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IMU_GUI.py
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IMU_GUI.py
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<<<<<<< HEAD
#!/usr/bin/python
# -*- coding: UTF-8 -*-
# Author : MikeChan
# Email : m7807031@gmail.com
# Date : 06/21/2016
import time, sys, os, datetime, threading
from PyQt4.QtCore import *
from PyQt4.QtGui import *
#===== Global Varibles =====
now = datetime.datetime.now()
today = str( str(now).split(" ")[0].split("-")[0] + str(now).split(" ")[0].split("-")[1] + str(now).split(" ")[0].split("-")[2] )
tonow = str( str(now).split(" ")[1].split(":")[0] + str(now).split(" ")[1].split(":")[1] )
#===== for raspberry PI =====
import smbus
import picamera
i2c = smbus.SMBus(1)
#enable pi-camera
try:
camera = picamera.PiCamera()
except:
pass
addr = 0x68
raw_data = []
#====== QT area ======
class IMU_GUI(QWidget):
def __init__(self, parent = None):
super(IMU_GUI, self).__init__(parent)
self.imu_start_record = imu_start_record()
self.imu_start_record_stable = imu_start_record_stable()
self.save_record = save_record()
# create Layout and connection
self.createLayout()
self.createConnection()
# window properties adjustment
self.setGeometry(140,70,300,400)
#self.resize(300,400)
#self.move(140,35)
self.setWindowIcon(QIcon('/home/pi/Self_IMU/icon/QIMU.png'))
self.setWindowTitle("MPU9250 & PiCamera GUI")
# varibles
self.preview_switch = False
self.film_switch = False
self.IMU_KEY = False
self.photo_count = 0
self.video_count = 0
self.path = "%s_%s" % (today, tonow)
if not os.path.exists(self.path):
try:
os.makedirs(self.path)
except OSError:
if not os.path.isdir(self.path):
raise
def createLayout(self):
#===== IMU Layout =====
self.IMU_Label = QLabel("@ IMU Area @")
self.stableCheckBox = QCheckBox(u"即時慢速寫入")
h0=QHBoxLayout()
h0.addWidget(self.IMU_Label)
h0.addWidget(self.stableCheckBox)
self.statusBrowser = QTextBrowser()
h1 = QHBoxLayout()
h1.addWidget(self.statusBrowser)
self.startButton = QPushButton("Start IMU")
self.stopButton = QPushButton("Stop IMU")
self.saveButton = QPushButton("Save Data")
h2 = QHBoxLayout()
h2.addWidget(self.startButton)
h2.addWidget(self.stopButton)
h2.addWidget(self.saveButton)
#===== PiCamera layout ======
self.PiCamera_Label = QLabel("@ PiCamera Area @")
h3=QHBoxLayout()
h3.addWidget(self.PiCamera_Label)
self.camBrowser = QTextBrowser()
h4 = QHBoxLayout()
h4.addWidget(self.camBrowser)
self.previewButton = QPushButton("Preview")
self.filmButton = QPushButton("Filming")
self.photoButton = QPushButton("Photo Take")
h5 = QHBoxLayout()
h5.addWidget(self.previewButton)
h5.addWidget(self.filmButton)
h5.addWidget(self.photoButton)
# setting layout
layout1 = QVBoxLayout()
layout2 = QVBoxLayout()
layout0 = QVBoxLayout()
# IMU Layout
layout1.addLayout(h0)
layout1.addLayout(h1)
layout1.addLayout(h2)
# PiCamera Layout
layout2.addLayout(h3)
layout2.addLayout(h4)
layout2.addLayout(h5)
layout0.addLayout(layout1)
layout0.addLayout(layout2)
self.setLayout(layout0)
self.previewButton.setEnabled(True)
self.filmButton.setEnabled(True)
self.photoButton.setEnabled(True)
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
def createConnection(self):
#===== Picamera related =====
self.previewButton.clicked.connect(self.preview)
self.filmButton.clicked.connect(self.film)
self.photoButton.clicked.connect(self.take_photo)
#===== IMU related =====
self.startButton.clicked.connect(self.start)
self.stopButton.clicked.connect(self.stop)
self.saveButton.clicked.connect(self.save)
self.connect(self.save_record, SIGNAL("finished()"), self.finished)
#====== Stable CheckBox related =====
self.stableCheckBox.stateChanged.connect(self.enable_stable)
#===== IMU Func. area =====
def start(self):
test_t0 = time.time()
self.statusBrowser.append("MPU9250 BootUp...")
#===== IMU initial =====
try:
i2c.write_byte_data(0x68, 0x6a, 0x00) # Clear sleep mode bit (6), enable all sensors
time.sleep(0.1) # Wait for all registers to reset
i2c.write_byte_data(0x68, 0x1a, 0x03)
# Configure Gyro and Thermometer
# Disable FSYNC and set thermometer and gyro bandwidth to 41 and 42 Hz, respectively;
# minimum delay time for this setting is 5.9 ms, which means sensor fusion update rates cannot
# be higher than 1 / 0.0059 = 170 Hz
# DLPF_CFG = bits 2:0 = 011; this limits the sample rate to 1000 Hz for both
# With the MPU9250, it is possible to get gyro sample rates of 32 kHz (!), 8 kHz, or 1 kHz
i2c.write_byte_data(0x68, 0x19, 0x04)
# sample_rate = internal_sample_rate/ (1+SMPLRT_DIV)
# Use a 200 Hz rate; a rate consistent with the filter update rate
#determined inset in CONFIG above
#ACC_CFG = i2c.read_byte_data(0x68, 0x1c)
#ACC_CFG_2 = i2c.read_byte_data(0x68, 0x1D)
#GYRO_CFG = i2c.read_byte_data(0x68, 0x1b)
'''
# add bias to offset ax_bias=71=0x47 , ay_bias= -56 =FFC7 , az_bias= -502 = FE09
# ax_offset high bit
i2c.write_byte_data(0x68, 0x77, 0x00)
# ax_offset low bit
i2c.write_byte_data(0x68, 0x78, 0x00)
# ay_offset high bit
i2c.write_byte_data(0x68, 0x7A, 0x00)
# ay_offset low bit
i2c.write_byte_data(0x68, 0x7B, 0x00)
# az_offset high bit
i2c.write_byte_data(0x68, 0x7D, 0x00)
# az_offset low bit
i2c.write_byte_data(0x68, 0x7E, 0x00)
'''
i2c.write_byte_data(0x68, 0x37, 0x02) # set pass-through mode
time.sleep(0.1)
i2c.write_byte_data(0x0c, 0x0a, 0x16) # enable AKM
time.sleep(0.1)
self.statusBrowser.append("Initialization Done!")
self.IMU_KEY = True
except:
self.statusBrowser.append("Bootup Failed! Check Wiring...")
self.IMU_KEY = False
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
#===== end initial ======
if self.IMU_KEY and not self.stableCheckBox.isChecked():
self.tt0 = time.time()
self.statusBrowser.append("Start Recording....")
self.startButton.setEnabled(False)
self.stopButton.setEnabled(True)
self.saveButton.setEnabled(False)
self.imu_start_record.start()
elif self.IMU_KEY and self.stableCheckBox.isChecked():
self.tt0 = time.time()
self.statusBrowser.append("Start Recording in Stable Status...")
self.startButton.setEnabled(False)
self.stopButton.setEnabled(True)
self.saveButton.setEnabled(False)
self.imu_start_record_stable.start()
def stop(self):
global raw_data
self.duringTime = time.time() - self.tt0
self.statusBrowser.append("Record Stop!")
self.statusBrowser.append("During Time: " + "%.2f" %self.duringTime)
if not self.stableCheckBox.isChecked():
self.imu_start_record.stop()
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(True)
elif self.stableCheckBox.isChecked():
self.imu_start_record_stable.stop()
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
self.statusBrowser.append("== Data Saved and Port Clear ==")
def save(self):
self.statusBrowser.append("Data saving....")
time.sleep(0.5)
self.save_record.start()
self.startButton.setEnabled(False)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
def finished(self): # will be call when save_record was finished
self.statusBrowser.append("Data saved, memory clear.")
self.statusBrowser.append("===== End Section =====")
self.saveButton.setEnabled(False)
self.stopButton.setEnabled(False)
self.startButton.setEnabled(True)
def enable_stable(self):
check_stable = QMessageBox.question(self, u'啟動即時寫入', \
u"此選項將延遲每筆資料速度，並保證資料即時記錄於檔案中，確定嗎？\n 按'Yes'啟動即時檔案寫入，\n 按'NO'取消即時檔案寫入", \
QMessageBox.Yes | QMessageBox.No)
if check_stable == QMessageBox.Yes:
self.statusBrowser.append(u"*IMU即時寫入已啟動")
self.stableCheckBox.setCheckState(2)
self.saveButton.setEnabled(False)
else:
self.statusBrowser.append(u"*取消即時寫入")
self.stableCheckBox.setCheckState(0)
self.saveButton.setEnabled(True)
#===== Picamera Func. area =====
def preview(self):
camera.stop_preview()
if not self.preview_switch:
self.camBrowser.append("Preview on.")
camera.start_preview(fullscreen = False, window = (450, 10, 400, 300) )
self.preview_switch = True
elif self.preview_switch:
self.camBrowser.append("Preview off.")
self.camBrowser.append("==========")
camera.stop_preview()
self.preview_switch = False
else:
self.camBrowser.append("Prview Booom!")
def film(self):
#camera.stop_recording()
film_path = self.path
if not os.path.exists(film_path):
try:
os.makedirs(film_path)
except OSError:
if not os.path.isdir(film_path):
raise
if not self.film_switch:
self.camBrowser.append("Start Filming...")
self.video_count += 1
camera.start_recording(film_path + '/video%d.h264' %(self.video_count) )
self.film_switch = True
self.photoButton.setEnabled(False)
elif self.film_switch:
self.camBrowser.append("Stop Filming...")
camera.stop_recording()
self.camBrowser.append("Film saved.")
self.film_switch = False
self.camBrowser.append("==========")
self.photoButton.setEnabled(True)
else:
self.camBrowser.append("Film Booom!")
def take_photo(self):
self.photo_count += 1
self.filmButton.setEnabled(False)
self.photoButton.setEnabled(False)
# Create "Photo" folder if not exist
photo_path = self.path
if not os.path.exists(photo_path):
try:
os.makedirs(photo_path)
except OSError:
if not os.path.isdir(photo_path):
raise
camera.capture(photo_path + '/image%d.jpg' %self.photo_count )
self.camBrowser.append("image%d saved" %self.photo_count )
self.photoButton.setEnabled(True)
self.filmButton.setEnabled(True)
class imu_start_record(QThread):
def __init__(self, parent=None):
super(self.__class__, self).__init__(parent)
self.stoped = False
self.mutex = QMutex()
def run(self):
global raw_data
# varibles
self.t0 = time.time()
self.t_a_g = []
with QMutexLocker(self.mutex):
self.stoped = False
while 1:
if not self.stoped:
self.mpu9250_data_get_and_write()
else:
#print("break!")
break
raw_data = list(self.t_a_g)
#print "data copy!"
def stop(self):
with QMutexLocker(self.mutex):
self.stoped = True
def isStop(self):
with QMutexLocker(self.mutex):
return self.stoped
def mpu9250_data_get_and_write(self):
# keep AKM pointer on continue measuring
i2c.write_byte_data(0x0c, 0x0a, 0x16)
# get MPU9250 smbus block data
#xyz_g_offset = i2c.read_i2c_block_data(addr, 0x13, 6)
xyz_a_out = i2c.read_i2c_block_data(addr, 0x3B, 6)
xyz_g_out = i2c.read_i2c_block_data(addr, 0x43, 6)
#xyz_a_offset = i2c.read_i2c_block_data(addr, 0x77, 6)
# get AK8963 smbus data (by pass-through way)
xyz_mag = i2c.read_i2c_block_data(0x0c, 0x03, 6)
#xyz_mag_adj = i2c.read_i2c_block_data(0x0c, 0x10, 3)
# get real time
t1 = time.time() - self.t0
# save file to list buffer
self.t_a_g.append(t1)
self.t_a_g.append(xyz_a_out)
self.t_a_g.append(xyz_g_out)
self.t_a_g.append(xyz_mag)
#self.t_a_g.append(xyz_mag_adj)
time.sleep(0.00001)
class imu_start_record_stable(QThread):
def __init__(self, parent=None):
super(self.__class__, self).__init__(parent)
self.stoped = False
self.mutex = QMutex()
self.imu_count_stable = 0
def run(self):
self.t0 = time.time()
self.imu_count_stable += 1
with QMutexLocker(self.mutex):
self.stoped = False
while 1:
if not self.stoped:
self.mpu9250_data_get_and_write()
else:
break
def stop(self):
with QMutexLocker(self.mutex):
self.stoped = True
def isStop(self):
with QMutexLocker(self.mutex):
return self.stoped
def mpu9250_data_get_and_write(self):
# keep AKM pointer on continue measuring
i2c.write_byte_data(0x0c, 0x0a, 0x16)
# get MPU9250 smbus block data
#xyz_g_offset = i2c.read_i2c_block_data(addr, 0x13, 6)
xyz_a_out = i2c.read_i2c_block_data(addr, 0x3B, 6)
xyz_g_out = i2c.read_i2c_block_data(addr, 0x43, 6)
#xyz_a_offset = i2c.read_i2c_block_data(addr, 0x77, 6)
# get AK8963 smbus data (by pass-through way)
xyz_mag = i2c.read_i2c_block_data(0x0c, 0x03, 6)
#xyz_mag_adj = i2c.read_i2c_block_data(0x0c, 0x10, 3)
# get real time
t1 = time.time() - self.t0
# save file to list buffer
#self.t_a_g.append(t1)
#self.t_a_g.append(xyz_a_out)
#self.t_a_g.append(xyz_g_out)
#self.t_a_g.append(xyz_mag)
#t_a_g.append(xyz_mag_adj)
filename = "IMU_LOG_REALTIME_%s.txt" %(self.imu_count_stable)
file_s = open(filename, "a")
print >> file_s, "%f" %t1
print >> file_s, xyz_a_out
print >> file_s, xyz_g_out
print >> file_s, xyz_mag
file_s.close()
time.sleep(0.00001)
class save_record(QThread):
def __init__(self, parent=None):
super(self.__class__, self).__init__(parent)
self.imu_count = 0
def run(self):
global raw_data
self.imu_count += 1
try:
filename = "IMU_LOG_%s.txt" %(self.imu_count)
self.data_f = open(filename, "w")
for i in raw_data:
if isinstance(i, float):
print >> self.data_f ,"%f" %i
else:
print >> self.data_f , i
except:
print "Data saving failed"
finally:
i2c.write_byte_data(addr, 0x6A, 0x07)
raw_data = []
self.data_f.close()
if __name__ == "__main__":
app=QApplication(sys.argv)
IMU_GUI = IMU_GUI()
IMU_GUI.show()
sys.exit(app.exec_())
=======
#!/usr/bin/python
# -*- coding: UTF-8 -*-
# Author : MikeChan
# Email : m7807031@gmail.com
# Date : 06/21/2016
import time, sys, os, datetime, threading
from PyQt4.QtCore import *
from PyQt4.QtGui import *
#===== Global Varibles =====
now = datetime.datetime.now()
today = str( str(now).split(" ")[0].split("-")[0] + str(now).split(" ")[0].split("-")[1] + str(now).split(" ")[0].split("-")[2] )
tonow = str( str(now).split(" ")[1].split(":")[0] + str(now).split(" ")[1].split(":")[1] )
countdown_sec = 0
#===== for raspberry PI =====
import smbus
import picamera
i2c = smbus.SMBus(1)
#enable pi-camera
try:
camera = picamera.PiCamera()
except:
pass
addr = 0x68
raw_data = []
#====== QT area ======
class IMU_GUI(QWidget):
global countdown_sec
def __init__(self, parent = None):
super(IMU_GUI, self).__init__(parent)
self.imu_start_record = imu_start_record()
self.imu_start_record_stable = imu_start_record_stable()
self.save_record = save_record()
# create Layout and connection
self.createLayout()
self.createConnection()
# window properties adjustment
self.setGeometry(140,70,300,400)
#self.resize(300,400)
#self.move(140,35)
self.setWindowIcon(QIcon('/home/pi/Self_IMU/icon/QIMU.png'))
self.setWindowTitle("MPU9250 & PiCamera GUI")
# varibles
self.preview_switch = False
self.film_switch = False
self.IMU_KEY = False
self.PAUSE_KEY = False
self.photo_count = 0
self.video_count = 0
self.path = "%s_%s" % (today, tonow)
if not os.path.exists(self.path):
try:
os.makedirs(self.path)
except OSError:
if not os.path.isdir(self.path):
raise
def createLayout(self):
#===== IMU Layout =====
self.IMU_Label = QLabel("@ IMU Area @")
self.stableCheckBox = QCheckBox(u"即時慢速寫入")
self.stableCheckBox.setChecked(True)
h0=QHBoxLayout()
h0.addWidget(self.IMU_Label)
h0.addWidget(self.stableCheckBox)
self.record_sec_le = QLineEdit()
self.sec_label = QLabel(u'分')
self.set_record_sec_btn = QPushButton(u"輸入幾分鐘(0=無限)")
h01 =QHBoxLayout()
h01.addWidget(self.record_sec_le)
h01.addWidget(self.sec_label)
h01.addWidget(self.set_record_sec_btn)
self.record_sec_le.setText(str(0))
self.statusBrowser = QTextBrowser()
h1 = QHBoxLayout()
h1.addWidget(self.statusBrowser)
self.startButton = QPushButton("Start IMU")
self.pauseButton = QPushButton("Pause/Resume")
self.stopButton = QPushButton("Stop IMU")
self.saveButton = QPushButton("Save Data")
h2 = QHBoxLayout()
h2.addWidget(self.startButton)
#h2.addWidget(self.pauseButton)
h2.addWidget(self.stopButton)
h2.addWidget(self.saveButton)
#===== PiCamera layout ======
self.PiCamera_Label = QLabel("@ PiCamera Area @")
h3=QHBoxLayout()
h3.addWidget(self.PiCamera_Label)
self.camBrowser = QTextBrowser()
h4 = QHBoxLayout()
h4.addWidget(self.camBrowser)
self.previewButton = QPushButton("Preview")
self.filmButton = QPushButton("Filming")
self.photoButton = QPushButton("Photo Take")
h5 = QHBoxLayout()
h5.addWidget(self.previewButton)
h5.addWidget(self.filmButton)
h5.addWidget(self.photoButton)
# setting layout
layout1 = QVBoxLayout()
layout2 = QVBoxLayout()
layout0 = QVBoxLayout()
# IMU Layout
layout1.addLayout(h0)
layout1.addLayout(h01)
layout1.addLayout(h1)
layout1.addLayout(h2)
# PiCamera Layout
layout2.addLayout(h3)
layout2.addLayout(h4)
layout2.addLayout(h5)
layout0.addLayout(layout1)
layout0.addLayout(layout2)
self.setLayout(layout0)
self.previewButton.setEnabled(True)
self.filmButton.setEnabled(True)
self.photoButton.setEnabled(True)
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
def createConnection(self):
#===== IMU related =====
self.set_record_sec_btn.clicked.connect(self.set_record_sec)
self.startButton.clicked.connect(self.start)
self.pauseButton.clicked.connect(self.pause)
self.stopButton.clicked.connect(self.stop)
self.saveButton.clicked.connect(self.save)
#self.connect(self.save_record, SIGNAL("finished()"), self.finished)
#===== Picamera related =====
self.previewButton.clicked.connect(self.preview)
self.filmButton.clicked.connect(self.film)
self.photoButton.clicked.connect(self.take_photo)
#====== Stable CheckBox related =====
self.stableCheckBox.stateChanged.connect(self.enable_stable)
#===== IMU Func. area =====
def set_record_sec(self):
num,ok = QInputDialog.getInt(self,u"預計IMU紀錄時間",u"輸入想要紀錄幾分鐘")
if ok:
self.record_sec_le.setText(str(num))
def start(self):
test_t0 = time.time()
countdown_sec = self.record_sec_le.text() * 60
self.statusBrowser.append("MPU9250 BootUp...")
#===== IMU initial =====
try:
i2c.write_byte_data(0x68, 0x6a, 0x00) # Clear sleep mode bit (6), enable all sensors
time.sleep(0.1) # Wait for all registers to reset
i2c.write_byte_data(0x68, 0x1a, 0x03)
# Configure Gyro and Thermometer
# Disable FSYNC and set thermometer and gyro bandwidth to 41 and 42 Hz, respectively;
# minimum delay time for this setting is 5.9 ms, which means sensor fusion update rates cannot
# be higher than 1 / 0.0059 = 170 Hz
# DLPF_CFG = bits 2:0 = 011; this limits the sample rate to 1000 Hz for both
# With the MPU9250, it is possible to get gyro sample rates of 32 kHz (!), 8 kHz, or 1 kHz
i2c.write_byte_data(0x68, 0x19, 0x04)
# sample_rate = internal_sample_rate/ (1+SMPLRT_DIV)
# Use a 200 Hz rate; a rate consistent with the filter update rate
#determined inset in CONFIG above
#ACC_CFG = i2c.read_byte_data(0x68, 0x1c)
#ACC_CFG_2 = i2c.read_byte_data(0x68, 0x1D)
#GYRO_CFG = i2c.read_byte_data(0x68, 0x1b)
i2c.write_byte_data(0x68, 0x37, 0x02) # set pass-through mode
time.sleep(0.1)
i2c.write_byte_data(0x0c, 0x0a, 0x16) # enable AKM
time.sleep(0.1)
self.statusBrowser.append("Initialization Done!")
self.IMU_KEY = True
except:
self.statusBrowser.append("Bootup Failed! Check Wiring...")
self.IMU_KEY = False
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
#===== end initial ======
countdown_sec = int(self.record_sec_le.text()) *60
s = u"預定記錄秒數: %ss" %countdown_sec
self.statusBrowser.append(s)
#確認 stable checkbox 是否開啟
if self.IMU_KEY and not self.stableCheckBox.isChecked():
self.tt0 = time.time()
self.statusBrowser.append(u"開始紀錄...")
self.imu_start_record.start()
elif self.IMU_KEY and self.stableCheckBox.isChecked():
self.tt0 = time.time()
self.statusBrowser.append(u"即時存檔狀態->開始紀錄...")
self.imu_start_record_stable.start()
# 防誤觸鎖鍵
self.startButton.setEnabled(False)
self.stopButton.setEnabled(True)
self.saveButton.setEnabled(False)
def pause(self):
if not self.stableCheckBox.isChecked():
if self.PAUSE_KEY == False:
self.imu_start_record.stop()
elif self.PAUSE_KEY == True:
self.imu_start_record.start()
elif self.stableCheckBox.isChecked():
if self.PAUSE_KEY == False:
self.imu_start_record_stable.stop()
elif self.PAUSE_KEY == True:
self.imu_start_record_stable.start()
self.PAUSE_KEY = not self.PAUSE_KEY
def stop(self):
global raw_data
self.duringTime = time.time() - self.tt0
self.statusBrowser.append(u"停止紀錄!")
self.statusBrowser.append("During Time: " + "%.2f" %self.duringTime)
if not self.stableCheckBox.isChecked():
self.imu_start_record.stop()
self.save()
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(True)
self.statusBrowser.append(u"=檔案儲存完畢，清除 IMU 連線=")
i2c.write_byte_data(addr, 0x6A, 0x07)
elif self.stableCheckBox.isChecked():
self.imu_start_record_stable.stop()
self.startButton.setEnabled(True)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
self.statusBrowser.append(u"=檔案儲存完畢，清除 IMU 連線=")
i2c.write_byte_data(addr, 0x6A, 0x07)
def save(self):
self.statusBrowser.append(u"檔案儲存中")
time.sleep(0.5)
self.save_record.start()
self.startButton.setEnabled(False)
self.stopButton.setEnabled(False)
self.saveButton.setEnabled(False)
def finished(self): # will be call when save_record was finished
self.statusBrowser.append(u"檔案已儲存，清空記憶體")
self.statusBrowser.append("===== End Section =====")
self.saveButton.setEnabled(False)
self.stopButton.setEnabled(False)
self.startButton.setEnabled(True)
# show stable checkbox option
def enable_stable(self):
check_stable = QMessageBox.question(self, u'啟動即時寫入', \
u"此選項將延遲每筆資料速度，並保證資料即時記錄於檔案中，確定嗎？\n 按'Yes'啟動即時檔案寫入，\n 按'NO'取消即時檔案寫入", \
QMessageBox.Yes | QMessageBox.No)
if check_stable == QMessageBox.Yes:
self.statusBrowser.append(u"*IMU即時寫入已啟動")
self.stableCheckBox.setCheckState(2)
self.saveButton.setEnabled(False)
else:
self.statusBrowser.append(u"*取消即時寫入")
self.stableCheckBox.setCheckState(0)
self.saveButton.setEnabled(True)
#===== Picamera Func. area =====
def preview(self):
camera.stop_preview()
if not self.preview_switch:
self.camBrowser.append("Preview on.")
camera.start_preview(fullscreen = False, window = (450, 10, 400, 300) )
self.preview_switch = True
elif self.preview_switch:
self.camBrowser.append("Preview off.")
self.camBrowser.append("==========")
camera.stop_preview()
self.preview_switch = False
else:
self.camBrowser.append("Prview Booom!")
def film(self):
#camera.stop_recording()
film_path = self.path
if not os.path.exists(film_path):
try:
os.makedirs(film_path)
except OSError:
if not os.path.isdir(film_path):
raise
if not self.film_switch:
self.camBrowser.append("Start Filming...")
self.video_count += 1
camera.start_recording(film_path + '/video%d.h264' %(self.video_count) )
self.film_switch = True
self.photoButton.setEnabled(False)
elif self.film_switch:
self.camBrowser.append("Stop Filming...")
camera.stop_recording()
self.camBrowser.append("Film saved.")
self.film_switch = False
self.camBrowser.append("==========")
self.photoButton.setEnabled(True)
else:
self.camBrowser.append("Film Booom!")
def take_photo(self):
self.photo_count += 1
self.filmButton.setEnabled(False)
self.photoButton.setEnabled(False)
# Create "Photo" folder if not exist
photo_path = self.path
if not os.path.exists(photo_path):
try:
os.makedirs(photo_path)
except OSError:
if not os.path.isdir(photo_path):
raise
camera.capture(photo_path + '/image%d.jpg' %self.photo_count )
self.camBrowser.append("image%d saved" %self.photo_count )
self.photoButton.setEnabled(True)
self.filmButton.setEnabled(True)
class imu_start_record(QThread):
def __init__(self, parent=None):
super(self.__class__, self).__init__(parent)
self.stoped = False
self.mutex = QMutex()
#===== QTimer =====
self.timer = QTimer()
self.timer.setInterval(10)
self.connect(self.timer, SIGNAL("timeout()"), self.mpu9250_data_get_and_write)
def run(self):
global raw_data
# varibles
self.t0 = time.time()
self.t_a_g = []
with QMutexLocker(self.mutex):
self.stoped = False
self.timer.start()
raw_data = list(self.t_a_g)
#print "data copy!"
def stop(self):
with QMutexLocker(self.mutex):
self.stoped = True
def isStop(self):
with QMutexLocker(self.mutex):
return self.stoped
def mpu9250_data_get_and_write(self):
# keep AKM pointer on continue measuring
i2c.write_byte_data(0x0c, 0x0a, 0x16)
# get MPU9250 smbus block data
#xyz_g_offset = i2c.read_i2c_block_data(addr, 0x13, 6)
xyz_a_out = i2c.read_i2c_block_data(addr, 0x3B, 6)
xyz_g_out = i2c.read_i2c_block_data(addr, 0x43, 6)
#xyz_a_offset = i2c.read_i2c_block_data(addr, 0x77, 6)
# get AK8963 smbus data (by pass-through way)
xyz_mag = i2c.read_i2c_block_data(0x0c, 0x03, 6)
#xyz_mag_adj = i2c.read_i2c_block_data(0x0c, 0x10, 3)
# get real time
t1 = time.time() - self.t0
# save file to list buffer
self.t_a_g.append(t1)
self.t_a_g.append(xyz_a_out)
self.t_a_g.append(xyz_g_out)
self.t_a_g.append(xyz_mag)
#self.t_a_g.append(xyz_mag_adj)
time.sleep(0.00001)
class imu_start_record_stable(QThread):
def __init__(self, parent=None):
super(self.__class__, self).__init__(parent)
self.stoped = False
self.mutex = QMutex()
self.t0 = time.time()
self.imu_count_stable = 0
self.countdown_sec = 60
#===== QTimer =====
self.big_timer = QTimer()
self.timer = QTimer()
#self.timer.setInterval(10)
self.connect(self.timer, SIGNAL("timeout()"), self.mpu9250_data_get_and_write)
def run(self):
self.timer.start(7)
self.big_timer.singleShot(self.countdown_sec *1000, self.stop)
with QMutexLocker(self.mutex):
self.stoped = False
def stop(self):
with QMutexLocker(self.mutex):
self.stoped = True
self.timer.stop()
print 'Done'
def isStop(self):
with QMutexLocker(self.mutex):