class TestSensors(unittest.TestCase):
def setUp(self):
self._start_time = time.time()
self._sensors = Sensors()
def tearDown(self):
self._sensors.close()
def test_all_tubes_have_enough_sensors(self):
tubes = self._sensors.tubes_with_enough_sensors()
for i in range(constants.NUMBER_OF_PATIENTS):
with self.subTest(i=i):
self.assertIn(i, tubes,
f"Port {i} is missing sensors.")
def test_calibration_pressure_sensor_present(self):
self.assertTrue(self._sensors.calibration_pressure_sensor_connected(),
"Calibration pressure sensor is missing.")
def test_poll_and_connected_sensors_are_same_shape(self):
connected_sensors = self._sensors.connected_sensors()
sensor_data = self._sensors.poll()
for i in range(len(connected_sensors)):
with self.subTest(i=i):
self.assertEqual(len(connected_sensors[i]),
len(sensor_data[i]),
f"Contradicting shapes on port {i}.")
def main():
sensors = Sensors()
calculator = Calculator()
communicator = Communicator()
running = True
while running:
try:
start_time = time.time()
data = sensors.poll()
calculator.add_datum(data)
datum = calculator.get_datum()
communicator.publish_message(datum)
while (time.time() - start_time < 1.0):
time.sleep(0.1)
except KeyboardInterrupt:
running = False
sensors.close()
communicator.close()
def run(self):
sensors = None
datalogger = None
try:
# initialise objects
sensors = Sensors(self.T_OFFSET,self.P_OFFSET,self.H_OFFSET)
datalogger = DataLogger(self.DATALOGFILE, self.DATALOGKEYS, self.DATALOGMAXFILESIZE)
self.scheduler = HeaterScheduler()
self.modemanager = ModeManager( scheduler=self.scheduler,
callbackfunc=self.modemanagercallbackfunc)
self.mqttclient = MqttClient(subscribelist=self.SUBSCRIBELIST)
self.heatercontroller = HeaterController()
# initialise state
self.modemanager.setMode(self.modemanager.AUTO)
# initial data
t_avg,p_avg,h_avg = sensors.getData()
# present ourselves
self.mqttclient.publish({topics.IOTHERMSTATUS:'Active'})
self.mqttclient.publish({topics.IOTHERMVERSION:__version__ +' '+ __status__})
self.mqttclient.publish({topics.MODE:self.modemanager.currentmode.name})
self.mqttclient.publish({topics.TARGETTEMPERATURE:self.modemanager.currentmode.targettemperature})
t = 0
while True:
t_,p,h = sensors.getData()
messages = self.mqttclient.getData()
# use temperature value from mqtt
if self.USE_OTHERTEMPERATURE and topics.OTHERTEMPERATURE in messages:
t = float( messages[topics.OTHERTEMPERATURE] )
if not self.USE_OTHERTEMPERATURE:
t = t_
# calculate averages
t_avg = (t_avg + t)/2
p_avg = (p_avg + p)/2
h_avg = (h_avg + h)/2
# calculate derivatives
d_t = (t - t_avg)/self.REFRESH_SECONDS
d_p = (p - p_avg)/self.REFRESH_SECONDS
d_h = (h - h_avg)/self.REFRESH_SECONDS
# process data from subscribed topics
self.processMessages( messages )
# prepare for publishing
messages = self.prepareMessages(t, p, h, d_t, d_p, d_h)
datalogger.log(messages)
self.mqttclient.publish(messages)
# update the heatercontroller with the current and target temperatures
#print('targettemperature = {}'.format(self.modemanager.currentmode.targettemperature))
self.heatercontroller.update(t,self.modemanager.currentmode.targettemperature)
sleep(self.REFRESH_SECONDS)
finally:
print('IOThermostat: Stopping IOThermostat..')
if datalogger:
datalogger.close()
if sensors:
sensors.close()
if self.scheduler:
self.scheduler.close()
if self.heatercontroller:
self.heatercontroller.close()
if self.mqttclient:
self.mqttclient.close()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('file',
nargs='?',
default=None,
help="Name of the file to save")
args = parser.parse_args()
filename = args.file
if filename is None:
i = 1
while os.path.exists("data/data%d.csv" % i):
i += 1
filename = "data/data%d.csv" % i
# Create directory if it doesn't exist
if not os.path.exists(os.path.dirname(filename)):
try:
os.makedirs(os.path.dirname(filename))
except OSError as exc: # Guard against race condition
if exc.errno != errno.EEXIST:
raise
sensors = Sensors()
video_flags = OPENGL | DOUBLEBUF | RESIZABLE
pygame.init()
pygame.display.set_mode((900, 500), video_flags)
title = "Press Esc to quit"
pygame.display.set_caption(title)
sim = Simulation(900, 500)
frames = 0
fps = 0
ticks = pygame.time.get_ticks()
sensor_data = SensorData()
activity = 0
while True:
sensor_data = sensors.read() or sensor_data
event = pygame.event.poll()
if event.type == QUIT or (event.type == KEYDOWN and
(event.key == K_ESCAPE or event.key == K_q)):
break
elif event.type == VIDEORESIZE:
pygame.display.set_mode(event.dict['size'], video_flags)
sim.resize(*event.dict['size'])
elif event.type == KEYDOWN and event.key == K_r:
sim.recenter()
elif event.type == KEYDOWN and event.key in range(K_0, K_9 + 1):
activity = int(event.key - K_0)
elif event.type == KEYDOWN and event.key in range(K_KP0, K_KP9 + 1):
activity = int(event.key - K_KP0)
elif event.type == KEYDOWN and (event.key == K_RETURN
or event.key == K_KP_ENTER):
print("\n - ACTIVITY %d:" % (activity), end='')
save_data = list(sensor_data.clf_data())
with open(filename, "a", newline='') as csv_file:
csv_writer = csv.writer(csv_file)
csv_writer.writerow([activity] + save_data)
print(" Saved %s " % save_data, end='\n\n')
if sensor_data is not None:
sim.sensor_data = sensor_data
sim.draw()
pygame.display.flip()
if (pygame.time.get_ticks() - ticks) >= 250:
fps = ((frames * 1000) // (pygame.time.get_ticks() - ticks))
ticks = pygame.time.get_ticks()
frames = 0
pygame.display.set_caption(title + " | FPS: %d | Activity %d" %
(fps, activity))
frames = frames + 1
sensors.close()
from sensors import Sensors
import time
sensors = Sensors()
sensors.boot()
while True:
sensors.read_data()
print(sensors.mag, sensors.acc, sensors.gyro)
time.sleep(0.02)
sensors.close()
print("sensor closed")
def main():
parser = argparse.ArgumentParser()
group = parser.add_mutually_exclusive_group()
group.add_argument('--net', metavar='port', const=5000, default=None,
type=int, nargs='?', help='Listen to sensor data over UDP')
group.add_argument('--serial', metavar='port', const=True, default=None,
nargs='?', help='Listen to sensor data over serial (default)')
group.add_argument('--demo', action='store_const', dest='demo',
const=True, help='Only show 3D model with no sensor data')
args = parser.parse_args()
if not args.net and not args.serial and not args.demo:
args = parser.parse_args(['--serial'])
if not args.demo:
sensors = Sensors(net_port=args.net, serial_port=args.serial)
video_flags = OPENGL | DOUBLEBUF | RESIZABLE
pygame.init()
pygame.display.set_mode((900, 500), video_flags)
title = "AutomailX"
pygame.display.set_caption(title)
sim = Simulation(900, 500)
frames = 0
fps = 0
ticks = pygame.time.get_ticks()
sensor_data = SensorData()
if args.demo:
sensor_data.setdata(flex=sim.flex_straight)
prediction = None
try:
predictor = Predict()
except Exception as exception:
print("Predictor failed:", exception.with_traceback)
predictor = None
while True:
if not args.demo:
sensor_data = sensors.read() or sensor_data
event = pygame.event.poll()
if event.type == QUIT or (event.type == KEYDOWN and event.key == K_ESCAPE):
break
# if event.type == KEYDOWN and event.key == K_z:
# ser.write("z")
elif event.type == VIDEORESIZE:
pygame.display.set_mode(event.dict['size'], video_flags)
sim.resize(*event.dict['size'])
elif event.type == KEYDOWN and event.key == K_r:
sim.recenter()
else:
keys = pygame.key.get_pressed() # checking pressed keys
if keys[pygame.K_RIGHT]:
sensor_data.flex = \
min(sim.flex_straight, max(sim.flex_bent, sensor_data.flex + 600))
elif keys[pygame.K_LEFT]:
sensor_data.flex = \
min(sim.flex_straight, max(sim.flex_bent, sensor_data.flex - 600))
elif args.demo:
if event.type == KEYDOWN and event.key == K_UP:
sim.nextPose()
elif event.type == KEYDOWN and event.key == K_DOWN:
sim.prevPose()
if sensor_data is not None:
sim.sensor_data = sensor_data
if not args.demo and predictor is not None:
prediction = predictor.predict(sensor_data) or 0
sim.setPose(prediction)
print(" Prediction: %s " % prediction, end='')
sim.draw()
pygame.display.flip()
if (pygame.time.get_ticks()-ticks) >= 250:
fps = ((frames*1000)//(pygame.time.get_ticks()-ticks))
ticks = pygame.time.get_ticks()
frames = 0
prediction_title = ("| Prediction: %d" % prediction) if prediction is not None else ""
pygame.display.set_caption("%s | FPS: %3d %s" % (title, fps, prediction_title))
frames = frames+1
if not args.demo:
sensors.close()
