def __init__(self):
self.voltage_publisher = rospy.Publisher(
'CurrentSensor/battery_voltage_draw', Float64, queue_size=10)
self._hz = 10
ch1 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
ch1.setOnSensorChangeHandler(self.onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open Failed")
def __init__(self):
self.voltage_publisher = rospy.Publisher('CurrentSensor/battery_voltage_draw', Float64, queue_size=10)
self._hz = 10
ch1 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
ch1.setOnSensorChangeHandler(self.onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open Failed")
class PowerSource():
def __init__(self, channel):
self.volts = None
self.device = VoltageInput()
self.channel = channel
this = self
def start(self):
"""
* Add event handlers before calling open so that no events are missed.
"""
self.device.setOnAttachHandler(onAttachHandler)
self.device.setOnDetachHandler(onDetachHandler)
self.device.setOnErrorHandler(onErrorHandler)
self.device.setOnVoltageChangeHandler(onVoltageChangeHandler)
self.device.setOnSensorChangeHandler(onSensorChangeHandler)
try:
self.device.setDeviceSerialNumber(271638)
self.device.setChannel(self.channel)
self.device.openWaitForAttachment(5000)
except PhidgetException as e:
print("Program Terminated: Open PowerSource Failed")
print(e)
def getVolts(self):
try:
self.device.setDeviceSerialNumber(271638)
self.device.setChannel(self.channel)
self.device.openWaitForAttachment(5000)
except PhidgetException as e:
print("Program Terminated: Open PowerSource Failed")
print(e)
time.sleep(2)
return self.device.getSensorValue()
def closeDevice(self):
self.device.close()
class jigVoltage(object):
'''voltage sensor'''
def __init__(self, provider, channel):
self.ai = VoltageInput()
self.ai.setDeviceSerialNumber(provider)
self.ai.setChannel(channel)
self.ai.setOnAttachHandler(self._attached)
self.ai.openWaitForAttachment(1000)
def _attached(self, event):
self.ai.setSensorType(VoltageSensorType.SENSOR_TYPE_1135)
self.ai.setDataInterval(100)
self.ai.setVoltageChangeTrigger(0)
@property
def voltage(self):
return self.ai.getSensorValue()
@property
def unitInfo(self):
return self.ai.getSensorUnit()
class VoltageInputSensor(Sensor):
'''Class used to handle any sensor which uses a standard voltage input '''
def __init__(self, deviceSN,channelNo,dataInterval,refreshPeriod,sensorType,
sensorName=None):
'''
Constructor for creating Voltage Input Sensor objects. Takes standard sensor
arguments.
'''
self.channelNo = channelNo
self.sensorType = sensorType
self.sensorUnits = None
Sensor.__init__(self,deviceSN,dataInterval,refreshPeriod,sensorName)
def attachSensor(self):
'''
Connects the sensor to the application
'''
self.channel = VoltageInput()
self.channel.setDeviceSerialNumber(self.deviceSN)
self.channel.setChannel(self.channelNo)
self.channel.openWaitForAttachment(100)
print("\n***** {} Sensor Attached *****".format(self.sensorName))
self.attached = True
self.channel.setSensorType(self.sensorType)
self.channel.setDataInterval(self.dataInterval)
self.sensorUnits=self.channel.getSensorUnit().symbol
def activateDataListener(self):
'''
Sets up the event which triggers when the sensor updates its outputs
'''
self.startTime = time.time()
def onSensorValueChange(channelObject,sensorVlue,sensorUnit):
rawTime = time.time()
deltaTime = rawTime- self.startTime
self.dataQ.put([channelObject.getSensorValue(),deltaTime,rawTime])
self.channel.setOnSensorChangeHandler(onSensorValueChange)
def _publish(self):
"""
* Allocate a new Phidget Channel object
"""
try:
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write(
"Runtime Error -> Creating VoltageInput: \n\t" + e)
raise
def signal_handler(signal, frame):
print("exiting...")
raise EndProgramSignal("Program Terminated")
signal.signal(signal.SIGINT, signal_handler)
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 1
channelInfo.channel = 0
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
"""
* Add event handlers before calling open so that no events are missed.
"""
print(channelInfo.deviceSerialNumber)
print(channelInfo.hubPort)
ch.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch.setOnVoltageChangeHandler(onVoltageChangeHandler)
ch.setOnSensorChangeHandler(onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSign00al("Program Terminated: Open Failed")
print("running...")
rate = rospy.Rate(self._hz)
while True:
self.current_publisher.publish(str(current[0]))
if current[0] > 14:
playsound('/home/mars/Downloads/torture.wav')
rate.sleep()
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except KeyboardInterrupt:
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
dist=519/((voltage*50)+(11/4))
pub.publish(dist)
def SensorChangeHandler(self, sensorValue, sensorUnit):
print("Sensor Value: %f" % sensorValue)
try:
ch1.setOnAttachHandler(VoltageInputAttached)
ch1.setOnDetachHandler(VoltageInputDetached)
ch1.setOnErrorHandler(ErrorEvent)
ch1.setOnVoltageChangeHandler(VoltageChangeHandler)
ch1.setOnSensorChangeHandler(SensorChangeHandler)
print("Waiting for the Phidget VoltageInput Object to be attached...")
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Press Enter to Exit...\n")
readin = sys.stdin.read(1)
exit(1)
print("Gathering data for 100 seconds...")
#time.sleep(100)
while True: pass
try:
def main():
global current, voltage, app, serverUpdateThread, hadPhidgetException, sessionFile
hadPhidgetException = False
voltage_sensor = None
current_sensor = None
serverUpdateThread = StoppableThread()
sessionNum = 0
with open("numSessions.txt", "r+") as numSessionsFile:
sessionNum = int(numSessionsFile.read()) + 1
print(sessionNum)
numSessionsFile.seek(0)
numSessionsFile.write(str(sessionNum))
numSessionsFile.truncate()
numSessionsFile.close()
timestamp = datetime.now()
sessionFile = open(
"Sessions/session" + str(sessionNum) + "_" + str(timestamp.month) +
"-" + str(timestamp.day) + "_" + str(timestamp.hour) + "-" +
str(timestamp.minute) + "-" + str(timestamp.second) + ".txt", "w+")
print("Session File created")
try:
voltage_sensor = VoltageInput()
current_sensor = VoltageRatioInput()
voltage_sensor.setHubPort(0)
voltage_sensor.setIsHubPortDevice(False)
voltage_sensor.setOnVoltageChangeHandler(on_new_voltage_reading)
current_sensor.setHubPort(1)
current_sensor.setIsHubPortDevice(True)
current_sensor.setOnVoltageRatioChangeHandler(on_new_current_reading)
voltage_sensor.openWaitForAttachment(1000)
current_sensor.openWaitForAttachment(1000)
serverUpdateThread.start()
atexit.register(exit_handler)
app.run(host='0.0.0.0')
voltage_sensor.close()
current_sensor.close()
except PhidgetException as e:
print(e)
hadPhidgetException = True
exit_handler(voltage_sensor, current_sensor)
except KeyboardInterrupt as key:
print(key)
exit_handler(voltage_sensor, current_sensor)
except IOError as e:
print(e)
exit_handler(voltage_sensor, current_sensor)
def __init__(self):
self.motor_current_publisher = rospy.Publisher('phidgetsensor/motor_current_draw', Float64, queue_size=10)
self.voltage_publisher = rospy.Publisher('phidgetsensor/battery_voltage' , Float64, queue_size=10)
self.battery_current_publisher = rospy.Publisher('phidgetsensor/battery_current_draw', Float64, queue_size=10)
self._hz = 10
#Channel 1 will be the motor_current_draw
ch1 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnCurrentChangeHandler(self.onCurrentChangeHandler_m)
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open ch1 failed")
#channel 2 will be the battery voltage
ch2 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch2.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch2.setHubPort(channelInfo.hubPort)
ch2.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch2.setChannel(channelInfo.channel)
ch2.setOnAttachHandler(self.onAttachHandler)
ch2.setOnDetachHandler(self.onDetachHandler)
ch2.setOnErrorHandler(self.onErrorHandler)
ch2.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open ch2 failed")
#channel 3 will be the battery current
ch3 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch3.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch3.setHubPort(channelInfo.hubPort)
ch3.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch3.setChannel(channelInfo.channel)
ch3.setOnAttachHandler(self.onAttachHandler)
ch3.setOnDetachHandler(self.onDetachHandler)
ch3.setOnErrorHandler(self.onErrorHandler)
ch3.setOnCurrentChangeHandler(self.onCurrentChangeHandler_b)
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open ch3 failed")
def main():
try:
"""
* Allocate a new Phidget Channel object
"""
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t" + e)
raise
"""
* Set matching parameters to specify which channel to open
"""
#You may remove this line and hard-code the addressing parameters to fit your application
channelInfo = AskForDeviceParameters(ch)
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
if(channelInfo.netInfo.isRemote):
ch.setIsRemote(channelInfo.netInfo.isRemote)
if(channelInfo.netInfo.serverDiscovery):
try:
Net.enableServerDiscovery(PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
except PhidgetException as e:
PrintEnableServerDiscoveryErrorMessage(e)
raise EndProgramSignal("Program Terminated: EnableServerDiscovery Failed")
else:
Net.addServer("Server", channelInfo.netInfo.hostname,
channelInfo.netInfo.port, channelInfo.netInfo.password, 0)
"""
* Add event handlers before calling open so that no events are missed.
"""
print("\n--------------------------------------")
print("\nSetting OnAttachHandler...")
ch.setOnAttachHandler(onAttachHandler)
print("Setting OnDetachHandler...")
ch.setOnDetachHandler(onDetachHandler)
print("Setting OnErrorHandler...")
ch.setOnErrorHandler(onErrorHandler)
#This call may be harmlessly removed
PrintEventDescriptions()
print("\nSetting OnVoltageChangeHandler...")
ch.setOnVoltageChangeHandler(onVoltageChangeHandler)
print("\nSetting OnSensorChangeHandler...")
ch.setOnSensorChangeHandler(onSensorChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
print("Sampling data for 10 seconds...")
print("You can do stuff with your Phidgets here and/or in the event handlers.")
time.sleep(10)
"""
* Perform clean up and exit
"""
#clear the VoltageChange event handler
ch.setOnVoltageChangeHandler(None)
#clear the SensorChange event handler
ch.setOnSensorChangeHandler(None)
print("\nDone Sampling...")
print("Cleaning up...")
ch.close()
print("\nExiting...")
return 0
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
finally:
print("Press ENTER to end program.")
readin = sys.stdin.readline()
def _publish(self):
"""
* Allocate a new Phidget Channel object
"""
try:
try:
ch = VoltageInput()
except PhidgetException as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t")
DisplayError(e)
raise
except RuntimeError as e:
sys.stderr.write("Runtime Error -> Creating VoltageInput: \n\t" + e)
raise
def signal_handler(signal, frame):
print("exiting...")
raise EndProgramSignal("Program Terminated")
signal.signal(signal.SIGINT, signal_handler)
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 1
channelInfo.channel = 0
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
"""
* Add event handlers before calling open so that no events are missed.
"""
print(channelInfo.deviceSerialNumber)
print(channelInfo.hubPort)
ch.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch.setOnVoltageChangeHandler(onVoltageChangeHandler)
ch.setOnSensorChangeHandler(onSensorChangeHandler)
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSign00al("Program Terminated: Open Failed")
print("running...")
rate = rospy.Rate(self._hz)
while True:
self.current_publisher.publish(str(current[0]))
if current[0] > 14 : playsound('/home/mars/Downloads/torture.wav')
rate.sleep()
except PhidgetException as e:
sys.stderr.write("\nExiting with error(s)...")
DisplayError(e)
traceback.print_exc()
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except EndProgramSignal as e:
print(e)
print("Cleaning up...")
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
except KeyboardInterrupt:
ch.setOnVoltageChangeHandler(None)
ch.setOnSensorChangeHandler(None)
ch.close()
return 1
def __init__(self):
self.motor_current_publisher = rospy.Publisher(
'phidgetsensor/motor_current_draw', Float64, queue_size=10)
self.voltage_publisher = rospy.Publisher(
'phidgetsensor/battery_voltage', Float64, queue_size=10)
self.battery_current_publisher = rospy.Publisher(
'phidgetsensor/battery_current_draw', Float64, queue_size=10)
self._hz = 10
#Channel 1 will be the motor_current_draw
ch1 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnCurrentChangeHandler(self.onCurrentChangeHandler_m)
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open ch1 failed")
#channel 2 will be the battery voltage
ch2 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch2.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch2.setHubPort(channelInfo.hubPort)
ch2.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch2.setChannel(channelInfo.channel)
ch2.setOnAttachHandler(self.onAttachHandler)
ch2.setOnDetachHandler(self.onDetachHandler)
ch2.setOnErrorHandler(self.onErrorHandler)
ch2.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open ch2 failed")
#channel 3 will be the battery current
ch3 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch3.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch3.setHubPort(channelInfo.hubPort)
ch3.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch3.setChannel(channelInfo.channel)
ch3.setOnAttachHandler(self.onAttachHandler)
ch3.setOnDetachHandler(self.onDetachHandler)
ch3.setOnErrorHandler(self.onErrorHandler)
ch3.setOnCurrentChangeHandler(self.onCurrentChangeHandler_b)
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open ch3 failed")