue()
IMUdataP = Process(target=getIMU, args=(q, ))
LidardataP = Process(target=getLidar, args=(q2, ))
IMUdataP.start()
LidardataP.start()
IMUdata = q.get()
Lidardata = q2.get()
IMUdataP.join()
LidardataP.join()
currentTime = str(datetime.datetime.now())
#timestamp data
row = [currentTime, Lidardata, IMUdata
] #the row being written to csv file, just x and y accel
rowList.append(row)
print(row)
diff = time.time() - lasttime
timeDiffer.append(diff)
#print(diff)
lasttime = time.time()
#print(row)
print("start writing time")
with open(filename, "a", newline='') as csvfile:
spamwriter = csv.writer(csvfile,
delimiter=',',
quoting=csv.QUOTE_MINIMAL)
for i in range(len(timeDiffer)):
row = [timeDiffer[i]]
spamwriter.writerow(row)
print("start writing data")
with open(datafile, "a", newline='') as csvfile:
spamwriter = csv.writer(csvfile,
delimiter=',',
quoting=csv.QUOTE_MINIMAL)
for i in range(len(rowList)):
row = [rowList[i]]
spamwriter.writerow(row)
def getData():
global last
global sensorDataNumpyArray
Timer(writeFrequency, writeSensorData).start()
while True:
time.sleep(readFrequency)
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
#print("time for sensors:%f" % (time.time() - last))
Lidardata = getLidar()
IMUdata = getIMU()
currentTime = str(datetime.datetime.now())
row = [
currentTime, Lidardata, IMUdata[0], IMUdata[1], IMUdata[2],
IMUdata[3], IMUdata[4], IMUdata[5]
]
sensorData.append(row)
def getData():
global start
global imu
global lasttime
print("pid for sensors %i" % os.getpid())
while time.time() - start < 10:
if lib.lsm9ds1_accelAvailable(imu) > 0 and ser.in_waiting > 8:
IMUdata = getIMU()
Lidardata = getLidar()
currentTime = str(datetime.datetime.now())
row = [
currentTime, Lidardata, IMUdata[0], IMUdata[1], IMUdata[2],
IMUdata[3], IMUdata[4], IMUdata[5]
]
rowList.append(row)
diff = time.time() - lasttime
timeDiffer.append(diff)
lasttime = time.time()
print("start writing sensors data")
with open(datafile, "a", newline='') as csvfile:
spamwriter = csv.writer(csvfile,
delimiter=',',
quoting=csv.QUOTE_MINIMAL)
for i in range(len(rowList)):
row = [rowList[i]]
spamwriter.writerow(row)
print("start writing sensors reading frequency")
with open(filename, "a", newline='') as csvfile:
spamwriter = csv.writer(csvfile,
delimiter=',',
quoting=csv.QUOTE_MINIMAL)
for i in range(len(timeDiffer)):
row = [timeDiffer[i]]
spamwriter.writerow(row)
return 1
def getData():
global lasttime
#connect with IMU
imu = lib.lsm9ds1_create()
lib.lsm9ds1_begin(imu)
if lib.lsm9ds1_begin(imu) == 0:
print("Failed to communicate with LSM9DS1.")
quit()
lib.lsm9ds1_calibrate(imu)
while True:
#beforeIf = time.time()
time.sleep(0.2)
if lib.lsm9ds1_accelAvailable(imu) > 0:
afterIf = time.time()
lib.lsm9ds1_readAccel(imu)
ax = lib.lsm9ds1_getAccelX(imu)
ay = lib.lsm9ds1_getAccelY(imu)
az = lib.lsm9ds1_getAccelZ(imu)
cax = lib.lsm9ds1_calcAccel(imu, ax)
cay = lib.lsm9ds1_calcAccel(imu, ay)
caz = lib.lsm9ds1_calcAccel(imu, az)
gx = lib.lsm9ds1_getGyroX(imu)
gy = lib.lsm9ds1_getGyroY(imu)
gz = lib.lsm9ds1_getGyroZ(imu)
cgx = lib.lsm9ds1_calcGyro(imu, gx)
cgy = lib.lsm9ds1_calcGyro(imu, gy)
cgz = lib.lsm9ds1_calcGyro(imu, gz)
## #add to list
## caxl.append(cax)
## cayl.append(cay)
## cazl.append(caz)
## cgxl.append(cgx)
## cgyl.append(cgy)
## cgzl.append(cgz)
print(cax, cay, caz, cgx, cgy, cgz)