def executeIOInteraction(self, intId, instruction):
instElems = instruction.split(":", )
if instElems[0] == "i2c":
if instElems[1] == "pwm":
if instElems[2] == 'dir':
if cc_configuration.isHardwareSupported():
self.pwm.set_pwm(
cc_configuration.CAR_STEER_PWM_CHANNEL, 0,
self.calculateServoPWMValue(instElems[3]))
logging.debug(
intId + ' EXECUTE I2C-PCA9685 STEER: ' +
str(cc_configuration.CAR_STEER_PWM_CHANNEL) +
' Value: ' +
str(self.calculateServoPWMValue(instElems[3])))
if instElems[2] == 'thr':
if cc_configuration.isHardwareSupported():
self.pwm.set_pwm(
cc_configuration.CAR_THROTTLE_PWM_CHANNEL, 0,
self.calculateThrottlePWMValue(instElems[3]))
logging.debug(
intId + ' EXECUTE I2C-PCA9685 THROTTLE: ' +
str(cc_configuration.CAR_STEER_PWM_CHANNEL) +
' Value: ' +
str(self.calculateServoPWMValue(instElems[3])))
logging.debug(intId + ' EXECUTE I2C-PCA9685 Channel: ' +
str(instElems[2]) + ' Value: ' +
str(instElems[3]))
if instElems[1] == "oled":
if cc_configuration.isHardwareSupported():
self.oled.writeText(instElems[2])
elif instElems[0] == "gpio":
if instElems[1] == "pin":
#print "EXECUTE GPIO PIN CHANGE"
#convert to pin number here
#gpo operation
logging.debug(intId + ' EXECUTE GPIO-PIN Number: ' +
str(instElems[2]) + ' Value: ' +
str(instElems[3]))
else:
print "Message Unrecognized - IGNORE"
def readSystemMetrix(self):
if cc_configuration.isHardwareSupported():
#cmd =["vcgencmd measure_temp | egrep -o '[0-9]*\.[0-9]*'"]
cmd = [
"vcgencmd measure_temp | egrep -o '[0-9]*\.' | egrep -o '[0-9]*'"
]
address = subprocess.Popen(cmd, stdout=subprocess.PIPE, shell=True)
(out, err) = address.communicate()
system_data = {"core_temp": int(out), "cpu_util": 34}
self.sensors['system'] = system_data
self.sensors['system_flt'] = self.filterSystemReading(system_data)
else:
static_system_data = {"core_temp": 33.05555555555, "cpu_util": 34}
self.sensors['system'] = static_system_data
self.sensors['system_flt'] = self.filterSystemReading(
static_system_data)
def __init__(self):
self.read_sensor_cycle_timer = 0
self.sensors = {}
self.control = {}
self.sensorCycle = [1, 0, 0]
self.kf = EWMAFilter()
self.filtersSMA = {}
self.filtersEWMA = {}
self.pwm = None
self.oled = None
self.accelerometer = None
self.power = None
self.sonar = None
self.sonar = cc_uart_prox_HCSR04Array()
print "Hardware Init"
if cc_configuration.isHardwareSupported():
self.pwm = cc_i2c_pwm_PCA9685()
self.oled = cc_i2c_oled_SSD1306()
self.accelerometer = cc_i2c_accel_MPU6050()
self.power = cc_i2c_adc_ADS1115()
self.sonar = cc_uart_prox_HCSR04Array()
def readSensorsI2C(self):
if cc_configuration.isHardwareSupported():
accelerometer_data = self.accelerometer.getData()
power_data = self.power.getPowerData()
self.sensors['accel'] = accelerometer_data
self.sensors['power'] = power_data
self.sensors['accel_flt'] = self.filterAccelerometerReading(
accelerometer_data)
self.sensors['power_flt'] = self.filterPowerReading(power_data)
else:
self.sensors['accel'] = {
'x': -1.7860744384765623,
'y': -9.016563452148437,
'z': 2.205059729003906
}
self.sensors['power'] = {
"battery_volt": 8.1,
"pi_volt": 5.1,
"pi_current": 1.6
}
self.sensors['accel_flt'] = self.filterAccelerometerReading({
'x':
-1.7860744384765623,
'y':
-9.016563452148437,
'z':
2.205059729003906
})
self.sensors['power_flt'] = self.filterPowerReading({
"battery_volt":
7.5,
"pi_volt":
5.1,
"pi_current":
3.2
})
def readSensors1W(self):
if cc_configuration.isHardwareSupported():
self.sensors['1w'] = ""
else:
self.sensors['1w'] = {'sensor1': 23}
def readSensorsGPS(self):
if cc_configuration.isHardwareSupported():
self.sensors['gps'] = {"qqq": "dds"}
else:
self.sensors['gps'] = {"qqq": "dds"}
import logging
import random
import string
import os
import time
import subprocess
import cc_configuration
from cc_sensor_filters import *
import json
from cc_uart_prox_HCSR04Array import cc_uart_prox_HCSR04Array
if cc_configuration.isHardwareSupported():
#import Adafruit_PCA9685
#from mpu6050 import mpu6050
from cc_i2c_pwm_PCA9685 import cc_i2c_pwm_PCA9685
from cc_i2c_accel_MPU6050 import cc_i2c_accel_MPU6050
from cc_i2c_oled_SSD1306 import cc_i2c_oled_SSD1306
from cc_i2c_adc_ADS1115 import cc_i2c_adc_ADS1115
from cc_uart_prox_HCSR04Array import cc_uart_prox_HCSR04Array
logging.basicConfig(
level=logging.DEBUG,
format='(%(threadName)-9s) %(message)s',
)
#Hardware init
#READ_SENSORS_CYCLE_SKIP = 4000000
def fetchNetworkData(self):
if cc_configuration.isHardwareSupported():
return self.fetchIP() + ";" + self.fetchAPR_Pi()
else:
return self.fetchIP() + ";" + self.fetchAP()