def request_readings(self, step, compass, gyro, baro, ultrasound, IR):
data = rpiUartCommunication.get_sensor_data()
#print 'in dataParser.request_readings, data received is', data
print '\n\n\n*****IN DATAPARSER.REQUEST_READINGS, DATA RECEIVED IS*****\n\n\n', data
#Steps for this second up to 5 steps: 1 byte
#Compass bearings for those steps: 12 bytes (+ 1 extra pair for zero steps scenario)
#Gyro readings: 6 byte
#Barometer reading: 1 byte
#Ultrasound readings: 1 byte
#IR readings: 4 bytes
#Total right now: 25 bytes
#ACK_A=[30,31,32,33,34,35,36,37]
#Every two bytes: motor and their respective duration - left,right, forward,backward
#data = [1, 30,0,0,0,0, 0,0,0, 0, 0,0,0,0,0,0, 0,0]
step.put(data[0])
compass_no = 12
#compass_read = []
compass_read = np.zeros((compass_no, ), dtype=np.uint8)
for i in range(compass_no):
compass_read[i] = data[i + 1]
compass.put(compass_read)
gyro_no = 6
gyro_read = []
for g in range(gyro_no):
gyro_read.append(data[g + compass_no + 1])
gyro.put(gyro_read)
baro_no = 1
baro_read = data[compass_no + gyro_no + 1]
baro.put(baro_read)
ultrasound_no = 1
ultrasound_read = []
for u in range(ultrasound_no):
ultrasound_read.append(data[u + compass_no + gyro_no + baro_no +
1])
ultrasound.put(ultrasound_read)
IR_no = 4
IR_read = []
for i in range(IR_no):
IR_read.append(data[i + compass_no + gyro_no + baro_no +
ultrasound_no + 1])
IR.put(IR_read)
def request_readings(self, step, compass, gyro, baro, ultrasound, IR):
data = rpiUartCommunication.get_sensor_data()
#print 'in dataParser.request_readings, data received is', data
print '\n\n\n*****IN DATAPARSER.REQUEST_READINGS, DATA RECEIVED IS*****\n\n\n', data
#Steps for this second up to 5 steps: 1 byte
#Compass bearings for those steps: 12 bytes (+ 1 extra pair for zero steps scenario)
#Gyro readings: 6 byte
#Barometer reading: 1 byte
#Ultrasound readings: 1 byte
#IR readings: 4 bytes
#Total right now: 25 bytes
#ACK_A=[30,31,32,33,34,35,36,37]
#Every two bytes: motor and their respective duration - left,right, forward,backward
#data = [1, 30,0,0,0,0, 0,0,0, 0, 0,0,0,0,0,0, 0,0]
step.put(data[0])
compass_no = 12
#compass_read = []
compass_read = np.zeros((compass_no,), dtype=np.uint8)
for i in range(compass_no):
compass_read[i] = data[i+1]
compass.put(compass_read)
gyro_no = 6
gyro_read = []
for g in range(gyro_no):
gyro_read.append(data[g+compass_no+1])
gyro.put(gyro_read)
baro_no = 1
baro_read = data[compass_no+gyro_no+1]
baro.put(baro_read)
ultrasound_no = 1
ultrasound_read = []
for u in range(ultrasound_no):
ultrasound_read.append(data[u+compass_no+gyro_no+baro_no+1])
ultrasound.put(ultrasound_read)
IR_no = 4
IR_read = []
for i in range(IR_no):
IR_read.append(data[i+compass_no+gyro_no+baro_no+ultrasound_no+1])
IR.put(IR_read)
def request_readings(self, step, compass, gyro, baro, ultrasound, IR):
data = rpiUartCommunication.get_sensor_data()
#Steps for this second up to 5 steps: 1 byte
#Compass bearings for those steps: 10 bytes
#Gyro readings: 3 bytes
#Barometer reading: 1 byte
#Ultrasound readings: 5 bytes
#IR readings: 5 bytes
#Total right now: 25 bytes
#ACK_A=[30,31,32,33,34,35,36,37]
#Every two bytes: motor and their respective duration - left,right, forward,backward
#data = [1, 30,0,0,0,0, 0,0,0, 0, 0,0,0,0,0,0, 0,0]
step.put(data[0])
compass_no = 12
#compass_read = []
compass_read = np.zeros((12, ), dtype=np.uint8)
for i in range(compass_no):
compass_read[i] = data[i + 1]
compass.put(compass_read)
gyro_no = 1
gyro_read = []
for g in range(gyro_no):
gyro_read.append(data[g + compass_no + 1])
gyro.put(gyro_read)
baro_no = 1
baro_read = data[compass_no + gyro_no + 1]
baro.put(baro_read)
ultrasound_no = 5
ultrasound_read = []
for u in range(ultrasound_no):
ultrasound_read.append(data[u + compass_no + gyro_no + baro_no +
1])
ultrasound.put(ultrasound_read)
IR_no = 5
IR_read = []
for i in range(IR_no):
IR_read.append(data[i + compass_no + gyro_no + baro_no +
ultrasound_no + 1])
IR.put(IR_read)
def request_readings(self, step, compass, gyro, baro, ultrasound, IR):
data = rpiUartCommunication.get_sensor_data()
#Steps for this second up to 5 steps: 1 byte
#Compass bearings for those steps: 10 bytes
#Gyro readings: 3 bytes
#Barometer reading: 1 byte
#Ultrasound readings: 5 bytes
#IR readings: 5 bytes
#Total right now: 25 bytes
#ACK_A=[30,31,32,33,34,35,36,37]
#Every two bytes: motor and their respective duration - left,right, forward,backward
#data = [1, 30,0,0,0,0, 0,0,0, 0, 0,0,0,0,0,0, 0,0]
step.put(data[0])
compass_no = 12
#compass_read = []
compass_read = np.zeros((12,), dtype=np.uint8)
for i in range(compass_no):
compass_read[i] = data[i+1]
compass.put(compass_read)
gyro_no = 1
gyro_read = []
for g in range(gyro_no):
gyro_read.append(data[g+compass_no+1])
gyro.put(gyro_read)
baro_no = 1
baro_read = data[compass_no+gyro_no+1]
baro.put(baro_read)
ultrasound_no = 5
ultrasound_read = []
for u in range(ultrasound_no):
ultrasound_read.append(data[u+compass_no+gyro_no+baro_no+1])
ultrasound.put(ultrasound_read)
IR_no = 5
IR_read = []
for i in range(IR_no):
IR_read.append(data[i+compass_no+gyro_no+baro_no+ultrasound_no+1])
IR.put(IR_read)
