def __init__ (self, ws_client, serial_client, robot_id, server_ip):
self.ws_client = ws_client
self.serial_client = serial_client
self.robot_id = robot_id
self.server_ip = server_ip
self.count = 0
self.goTime = False
self.last = 0
print 'Creating input array...'
self.sensorData = np.zeros((100,15), dtype = 'f')
self.index = 0
print 'Opening classifier...'
f = open('presenceClassifier0.15.0b2.pkl', 'r')
print 'Training...'
self.isInterested = Predictor(f)
class HandlerForDataFromSerialModelX():
def __init__ (self, ws_client, serial_client, robot_id, server_ip):
self.ws_client = ws_client
self.serial_client = serial_client
self.robot_id = robot_id
self.server_ip = server_ip
self.count = 0
self.goTime = False
self.last = 0
print 'Creating input array...'
self.sensorData = np.zeros((100,15), dtype = 'f')
self.index = 0
print 'Opening classifier...'
f = open('presenceClassifier0.15.0b2.pkl', 'r')
print 'Training...'
self.isInterested = Predictor(f)
# cfs[1] = BUMPS WHEEL DROPS STATE - bumpleft(1), bumpright(2), wheelcaster(14), wheelleft(15), wheelright(16)
# cfs[2] = WALL SIGNAL STATE - wallir(13)
# cfs[3] = CLIFF LEFT SIGNAL STATE - lccliffir(5) or lcliffir(6)
# cfs[4] = CLIFF FRONT LEFT SIGNAL STATE - lccliffir(5) or lcliffir(6)
# cfs[5] = CLIFF FRONT RIGHT SIGNAL STATE - rccliffir(8) or rcliffir(9)
# cfs[6] = CLIFF RIGHT SIGNAL STATE - rccliffir(8) or rcliffir(9)
#
# ana[1] = piezoret - photo(7)
# ana[2] = thermret - rearir1(10)
# ana[3] = lightret - rearer2(11)
# ana[4] = ultra range - NA
#
# itc[1] = irtherm1 - irtherm1(3)
# itc[2] = irtherm2 - irtherm2(4)
# ******************************************************
# sensorData[0] = bumpleft - #cfs[1] bit 1
# [1] = bumpright - #cfs[1] bit 0
# [2] = irtherm1 - #itc[1]
# [3] = irtherm2 - #itc[2]
# [4] = lccliffir - #cfs[4]
# [5] = lcliffir - #cfs[3]
# [6] = photo - #ana[1]
# [7] = rccliffir - #cfs[5]
# [8] = rcliffir - #cfs[6]
# [9] = rearir1 - #ana[2]
# [10] = rearir2 - #ana[3]
# [11] = wallir - #cfs[2]
# [12] = wheelcaster - #cfs[1] bit 4
# [13] = wheelleft - #cfs[1] bit 3
# [14] = wheelright - #cfs[1] bit 2
def process(self, message):
if RobotInfo.model_x:
print 'Streaming...'
messArray = message.split()
if '#cfs' in messArray and self.count == 0:
self.sensorData[self.index][0] = (0 if (int(messArray[1])/2)%2 == 0 else 1) # separate out from bumpstate
self.sensorData[self.index][1] = (0 if (int(messArray[1])/1)%2 == 0 else 1) # ditto
self.sensorData[self.index][4] = int(messArray[4])
self.sensorData[self.index][5] = int(messArray[3])
self.sensorData[self.index][7] = int(messArray[5])
self.sensorData[self.index][8] = int(messArray[6])
self.sensorData[self.index][11] = int(messArray[2])
self.sensorData[self.index][12] = (0 if (int(messArray[1])/16)%2 == 0 else 1) # separate
self.sensorData[self.index][13] = (0 if (int(messArray[1])/8)%2 == 0 else 1) # separate
self.sensorData[self.index][14] = (0 if (int(messArray[1])/4)%2 == 0 else 1) # separate
elif '#itc' in messArray and self.count == 1:
self.sensorData[self.index][2] = float(messArray[1])
self.sensorData[self.index][3] = float(messArray[2])
elif '#ana' in messArray and self.count == 2:
#self.circleArray[0][self.index] = time.time()
self.sensorData[self.index][6] = int(messArray[1])
self.sensorData[self.index][9] = int(messArray[2])
self.sensorData[self.index][10] = int(messArray[3])
if ('#cfs' in messArray) or ('#ana' in messArray) or ('#itc' in messArray):
#print messArray
#print("count = ", self.count, ", index = ", self.index)
#print self.sensorData[self.index]
#print self.sensorData
self.count += 1
if self.count > 2:
if self.goTime == True and (time.time() - self.last > 3):
print('****************************************')
print(self.isInterested.predict(self.sensorData))
print('****************************************')
self.last = time.time()
np.savetxt('sensorData.txt',self.sensorData,fmt='%.1f')
self.count = 0
self.index += 1
if self.index > 99:
self.index = 0
self.goTime = True