sys.path.remove('cars')
Threads = []
if 'watchdog' in config and config['watchdog'].get('enable') == True:
import watchdog
Watchdog = watchdog.Watchdog(config['watchdog'])
else:
Watchdog = None
# Init dongle
dongle = DONGLE(config['dongle'], watchdog = Watchdog)
# Init GPS interface
gps = GpsPoller()
Threads.append(gps)
# Init car
car = CAR(config['car'], dongle, gps)
Threads.append(car)
# Init EVNotify
EVNotify = evnotify.EVNotify(config['evnotify'], car)
Threads.append(EVNotify)
# Init WiFi control
if 'wifi' in config and config['wifi'].get('enable') == True:
from wifi_ctrl import WiFiCtrl
wifi = WiFiCtrl()
else:
def follow_stream(self,
SPS=40000,
dispFFT=False,
axis=[0, 15000, -1e12, 1e12],
FFTchannels=[1, 2, 3],
selected_freq=None,
raw_file=""):
if raw_file != "":
# Disable displaying anything if we're writing to a file
dispFFT = False
self._ofile = open(raw_file, "w")
self._gpsp = GpsPoller()
self._gpsp.start()
if dispFFT:
import matplotlib
matplotlib.use('GTKCairo')
import matplotlib.pyplot as plt
plt.ion()
plt.show()
quit = False
samples_count = 4096
bytes_in_block = samples_count * 16 #4 channels, 4B per sample
fftfreq = np.fft.rfftfreq(
samples_count,
d=1.0 / SPS) # /16 -> /4 channels /4 bytes per channel
if selected_freq:
selected_index = np.argmin(np.abs(fftfreq - selected_freq))
self._tail = struct.unpack_from("l", self._data,
self.PRU0_OFFSET_DRAM_HEAD)[0]
while (not quit):
samples = self.get_sample_block(bytes_in_block)
#Invert dimensions
channels = np.transpose(samples)
if raw_file != "":
np.save(
self._ofile, {
"time": time.time(),
"lat": self._gpsp.gpsd.fix.latitude,
"lon": self._gpsp.gpsd.fix.longitude,
"chans": channels
})
continue
if axis != None and dispFFT and self._spare:
plt.axis(axis)
ostring = ""
for chan in FFTchannels:
fft = np.fft.rfft(channels[chan]) / samples_count
#Disregard the DC component.
fft[0] = 0
if selected_freq == None:
selected_index = np.argmax(np.absolute(fft))
ostring += "Channel " + str(chan) + ": %-*sHz = %-*s\t" % (
5, int(fftfreq[selected_index]), 12,
int(np.absolute(fft[selected_index])))
if dispFFT and self._spare:
plt.plot(fftfreq,
np.absolute(fft),
label="Channel %d" % chan)
#plt.plot(channels[chan], label="Channel %d"%chan)
#print fftfreq[np.argmax(np.absolute(fft))]
print ostring
if dispFFT and self._spare:
plt.legend()
plt.draw()
plt.pause(0.001)
plt.cla()
