def EVALUATE(timeout):
global runthegame
global pmdata
global trigger_value
global trigger_floor
while True:
loopstart = timer()
websocket_updater = timer()
while runthegame:
checkup = pmdata
most = timer()
data3 = 0
data4 = 0
for i in range(0, 4):
if len(pmdata[i][1][1]) > 2:
#if (most-checkup[i][1][1][-1])>0.1:
#log('checkup' + str(most-checkup[i][1][1][-1]))
iteration_count = len(checkup[i][1][0])
measurement_standard_deviation = np.std(checkup[i][1][0])
posteri_estimate = np.average(checkup[i][1][0])
#print(posteri_estimate)
#print(measurement_standard_deviation)
#print(posteri_estimate)
# The smaller this number, the fewer fluctuations, but can also venture off
# course...
#process_variance = 1e-3
process_variance = 1
estimated_measurement_variance = measurement_standard_deviation**2 # 0.05 ** 2
kalman_filter = KalmanFilter(
process_variance, estimated_measurement_variance,
posteri_estimate)
posteri_estimate_graph = []
for iteration in range(0, iteration_count):
kalman_filter.input_latest_noisy_measurement(
checkup[i][1][0][iteration])
#posteri_estimate_graph.append(kalman_filter.get_latest_estimated_measurement())
pmdata[i][1][5].append(
kalman_filter.get_latest_estimated_measurement())
pmdata[i][1][6].append(timer())
if (most - checkup[i][1][6][0] > 0.3):
pmdata[i][1][5].pop(0)
pmdata[i][1][6].pop(0)
#print(pmdata[i][1][5][-1])
#print(len(pmdata[i][1][5]))
#print(checkup[i][1][0][k] )
if len(checkup[i][1][6]) > 4:
trigger_estimate = np.average(pmdata[i][1][5])
if (trigger_estimate < trigger_value) and (len(
checkup[i][1][6]) > 0):
min_rssi = checkup[i][1][5][-1]
for cic in range(1, len(checkup[i][1][5])):
if checkup[i][1][5][-cic] < min_rssi:
min_rssi = checkup[i][1][5][-cic]
if min_rssi == checkup[i][1][5][-1]:
log("Failed: uccsó a kicsike")
if min_rssi == checkup[i][1][5][-2]:
log("Failed: uccsóelőtti a kicsike")
if checkup[i][1][5].index(min_rssi) == 0:
log("Failed: első a kicsike")
if min_rssi > trigger_floor:
log("Failed: nem érte el a floort")
if min_rssi != checkup[i][1][5][
-1] and min_rssi != checkup[i][1][5][
-2] and checkup[i][1][5].index(
min_rssi
) != 0 and min_rssi < trigger_floor:
#print(len(checkup[i][1][1]))
min_timestamp = checkup[i][1][6][
checkup[i][1][5].index(min_rssi)]
#print(min_timestamp)
lowest_key = checkup[i][1][5].index(min_rssi)
#print(lowest_key)
result = parab(
pmdata[i][1][6][(lowest_key - 2)],
pmdata[i][1][6][(lowest_key)],
pmdata[i][1][6][(lowest_key + 2)],
pmdata[i][1][5][lowest_key - 2],
pmdata[i][1][5][lowest_key],
pmdata[i][1][5][lowest_key + 2])
if checkup[i][1][2] != 0:
#print(pmdata[i][1][5])
#print(pmdata[i][1][1])
print("TRIGGERED: [" + str(i) + "]" +
str(result - pmdata[i][1][2]))
if i == 0:
data3 = result - pmdata[i][1][2]
if i == 1:
data4 = result - pmdata[i][1][2]
pmdata[i][1][2] = result
data1 = pmdata[i][1][5][-1]
data2 = pmdata[i][1][0][-1]
message = {}
message['data1'] = round(data1)
message['data2'] = data2
message['data3'] = data3
message['data4'] = data4
message = json.dumps(message)
sendMsgToControl.append(message)
pmdata[i][1][0] = []
pmdata[i][1][1] = []
pmdata[i][1][5] = []
pmdata[i][1][6] = []
if checkup[i][1][2] == 0:
oresult = 0
pmdata[i][1][2] = most
print("TRIGGERED ZERO: " + str(oresult))
pmdata[i][1][0] = []
pmdata[i][1][1] = []
pmdata[i][1][5] = []
pmdata[i][1][6] = []
data3 = 'Start'
if most - websocket_updater > 0.2:
try:
data1 = pmdata[i][1][5][-1]
data2 = pmdata[i][1][0][-1]
message = {}
message['data1'] = round(data1)
message['data2'] = data2
message['data3'] = data3
message['data4'] = data4
message = json.dumps(message)
sendMsgToControl.append(message)
websocket_updater = timer()
except:
pass
for i in range(0, 4):
if len(checkup[i][1][1]) > 0:
if (most - pmdata[i][1][1][0] > 2):
pmdata[i][1][0].pop(0)
pmdata[i][1][1].pop(0)
pmdata[i][1][4] = len(checkup[i][1][0])
time.sleep(0.01)
time.sleep(0.1)
