class Bitmap():
def __init__(self):
self.shm = SharedMemory(None, flags = IPC_EXCL|IPC_CREAT,
mode= 0o600, size = bitmap_size, init_character = b'\x00')
# to show we are alive
self.shm.write('\x01')
# print(self.bytes())
# self.shm.attach()
def get_key(self):
return self.shm.key
def get_id(self):
return self.shm.id
def get_size(self):
return bitmap_size
def bytes(self):
buffer = self.shm.read(bitmap_size)
n = 0
for i in range(bitmap_size):
if buffer[i] != 0:
n += 1
return n
def has_new_bits(self):
ret = 0
buffer = self.shm.read(bitmap_size)
for i in range(bitmap_size):
if buffer[i] and buffer[i] & virgin_bits[i]:
virgin_bits[i] &= ~buffer[i]
if virgin_bits[i] == 0xff:
ret = 2
elif ret < 1:
ret = 1
return ret
def release(self):
self.shm.remove()
def run(self):
time.sleep(3)
shared_mem = SharedMemory(6789,
flags=sysv_ipc.IPC_CREAT,
size=sysv_ipc.PAGE_SIZE,
init_character='\0')
try:
while self.work:
for i in range(
len(stations)
): # convert position to integer then string and fill with 4 zero to align values
shared_mem.write(
' '.join(
str(pos).split(".")[0].zfill(4)
for pos in stations[i].params["position"]) + ' ',
i * 15)
else:
print(shared_mem.read(45))
shared_mem.remove()
except:
shared_mem.remove()
yawMem = SharedMemory(None, IPC_CREX)
# Store the shared memory locations to a file
with open('/var/tmpflyar/raw_shared_memory_keys.flyar', 'wb') as f:
sharedMemoryKeys = '{},{},{}\n'.format(rollMem.key, pitchMem.key, yawMem.key)
logging.info('[ARDUINO-READER] Storing the following shared memory keys to /var/tmpflyar/raw_shared_memory_keys.flyar: {}'.format(sharedMemoryKeys))
f.write(str.encode(sharedMemoryKeys))
while True:
# Send a '1' byte to the Arduino to indicate that we want data
ser.write(b'1')
# Now that the Arduino should now be sending back data, read it in
data = ser.readline().decode('utf-8')
print(data)
# Process the data and store it in shared memory
orien = data.strip().split(',')
yawMem.write(padString("{0:.4f}".format(float(orien[0]))).encode())
pitchMem.write(padString("{0:.4f}".format(float(orien[1]))).encode())
rollMem.write(padString("{0:.4f}".format(float(orien[2]))).encode())
gc.collect()
system('clear')
# Let's do it again!
# endwhile
# We should never get here unless it breaks out of an infinite loop somehow...
sense = SenseHat()
# Set up the necessary shared memory locations
rollMem = SharedMemory(None, IPC_CREX)
pitchMem = SharedMemory(None, IPC_CREX)
yawMem = SharedMemory(None, IPC_CREX)
currentTime = time()
# Store the shared memory locations to a file
with open('/var/tmpflyar/raw_shared_memory_keys.flyar', 'wb') as f:
sharedMemoryKeys = '{},{},{}\n'.format(rollMem.key, pitchMem.key, yawMem.key)
logging.info(str(currentTime) + ':[SENSE-READER] Storing the following shared memory keys to /var/tmpflyar/raw_shared_memory_keys.flyar: {}'.format(sharedMemoryKeys))
f.write(str.encode(sharedMemoryKeys))
while True:
# Process the data and store it in shared memory
orien = sense.get_orientation_degrees()
rollMem.write(padString("{0:.4f}".format(orien['roll'])).encode())
pitchMem.write(padString("{0:.4f}".format(orien['pitch'])).encode())
yawMem.write(padString("{0:.4f}".format(orien['yaw'])).encode())
gc.collect()
# Let's do it again!
# endwhile
# We should never get here unless it breaks out of an infinite loop somehow...
# Calculate the distance traveled by calculating velocity and then position
currentTime = time()
timeDelta = currentTime - previousTime
positionChangeX = filteredAcceleration[0] * timeDelta * timeDelta
positionChangeY = filteredAcceleration[1] * timeDelta * timeDelta
positionChangeZ = filteredAcceleration[2] * timeDelta * timeDelta
# Update the data
previousTime = currentTime
xPosition += positionChangeX
yPosition += positionChangeY
zPosition += positionChangeZ
# Store the data in the calculated shared memory
xPosMem.write(padString("{0:.4f}".format(xPosition)).encode())
yPosMem.write(padString("{0:.4f}".format(yPosition)).encode())
zPosMem.write(padString("{0:.4f}".format(zPosition)).encode())
rollDegMemTo.write(padString("{0:.4f}".format(newRollDeg)).encode())
pitchDegMemTo.write(padString("{0:.4f}".format(newPitchDeg)).encode())
yawDegMemTo.write(padString("{0:.4f}".format(newYawDeg)).encode())
previousRollDeg = rollDeg
previousRollRad = rollRad
previousPitchDeg = pitchDeg
previousPitchRad = pitchRad
previousYawDeg = yawDeg
previousYawRad = yawRad
del positionChangeX
del positionChangeY
