def init_all(conf):
"""Initialise all components"""
log = logging.getLogger()
db = initialisation.db_init(conf['DATABASE'])
initialisation.init_gpio(conf, state=0) # set all used pins to LOW
# Get all comports and collect the initialisation dicts
ports = list_ports.comports()
motor = initialisation.motor_init(conf['MOTOR'], ports)
gps = initialisation.gps_init(conf['GPS'], ports)
rad, Rad_manager = initialisation.rad_init(conf['RADIOMETERS'], ports)
sample = initialisation.sample_init(conf['SAMPLING'])
battery, bat_manager = initialisation.battery_init(conf['BATTERY'], ports)
tpr = initialisation.tpr_init(conf['TPR']) # tilt sensor
rht = initialisation.rht_init(conf['RHT']) # internal temp/rh sensor
# collect info on which GPIO pins are being used to control peripherals
gpios = []
if Rad_manager is not None and rad['use_gpio_control']:
gpios.append(rad['gpio1'])
# start individual monitoring threads
if battery['used']:
bat_manager.start()
time.sleep(0.1)
if gps['manager'] is not None:
gps['manager'].add_serial_port(gps['serial1'])
gps['manager'].start()
if tpr['manager'] is not None:
log.info("Starting Tilt/Pitch/Roll manager")
tpr['manager'].start()
if rht['manager'] is not None:
# take a few readings to stabilize
for i in range(5):
rht_time, rht_rh, rht_temp = rht['manager'].update_rht_single()
try:
log.info("Internal Temperature and Humidity: {0:2.1f}C {1:2.1f}% ".
format(rht_temp, rht_rh))
except:
log.error("Could not read RHT sensor")
#rht['manager'].start() # there is no need to run an averaging thread, but it's there if we want it
if motor['used']:
# Get the current motor pos and if not at HOME move it to HOME
motor_pos = motor_func.get_motor_pos(motor['serial'])
if motor_pos != motor['home_pos']:
t0 = time.time()
log.info("Homing motor.. {0} --> {1}".format(
motor_pos, motor['home_pos']))
motor_func.return_home(
motor['serial']
) # FIXME replace with rotate function to home pos as set in config
moving = True
while moving and (time.time() - t0 < 5):
moving = motor_func.motor_moving(motor['serial'],
motor['home_pos'],
tolerance=300)[0]
if moving is None:
moving = True # assume we are not done
log.info("..homing motor..")
time.sleep(1)
log.info("..done")
else:
log.info("Motor in home position")
time.sleep(0.1)
# Start the radiometry manager
if Rad_manager is not None:
log.info("Starting radiometry manager")
try:
radiometry_manager = Rad_manager(rad)
time.sleep(0.1)
rad['ed_sampling'] = radiometry_manager.ed_sampling # if the Ed sensor is not identified, disable this feature
except Exception as msg:
log.exception(msg)
stop_all(
db,
None,
gps,
battery,
bat_manager,
gpios,
tpr,
rht,
idle_time=0
) # calls sys.exit after pausing for idle_time to prevent immediate restart
else:
radiometry_manager = None
# Return all the dicts and manager objects
return db, rad, sample, gps, radiometry_manager, motor, battery, bat_manager, gpios, tpr, rht
import inspect
sys.path.insert(0, os.path.dirname(os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))))
import serial.tools.list_ports as list_ports
from initialisation import motor_init
from main_app import parse_args, read_config
import functions.motor_controller_functions as motor_func
import codecs
test_duration = 3600
print("Run test for {0} seconds. Press CTRL-C to stop".format(test_duration))
if __name__ == '__main__':
args = parse_args()
conf = read_config(args.config_file)
ports = list_ports.comports()
motor = motor_init(conf['MOTOR'], ports)
stpd = float(motor['steps_per_degree'])
t0 = time.time()
while time.time() - t0 < test_duration:
# read register 128: present alarm code
response = motor_func.read_command(motor['serial'], 1, 3, 128, 2)
# print(response, len(response), type(response)) # bytes class
#slave_id = int(response[0])
#function_code = int(response[1])
length = int(response[2])
alarm = int.from_bytes(response[3:3+length], byteorder='big')
# read register 204-205: Detection position
response = motor_func.read_command(motor['serial'], 1, 3, 204, 2)
def init_all(conf):
"""Initialise all components"""
log = logging.getLogger()
db = initialisation.db_init(conf['DATABASE'])
initialisation.init_gpio(conf, state=0) # set all used pins to LOW
# Get all comports and collect the initialisation dicts
ports = list_ports.comports()
motor = initialisation.motor_init(conf['MOTOR'], ports)
gps = initialisation.gps_init(conf['GPS'], ports)
rad, Rad_manager = initialisation.rad_init(conf['RADIOMETERS'], ports)
sample = initialisation.sample_init(conf['SAMPLING'])
battery, bat_manager = initialisation.battery_init(conf['BATTERY'], ports)
# start the battery manager
if battery['used']:
bat_manager.start()
time.sleep(0.1)
# collect info on which GPIO pins are being used
gpios = []
if gps['gpio_control']:
gpios.append(gps['gpio2'])
if rad['use_gpio_control']:
gpios.append(rad['gpio1'])
gpios.append(rad['gpio2'])
gpios.append(rad['gpio3'])
# Get the GPS serial objects from the GPS dict
gps_ports = [port for key, port in gps.items() if 'serial' in key]
# Instantiate GPS monitoring threads
if len(gps_ports) > 0:
gps_managers = []
for port in gps_ports:
gps_manager = GPSManager()
gps_manager.add_serial_port(port)
gps_manager.start()
gps_managers.append(gps_manager)
else:
log.info("Check GPS sensors and Motor connection settings")
time.sleep(0.1)
# Start the GPS checker thread
gps_checker_manager = GPSChecker(gps_managers)
gps_checker_manager.start()
# Get the current motor pos and if not at HOME move it to HOME
motor_pos = motor_func.get_motor_pos(motor['serial'])
if motor_pos != motor['home_pos']:
t0 = time.clock()
log.info("Homing motor.. {0} --> {1}".format(motor_pos,
motor['home_pos']))
motor_func.return_home(
motor['serial']
) # FIXME replace with rotate function to home pos as set in config
moving = True
while moving and (time.clock() - t0 < 5):
moving = motor_func.motor_moving(motor['serial'],
motor['home_pos'],
tolerance=300)[0]
if moving is None:
moving = True # assume we are not done
log.info("..homing motor..")
time.sleep(1)
log.info("..done")
else:
log.info("Motor in home position")
time.sleep(0.1)
# Start the radiometry manager
log.info("Starting radiometry manager")
radiometry_manager = Rad_manager(rad)
time.sleep(0.1)
# Return all the dicts and manager objects
return db, rad, sample, gps_managers, radiometry_manager, motor, battery, bat_manager, gps_checker_manager, gpios