def returnData():
global setPoint
templateData = {
#'title' : 'HELLO!',
#'time': timeString,
relay17: not GPIO.input(17),
relay22: not GPIO.input(22),
relay23: not GPIO.input(23),
relay27: not GPIO.input(27),
temperature: tempSensor.getTemp("C"),
setPoint: setPoint
}
return templateData
f = open(fileName, 'w')
f.write('[]') # reset the data
f.close()
time.sleep(abs(time.time() % -5)) # wait till the next whole 5 seconds
starttime = time.time()
localCopy = [] # contains data of this session
while True:
t = time.localtime()
t = ':'.join([str(i).zfill(2) for i in [t.tm_hour, t.tm_min, t.tm_sec]
]) # time in hh:mm:ss
externalTemp = tempSensor.getTemp() # (water) temperature probe
coreTemp = os.popen('/opt/vc/bin/vcgencmd measure_temp').read()
coreTemp = coreTemp[coreTemp.index('=') +
1:-3] # raspberry pi core temperature
# Gyro Sensors
heading, roll, pitch = bno.read_euler() # direction
sys, gyro, accel, mag = bno.get_calibration_status() # idk why this
x, y, z = bno.read_magnetometer() # magnetic field
magField = pow(x**2 + y**2 + z**2, 0.5) # absolute value
magField = magField / 100 # 100 microTesla = 1 Gauss
x, y, z = bno.read_linear_acceleration() # without gravity
def getDataFragment():
'''
Collects data from the various sensors and returns them as a list
Return:
data: A list of all the different sensor values
'''
global gyroRunning
# get the current time
t = time.localtime()
t = ':'.join([str(i).zfill(2) for i in [t.tm_hour, t.tm_min, t.tm_sec]])
# try to get the data from the temperature probe if it is enabled
try:
if TEMPSENSOR:
externalTemp = round(tempSensor.getTemp(), 2)
else:
# no temperature probe data
externalTemp = -1
except:
# some error occurred
externalTemp = 'Error'
try:
# try to get the core temperature of the raspberry pi
coreTemp = os.popen('/opt/vc/bin/vcgencmd measure_temp').read()
coreTemp = round(float(coreTemp[coreTemp.index('=') + 1:-3]), 2)
except:
# some error occurred
coreTemp = 'Error'
# Gyro Sensors
try:
heading, roll, pitch = bno.read_euler()
# remove the initial state to get
# orientation relative to its start point
heading -= defaultRotation['heading']
roll -= defaultRotation['roll']
pitch -= defaultRotation['pitch']
# round data
heading = round(heading, 2)
roll = round(roll, 2)
pitch = round(pitch, 2)
# unused
sys, gyro, accel, mag = bno.get_calibration_status()
# read magnetic field
x, y, z = bno.read_magnetometer()
# take the absolute value of the magnetic field and turn it into gauss
magField = pow(x**2 + y**2 + z**2, 0.5)
magField = round(magField / 100, 3) # 100 microTesla = 1 Gauss
# get linear acceleration
x, y, z = bno.read_linear_acceleration()
# for removing strange acceleration picked up when there is none
# btw read_linear_acceleration() takes out gravity already
x -= defaultAcc['x']
y -= defaultAcc['y']
z -= defaultAcc['z']
# round data
x = round(x, 3)
y = round(y, 3)
z = round(z, 3)
# round the temp too
# this is the temperature of the gyro,
# which shows internal ROV temperature
internalTemp = round(bno.read_temp(), 2)
#
# all the data will be displayed on an html page so if the
# values have too many decimal places it will mess up the html table
#
except:
# exception in getting data
heading, roll, pitch = 'Error', 'Error', 'Error'
magField = 'Error'
x, y, z = 'Error', 'Error', 'Error'
internalTemp = 'Error'
gyroRunning = False
if not gyroRunning:
# if the gyro has failed try to reboot it
print('Attempting to restart gyro')
gyroRunning = True
setup()
# assemble the data into a list
fragment = [
t, externalTemp, coreTemp, internalTemp, heading, roll, pitch,
magField, x, y, z
]
# print the data if allowed
if not silent:
print(fragment)
# return the data
return fragment
'''
if __name__ == '__main__':
# Add a location for python to search for modules to import
from sys import path
path.append('/var/www/scripts')
# Import tempSensor module located in "/var/www/scripts"
try:
import tempSensor
except ModuleNotFoundError:
raise ModuleNotFoundError(
"tempSensor.py is missing in /var/www/scripts")
# Print header specifying file type
print("Content-type: text/html\n\n")
# Open and read the html file
f = open('temperature.html')
txt = f.read()
f.close()
# Get the temperature using the tempSensor module
data = tempSensor.getTemp()
# Put the temperature into the html file where the comment "<!-- tag -->" is
txt = txt.replace('<!-- tag -->', str(data))
# Print final html
print(txt)
def getDataFragment():
global gyroRunning
t = time.localtime()
t = ':'.join([str(i).zfill(2) for i in [t.tm_hour, t.tm_min, t.tm_sec]])
try:
if TEMPSENSOR:
externalTemp = round(tempSensor.getTemp(), 2)
else:
externalTemp = -1
except:
externalTemp = 'Error'
try:
coreTemp = os.popen('/opt/vc/bin/vcgencmd measure_temp').read()
coreTemp = round(float(coreTemp[coreTemp.index('=') + 1:-3]), 2)
except:
coreTemp = 'Error'
# Gyro Sensors
try:
heading, roll, pitch = bno.read_euler()
heading -= defaultRotation['heading']
roll -= defaultRotation['roll']
pitch -= defaultRotation['pitch']
heading = round(heading, 2)
roll = round(roll, 2)
pitch = round(pitch, 2)
sys, gyro, accel, mag = bno.get_calibration_status()
x, y, z = bno.read_magnetometer()
magField = pow(x**2 + y**2 + z**2, 0.5)
magField = round(magField / 100, 3) # 100 microTesla = 1 Gauss
x, y, z = bno.read_linear_acceleration()
x -= defaultAcc['x']
y -= defaultAcc['y']
z -= defaultAcc['z']
x = round(x, 3)
y = round(y, 3)
z = round(z, 3)
internalTemp = round(bno.read_temp(), 2)
except:
heading, roll, pitch = 'Error', 'Error', 'Error'
magField = 'Error'
x, y, z = 'Error', 'Error', 'Error'
internalTemp = 'Error'
gyroRunning = False
if not gyroRunning:
print('Attempting to restart gyro')
gyroRunning = True
setup()
fragment = [t, externalTemp, coreTemp, internalTemp, \
heading, roll, pitch, \
magField, x, y, z]
if not silent:
print(fragment)
#print(time.ctime())
#time.sleep(pause - ((time.time() - starttime) % pause))
return fragment