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#!/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()
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