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state_manager.py
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state_manager.py
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import enabler_connection
import dynamics_model
import threading
import time
import datetime
import math
class StateManager(object):
def __init__(self):
self.stopped = False
self.connection = enabler_connection.EnablerConnection()
self.dynamics_model = dynamics_model.DynamicsModel()
self.headlamp = False
self.highbeams = False
self.wipers = False
self.door_status = {'driver':False, 'passenger':False,
'left_rear':False, 'right_rear':False}
self.start_send_loop(self.send_local_loop, "Send-Local-Thread")
self.data = []
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'steering_wheel_angle',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.1,
'rounding': 1})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'torque_at_transmission',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.1,
'rounding': 1})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'engine_speed',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.1,
'rounding': 1})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'vehicle_speed',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.01,
'rounding': 2})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'accelerator_pedal_position',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.1,
'rounding': 1})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'parking_brake_status',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': True,
'last_value': False,
'precision': 0})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'brake_pedal_status',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': True,
'last_value': False,
'precision': 0})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'transmission_gear_position',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': True,
'last_value': 'first',
'precision': 0})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'gear_lever_position',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': True,
'last_value': 'drive',
'precision': 0})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'odometer',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.002,
'rounding': 3})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'ignition_status',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': True,
'last_value': 'run',
'precision': 0})
period = datetime.timedelta(microseconds = 1000000/2) #2Hz
self.data.append({'name':'fuel_level',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 1,
'rounding': 0})
period = datetime.timedelta(microseconds = 1000000/10) #10Hz
self.data.append({'name':'fuel_consumed_since_restart',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.000001,
'rounding': 6})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'latitude',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.00001,
'rounding': 5})
period = datetime.timedelta(microseconds = 1000000/1) #1Hz
self.data.append({'name':'longitude',
'period': period,
'deadline': datetime.datetime.now() + period,
'fast_update': False,
'precision': 0.00001,
'rounding': 5})
self.start_send_loop(self.send_dynamics_loop, "Send-Dynamic-Thread")
print('State Manager initialized')
# Properties -------------------
@property
def steering_wheel_angle(self):
return self.dynamics_model.steering_wheel_angle
@steering_wheel_angle.setter
def steering_wheel_angle(self, value):
self.dynamics_model.steering_wheel_angle = value
@property
def accelerator_pedal_position(self):
return self.dynamics_model.accelerator
@accelerator_pedal_position.setter
def accelerator_pedal_position(self, value):
self.dynamics_model.accelerator = value
@property
def parking_brake_status(self):
return self.dynamics_model.parking_brake_status
@parking_brake_status.setter
def parking_brake_status(self, value):
self.dynamics_model.parking_brake_status = value
@property
def brake_pedal_position(self):
return self.dynamics_model.brake
@brake_pedal_position.setter
def brake_pedal_position(self, value):
self.dynamics_model.brake = value
@property
def ignition_status(self):
return self.dynamics_model.ignition_status
@ignition_status.setter
def ignition_status(self, value):
self.dynamics_model.ignition_status = value
@property
def gear_lever_position(self):
return self.dynamics_model.gear_lever_position
@gear_lever_position.setter
def gear_lever_position(self, value):
self.dynamics_model.gear_lever_position = value
@property
def headlamp_status(self):
return self.headlamp
@headlamp_status.setter
def headlamp_status(self, value):
if value != self.headlamp:
self.connection.send_measurement("headlamp_status", value)
self.headlamp = value
@property
def high_beam_status(self):
return self.highbeams
@high_beam_status.setter
def high_beam_status(self, value):
if value != self.highbeams:
self.connection.send_measurement("high_beam_status", value)
self.highbeams = value
@property
def windshield_wiper_status(self):
return self.wipers
@windshield_wiper_status.setter
def windshield_wiper_status(self, value):
if value != self.wipers:
self.connection.send_measurement("windshield_wiper_status", value)
self.wipers = value
@property
def local_ip(self):
return self.connection.local_ip
@property
def dynamics_data(self):
return self.dynamics_model.data
@property
def latitude(self):
return self.dynamics_model.snapshot['latitude']
@latitude.setter
def latitude(self, value):
self.dynamics_model.latitude = value
@property
def longitude(self):
return self.dynamics_model.snapshot['longitude']
@longitude.setter
def longitude(self, value):
self.dynamics_model.longitude = value
# Sending Data ------------------
def start_send_loop(self, function, thread_name):
t = threading.Thread(target=self.send_loop, args=[function],
name=thread_name)
t.setDaemon(True)
t.start()
def send_loop(self, function):
while True:
if not self.stopped:
function()
else:
time.sleep(0.5)
def update_signal(self, signal, snapshot):
value = snapshot[signal['name']]
if signal['fast_update']:
signal['last_value'] = value
if signal['precision'] != 0:
value = value - (value % signal['precision'])
value = round(value, signal['rounding'])
self.connection.send_measurement(signal['name'],value)
def send_dynamics_loop(self):
snapshot = self.dynamics_model.snapshot
now = datetime.datetime.now()
for signal in self.data:
if now > signal['deadline']:
self.update_signal(signal, snapshot)
signal['deadline'] = now + signal['period']
elif signal['fast_update']:
if snapshot[signal['name']] != signal['last_value']:
self.update_signal(signal, snapshot)
time.sleep(0.01)
def send_local_loop(self):
self.connection.send_measurement("headlamp_status",
self.headlamp)
self.connection.send_measurement("high_beam_status",
self.highbeams)
self.connection.send_measurement("windshield_wiper_status",
self.wipers)
for door in self.door_status:
self.connection.send_measurement("door_status", door, self.door_status[door])
time.sleep(1.0)
def pause(self):
self.stopped = True
self.dynamics_model.stopped = True
def resume(self):
self.dynamics_model.stopped = False
self.stopped = False
def update_once(self):
self.connection.send_measurement("steering_wheel_angle",
self.steering_wheel_angle)
def send_callback(self, data_name, value, event=None):
self.connection.send_measurement(data_name, value, event)
def update_door(self, door, value):
self.door_status[door] = value
self.connection.send_measurement("door_status", door, value)
def received_messages(self):
return self.connection.received_messages()