def build(self):
self.stream = get_output(channels=CHANNELS,
buffersize=BUFSIZE,
rate=22050)
self.slider = Slider(min=110, max=880, value=440)
self.slider.bind(value=self.update_freq)
self.source = SineSource(self.stream, 440)
self.source.start()
return self.slider
class AudioApp(App):
def build(self):
self.stream = get_output(channels=CHANNELS, buffersize=BUFSIZE, rate=22050)
self.slider = Slider(min=110, max=880, value=440)
self.slider.bind(value=self.update_freq)
self.source = SineSource(self.stream, 440)
self.source.start()
return self.slider
def update_freq(self, slider, value):
#value = int(value / 50) * 50
if value != self.source.frequency:
self.source.frequency = value
class AudioApp(App):
def build(self):
self.stream = get_output(channels=CHANNELS,
buffersize=BUFSIZE,
rate=22050)
self.slider = Slider(min=110, max=880, value=440)
self.slider.bind(value=self.update_freq)
self.source = SineSource(self.stream, 440)
self.source.start()
return self.slider
def update_freq(self, slider, value):
#value = int(value / 50) * 50
if value != self.source.frequency:
self.source.frequency = value
def build(self):
self.stream = get_output(channels=CHANNELS, buffersize=BUFSIZE, rate=22050)
self.slider = Slider(min=110, max=880, value=440)
self.slider.bind(value=self.update_freq)
self.source = SineSource(self.stream, 440)
self.source.start()
return self.slider
def test_audiostream():
from audiostream import get_output
from audiostream.sources.wave import SineSource
stream = get_output(channels=2, rate=22050, buffersize=128)
source = SineSource(stream, 220)
source.start()
sleep(.5)
source.stop()
def initSine(self):
self.str = get_output(channels=2, rate=22050, buffersize=128)
self.sin = SineSource(self.str, self.freq[1])
class ScreenAutopilot:
def __init__(self, gui):
self.gui = gui
self.working = True
self.freqOrg = [50.00, 100.00, 200.00, 0.01]
self.freq = [50.00, 100.00, 200.00, 0.01]
self.status = "off"
self.targetHdg = 0
self.tilerPos = 0.0
self.burstRunning = False
self.on_updateSettings()
self.driverQRL = None
self.cMin = 0.0
self.cPlus = 0.0
self.clickSize = 0.15
self.Kp = 0.025
self.Ki = 0.01
self.Kd = 0.1
self.pid = PID(self.Kp, self.Ki, self.Kd, setpoint=0, auto_mode=True)
self.pid.proportional_on_measurement = True
self.driverType = self.gui.config['apDriver']
self.sDriTyp = Spinner(
values=['driver9 3kts', 'driver9 11kts', 'PID'],
text=self.driverType,
)
self.gui.rl.ids.blAutDri.add_widget(self.sDriTyp)
self.sDriTyp.bind(text=self.on_driverChange)
_thread.start_new(self.sinWatchDog, ())
def on_driverChange(self, obj, text):
self.driverType = text
self.gui.config['apDriver'] = text
def initSine(self):
self.str = get_output(channels=2, rate=22050, buffersize=128)
self.sin = SineSource(self.str, self.freq[1])
def apAction(self, v):
#print("apAction",v)
if v == -1:
self.on_pressMin()
elif v == 1:
self.on_pressPlus()
def apIter(self):
if self.driverQRL == None:
self.setupDriver()
while self.status == 'on':
boat = self.gui.sen.boat
boat['sog'] = 11.0
boat['cog'] = boat['hdg']
if boat['cog'] >= 180.00:
boat['cog'] = boat['cog'] - 360.0
boat['cogError'] = (self.targetHdg - boat['hdg']) % 360.0
if boat['cogError'] >= 180.0:
boat['cogError'] = boat['cogError'] - 360.0
#print(boat)
action = 0
if self.driverType == 'driver9 11kts':
boat['sog'] = 11.0
ds = self.driverQRL.get_discrete_state(boat)
aa = max(self.driverQRL.q_table[ds])
action = self.driverQRL.q_table[ds].index(aa) - 1
if self.driverType == 'driver9 3kts':
boat['sog'] = 3.0
ds = self.driverQRL.get_discrete_state(boat)
aa = max(self.driverQRL.q_table[ds])
action = self.driverQRL.q_table[ds].index(aa) - 1
elif self.driverType == 'PID':
c = self.pid(boat['cogError'])
print('pid cogError', boat['cogError'], " c", c)
pidError = 0.75
if c < -pidError: # and boat['ruderPos'] > -20.00:
action = -1
elif c > pidError: # and boat['ruderPos'] < 20.00:
action = 1
#print("driver",self.driverType,' action ',action)
self.apAction(action)
time.sleep(1.0 / 15.0)
def sinWatchDog(self):
sinRunning = 0
sleepTime = 0.05
actionSumtract = sleepTime * 2.0
is_alive = False
print("apCommunicationMode", self.apCommunicationMode)
if self.apCommunicationMode == 'audio jack':
self.initSine()
while True:
if 0:
print('min', round(self.cMin, 1), " plus",
round(self.cPlus, 1), " burst", self.burstRunning,
" apStat", self.status, " sinfreq", self.sin.frequency,
' is_alive', is_alive, ' sinCo', sinRunning)
if is_alive == False and self.apCommunicationMode == 'audio jack':
if self.burstRunning or self.status == 'on':
try:
self.sin.start()
except:
self.initSine()
self.sin.start()
sinRunning += 1
is_alive = True
if self.cMin > 0.0 and self.cPlus > 0.0:
if self.cPlus >= self.cMin:
self.cPlus -= self.cMin
self.cMin = 0
elif self.cPlus <= self.cMin:
self.cMin -= self.cPlus
self.cPlus = 0
if self.cMin > 0.0:
if self.apCommunicationMode == 'audio jack':
if self.sin.frequency != self.freq[0]:
self.sin.frequency = self.freq[0]
elif self.apCommunicationMode == 'wifi udp':
self.udp.send(self.apWifiCmdL)
elif self.apCommunicationMode == 'wifi tcp':
self.tcp.send(self.apWifiCmdL)
self.cMin -= actionSumtract
elif self.cPlus > 0.0:
if self.apCommunicationMode == 'audio jack':
if self.sin.frequency != self.freq[2]:
self.sin.frequency = self.freq[2]
elif self.apCommunicationMode == 'wifi udp':
self.udp.send(self.apWifiCmdR)
elif self.apCommunicationMode == 'wifi tcp':
self.tcp.send(self.apWifiCmdR)
self.cPlus -= actionSumtract
if self.cMin <= 0.0 and self.cPlus <= 0.0 and self.status == 'on':
if self.apCommunicationMode == 'audio jack':
if self.sin.frequency != self.freq[1]:
self.sin.frequency = self.freq[1]
elif self.apCommunicationMode == 'wifi tcp':
self.tcp.send(self.apWifiCmdPing)
time.sleep(sleepTime)
if self.status == 'off' and self.burstRunning:
if self.cMin <= 0.0 and self.cPlus <= 0.0:
if self.apCommunicationMode == 'audio jack':
self.sin.stop()
sinRunning -= 1
is_alive = False
self.burstRunning = False
self.cMin = 0.0
self.cPlus = 0.0
if self.status == 'off' and is_alive and self.burstRunning == False:
if self.apCommunicationMode == 'audio jack':
self.sin.stop()
sinRunning -= 1
is_alive = False
self.cMin = 0.0
self.cPlus = 0.0
def setupDriver(self):
print("---------- setup driver ----------")
self.driverQRL = qrlAtomizer("atomizer")
self.driverQRL.epsilon = 0.0
self.driverQRL.reset()
self.driverQRL.startEpisode()
print("---------- setup driver ----------DONE")
def update(self, fromWho, vals):
if fromWho == "comCal":
self.gui.rl.ids.lAutHdg.text = "%sº" % round(vals[0])
def updateGui(self):
if self.gui.rl.current != "Autopilot":
return None
i = self.gui.rl.ids
i.lAutInf.text = 'STAND BY' if self.status == 'off' else (
"Auto to %sº" % int(self.targetHdg))
i.pbAutRud.value = self.tilerPos + 45.0
def on_updateSettings(self):
if self.gui.config['apDirectionReverse'] == 0:
self.freq[0] = float(self.freqOrg[0])
self.freq[2] = float(self.freqOrg[2])
self.apWifiCmdL = 'L'
self.apWifiCmdR = 'R'
else:
self.freq[0] = float(self.freqOrg[2])
self.freq[2] = float(self.freqOrg[0])
self.apWifiCmdL = 'R'
self.apWifiCmdR = 'L'
self.apWifiCmdPing = "P"
self.apCommunicationMode = self.gui.config['apCommunicationMode']
if self.apCommunicationMode == "wifi udp":
self.udp = apWifiCommunication()
self.udp.connect(self.gui.config['apWifiIp'], 18889)
elif self.apCommunicationMode == "wifi tcp":
self.tcp = self.gui.tcp4ap
if self.tcp.workStatus == False:
self.tcp.work()
def on_settings(self):
print("ap.on_settings")
self.aps = AutopilotSettings()
self.aps.setAction(self.gui)
self.aps.run()
def on_pressMin(self):
self.cMin += self.clickSize
def on_pressPlus(self):
self.cPlus += self.clickSize
def on_curseAdjustBy(self, val):
print("on_curseAdjustBy", val)
self.targetHdg += val
self.updateGui()
if self.status == "off":
for _ in range(int(math.fabs(val))):
if val < 0:
self.on_pressMin()
else:
self.on_pressPlus()
self.burstRunning = True
def on_auto(self):
if self.status == "on":
return None
try:
self.targetHdg = self.gui.sen.comCal.hdg
except:
self.on_standby()
return None
self.status = "on"
self.updateGui()
_thread.start_new(self.apIter, ())
def on_standby(self):
if self.status == "off":
return None
self.status = "off"
self.updateGui()
def on_onOff(self, obj):
if self.status == "off":
self.on_auto()
elif self.status == "on":
self.on_standby()
from time import sleep
from audiostream import get_output
from audiostream.sources.wave import SineSource
# get a output stream where we can play samples
stream = get_output(channels=2, rate=22050, buffersize=1024)
# create one wave sin() at 440Hz, attach it to our speaker, and play
sinsource = SineSource(stream, 440)
sinsource.start()
# you can change the frequency of the source during the playtime
for x in xrange(10):
sinsource.frequency = 440 + x
sleep(.5)
# ok we are done, stop everything.
sinsource.stop()
from time import sleep
from audiostream import get_output
from audiostream.sources.wave import SineSource
# get a output stream where we can play samples
stream = get_output(channels=2, rate=22050, buffersize=128)
# create one wave sin() at 220Hz, attach it to our speaker, and play
sinsource = SineSource(stream, 220)
sinsource.start()
# you can change the frequency of the source during the playtime
for x in xrange(20):
sinsource.frequency = 220 + x * 20
sleep(.1)
# ok we are done, stop everything.
sinsource.stop()
