-
Notifications
You must be signed in to change notification settings - Fork 0
/
main.py
executable file
·223 lines (173 loc) · 6.86 KB
/
main.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
#!/bin/python3
import logging
import math
import os.path
import sys
import argparse
from sensors.dummy import DummySensor
from sensors.acceleration_sensor import DebugAccelerationSensor, AccelerationSensor#
from sensors.pressure import PressureSensor
from sensors.temperature import TemperatureBMP180Sensor
from sensors.gyrosensor import DebugGyroSensor, GyroSensor
from services.sensor import SensorService
from db.service import CanSatDB
import models.sensor as _sensor
import globals as g
import atexit
from threading import Event, Thread, Lock
import yaml
import time
from models.beeper import *
import RPi.GPIO as GPIO
import picamera
class CanSat:
debug: bool = False
logger = logging.getLogger("cansat-main")
cs_sensors: list[Thread] = []
data: list[_sensor.SensorData] = []
send_data: list[_sensor.SensorData] = []
save_data: list[_sensor.SensorData] = []
ram_data = {
_sensor.SensorType.GYRO: [],
_sensor.SensorType.PRESSURE: [],
_sensor.SensorType.TEMPERATURE_BMP180: [],
_sensor.SensorType.ACCELERATION: [],
}
data_lock = Lock()
i2c_lock = Lock()
last_min_acc = 0
last_max_acc = 0
last_extreme_acc_time = time.time()
args = {}
conf = {}
beep = Beeper()
def __init__(self):
self.exit_event = Event()
self.exit_send_and_save = Event()
self.db = CanSatDB()
def prepare_data(self):
with self.data_lock:
self.send_data.extend(self.data)
self.save_data.extend(self.data)
for i in self.data:
self.ram_data[i.sensor_type].append(i)
self.data.clear()
def exit_handler(self):
if not self.exit_event.is_set():
self.logger.info("Wants exit, setting Event...")
self.exit_event.set()
for sensor in self.cs_sensors:
sensor.join()
self.prepare_data()
GPIO.cleanup()
self.exit_send_and_save.set()
def init_logging(self):
try:
if not self.debug:
logging.basicConfig(filename=g.LOG_FILE, level=logging.INFO)
log = logging.getLogger()
log.addHandler(logging.StreamHandler(sys.stdout))
else:
logging.basicConfig(level=logging.DEBUG)
except Exception as e:
self.logger.critical("!!!Failed to initialize logging!!!")
self.logger.critical(e)
def parse_args(self):
parser = argparse.ArgumentParser(g.PROGRAMM)
parser.add_argument("--debugging", action="store_true", default=False)
self.args = parser.parse_args()
self.debug = self.args.debugging
def setup_conf(self):
with open(g.get_conf_path(self.debug)) as c:
self.conf = yaml.safe_load(c.read())
def init(self):
atexit.register(self.exit_handler)
self.parse_args()
# make dirs
os.makedirs(g.DATA_DIR, exist_ok=True)
os.makedirs(g.LOG_DIR, exist_ok=True)
self.init_logging()
self.setup_conf()
self.db.init(self.conf["db"], self.exit_send_and_save, self.save_data, self.data_lock, self.debug)
self.logger.info("Running with args: %s", self.args)
self.logger.info("And with conf: %s", self.conf)
GPIO.setmode(GPIO.BCM)
GPIO.setup(12, GPIO.OUT)
GPIO.setup(13, GPIO.OUT)
self.servo1 = GPIO.PWM(12, 50)
self.servo2 = GPIO.PWM(13, 50)
self.logger.info("CanSat successfully initialized")
def make_sensor_service(self, sensor: _sensor.Sensor) -> SensorService:
return SensorService(sensor, self.data, self.data_lock, self.exit_event)
def setup_sensor(self, id: int, conf: dict) -> SensorService:
k, v = next(iter(conf.items()))
st = _sensor.get_sensor_type(k)
conf = v
if conf["type"].lower() == "usbserial":
if st == _sensor.SensorType.ACCELERATION:
return self.make_sensor_service(DebugAccelerationSensor(id, conf["port"], conf["baud"]))
elif st == _sensor.SensorType.GYRO:
return self.make_sensor_service(DebugGyroSensor(id, conf["port"], conf["baud"]))
self.logger.warning(f"Sensor type for {id} not implemented, using dummy")
return self.make_sensor_service(DummySensor(id))
def setup_sensors(self):
#self.cs_sensors.append(self.make_sensor_service(GyroSensor(1, self.i2c_lock,)))
#self.cs_sensors.append(self.make_sensor_service(AccelerationSensor(2, self.i2c_lock,)))
self.cs_sensors.append(self.make_sensor_service(TemperatureBMP180Sensor(3, self.i2c_lock,)))
self.cs_sensors.append(self.make_sensor_service(PressureSensor(4, self.i2c_lock,)))
for i in self.cs_sensors:
i.start()
"""for i, s in enumerate(self.conf["sensors"]):
ss = self.setup_sensor(i, s)
ss.start()
self.cs_sensors.append(ss)"""
def startup(self):
self.setup_sensors()
self.db.service.start()
def check_status(self):
res_bschl = []
for i in self.ram_data[_sensor.SensorType.ACCELERATION]:
res_bschl.append(math.sqrt(i[0]**2 + i[1]**2 + i[2]**2))
ma = max(res_bschl)
mi = min(res_bschl)
if not (self.last_max_acc == ma and self.last_min_acc == mi):
self.last_max_acc = ma
self.last_min_acc = mi
self.last_extreme_acc_time = time.time()
else:
print("no max acc for: " + str((time.time() - self.last_extreme_acc_time)))
def run(self):
self.init()
try:
self.startup()
self.servo1.start(0)
self.servo2.start(0)
self.servo1.ChangeDutyCycle(9.3)
self.servo2.ChangeDutyCycle(5.3)
time.sleep(60)
self.servo1.ChangeDutyCycle(7.3)
self.servo2.ChangeDutyCycle(7.3)
self.servo1.stop()
self.servo2.stop()
self.logger.info("Ready - waiting for exit...")
t = time.time()
#c = picamera.PiCamera()
#c.resolution = (2592,1944)
#c.start_preview()
while not self.exit_event.wait(timeout=0.5):
#self.check_status()
self.prepare_data()
#if time.time() - t > 10:
# t=time.time()
#c.capture("/home/pi/cansat/data/" + str(time.time())+ ".jpg")
# self.logger.info("take picture")
except BaseException as e:
if isinstance(e, KeyboardInterrupt):
self.logger.info("KeyboardInterrupt -> exiting...")
self.exit_handler()
else:
self.logger.critical("!!!Main-Thread crashed... Others continuing...!!!")
self.logger.critical(e)
cansat = CanSat()
if __name__ == '__main__':
cansat.run()