def bluetooth_server(inputs, out_q, nskip):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
data_types = [
'pressure', 'altitude', 'vspeed', 'temperature', 'battery'
]
data_converters = {'vspeed': 100}
unavailable_data = {
'pressure': '999999',
'altitude': '99999',
'vspeed': '9999',
'temperature': '99',
'battery': '999'
}
server_socket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
server_socket.bind(('', bluetooth.PORT_ANY))
server_socket.listen(1)
while True:
logger.log(__name__ + ' started')
print('waiting bluetooth connection...')
client_socket, client_address = server_socket.accept()
print('connected')
for i in inputs:
while not inputs[i].empty():
inputs[i].get_nowait()
logger.log(__name__ + ' entering main loop')
while True:
try:
message = 'LK8EX1'
for t in data_types:
message += ','
if t in inputs:
value = inputs[t].get().data
value = value * data_converters.get(t, 1)
message += '{0:.2f}'.format(value)
else:
message += unavailable_data[t]
message = '$' + message + ',*' + checksum(message)
client_socket.sendall(message)
for n in range(nskip):
for i in inputs:
inputs[i].get()
except bluetooth.BluetoothError:
break
except:
logger.log(format_current_exception(__name__))
def linreg_calculator(in_q, out_q, out_topic, buffer_size):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
X = np.zeros(shape=(buffer_size, 1), dtype=np.double)
y = np.zeros(shape=(buffer_size, 1), dtype=np.double)
linregr = LinearRegression()
for i in range(buffer_size):
in_msg = in_q.get()
X[i, 0] = in_msg.timestamp
y[i, 0] = in_msg.data
logger.log(__name__ + ' entering main loop')
while True:
X = np.roll(X, -1)
y = np.roll(y, -1)
in_msg = in_q.get()
X[buffer_size - 1, 0] = in_msg.timestamp
y[buffer_size - 1, 0] = in_msg.data
linregr.fit(X, y)
out_msg = Message(out_topic, round(linregr.coef_[0, 0], 2))
out_q.put(out_msg)
except:
logger.log(format_current_exception(__name__))
def derivative_calculator(in_q, out_q, out_topic, nskip):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
result = 0.0
in_msg = in_q.get()
last_value, last_t = in_msg.data, time()
logger.log(__name__ + ' entering main loop')
while True:
in_msg = in_q.get()
new_value, new_t = in_msg.data, time()
result = (new_value - last_value) / (new_t - last_t)
last_value, last_t = new_value, new_t
out_msg = Message(out_topic, round(result, 2))
out_q.put(out_msg)
for n in range(nskip):
in_q.get()
out_q.put(out_msg)
except:
logger.log(format_current_exception(__name__))
def HD44780_writer(inputs, out_q, nskip, debug):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
display = HD44780()
logger.log(__name__ + ' entering main loop')
while True:
for i in inputs:
in_msg = i['queue'].get()
if debug:
s = '{0} {1}'.format(in_msg.tag, in_msg.data)
else:
s = '{0}: {1:7.1f} {2}'.format(i['label'], in_msg.data,
i['unit'])
display.print(s, i['line'], AlignMode.LEFT)
for n in range(nskip):
for i in inputs:
i['queue'].get()
except:
logger.log(format_current_exception(__name__))
def console_writer(inputs, out_q):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
logger.log(__name__ + ' entering main loop')
while True:
for q in inputs:
print(q.get())
except:
logger.log(format_current_exception(__name__))
def file_reader(out_q, out_topic, filename, sep, field, interval):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
with open(filename, 'r') as f:
logger.log(__name__ + ' entering main loop')
while True:
for line in f:
tokens = line.split(sep)
out_msg = Message(out_topic, float(tokens[field]))
out_q.put(out_msg)
sleep(interval)
except:
logger.log(format_current_exception(__name__))
def MPL3115A2_reader(initial_altitude, out_q, out_topic, interval):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
sensor = MPL3115A2()
sensor.set_altitude(initial_altitude)
logger.log(__name__ + ' entering main loop')
while True:
altitude = sensor.read_altitude()
msg = Message(out_topic, altitude)
out_q.put(msg)
sleep(interval)
except:
logger.log(format_current_exception(__name__))
def data_log_writer(inputs, out_q):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
for i in inputs:
with open(i['file'], 'w'):
pass
logger.log(__name__ + ' entering main loop')
while True:
for i in inputs:
in_msg = i['queue'].get()
with open(i['file'], 'a') as f:
f.write('{0},{1},{2}\n'.format(in_msg.timestamp,
in_msg.data, in_msg.tag))
except:
logger.log(format_current_exception(__name__))
def pubsub_manager(in_q, topics, out_q):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
indexes = {}
for t in topics:
indexes[t] = 0
logger.log(__name__ + ' entering main loop')
while True:
in_msg = in_q.get()
t, data, timestamp = in_msg.topic, in_msg.data, in_msg.timestamp
if t in topics:
tag = '{0}.{1}'.format(topics[t].tag, indexes[t])
out_msg = Message(t, data, tag, timestamp)
indexes[t] += 1
for q in topics[t].subscriptions:
q.put(out_msg)
except:
logger.log(format_current_exception(__name__))
def network_writer(address, inputs, out_q):
logger = Logger(out_q)
try:
logger.log(__name__ + ' started')
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
s.connect(address)
logger.log(__name__ + ' entering main loop')
while True:
for label, queue in inputs:
in_msg = queue.get()
out_msg = {
'label': label,
'value': in_msg.data,
'tag': in_msg.tag
}
json_msg = json.dumps(out_msg)
s.send(json_msg.encode())
ack = s.recv(SOCKET_BUFFER_SIZE)
except:
logger.log(format_current_exception(__name__))
p.join()
print('Exiting')
sys.exit(0)
if __name__ == '__main__':
try:
mp.set_start_method('spawn')
signal.signal(signal.SIGINT, signal.SIG_IGN)
pubsub_queue = mp.Queue()
topics = {}
logger = Logger(pubsub_queue)
logger.log("---> RASPBERRY_FLY STARTING...")
logs_queue = pubsub_queue
logs_topics = LOGS_TOPIC
rwalt_topic = Topic(tag='RA')
fltalt_topic = Topic(tag='FA')
rwvs_topic = Topic(tag='RV')
fltvs_topic = Topic(tag='FV')
logs_topic = Topic(tag='LOGS')
if SIMULATION:
rwalt_reader = mp.Process(target=file_reader,
args=(pubsub_queue, RWALT_TOPIC,
RWALT_SIMULATION_FILE,
RWALT_SIMULATION_SEPARATOR,
