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sensor.py
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sensor.py
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# -*- coding: utf-8 -*-
import serial
import time
from random import randint, random
from numpy import arctan2, pi
class Sensor:
url=''
rate=0
port=0
connected=False
def connect(self):
"""
maak verbinding met de sensor
"""
self.port=serial.Serial(self.url, self.rate, timeout=0)
def __init__(self):
self.url='/dev/tty'
self.rate=19200
self.connect(self)
#leest de sensor uit en geeft de data terug als het gelukt is
def read(self, data):
return 0
#genereert een string voor weergave van data in de gui op basis van een
#data-array
def generateOutput(self, data):
return ''
#GPS-sensor
class GPS(Sensor):
def __init__(self):
self.url='/dev/ttyAMA0'
self.rate=4800
try:
self.connect()
except Exception:
self.read=lambda data: False
self.generateOutput=lambda data: "GPS N.C.\n"
else:
self.connected=True
self.port.write("$PSRF103,01,00,00,01*25")
self.port.write("$PSRF103,02,00,00,01*26")
self.port.write("$PSRF103,03,00,00,01*27")
self.port.write("$PSRF103,04,00,00,01*20")
self.port.write("$PSRF103,05,00,00,01*21")
def read(self, data):
try:
gpsoutput = self.port.readline()
except Exception:
return False
if gpsoutput:
gpsoutput=gpsoutput.strip()
gpsdata=gpsoutput.split(',')
#andere protocollen overslaan
if gpsdata[0]=='$GPGGA':
#soms geeft de gps een set van lege data door
if not (len(gpsdata)==1 or gpsdata[1]==''):
data["hours"]=int(gpsdata[1][0:2])
data["minutes"]=int(gpsdata[1][2:4])
data["seconds"]=float(gpsdata[1][4:10])
#check of er signaal is
if float(gpsdata[7])!=0:
data["latdeg"]=gpsdata[2][0:2]
data["latmin"]=gpsdata[2][2:10]
data["lator"]=gpsdata[3]
data["londeg"]=gpsdata[4][0:3]
data["lonmin"]=gpsdata[4][3:10]
data["lonor"]=gpsdata[5]
data["alt"]=gpsdata[9]
data["altu"]=gpsdata[10].lower()
data["satnum"]=gpsdata[7]
data["hdop"]=float(gpsdata[8])
return True
else:
self.read(data)
else:
return False
def generateOutput(self, data):
output=""
output+='UTC: '
output+=str(data["hours"])
output+=' h '
output+=str(data["minutes"])
output+=' m '
output+=str(data["seconds"])
output+=' s'
output+='\n'
if float(data["satnum"])!=0:
output+= 'Lat: '
output+=str(data["latdeg"])
output+=' deg '
output+=str(data["latmin"])
output+=' min '
output+=str(data["lator"])
output+='\n'
output+= 'Long: '
output+=str(data["londeg"])
output+=' deg '
output+=str(data["lonmin"])
output+=' min '
output+=str(data["lonor"])
output+='\n'
output+= 'MSL altitude '
output+=str(data["alt"])
output+=' '
output+=str(data["altu"])
output+='\n'
output+=str(data["satnum"])
output+=' satellites in use'
output+='\n'
output+= 'hdop '
output+=str(data["hdop"])
output+=': '
if data["hdop"]==1:
output+= 'ideal'
elif data["hdop"]<2:
output+= 'excellent'
elif data["hdop"]<5:
output+= 'good'
elif data["hdop"]<10:
output+= 'moderate'
elif data["hdop"]<=20:
output+= 'fair'
else:
output+= 'poor'
else:
output+= 'NO SIGNAL'
output+='\n'
return output
#Geiger-Müllerteller
class Geiger(Sensor):
def __init__(self):
self.url='/dev/ttyACM0'
self.rate=19200
try:
self.connect()
except Exception:
self.read=self.RNG
self.lastread=0
self.generateOutput=lambda data: "N.C. "+str(data["cpm"])+" CPM\n"
else:
self.connected=True
def read(self, data):
readout=self.port.readline()
if readout:
try:
data["cpm"]=int(readout)
return True
except Exception:
return False
else:
return False
def RNG(self, data):
if (int(time.gmtime()[5])-self.lastread+100)%10==0:
data["cpm"]=randint(0, 50)
self.lastread=int(time.gmtime()[5])
return True
else:
return False
def generateOutput(self, data):
output='CPM: '
output+=str(data["cpm"])
output+='\n'
return output
#Overige sensoren: proximity, kompas, licht, vochtigheid en de pan/tilt voor de camera
class ProMa(Sensor):
def __init__(self):
self.url='/dev/ttyACM2'
self.rate=4800
try:
self.connect()
self.port.readline()
self.port.readline()
except Exception:
self.read=self.RNG
self.generateOutput=lambda data: "N.C."
self.pan=lambda angle: None
self.tilt=lambda angle: None
else:
self.connected=True
#servo voor pan roteren
def pan(self, angle):
self.port.write(str(angle)+'a'+'\n')
#servo voor tilt roteren
def tilt(self, angle):
self.port.write(str(angle)+'b'+'\n')
def read(self, data):
try:
inputstr=self.port.readline()
except Exception:
return False
if inputstr:
if inputstr.startswith('d'):
inputstr=inputstr.split('&')
if len(inputstr)<2:
return False
inputstr[1]=inputstr[1].split(',')
try:
angle=arctan2(float(inputstr[1][1]),float(inputstr[1][0]))
data["magn"]=angle
except Exception:
pass
inputstr[0]=inputstr[0].split(',')
angle=int(inputstr[0][0].strip('d'))
dist=float(inputstr[0][1])
if data["prox"][0].count(angle)>0:
ind=data["prox"][0].index(angle)
data["prox"][1][ind]=dist
else:
data["prox"][0].append(angle)
data["prox"][1].append(dist)
return True
elif inputstr.startswith('t'):
print inputstr
inputstr=inputstr.split(',')
try:
data["temp"]=float(inputstr[0].strip('t'))
data["vocht"]=float(inputstr[1])
data["damp"]=float(inputstr[2])
data["licht"]=float(inputstr[3])
except Exception:
return False
return True
else:
return False
else:
return False
def RNG(self, data):
data["magn"]=random()*(2*pi)-pi
for ind, stuff in enumerate(data["prox"][1]):
data["prox"][1][ind]=randint(10,100)
return True
def generateOutput(self, data):
output=""
output+="Temperature: "
output+=str(data["temp"])
output+="°C"
output+=" Humidity: "
output+=str(data["vocht"])
output+="%"
output+=" Dew point: "
output+=str(data["damp"])
output+="°C"
output+=" Light: "
output+=str(data["licht"])
output+="%"
return output