class main:
def __init__(self):
"""
Sets up program variables, resets files, does not tell arduino to start
"""
GPIO.setmode(GPIO.BCM)
self.ei = ErrorIndicator(False)
self.ih = ImageHandler(False, self.ei)
self.processor = ImageProcessor(self.ih, self.ei)
self.arduino = Arduino(self.ei)
GPIO.setup(24, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(25, GPIO.IN)
GPIO.setwarnings(False)
if os.path.exists("out/"):
shutil.rmtree("out")
os.makedirs("out")
if os.path.exists("log.txt"):
os.remove("log.txt")
logging.basicConfig(filename='log.txt',
level=logging.DEBUG,
format='%(asctime)s %(message)s',
datefmt='%m/%d/%Y %I:%M:%S %p')
def check_for_gps_fix(self):
"""
Checks for GPS fix, flashes error if not
:return: True if GPS has a fix
"""
if not main.arduino.gps_has_fix():
logging.info("Waiting for GPS fix..")
self.ei.message([0, 0, 0, 1])
time.sleep(0.5)
self.ei.message([0, 0, 0, 0])
time.sleep(0.5)
return False
return True
def check_arduino(self, initial):
"""
Checks to make sure arduino sensors are working, no check for GPS fix
:param initial: First time being called, checks if comms with arduino work
:return: If no errors are present
"""
success = True
if initial:
if not main.arduino.init():
self.ei.message([1, 0, 0, 0])
return False
if main.arduino.get_dof_error():
self.ei.message([1, 1, 1, 0])
success = False
if main.arduino.get_gps_error():
self.ei.message([0, 1, 1, 0])
success = False
if success:
self.ei.reset()
return success
def check_pi(self): # TODO handle exception issue
"""
Checks if the camera on Pi is working
:return: False if camera is too dark
"""
if self.ih.camera_error():
self.ei.message([1, 1, 0, 0])
return False
self.ei.reset()
return True
def run(self, count):
"""
Method run while lander is in decent
:param count: Number of loops called (Used for logger)
"""
logging.info("*********************" + str(count) +
"*********************")
current_altitude = self.arduino.get_altitude() * 3.28084 # ft
logging.info("Current Altitude: " + str(current_altitude))
current_distance = self.arduino.get_distance() * 3.28084 # ft
logging.info("Current Distance: " + str(current_distance))
total_tarp_area = Tc.get_total_tarp_area(current_altitude,
current_distance) # pixels^3
logging.info("Creating Background Mask")
self.processor.create_background_mask()
logging.info("Filtering by size")
self.processor.filter_by_size(total_tarp_area)
logging.info("Getting Tarp Mask")
self.processor.get_tarps()
logging.info("Saving Tarps")
self.processor.save_tarps(count)
@staticmethod
def told_to_start(): # Wire GPIO 24 to button to ground
"""
Determines if switch is on, telling us to start the arduino and enter standby
:return: True if switch is closed
"""
if not GPIO.input(24):
return True
return False
@staticmethod
def told_to_end(): # Wire GPIO 24 to button to ground
"""
Determines if switch is off, telling us to ensure loops are ended and to save log
:return: True if switch is open
"""
if GPIO.input(24):
return True
return False
def starting_notification(self):
self.ei.message([1, 1, 1, 1])
self.ei.turn_buzzer_on()
time.sleep(5)
self.ei.turn_buzzer_off()
self.ei.reset()
def second_notification(self):
for i in range(0, 10):
self.ei.message([1, 1, 1, 1])
self.ei.turn_buzzer_on()
time.sleep(0.5)
self.ei.turn_buzzer_off()
self.ei.reset()
def third_notification(self):
self.ei.message([1, 1, 1, 1])
self.ei.turn_buzzer_on()
time.sleep(5)
self.ei.turn_buzzer_off()
self.ei.reset()
@staticmethod
def is_in_rocket(): # Connect photoresistor to GPIO 25
"""
Checks if lander is in rocket by using a photoresistor
:return: True if in rocket
"""
if GPIO.input(25):
return True
else:
return False
def is_at_low_altitude(self):
"""
Checks if lander is under 10m
:return: True if under 10m in air
"""
if self.arduino.get_altitude() < 10:
false_positive = False
for i in range(0, 10):
if main.arduino.get_altitude(
) > 10: # So a goofy misread doesn't screw us
false_positive = True
if not false_positive:
return True
def init(self):
"""
Initializes arduino, turning all sensors on and placing in standby
:return: True if arduino and pi have no errors (No check for GPS)
"""
return self.check_arduino(True) and self.check_pi()
