#!/usr/bin/env python3 import numpy as np import paho.mqtt.client as mqtt import re import requests import serial import serial.threaded import time class SerialReader(serial.threaded.Protocol): """ Character- to line-wise data buffer for serial interfaces. Reads in new data whenever it becomes available and exposes a line-based interface to applications. """ def __init__(self, callback): """Create a new SerialReader object.""" self.callback = callback self.recv_buf = '' def __call__(self): return self def data_received(self, data): """Append newly received serial data to the line buffer.""" try: str_data = data.decode('UTF-8') self.recv_buf += str_data # We may get anything between \r\n, \n\r and simple \n newlines. # We assume that \n is always present and use str.strip to remove leading/trailing \r symbols # Note: Do not call str.strip on lines[-1]! Otherwise, lines may be mangled lines = self.recv_buf.split('\n') if len(lines) > 1: self.recv_buf = lines[-1] for line in lines[:-1]: self.callback(str.strip(line)) except UnicodeDecodeError: pass #sys.stderr.write('UART output contains garbage: {data}\n'.format(data = data)) class SerialMonitor: """SerialMonitor captures serial output for a specific amount of time.""" def __init__(self, port: str, baud: int, callback): """ Create a new SerialMonitor connected to port at the specified baud rate. Communication uses no parity, no flow control, and one stop bit. Data collection starts immediately. """ self.ser = serial.serial_for_url(port, do_not_open=True) self.ser.baudrate = baud self.ser.parity = 'N' self.ser.rtscts = False self.ser.xonxoff = False try: self.ser.open() except serial.SerialException as e: sys.stderr.write('Could not open serial port {}: {}\n'.format(self.ser.name, e)) sys.exit(1) self.reader = SerialReader(callback = callback) self.worker = serial.threaded.ReaderThread(self.ser, self.reader) self.worker.start() def close(self): """Close serial connection.""" self.worker.stop() self.ser.close() if __name__ == '__main__': mqtt = mqtt.Client() mqtt.connect('172.23.225.193'); accel_factor = 2. / 32768 gyro_factor = 250. / 32768 magnet_factor = 150e-9 accel_minmax = np.zeros((6)) gyro_minmax = np.zeros((6)) magnet_minmax = np.zeros((6)) max_accel = 0 max_magnet = 0 vcc = 0 intervals = [60, 300, 600, 3600, 7200] accel_by_5s = list() step = 0 def parse_line(line): global max_accel global max_magnet global vcc match = re.match('button(.)', line) if match: mqtt.publish('sensor/button', int(match.group(1))) match = re.match('Min Accel: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: accel_minmax[0] = int(match.group(1)) * accel_factor accel_minmax[1] = int(match.group(2)) * accel_factor accel_minmax[2] = int(match.group(3)) * accel_factor match = re.match('Max Accel: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: accel_minmax[3] = int(match.group(1)) * accel_factor accel_minmax[4] = int(match.group(2)) * accel_factor accel_minmax[5] = int(match.group(3)) * accel_factor match = re.match('Min Gyro: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: gyro_minmax[0] = int(match.group(1)) * gyro_factor gyro_minmax[1] = int(match.group(2)) * gyro_factor gyro_minmax[2] = int(match.group(3)) * gyro_factor match = re.match('Max Gyro: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: gyro_minmax[3] = int(match.group(1)) * gyro_factor gyro_minmax[4] = int(match.group(2)) * gyro_factor gyro_minmax[5] = int(match.group(3)) * gyro_factor match = re.match('Min Magnet: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: magnet_minmax[0] = int(match.group(1)) * magnet_factor magnet_minmax[1] = int(match.group(2)) * magnet_factor magnet_minmax[2] = int(match.group(3)) * magnet_factor match = re.match('Max Magnet: ([^ ]+) / ([^ ]+) / ([^ ]+)', line) if match: magnet_minmax[3] = int(match.group(1)) * magnet_factor magnet_minmax[4] = int(match.group(2)) * magnet_factor magnet_minmax[5] = int(match.group(3)) * magnet_factor match = re.match('CPU VCC: ([^ ]+)', line) if match: vcc = int(match.group(1)) match = re.match('MPU Temp: ([^ ]+)', line) if match: temp = float(match.group(1)) max_accel = np.linalg.norm(accel_minmax[:3] - accel_minmax[3:]) max_magnet = np.linalg.norm(magnet_minmax[3:]) mqtt.publish('sensor/accel_g', max_accel) mqtt.publish('sensor/flux_t', max_magnet) #mqtt.publish('sensor/gyro_dps', np.linalg.norm(gyro_minmax[:3] - gyro_minmax[3:])) requests.post('http://192.168.0.200:8086/write?db=hosts', data='embedded,name=structure,area=hm17 mpu9250_degc={:f},mpu9250_mv={:d}'.format(temp, vcc)) monitor = SerialMonitor('/dev/ttyUSB0', 57600, parse_line) try: while True: time.sleep(5) accel_by_5s.append(max_accel) step += 1 if step == 4: for interval in intervals: index_interval = int(interval / 5) mqtt.publish('sensor/accel{}'.format(interval), max(accel_by_5s[ -index_interval : ])) accel_by_5s = accel_by_5s[ -intervals[-1] : ] step = 0 except KeyboardInterrupt: monitor.close() mqtt.disconnect()