def run(self):
self.messenger = interactive_system.Messenger(self, 0.0)
for teensy_name in self.teensy_manager.get_teensy_name_list():
# ------ set mode ------
cmd_obj = interactive_system.command_object(teensy_name, 'basic')
protocol = self.teensy_manager.get_protocol(teensy_name)
cmd_obj.add_param_change('operation_mode', protocol.MODE_MANUAL_CONTROL)
self.enter_command(cmd_obj)
self.send_commands()
# initially update the Teensys with all the output parameters here
self.update_output_params(self.teensy_manager.get_teensy_name_list())
# start the messenger
self.messenger.start()
teensy_in_use = tuple(self.teensy_manager.get_teensy_name_list())
# instantiate all the basic components
for teensy_name in teensy_in_use:
# check if the teensy exists
if teensy_name not in self.teensy_manager.get_teensy_name_list():
print('%s does not exist!' % teensy_name)
continue
# check the type of node
protocol = self.teensy_manager.get_protocol(teensy_name)
# -- Cricket Node ---
if isinstance(protocol, CP.WashingtonCricketProtocol):
self.node_list.update(self.build_cricket_node_components(teensy_name, protocol.NUM_CRICKET, protocol.NUM_LIGHT))
# -- Fin-Cricket Node ---
elif isinstance(protocol, CP.WashingtonFinCricketProtocol):
self.node_list.update(self.build_fin_cricket_node_components(teensy_name, protocol.NUM_FIN, protocol.NUM_CRICKET))
# -- Fin Node ---
elif isinstance(protocol, CP.WashingtonFinProtocol):
self.node_list.update(self.build_fin_node_components(teensy_name, protocol.NUM_FIN))
# -- Sound Node ---
elif isinstance(protocol, CP.WashingtonSoundProtocol):
self.node_list.update(self.build_sound_node_components(teensy_name, protocol.NUM_SOUND))
# -- operation mode ----
operation_mode_var = Abs.Output_Node(self.messenger, teensy_name, node_name="operation_mode_var",
output='operation_mode')
self.node_list.update({operation_mode_var.node_name: operation_mode_var})
self.start_nodes()
with self.all_nodes_created:
self.all_nodes_created.notify_all()
# wait for the nodes to destroy
for node in self.node_list.values():
node.join()
return 0
def send_output_cmd(self, teensy, output):
if output:
if not isinstance(teensy, str):
raise TypeError('Teensy name must be string!')
cmd_obj = command_object(teensy, msg_setting=1)
else:
return
for output_name, value in output:
if isinstance(value, Var):
value = value.val
cmd_obj.add_param_change(output_name, value)
self.messenger.load_message(cmd_obj)
def init_utilities(self):
self.messenger = interactive_system.Messenger(self, 0.0)
for teensy_name in self.teensy_manager.get_teensy_name_list():
# ------ set mode ------
cmd_obj = interactive_system.command_object(teensy_name, 'basic')
protocol = self.teensy_manager.get_protocol(teensy_name)
cmd_obj.add_param_change('operation_mode', protocol.MODE_CBLA)
self.enter_command(cmd_obj)
self.send_commands()
# initially update the Teensys with all the output parameters here
self.update_output_params(self.teensy_manager.get_teensy_name_list())
# start the messenger
self.messenger.start()
return 0
def run(self):
self.messenger = interactive_system.Messenger(self, 0.000)
for teensy_name in self.teensy_manager.get_teensy_name_list():
# ------ set mode ------
cmd_obj = interactive_system.command_object(teensy_name, "basic")
cmd_obj.add_param_change("operation_mode", CP.CBLATestBed_Triplet_FAST.MODE_CBLA2_MANUAL)
self.enter_command(cmd_obj)
self.send_commands()
# initially update the Teensys with all the output parameters here
self.update_output_params(self.teensy_manager.get_teensy_name_list())
# start the messenger
self.messenger.start()
teensy_in_use = tuple(self.teensy_manager.get_teensy_name_list())
# instantiate all the basic components
for teensy in teensy_in_use:
# check if the teensy exists
if teensy not in self.teensy_manager.get_teensy_name_list():
print("%s does not exist!" % teensy)
continue
# 3 fins
for j in range(self.num_fin):
# 2 ir sensors each
ir_sensor_0 = Input_Node(
self.messenger, teensy, node_name="fin_%d.ir_0" % j, input="fin_%d_ir_0_state" % j
)
ir_sensor_1 = Input_Node(
self.messenger, teensy, node_name="fin_%d.ir_1" % j, input="fin_%d_ir_1_state" % j
)
self.node_list[ir_sensor_0.node_name] = ir_sensor_0
self.node_list[ir_sensor_1.node_name] = ir_sensor_1
# 1 3-axis acceleromter each
acc = Input_Node(
self.messenger,
teensy,
node_name="fin_%d.acc" % j,
x="fin_%d_acc_x_state" % j,
y="fin_%d_acc_y_state" % j,
z="fin_%d_acc_z_state" % j,
)
self.node_list[acc.node_name] = acc
# 2 SMA wires each
sma_0 = Output_Node(
self.messenger, teensy, node_name="fin_%d.sma_0" % j, output="fin_%d_sma_0_level" % j
)
sma_1 = Output_Node(
self.messenger, teensy, node_name="fin_%d.sma_1" % j, output="fin_%d_sma_1_level" % j
)
self.node_list[sma_0.node_name] = sma_0
self.node_list[sma_1.node_name] = sma_1
# 1 fin
motion_type = Var(0)
# sma_param = {'KP': 15, 'K_heating': 0.00, 'K_dissipate': 0.05}
fin = Fin(
self.messenger,
teensy,
node_name="fin_%d.fin" % j,
left_sma=sma_0.in_var["output"],
right_sma=sma_1.in_var["output"],
motion_type=motion_type,
)
# left_config=sma_param, right_config=sma_param)
self.node_list[fin.node_name] = fin
# 2 reflex each
reflex_0 = Output_Node(
self.messenger, teensy, node_name="fin_%d.reflex_0" % j, output="fin_%d_reflex_0_level" % j
)
reflex_1 = Output_Node(
self.messenger, teensy, node_name="fin_%d.reflex_1" % j, output="fin_%d_reflex_1_level" % j
)
self.node_list[reflex_0.node_name] = reflex_0
self.node_list[reflex_1.node_name] = reflex_1
# for Interactive_Light
for j in range(self.num_light):
# 1 ambient light sensor
als = Input_Node(self.messenger, teensy, node_name="light_%d.als" % j, input="light_%d_als_state" % j)
self.node_list[als.node_name] = als
# 1 led
led = Output_Node(
self.messenger, teensy_name=teensy, node_name="light_%d.led" % j, output="light_%d_led_level" % j
)
self.node_list[led.node_name] = led
with self.all_nodes_created:
self.all_nodes_created.notify_all()
self.start_nodes()
# wait for the nodes to destroy
for node in self.node_list.values():
node.join()
return 0
def run(self):
self.messenger = interactive_system.Messenger(self, 0.000)
for teensy_name in self.teensy_manager.get_teensy_name_list():
# ------ set mode ------
cmd_obj = interactive_system.command_object(teensy_name, 'basic')
cmd_obj.add_param_change('operation_mode', CP.CBLATestBed_Triplet_FAST.MODE_CBLA2_MANUAL)
self.enter_command(cmd_obj)
self.send_commands()
# initially update the Teensys with all the output parameters here
self.update_output_params(self.teensy_manager.get_teensy_name_list())
self.messenger.start()
teensy_in_use = tuple(self.teensy_manager.get_teensy_name_list())
# instantiate all the basic components
# data collector node
data_variables = dict()
for teensy in teensy_in_use:
# check if the teensy exists
if teensy not in self.teensy_manager.get_teensy_name_list():
print('%s does not exist!' % teensy)
continue
# 3 fins
for j in range(self.num_fin):
# 2 ir sensors each
ir_sensor_0 = Input_Node(self.messenger, teensy, node_name='fin_%d.ir_0' % j,
input='fin_%d_ir_0_state' % j)
ir_sensor_1 = Input_Node(self.messenger, teensy, node_name='fin_%d.ir_1' % j,
input='fin_%d_ir_1_state' % j)
self.node_list[ir_sensor_0.node_name] = ir_sensor_0
self.node_list[ir_sensor_1.node_name] = ir_sensor_1
# 1 3-axis accelerometer each
acc = Input_Node(self.messenger, teensy, node_name='fin_%d.acc' % j,
x='fin_%d_acc_x_state' % j,
y='fin_%d_acc_y_state' % j,
z='fin_%d_acc_z_state' % j)
self.node_list[acc.node_name] = acc
# 2 SMA wires each
sma_0 = Output_Node(self.messenger, teensy, node_name='fin_%d.sma_0' % j,
output='fin_%d_sma_0_level' % j)
sma_1 = Output_Node(self.messenger, teensy, node_name='fin_%d.sma_1' % j,
output='fin_%d_sma_1_level' % j)
self.node_list[sma_0.node_name] = sma_0
self.node_list[sma_1.node_name] = sma_1
# 1 frond
# motion_type = Var(0)
sma_param = None# {'KP': 15, 'K_heating': 0.00, 'K_dissipate': 0.05}
# fin = Cycling_Fin(self.messenger, teensy, node_name='fin_%d.fin' % j,
# left_sma=sma_0.in_var['output'],
# right_sma=sma_1.in_var['output'], motion_type=motion_type)
# # left_config=sma_param, right_config=sma_param)
# self.node_list[fin.node_name] = fin
# 2 half fins
temp_ref_0 = Var(0)
halfFin_0 = CyclingHalfFin(self.messenger, node_name='%s.fin_%d.halfFin-0' % (teensy, j),
sma=sma_0.in_var['output'], temp_ref=temp_ref_0,
config=sma_param)
temp_ref_1 = Var(0)
halfFin_1 = CyclingHalfFin(self.messenger, node_name='%s.fin_%d.halfFin-1' % (teensy, j),
sma=sma_1.in_var['output'], temp_ref=temp_ref_1,
config=sma_param)
self.node_list[halfFin_0.node_name] = halfFin_0
self.node_list[halfFin_1.node_name] = halfFin_1
# 2 reflex each
reflex_0 = Output_Node(self.messenger, teensy, node_name='fin_%d.reflex_0' % j,
output='fin_%d_reflex_0_level' % j)
reflex_1 = Output_Node(self.messenger, teensy, node_name='fin_%d.reflex_1' % j,
output='fin_%d_reflex_1_level' % j)
self.node_list[reflex_0.node_name] = reflex_0
self.node_list[reflex_1.node_name] = reflex_1
# # acc diff
# acc_x_diff = Pseudo_Differentiation(self.messenger, node_name='%s.fin_%d.acc_x_diff' % (teensy, j),
# input_var=acc.out_var['x'], diff_gap=15, smoothing=30,
# step_period=0.1)
# acc_y_diff = Pseudo_Differentiation(self.messenger, node_name='%s.fin_%d.acc_y_diff' % (teensy, j),
# input_var=acc.out_var['y'], diff_gap=15, smoothing=30,
# step_period=0.1)
# acc_z_diff = Pseudo_Differentiation(self.messenger, node_name='%s.fin_%d.acc_z_diff' % (teensy, j),
# input_var=acc.out_var['z'], diff_gap=15, smoothing=30,
# step_period=0.1)
#
# self.node_list[acc_x_diff.node_name] = acc_x_diff
# self.node_list[acc_y_diff.node_name] = acc_y_diff
# self.node_list[acc_z_diff.node_name] = acc_z_diff
#
# # acc running average
# acc_x_avg = Running_Average(self.messenger, node_name='%s.fin_%d.acc_x_avg' % (teensy, j),
# input_var=acc.out_var['x'], avg_window=10, step_period=0.1)
# acc_y_avg = Running_Average(self.messenger, node_name='%s.fin_%d.acc_y_avg' % (teensy, j),
# input_var=acc.out_var['y'], avg_window=10, step_period=0.1)
# acc_z_avg = Running_Average(self.messenger, node_name='%s.fin_%d.acc_z_avg' % (teensy, j),
# input_var=acc.out_var['z'], avg_window=10, step_period=0.1)
#
# self.node_list[acc_x_avg.node_name] = acc_x_avg
# self.node_list[acc_y_avg.node_name] = acc_y_avg
# self.node_list[acc_z_avg.node_name] = acc_z_avg
# collecting data
data_variables['%s.fin_%d.ir_0' % (teensy, j)] = ir_sensor_0.out_var['input']
data_variables['%s.fin_%d.ir_1' % (teensy, j)] = ir_sensor_1.out_var['input']
data_variables['%s.fin_%d.acc_x' % (teensy, j)] = acc.out_var['x']
data_variables['%s.fin_%d.acc_y' % (teensy, j)] = acc.out_var['y']
data_variables['%s.fin_%d.acc_z' % (teensy, j)] = acc.out_var['z']
# data_variables['%s.fin_%d.acc_x_diff' % (teensy, j)] = acc_x_diff.out_var['output']
# data_variables['%s.fin_%d.acc_y_diff' % (teensy, j)] = acc_y_diff.out_var['output']
# data_variables['%s.fin_%d.acc_z_diff' % (teensy, j)] = acc_z_diff.out_var['output']
# data_variables['%s.fin_%d.acc_x_avg' % (teensy, j)] = acc_x_avg.out_var['output']
# data_variables['%s.fin_%d.acc_y_avg' % (teensy, j)] = acc_y_avg.out_var['output']
# data_variables['%s.fin_%d.acc_z_avg' % (teensy, j)] = acc_z_avg.out_var['output']
data_variables['%s.fin_%d.sma_0' % (teensy, j)] = sma_0.in_var['output']
data_variables['%s.fin_%d.sma_1' % (teensy, j)] = sma_1.in_var['output']
# data_variables['%s.fin_%d.fin' % (teensy, j)] = fin.in_var['motion_type']
data_variables['%s.fin_%d.halfFin_0' % (teensy, j)] = halfFin_0.in_var['temp_ref']
data_variables['%s.fin_%d.halfFin_1' % (teensy, j)] = halfFin_1.in_var['temp_ref']
# for Interactive_Light
for j in range(self.num_light):
# 1 ambient light sensor
als = Input_Node(self.messenger, teensy, node_name='light_%d.als' % j,
input='light_%d_als_state' % j)
self.node_list[als.node_name] = als
# 1 led
led = Output_Node(self.messenger, teensy_name=teensy, node_name='light_%d.led' % j,
output='light_%d_led_level' % j )
self.node_list[led.node_name] = led
# collecting their values
data_variables['%s.light_%d.led' % (teensy, j)] = led.in_var['output']
data_variables['%s.light_%d.als' % (teensy, j)] = als.out_var['input']
self.data_collector = Data_Collector_Node(self.messenger, file_header='sys_id_data',
data_collect_period=0.05, create_new_log=True, **data_variables)
with self.all_nodes_created:
self.all_nodes_created.notify_all()
self.start_nodes()
self.data_collector.start()
# wait for the nodes to destroy
for node in self.node_list.values():
node.join()
return 0
def run(self):
self.messenger = interactive_system.Messenger(self, 0.000)
for teensy_name in self.teensy_manager.get_teensy_name_list():
# ------ set mode ------
cmd_obj = interactive_system.command_object(teensy_name, 'basic')
cmd_obj.add_param_change('operation_mode', CP.CBLATestBed_Triplet_FAST.MODE_CBLA2_PRESCRIPTED)
self.enter_command(cmd_obj)
self.send_commands()
# initially update the Teensys with all the output parameters here
self.update_output_params(self.teensy_manager.get_teensy_name_list())
# start the messenger
self.messenger.start()
teensy_in_use = tuple(self.teensy_manager.get_teensy_name_list())
# table of all data variables being collected
data_variables = dict()
# instantiate all the basic components
for teensy in teensy_in_use:
# check if the teensy exists
if teensy not in self.teensy_manager.get_teensy_name_list():
print('%s does not exist!' % teensy)
continue
# ==== creating components related to the Light =====
light_components = OrderedDict()
for j in range(self.num_light):
components, data_vars = self.build_light_components(teensy_name=teensy, light_id=j)
light_components.update(components)
data_variables.update(data_vars)
self.node_list.update(light_components)
# ===== creating components for related to the Fins ====
fin_components = OrderedDict()
for j in range(self.num_fin):
components, data_vars = self.build_fin_components(teensy_name=teensy, fin_id=j)
fin_components.update(components)
data_variables.update(data_vars)
self.node_list.update(fin_components)
# ===== creating the CBLA Nodes ====
if self.mode == 'default':
for teensy in teensy_in_use:
self.node_list.update(self.build_default_nodes(teensy, self.node_list))
else:
self.mode = 'default'
for teensy in teensy_in_use:
self.node_list.update(self.build_default_nodes(teensy, self.node_list))
self.data_collector = Data_Collector_Node(self.messenger, file_header='prescripted_mode_data',
data_collect_period=0.5, create_new_log=True,
log_save_freq=5.0, logger_sleep_time=0.05,
**data_variables)
with self.all_nodes_created:
self.all_nodes_created.notify_all()
self.start_nodes()
self.data_collector.start()
# wait for the nodes to destroy
for node in self.node_list.values():
node.join()
return 0