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Behaviours.py
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from copy import copy
from time import clock
from time import sleep
import time
import math
import pickle
import os
import sys
import numpy as np
import random
from interactive_system import InteractiveCmd
from interactive_system.InteractiveCmd import command_object
ACC_MG_PER_LSB = 3.9
ADC_RES = 2**12
class Test_Behaviours(InteractiveCmd):
def run(self):
NUM_FIN = 3
NUM_LIGHT = 3
teensy_names = self.teensy_manager.get_teensy_name_list()
# initially update the Teensys with all the output parameters here
self.update_output_params(teensy_names)
indicator_led_period = dict()
indicator_led_on = dict()
for teensy_name in teensy_names:
indicator_led_period[teensy_name] = 0
indicator_led_on[teensy_name] = 1
loop = 0
num_loop = 1000
while loop < num_loop:
start_time = clock()
if self.teensy_manager.get_num_teensy_thread() == 0:
return
for teensy_name in list(teensy_names):
# first loop only
if loop == 0:
cmd_obj = command_object(teensy_name, msg_setting=1)
cmd_obj.add_param_change('operation_mode', 1)
self.enter_command(cmd_obj)
Teensy_thread = self.teensy_manager.get_teensy_thread(teensy_name)
# check if the thread is still alive
if Teensy_thread is not None:
#=== basic commands"
cmd_obj = command_object(teensy_name, msg_setting=1)
#
# cmd_obj.add_param_change('indicator_led_on', indicator_led_on[teensy_name])
# cmd_obj.add_param_change('indicator_led_period', int(indicator_led_period[teensy_name])*50)
cmd_obj.add_param_change('reply_type_request', 0)
for j in range(NUM_FIN):
#=== fin low-level commands"
cmd_obj.add_param_change('fin_%d_reflex_0_level' % j, int((loop*6)%128))
cmd_obj.add_param_change('fin_%d_reflex_1_level' % j, int((loop*6)%128))
# === fin high-level commands"
cmd_obj.add_param_change('fin_%d_arm_motion_on' % j, 3)#int(loop % 4))
#=== light command====
for j in range(NUM_LIGHT):
cmd_obj.add_param_change('light_%d_led_level' % j, int((loop*30)%128))
self.enter_command(cmd_obj)
#=== change wave command====
cmd_obj = command_object(teensy_name, msg_setting=0)
wave = ""
cmd_obj.add_param_change('wave_type', 1)
pt = 0
for i in range(32):
pt += int(255/32)
wave += (str(pt) + '_')
cmd_obj.add_param_change('new_wave', wave)
self.enter_command(cmd_obj)
self.send_commands()
all_input_states = self.get_input_states(teensy_names, ('all', ))
for teensy_name, input_states in all_input_states.items():
sample = input_states[0]
is_new_update = input_states[1]
print("[", teensy_name, "]")
for j in range(NUM_FIN):
device_header = 'fin_%d_' % j
print("Fin %d" % j, end=" ---\t")
ir_percent = tuple(np.array((sample[device_header + 'ir_0_state'],
sample[device_header + 'ir_1_state'])) / ADC_RES * 100)
print("IR ( %.2f%%, %.2f%% )" % ir_percent, end=" \t")
acc_g = tuple(np.array((sample[device_header + 'acc_x_state'],
sample[device_header + 'acc_y_state'],
sample[device_header + 'acc_z_state'])) * ACC_MG_PER_LSB)
print("ACC ( %.2f, %.2f, %.2f ) " % acc_g)
for j in range(NUM_LIGHT):
device_header = 'light_%d_' % j
print("Light %d" % j, end=" ---\t")
als_percent = sample[device_header + 'als_state'] / ADC_RES * 100
print("ALS ( %.2f%% )" % als_percent)
print('')
# new blink period
indicator_led_period[teensy_name] += 0.004
indicator_led_period[teensy_name] %= 10
print("Loop Time:", clock() - start_time)
loop += 1
sleep(0.1)
class System_Identification_Behaviour(InteractiveCmd):
def run(self):
NUM_FIN = 3
NUM_LIGHT = 3
teensy_names = self.teensy_manager.get_teensy_name_list()
self.update_input_states(teensy_names)
self.update_output_params(teensy_names)
loop = 0
num_loop = 10000
fin_action = [0] * NUM_FIN
fin_time = [0] * NUM_FIN
light_brightness = [0] * NUM_LIGHT
light_time = [0] * NUM_LIGHT
state_history = dict()
t0 = clock()
t_pre_output = 0
while loop < num_loop:
if self.teensy_manager.get_num_teensy_thread() == 0:
return
#t_update = clock()
self.update_input_states(teensy_names)
#print("t update", clock()-t_update)
all_input_states = self.get_input_states(teensy_names, ('all', ), timeout=2)
for teensy_name in list(teensy_names):
# first loop only
if loop == 0:
cmd_obj = command_object(teensy_name, msg_setting=1)
cmd_obj.add_param_change('operation_mode', 2)
self.enter_command(cmd_obj)
# ------ configuration ------
# set the Fin on/off periods
cmd_obj = command_object(teensy_name, 'fin_high_level')
for j in range(NUM_FIN):
device_header = 'fin_%d_' % j
cmd_obj.add_param_change(device_header + 'arm_cycle_on_period', 15)
cmd_obj.add_param_change(device_header + 'arm_cycle_off_period', 105)
self.enter_command(cmd_obj)
self.send_commands()
input_states = all_input_states[teensy_name]
sample = input_states[0]
is_new_update = input_states[1]
print("[", teensy_name, "]")
print('t = %f' % clock())
print('delta t = %f'%(clock()-t0))
# === fin high-level commands"
cmd_obj = command_object(teensy_name, msg_setting=1)
for j in range(NUM_FIN):
t = clock()
device_header = 'fin_%d_' % j
# cycling the fin
#if sample[device_header + 'cycling'] == :
cmd_obj.add_param_change('fin_%d_arm_motion_on' % j, fin_action[j]%4)
# reflex sensor trigger LED and vibration motor
if (sample[device_header + 'ir_0_state']) > 1400:
cmd_obj.add_param_change('fin_%d_reflex_0_level' % j, 100)
cmd_obj.add_param_change('fin_%d_reflex_1_level' % j, 100)
else:
cmd_obj.add_param_change('fin_%d_reflex_0_level' % j, 0)
cmd_obj.add_param_change('fin_%d_reflex_1_level' % j, 0)
# output the reading
print("Fin %d" % j, end=" ---\t")
print("Action (", fin_action[j] % 4, ")", end=" \n")
print("Cycling (", sample[device_header + 'cycling'], ")", end=" \t")
ir_percent = tuple(np.array((sample[device_header + 'ir_0_state'],
sample[device_header + 'ir_1_state'])) / ADC_RES * 100)
print("IR ( %.2f%%, %.2f%% )" % ir_percent, end=" \t")
acc_g = tuple(np.array((sample[device_header + 'acc_x_state'],
sample[device_header + 'acc_y_state'],
sample[device_header + 'acc_z_state'])) * ACC_MG_PER_LSB)
print("ACC ( %.2f, %.2f, %.2f ) " % acc_g)
state = [t, fin_action[j]%4, sample[device_header + 'cycling'],
sample[device_header + 'ir_0_state'], sample[device_header + 'ir_1_state'],
sample[device_header + 'acc_x_state'], sample[device_header + 'acc_y_state'], sample[device_header + 'acc_z_state']]
try:
state_history[teensy_name + '_fin_' + str(j)].append(copy(state))
except KeyError:
state_history[teensy_name + '_fin_' + str(j)] = []
state_history[teensy_name + '_fin_' + str(j)].append(copy(state))
if t - fin_time[j] > 60:
fin_action[j] += 1
fin_time[j] = t
self.enter_command(cmd_obj)
# ==== light low-level command
cmd_obj = command_object(teensy_name, msg_setting=1)
for j in range(NUM_LIGHT):
t = clock()
device_header = 'light_%d_' % j
# cycling the light
cmd_obj.add_param_change(device_header + 'led_level', light_brightness[j] % 256)
print("Light %d" % j, end=" ---\t")
print("Brightness (%d)" % (light_brightness[j]%256))
als_state = sample[device_header + 'als_state'] #/ ADC_RES * 100
print("ALS ( %d )" % als_state)
state = [t, light_brightness[j]%256 , sample[device_header + 'als_state']]
try:
state_history[teensy_name + '_light_' + str(j)].append(copy(state))
except KeyError:
state_history[teensy_name + '_light_' + str(j)] = []
state_history[teensy_name + '_light_' + str(j)].append(copy(state))
if True:#t - light_time[j] > 1.0:
light_brightness[j] = random.randint(0, 255)
#light_brightness[j] += 1
light_time[j] = t
self.enter_command(cmd_obj)
print('')
#t_cmd = clock()
self.send_commands()
#print("t cmd", clock() - t_cmd)
# output to files
if t0 - t_pre_output > 3:
t_pre_output = clock()
for device, states in state_history.items():
curr_dir = os.getcwd()
if not os.path.exists('pickle_jar'):
os.makedirs('pickle_jar')
os.chdir(os.path.join(curr_dir, 'pickle_jar'))
with open(str(device) + '_state_history.pkl', 'wb') as output:
pickle.dump(states, output, protocol=3)
os.chdir(curr_dir)
t0 = clock()
#sleep(0.5)
class Internode_Test_Behaviour(InteractiveCmd):
def run(self):
NUM_FIN = 3
NUM_LIGHT = 3
teensy_names = self.teensy_manager.get_teensy_name_list()
self.update_input_states(teensy_names)
self.update_output_params(teensy_names)
loop = 0
num_loop = 10000
while loop < num_loop:
if self.teensy_manager.get_num_teensy_thread() == 0:
return
self.update_input_states(teensy_names)
all_input_states = self.get_input_states(teensy_names, ('all', ))
teensy_names_list = list(teensy_names)
for teensy_name in teensy_names_list:
# first loop only
if loop == 0:
cmd_obj = command_object(teensy_name)
cmd_obj.add_param_change('operation_mode', 4)
self.enter_command(cmd_obj)
input_states = all_input_states[teensy_name]
sample = input_states[0]
is_new_update = input_states[1]
print("[", teensy_name, "]")
next_teensy = teensy_names_list[(teensy_names_list.index(teensy_name)+1)%len(teensy_names)]
print("Controlling --- [", next_teensy, "]")
# === fin high-level commands"
cmd_obj = command_object(next_teensy)
for j in range(NUM_FIN):
device_header = 'fin_%d_' % j
if (sample[device_header + 'ir_0_state']) > 1200:
cmd_obj.add_param_change('fin_%d_arm_motion_on' %j, 3)
cmd_obj.add_param_change('fin_%d_reflex_0_level' % j, 100)
cmd_obj.add_param_change('fin_%d_reflex_1_level' % j, 100)
else:
cmd_obj.add_param_change('fin_%d_arm_motion_on' %j, 0)
cmd_obj.add_param_change('fin_%d_reflex_0_level' % j, 0)
cmd_obj.add_param_change('fin_%d_reflex_1_level' % j, 0)
print("Fin %d" % j, end=" ---\t")
print("IR (", sample[device_header + 'ir_0_state'], ", ", sample[device_header + 'ir_1_state'], ")",
end=" \n")
self.enter_command(cmd_obj)
self.send_commands()
class Default_Behaviour(InteractiveCmd):
def run(self):
NUM_FIN = 3
NUM_LIGHT = 3
teensy_names = self.teensy_manager.get_teensy_name_list()
# initially update the Teensys with all the output parameters here
self.update_output_params(teensy_names)
# poll input
loop = 0
num_loop = 10000
while loop < num_loop:
start_time = clock()
if self.teensy_manager.get_num_teensy_thread() == 0:
return
for teensy_name in teensy_names:
# first loop only
if loop == 0:
cmd_obj = command_object(teensy_name)
cmd_obj.add_param_change('operation_mode', 1)
self.enter_command(cmd_obj)
self.update_input_states(teensy_names)
all_input_states = self.get_input_states(teensy_names, ('all', ))
for teensy_name, input_states in all_input_states.items():
sample = input_states[0]
is_new_update = input_states[1]
print("[", teensy_name, "]")
for j in range(NUM_FIN):
device_header = 'fin_%d_' % j
print("Fin %d" % j, end=" ---\t")
ir_percent = tuple(np.array((sample[device_header + 'ir_0_state'],
sample[device_header + 'ir_1_state']))/ADC_RES*100)
print("IR ( %.2f%%, %.2f%% )" % ir_percent, end=" \t")
acc_g = tuple(np.array((sample[device_header + 'acc_x_state'],
sample[device_header + 'acc_y_state'],
sample[device_header + 'acc_z_state']))*ACC_MG_PER_LSB)
print("ACC ( %.2f, %.2f, %.2f ) " % acc_g)
for j in range(NUM_LIGHT):
device_header = 'light_%d_' % j
print("Light %d" % j, end=" ---\t")
als_percent = sample[device_header + 'als_state'] / ADC_RES * 100
print("ALS ( %.2f%% )" % als_percent)
print('')
print("Loop Time:", clock() - start_time)
loop += 1
sleep(0.1)
class ProgrammUpload(InteractiveCmd):
def run(self):
teensy_names = self.teensy_manager.get_teensy_name_list()
if self.teensy_manager.get_num_teensy_thread() == 0:
return
for teensy_name in list(teensy_names):
Teensy_thread = self.teensy_manager.get_teensy_thread(teensy_name)
# check if the thread is still alive
counter = 0
while Teensy_thread is not None:
if counter > 5:
print("Cannot program ", teensy_name)
break
#=== programming command ===
cmd_obj = command_object(teensy_name, 'prgm', msg_setting=1)
cmd_obj.add_param_change('program_teensy', 1)
self.enter_command(cmd_obj)
self.send_commands()
sleep(2)
Teensy_thread = self.teensy_manager.get_teensy_thread(teensy_name)
counter += 1