def __init__(self,*args,**kwargs):
self.hardware = rospy.get_param('/fs_actuation/fs_actuation_web_server/hardware')
self.mode = str(rospy.get_param('/fs_actuation/fs_actuation_web_server/mode')).lower()
self.parameters = rospy.get_param('/fs_parameters')
if self.hardware:
arduino_ports = rospy.get_param('/fs_parameters/serial_port/arduino')
self.relay_controllers = ArduinoRelayControllers(use_ports=arduino_ports)
atexit.register(self._exitActuation)
self.time_puff_last = time.time()
self.puff_duration = self.parameters['puff']['duration']
self.puff_offset = self.parameters['puff']['offset']
self.min_time_between_puffs = self.parameters['puff']['min_time_between']
self.turntable_parameters = self.parameters['animatics'][2]
self.turntable_vel = self.turntable_parameters['vel_default']
self.turntable_pos_dict = self.turntable_parameters['pos_dict']
self.travel_full_rev = self.turntable_pos_dict['full_revolution']
self.deg_per_in = 360.0/self.travel_full_rev
self.pixels_per_deg = self.parameters['camera']['y_pixels_per_degree']
self.seconds_per_pixel = 1.0/(self.pixels_per_deg*self.deg_per_in*self.turntable_vel)
self.seconds_travel_per_frame = self.parameters['camera']['y_pixels']*self.seconds_per_pixel
self.travel_camera_to_origin = self.turntable_pos_dict['full_revolution'] - self.turntable_pos_dict['camera_center']
self.travel_camera_to_puffer_male = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_male'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_female = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_female'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_unknown = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_unknown'] - self.turntable_pos_dict['origin'])
def __init__(self, *args, **kwargs):
self.hardware = rospy.get_param("/fs_actuation/fs_actuation_web_server/hardware")
self.mode = str(rospy.get_param("/fs_actuation/fs_actuation_web_server/mode")).lower()
self.parameters = rospy.get_param("/fs_parameters")
if self.hardware:
arduino_ports = rospy.get_param("/fs_parameters/serial_port/arduino")
self.relay_controllers = ArduinoRelayControllers(use_ports=arduino_ports)
atexit.register(self._exitActuation)
self.time_puff_last = time.time()
self.puff_duration = self.parameters["puff"]["duration"]
self.puff_offset = self.parameters["puff"]["offset"]
self.min_time_between_puffs = self.parameters["puff"]["min_time_between"]
self.turntable_parameters = self.parameters["animatics"][2]
self.turntable_vel = self.turntable_parameters["vel_default"]
self.turntable_pos_dict = self.turntable_parameters["pos_dict"]
self.travel_full_rev = self.turntable_pos_dict["full_revolution"]
self.deg_per_in = 360.0 / self.travel_full_rev
self.pixels_per_deg = self.parameters["camera"]["y_pixels_per_degree"]
self.seconds_per_pixel = 1.0 / (self.pixels_per_deg * self.deg_per_in * self.turntable_vel)
self.seconds_travel_per_frame = self.parameters["camera"]["y_pixels"] * self.seconds_per_pixel
self.travel_camera_to_origin = (
self.turntable_pos_dict["full_revolution"] - self.turntable_pos_dict["camera_center"]
)
self.travel_camera_to_puffer_male = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_male"] - self.turntable_pos_dict["origin"]
)
self.travel_camera_to_puffer_female = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_female"] - self.turntable_pos_dict["origin"]
)
self.travel_camera_to_puffer_unknown = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_unknown"] - self.turntable_pos_dict["origin"]
)
class Actuation(object):
def __init__(self, *args, **kwargs):
self.hardware = rospy.get_param("/fs_actuation/fs_actuation_web_server/hardware")
self.mode = str(rospy.get_param("/fs_actuation/fs_actuation_web_server/mode")).lower()
self.parameters = rospy.get_param("/fs_parameters")
if self.hardware:
arduino_ports = rospy.get_param("/fs_parameters/serial_port/arduino")
self.relay_controllers = ArduinoRelayControllers(use_ports=arduino_ports)
atexit.register(self._exitActuation)
self.time_puff_last = time.time()
self.puff_duration = self.parameters["puff"]["duration"]
self.puff_offset = self.parameters["puff"]["offset"]
self.min_time_between_puffs = self.parameters["puff"]["min_time_between"]
self.turntable_parameters = self.parameters["animatics"][2]
self.turntable_vel = self.turntable_parameters["vel_default"]
self.turntable_pos_dict = self.turntable_parameters["pos_dict"]
self.travel_full_rev = self.turntable_pos_dict["full_revolution"]
self.deg_per_in = 360.0 / self.travel_full_rev
self.pixels_per_deg = self.parameters["camera"]["y_pixels_per_degree"]
self.seconds_per_pixel = 1.0 / (self.pixels_per_deg * self.deg_per_in * self.turntable_vel)
self.seconds_travel_per_frame = self.parameters["camera"]["y_pixels"] * self.seconds_per_pixel
self.travel_camera_to_origin = (
self.turntable_pos_dict["full_revolution"] - self.turntable_pos_dict["camera_center"]
)
self.travel_camera_to_puffer_male = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_male"] - self.turntable_pos_dict["origin"]
)
self.travel_camera_to_puffer_female = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_female"] - self.turntable_pos_dict["origin"]
)
self.travel_camera_to_puffer_unknown = self.travel_camera_to_origin + (
self.turntable_pos_dict["puffer_unknown"] - self.turntable_pos_dict["origin"]
)
def _exitActuation(self):
self._stopAllPuffs()
def getActuationInfo(self):
pass
# def _getRelayNumberFromRelay(self,relay):
# relay_number = None
# relay_str = str(relay).lower()
# if relay_str in self.parameters['relay']:
# relay_number = self.parameters['relay'][relay_str]
# elif int(relay) in self.parameters['relay'].values():
# relay_number = int(relay)
# else:
# raise IOError('Unknown relay value')
# return relay_number
def _getRelayControllerAndRelayNumberFromRelay(self, relay):
relay_number = None
if self.hardware:
relay_str = str(relay).lower()
if relay_str in self.parameters["relay"]:
serial_number = self.parameters["relay"][relay_str]["serial_number"]
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_number = self.parameters["relay"][relay_str]["relay_number"]
else:
raise IOError("Unknown relay value")
return relay_controller, relay_number
else:
return None, None
def _startPuffRepeated(self, relay, period, duty_cycle, count):
rospy.loginfo(
"relay_controller.startRelayBlink: relay={0}, period={1}, duty_cycle={2}, count={3}".format(
relay, period, duty_cycle, count
)
)
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller, relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
period = int(period)
duty_cycle = int(duty_cycle)
count = int(count)
# self.relay_controller.startRelayBlink(relay_number,period,duty_cycle,count)
relay_controller.startRelayBlink(relay_number, period, duty_cycle, count)
def _stopPuffRepeated(self, relay):
rospy.loginfo("relay_controller.stopRelayBlink: relay={0}".format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller, relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.stopRelayBlink(relay_number)
relay_controller.stopRelayBlink(relay_number)
def _setRelayOn(self, relay):
rospy.loginfo("relay_controller.setRelayOn: relay={0}".format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller, relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.setRelayOn(relay_number)
relay_controller.setRelayOn(relay_number)
def _setRelayOff(self, relay):
rospy.loginfo("relay_controller.setRelayOff: relay={0}".format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller, relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.setRelayOff(relay_number)
relay_controller.setRelayOff(relay_number)
def _stopAllPuffs(self):
if self.hardware:
for relay_controller in self.relay_controllers:
relay_controller.removeAllTasks()
relay_controller.setAllRelaysOff()
def _addPuff(self, relay, delay, duration):
rospy.loginfo("relay_controller.addPuff: relay={0}, delay={1}, duration={2}".format(relay, delay, duration))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller, relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
delay = int(delay)
duration = int(duration)
# self.relay_controller.addPulseCentered(relay_number,delay,duration)
relay_controller.addPulseCentered(relay_number, delay, duration)
def _toggleLights(self):
rospy.loginfo(
"relay_controller.toggleDigitalOutput({0})".format(
self.parameters["digital_output"]["lights"]["digital_output"]
)
)
if self.hardware:
# self.relay_controller.toggleDigitalOutput(self.parameters['digital_output']['lights'])
self.relay_controllers[0].toggleDigitalOutput(0)
# serial_number = self.parameters['digital_output']['lights']['serial_number']
# relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
# relay_controller.toggleDigitalOutput(self.parameters['digital_output']['lights']['digital_output'])
def _setLightsOn(self):
rospy.loginfo(
"relay_controller.setDigitalOutputHigh({0})".format(
self.parameters["digital_output"]["lights"]["digital_output"]
)
)
if self.hardware:
# self.relay_controller.setDigitalOutputHigh(self.parameters['digital_output']['lights'])
serial_number = self.parameters["digital_output"]["lights"]["serial_number"]
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.setDigitalOutputHigh(self.parameters["digital_output"]["lights"]["digital_output"])
def _setLightsOff(self):
rospy.loginfo(
"relay_controller.setDigitalOutputLow({0})".format(
self.parameters["digital_output"]["lights"]["digital_output"]
)
)
if self.hardware:
# self.relay_controller.setDigitalOutputLow(self.parameters['digital_output']['lights'])
serial_number = self.parameters["digital_output"]["lights"]["serial_number"]
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.setDigitalOutputLow(self.parameters["digital_output"]["lights"]["digital_output"])
def _cap(self):
rospy.loginfo(
"relay_controller.pulseDigitalOutput({0},{1})".format(
self.parameters["digital_output"]["cap"]["digital_output"], self.parameters["cap"]["duration"]
)
)
if self.hardware:
# self.relay_controller.pulseDigitalOutput(self.parameters['digital_output']['cap'],self.parameters['cap']['duration'])
serial_number = self.parameters["digital_output"]["lights"]["serial_number"]
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.pulseDigitalOutput(
self.parameters["digital_output"]["cap"]["digital_output"], self.parameters["cap"]["duration"]
)
def handleCmd(self, cmd, args):
rsp_dict = {}
if (cmd is None) and (args is None):
rsp_dict["cmds"] = self.parameters["cmd"]
elif cmd is not None:
cmd = str(cmd)
rsp_dict["cmd"] = cmd
if cmd in self.parameters["cmd"]:
if cmd == "sendData":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if (
("ndetections" in args_object)
and ("detections" in args_object)
and ("time_acquired" in args_object)
and ("time_sent" in args_object)
):
ndetections = args_object["ndetections"]
detections = args_object["detections"]
time_acquired = args_object["time_acquired"]
time_sent = args_object["time_sent"]
if not (ndetections == len(detections)):
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "length of detections does not match ndetections"
elif time_sent < time_acquired:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "time_acquired later than time_sent"
elif 1 <= ndetections:
time_now = time.time()
if self.min_time_between_puffs <= (time_now - self.time_puff_last):
self.time_puff_last = time_now
# fly_data = args_object['detections'][0]
for fly_data in args_object["detections"]:
fly_type = str(fly_data["fly_type"]).lower()
fly_id = int(fly_data["fly_id"])
fly_x = float(fly_data["x"])
fly_y = float(fly_data["y"])
y_offset_pixels = self.parameters["camera"]["y_pixels"] / 2.0 - fly_y
y_offset_deg = (
y_offset_pixels / self.parameters["camera"]["y_pixels_per_degree"]
)
y_offset_in = y_offset_deg / self.deg_per_in
# if self.mode == 'all_male':
# fly_type = 'male'
# elif self.mode == 'male_female':
# coin_flip_heads = random.random() < 0.5
# if coin_flip_heads:
# fly_type = 'male'
# else:
# fly_type = 'female'
if fly_type == "male":
travel = self.travel_camera_to_puffer_male
elif fly_type == "female":
travel = self.travel_camera_to_puffer_female
else:
fly_type = "unknown"
travel = self.travel_camera_to_puffer_unknown
time_travel = (travel + y_offset_in) / self.turntable_vel
time_spent = time_sent - time_acquired
time_diff = time_travel - time_spent
time_adjusted = int(time_diff * 1000 + self.puff_offset)
rsp_dict["fly_type"] = fly_type
rsp_dict["puff_delay"] = time_adjusted
rsp_dict["puff_duration"] = self.puff_duration
rsp_dict["puff_offset"] = self.puff_offset
rsp_dict["time_acquired"] = time_acquired
if self.mode == "normal" and (fly_type != "unknown"):
self._addPuff(fly_type, time_adjusted, self.puff_duration)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args need ndetections, detections, time_acquired, and time_sent"
elif cmd == "startPuffRepeated":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if (
("relay" in args_object)
and ("time_on" in args_object)
and ("time_off" in args_object)
and ("count" in args_object)
):
relay = args_object["relay"]
time_on = args_object["time_on"]
time_off = args_object["time_off"]
count = args_object["count"]
period = time_on + time_off
try:
duty_cycle = int(100 * (time_on / period))
except ZeroDivisionError:
duty_cycle = 0
self._startPuffRepeated(relay, period, duty_cycle, count)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args need relay, time_on, time_off, and count"
elif cmd == "stopPuffRepeated":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if "relay" in args_object:
relay = args_object["relay"]
self._stopPuffRepeated(relay)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args needs relay"
elif cmd == "stopAllPuffs":
self._stopAllPuffs()
elif cmd == "addPuff":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if ("relay" in args_object) and ("delay" in args_object) and ("duration" in args_object):
relay = args_object["relay"]
delay = args_object["delay"]
duration = args_object["duration"]
self._addPuff(relay, delay, duration)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args need relay, delay, and duration"
elif cmd == "toggleLights":
self._toggleLights()
elif cmd == "setLightsOn":
self._setLightsOn()
elif cmd == "setLightsOff":
self._setLightsOff()
elif cmd == "cap":
self._cap()
elif cmd == "setRelayOn":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if "relay" in args_object:
relay = args_object["relay"]
self._setRelayOn(relay)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args needs relay"
elif cmd == "setRelayOff":
if args is None:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "no args"
else:
args_object = yaml.load(args)
if "relay" in args_object:
relay = args_object["relay"]
self._setRelayOff(relay)
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "args needs relay"
else:
rsp_dict["status"] = "error"
rsp_dict["err_msg"] = "unknown cmd: {0}".format(cmd)
else:
rsp_dict["status"] = "error"
if "status" not in rsp_dict:
rsp_dict["status"] = "success"
rsp = json.dumps(rsp_dict, sort_keys=True, separators=(",", ":"))
return rsp
class Actuation(object):
def __init__(self,*args,**kwargs):
self.hardware = rospy.get_param('/fs_actuation/fs_actuation_web_server/hardware')
self.mode = str(rospy.get_param('/fs_actuation/fs_actuation_web_server/mode')).lower()
self.parameters = rospy.get_param('/fs_parameters')
if self.hardware:
arduino_ports = rospy.get_param('/fs_parameters/serial_port/arduino')
self.relay_controllers = ArduinoRelayControllers(use_ports=arduino_ports)
atexit.register(self._exitActuation)
self.time_puff_last = time.time()
self.puff_duration = self.parameters['puff']['duration']
self.puff_offset = self.parameters['puff']['offset']
self.min_time_between_puffs = self.parameters['puff']['min_time_between']
self.turntable_parameters = self.parameters['animatics'][2]
self.turntable_vel = self.turntable_parameters['vel_default']
self.turntable_pos_dict = self.turntable_parameters['pos_dict']
self.travel_full_rev = self.turntable_pos_dict['full_revolution']
self.deg_per_in = 360.0/self.travel_full_rev
self.pixels_per_deg = self.parameters['camera']['y_pixels_per_degree']
self.seconds_per_pixel = 1.0/(self.pixels_per_deg*self.deg_per_in*self.turntable_vel)
self.seconds_travel_per_frame = self.parameters['camera']['y_pixels']*self.seconds_per_pixel
self.travel_camera_to_origin = self.turntable_pos_dict['full_revolution'] - self.turntable_pos_dict['camera_center']
self.travel_camera_to_puffer_male = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_male'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_female = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_female'] - self.turntable_pos_dict['origin'])
self.travel_camera_to_puffer_unknown = self.travel_camera_to_origin + (self.turntable_pos_dict['puffer_unknown'] - self.turntable_pos_dict['origin'])
def _exitActuation(self):
self._stopAllPuffs()
def getActuationInfo(self):
pass
# def _getRelayNumberFromRelay(self,relay):
# relay_number = None
# relay_str = str(relay).lower()
# if relay_str in self.parameters['relay']:
# relay_number = self.parameters['relay'][relay_str]
# elif int(relay) in self.parameters['relay'].values():
# relay_number = int(relay)
# else:
# raise IOError('Unknown relay value')
# return relay_number
def _getRelayControllerAndRelayNumberFromRelay(self,relay):
relay_number = None
if self.hardware:
relay_str = str(relay).lower()
if relay_str in self.parameters['relay']:
serial_number = self.parameters['relay'][relay_str]['serial_number']
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_number = self.parameters['relay'][relay_str]['relay_number']
else:
raise IOError('Unknown relay value')
return relay_controller,relay_number
else:
return None,None
def _startPuffRepeated(self,relay,period,duty_cycle,count):
rospy.loginfo('relay_controller.startRelayBlink: relay={0}, period={1}, duty_cycle={2}, count={3}'.format(relay,
period,
duty_cycle,
count))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller,relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
period = int(period)
duty_cycle = int(duty_cycle)
count = int(count)
# self.relay_controller.startRelayBlink(relay_number,period,duty_cycle,count)
relay_controller.startRelayBlink(relay_number,period,duty_cycle,count)
def _stopPuffRepeated(self,relay):
rospy.loginfo('relay_controller.stopRelayBlink: relay={0}'.format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller,relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.stopRelayBlink(relay_number)
relay_controller.stopRelayBlink(relay_number)
def _setRelayOn(self,relay):
rospy.loginfo('relay_controller.setRelayOn: relay={0}'.format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller,relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.setRelayOn(relay_number)
relay_controller.setRelayOn(relay_number)
def _setRelayOff(self,relay):
rospy.loginfo('relay_controller.setRelayOff: relay={0}'.format(relay))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller,relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
# self.relay_controller.setRelayOff(relay_number)
relay_controller.setRelayOff(relay_number)
def _stopAllPuffs(self):
if self.hardware:
for relay_controller in self.relay_controllers:
relay_controller.removeAllTasks()
relay_controller.setAllRelaysOff()
def _addPuff(self,relay,delay,duration):
rospy.loginfo('relay_controller.addPuff: relay={0}, delay={1}, duration={2}'.format(relay,
delay,
duration))
# relay_number = self._getRelayNumberFromRelay(relay)
relay_controller,relay_number = self._getRelayControllerAndRelayNumberFromRelay(relay)
if self.hardware and (relay_number is not None):
delay = int(delay)
duration = int(duration)
# self.relay_controller.addPulseCentered(relay_number,delay,duration)
relay_controller.addPulseCentered(relay_number,delay,duration)
def _toggleLights(self):
rospy.loginfo('relay_controller.toggleDigitalOutput({0})'.format(self.parameters['digital_output']['lights']['digital_output']))
if self.hardware:
# self.relay_controller.toggleDigitalOutput(self.parameters['digital_output']['lights'])
self.relay_controllers[0].toggleDigitalOutput(0)
# serial_number = self.parameters['digital_output']['lights']['serial_number']
# relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
# relay_controller.toggleDigitalOutput(self.parameters['digital_output']['lights']['digital_output'])
def _setLightsOn(self):
rospy.loginfo('relay_controller.setDigitalOutputHigh({0})'.format(self.parameters['digital_output']['lights']['digital_output']))
if self.hardware:
# self.relay_controller.setDigitalOutputHigh(self.parameters['digital_output']['lights'])
serial_number = self.parameters['digital_output']['lights']['serial_number']
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.setDigitalOutputHigh(self.parameters['digital_output']['lights']['digital_output'])
def _setLightsOff(self):
rospy.loginfo('relay_controller.setDigitalOutputLow({0})'.format(self.parameters['digital_output']['lights']['digital_output']))
if self.hardware:
# self.relay_controller.setDigitalOutputLow(self.parameters['digital_output']['lights'])
serial_number = self.parameters['digital_output']['lights']['serial_number']
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.setDigitalOutputLow(self.parameters['digital_output']['lights']['digital_output'])
def _cap(self):
rospy.loginfo('relay_controller.pulseDigitalOutput({0},{1})'.format(self.parameters['digital_output']['cap']['digital_output'],
self.parameters['cap']['duration']))
if self.hardware:
# self.relay_controller.pulseDigitalOutput(self.parameters['digital_output']['cap'],self.parameters['cap']['duration'])
serial_number = self.parameters['digital_output']['lights']['serial_number']
relay_controller = self.relay_controllers.getBySerialNumber(serial_number)
relay_controller.pulseDigitalOutput(self.parameters['digital_output']['cap']['digital_output'],self.parameters['cap']['duration'])
def handleCmd(self,cmd,args):
rsp_dict = {}
if (cmd is None) and (args is None):
rsp_dict['cmds'] = self.parameters['cmd']
elif (cmd is not None):
cmd = str(cmd)
rsp_dict['cmd'] = cmd
if cmd in self.parameters['cmd']:
if cmd == 'sendData':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('ndetections' in args_object) and \
('detections' in args_object) and \
('time_acquired' in args_object) and \
('time_sent' in args_object):
ndetections = args_object['ndetections']
detections = args_object['detections']
time_acquired = args_object['time_acquired']
time_sent = args_object['time_sent']
if not (ndetections == len(detections)):
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'length of detections does not match ndetections'
elif time_sent < time_acquired:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'time_acquired later than time_sent'
elif 1 <= ndetections:
time_now = time.time()
if self.min_time_between_puffs <= (time_now - self.time_puff_last):
self.time_puff_last = time_now
# fly_data = args_object['detections'][0]
for fly_data in args_object['detections']:
fly_type = str(fly_data['fly_type']).lower()
fly_id = int(fly_data['fly_id'])
fly_x = float(fly_data['x'])
fly_y = float(fly_data['y'])
y_offset_pixels = self.parameters['camera']['y_pixels']/2.0 - fly_y
y_offset_deg = y_offset_pixels/self.parameters['camera']['y_pixels_per_degree']
y_offset_in = y_offset_deg/self.deg_per_in
# if self.mode == 'all_male':
# fly_type = 'male'
# elif self.mode == 'male_female':
# coin_flip_heads = random.random() < 0.5
# if coin_flip_heads:
# fly_type = 'male'
# else:
# fly_type = 'female'
if fly_type == 'male':
travel = self.travel_camera_to_puffer_male
elif fly_type == 'female':
travel = self.travel_camera_to_puffer_female
else:
fly_type = 'unknown'
travel = self.travel_camera_to_puffer_unknown
time_travel = (travel + y_offset_in)/self.turntable_vel
time_spent = time_sent - time_acquired
time_diff = time_travel - time_spent
time_adjusted = int(time_diff*1000 + self.puff_offset)
rsp_dict['fly_type'] = fly_type
rsp_dict['puff_delay'] = time_adjusted
rsp_dict['puff_duration'] = self.puff_duration
rsp_dict['puff_offset'] = self.puff_offset
rsp_dict['time_acquired'] = time_acquired
if self.mode == 'normal' and (fly_type != 'unknown'):
self._addPuff(fly_type,time_adjusted,self.puff_duration)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args need ndetections, detections, time_acquired, and time_sent'
elif cmd == 'startPuffRepeated':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('relay' in args_object) and \
('time_on' in args_object) and \
('time_off' in args_object) and \
('count' in args_object):
relay = args_object['relay']
time_on = args_object['time_on']
time_off = args_object['time_off']
count = args_object['count']
period = time_on + time_off
try:
duty_cycle = int(100*(time_on/period))
except ZeroDivisionError:
duty_cycle = 0
self._startPuffRepeated(relay,period,duty_cycle,count)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args need relay, time_on, time_off, and count'
elif cmd == 'stopPuffRepeated':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('relay' in args_object):
relay = args_object['relay']
self._stopPuffRepeated(relay)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args needs relay'
elif cmd == 'stopAllPuffs':
self._stopAllPuffs()
elif cmd == 'addPuff':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('relay' in args_object) and \
('delay' in args_object) and \
('duration' in args_object):
relay = args_object['relay']
delay = args_object['delay']
duration = args_object['duration']
self._addPuff(relay,delay,duration)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args need relay, delay, and duration'
elif cmd == 'toggleLights':
self._toggleLights()
elif cmd == 'setLightsOn':
self._setLightsOn()
elif cmd == 'setLightsOff':
self._setLightsOff()
elif cmd == 'cap':
self._cap()
elif cmd == 'setRelayOn':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('relay' in args_object):
relay = args_object['relay']
self._setRelayOn(relay)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args needs relay'
elif cmd == 'setRelayOff':
if args is None:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'no args'
else:
args_object = yaml.load(args)
if ('relay' in args_object):
relay = args_object['relay']
self._setRelayOff(relay)
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'args needs relay'
else:
rsp_dict['status'] = 'error'
rsp_dict['err_msg'] = 'unknown cmd: {0}'.format(cmd)
else:
rsp_dict['status'] = 'error'
if 'status' not in rsp_dict:
rsp_dict['status'] = 'success'
rsp = json.dumps(rsp_dict,sort_keys=True,separators=(',', ':'))
return rsp
