def turnButton(pin):
if (aqC.state == 'commute'):
if (pin == leftTurn):
# begin turn
utility.printAndLog('beginning left turn')
aqC.turningLeft = True
while (aqC.turningLeft):
# blink and check for the signal to stop
illuminator.blinkLeft()
if (GPIO.input(endTurn)):
print('ending turn')
aqC.turningLeft = False
doLights()
return
else:
# begin turn
utility.printAndLog('beginning right turn')
aqC.turningRight = True
while (aqC.turningRight):
# blink and check for the signal to stop
illuminator.blinkRight()
if (GPIO.input(endTurn)):
print('ending turn')
aqC.turningRight = False
doLights()
return
def lurk():
utility.printAndLog('lurking for %d seconds' % lurkDowntime)
time.sleep(lurkDowntime)
if (aqC.state == 'nap'):
pass
elif (aqC.state == 'commute'):
aqC.monitorSensors()
def isDark():
# query the full and IR-only light values
full, ir = aquaTSL2591.get_full_luminosity()
# convert to lux
lux = aquaTSL2591.calculate_lux(full, ir)
# compare against threshold
if (lux < darknessThreshold):
utility.printAndLog("it's dark!")
return True
else:
utility.printAndLog("it's light!")
return False
def monitorSensors(self):
utility.printAndLog('monitoring sensors')
# check darkness and adjust LEDs appropriately
if (darknessSensor.isDark()):
illuminator.lightsOn()
else:
illuminator.lightsOff()
# location check
# get GPS coordinates
if aquaGPS.checkForFix():
(self.lat, self.lon) = aquaGPS.getCoord()
# check if we are home - if not, begin ride
if not (aquaGPS.homeZone(self.lat, self.lon)):
self.there()
def getCoord():
# Start the serial connection
ser = serial.Serial('/dev/serial0',
115200,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=1)
ser.write(gpsCheck.encode())
while True:
response = str(ser.readline())
if ("+CGNSINF: 1," in response):
# Split the reading by commas and return the parts referencing lat and long
array = response.split(",")
lat = array[3]
utility.printAndLog("Latitude: %s" % lat)
lon = array[4]
utility.printAndLog("Longitude: %s\n" % lon)
# turn GPS off
ser.write(gpsPowerOff.encode())
return (lat, lon)
def checkForFix():
utility.printAndLog("checking for fix")
# Start the serial connection
ser = serial.Serial('/dev/serial0',
115200,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=1)
# Turn on the GPS
ser.write(gpsPowerOn.encode())
ser.write(gpsPowerCheck.encode())
while True:
response = str(ser.readline())
if (" 1" in response):
break
# Ask for the navigation info parsed from NMEA sentences
ser.write(gpsCheck.encode())
while True:
response = str(ser.readline())
# Check if a fix was found
if ("+CGNSINF: 1,1," in response):
utility.printAndLog("fix found")
return True
# If a fix wasn't found, wait and try again
if ("+CGNSINF: 1,0," in response):
sleep(5)
ser.write(gpsCheck.encode())
utility.printAndLog("still looking for fix")
# turn the GPS off to save power
ser.write(gpsPowerOff.encode())
return False
else:
# still waiting for response
ser.write(gpsCheck.encode())
def uploadData(controllerInstance):
gpsFileName = controllerInstance.gpsFileName
accelFileName = controllerInstance.accelFileName
fd = controllerInstance.freshData
# if there is new data to log (i.e. we came back from a ride)
if fd:
# get the file contents and split into rows
gpsFile = open(gpsFileName, 'r')
gpsContents = gpsFile.read()
gpsRows = gpsContents.split('\n')
accelFile = open(accelFileName, 'r')
accelContents = accelFile.read()
accelRows = accelContents.split('\n')
while fd:
try:
for row in gpsRows:
# split each row by data point
rowEntries = row.split('\t')
# make sure there are the correct number of entries
if (len(rowEntries) == 3):
# log the data
gpsData = {
'sheet': sheetName + ':GPS',
'Data Time': rowEntries[0],
'Latitude': rowEntries[1],
'Longitude': rowEntries[2]
}
requests.get(publicURL, params=gpsData)
for row in accelRows:
rowEntries = row.split('\t')
if (len(rowEntries) == 4):
accelData = {
'sheet': sheetName + ':Accel',
'Data Time': rowEntries[0],
'X': rowEntries[1],
'Y': rowEntries[2],
'Z': rowEntries[3]
}
requests.get(publicURL, params=accelData)
# no more fresh data
fd = False
controllerInstance.freshData = False
utility.printAndLog('data logged succesfully')
return True
# if no wifi, try again later
except requests.exceptions.ConnectionError:
utility.printAndLog('no WiFi right now')
time.sleep(wifiCheckTime)
else:
utility.printAndLog('no data to log!')
def __init__(self):
utility.printAndLog('setting up accelerometer SPI')
# set up SPI
self.spi = spidev.SpiDev()
self.spi.open(0, 0)
# CPHA = CPOL = 0
self.spi.mode = 0b00
# recommended speeds 1MHz - 8MHz
self.spi.max_speed_hz = 1000000
# soft reset
utility.printAndLog('accel soft reset')
self.spiWrite(REG_SOFT_RESET, [VAL_SOFT_RESET])
time.sleep(0.5)
# setup interrupts and mode
utility.printAndLog('setting up accel interrupts')
self.setupInterrupts()
def collectData(self):
utility.printAndLog('riding')
# check darkness and adjust LEDs appropriately
if (darknessSensor.isDark()):
illuminator.lightsOn()
else:
illuminator.lightsOff()
# check previous state - if commute, make new data file
if (self.previous == 'commute'):
utility.printAndLog('creating new data files')
self.accelFileName = dataLogger.makeFileName('accel')
self.gpsFileName = dataLogger.makeFileName('gps')
self.freshData = True
# so that we don't accidentally create new files again
self.previous = 'ride'
# otherwise, use the one that already exists
else:
utility.printAndLog('using existing data files')
dataLogger.writeToFile(self.accelFileName, self.accelDataBuffer)
self.accelDataBuffer = ''
# main data collection: accelerometer
for reading in range(BicycleController.accelReadsBetweenGPS):
# get accelerometer data and store in file
#(x,y,z,temp) = accel.read_xyz()
(x, y, z) = self.accel.readXYZ()
t = dataLogger.makeTimeStamp()
accelData = '%s\t%s\t%s\t%s\n' % (t, x, y, z)
dataLogger.writeToFile(self.accelFileName, accelData)
# sleep
time.sleep(BicycleController.timeBetweenAccelReads)
# location check
# get GPS coordinates
# if we can't get a fix, it will use the last one
if aquaGPS.checkForFix():
(self.lat, self.lon) = aquaGPS.getCoord()
t = dataLogger.makeTimeStamp()
# log GPS data
gpsData = '%s\t%s\t%s\n' % (t, self.lat, self.lon)
dataLogger.writeToFile(self.gpsFileName, gpsData)
# check if we are home - if so, transition to commute
if (aquaGPS.homeZone(self.lat, self.lon)):
self.back_again()
# if not, continue to log data
else:
self.collectData()
def housekeep(self):
utility.printAndLog('housekeeping')
illuminator.sign()
dataLogger.uploadData(self)
def inactDetected(pin):
utility.printAndLog('inactivity detected!')
if (aqC.state == 'commute'):
aqC.slumber()
def actDetected(pin):
utility.printAndLog('activity detected!')
if (aqC.state == 'nap'):
aqC.awaken()
print('ending turn')
aqC.turningLeft = False
doLights()
return
else:
# begin turn
utility.printAndLog('beginning right turn')
aqC.turningRight = True
while (aqC.turningRight):
# blink and check for the signal to stop
illuminator.blinkRight()
if (GPIO.input(endTurn)):
print('ending turn')
aqC.turningRight = False
doLights()
return
GPIO.add_event_detect(actPin, GPIO.RISING, actDetected)
GPIO.add_event_detect(inactPin, GPIO.RISING, inactDetected)
GPIO.add_event_detect(leftTurn, GPIO.RISING, turnButton, bouncetime=5000)
GPIO.add_event_detect(rightTurn, GPIO.RISING, turnButton, bouncetime=5000)
utility.printAndLog('GPIO interrupts ready')
time.sleep(5)
utility.printAndLog('clearing accel status register')
adxl.clearInterrupts()
# lurk patiently in the background, forever....
while True:
lurk()
