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heading_publisher.py
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heading_publisher.py
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#!/usr/bin/env python
import argparse
import logging
import time
from threading import Lock
from threading import Thread
import cli_args as cli
from constants import SERIAL_PORT, BAUD_RATE, MQTT_HOST, LOG_LEVEL, DEVICE_ID
from mqtt_connection import MqttConnection, PAHO_CLIENT
from serial_reader import SerialReader
from utils import current_time_millis
from utils import setup_logging
from utils import sleep
import frc_utils
from frc_utils import COMMAND
from frc_utils import ENABLED
logger = logging.getLogger(__name__)
CALIBRATION_BY_VALUES = "9-DOF Sensor calibrated by values"
CALIBRATION_BY_LOG = "9-DOF Sensor calibrated by log"
HEADING_TOPIC = "heading_topic"
CALIB_TOPIC = "calib_topic"
CALIB_PUBLISH = "calib_publish"
CALIB_ENABLED = "calib_enabled"
MIN_PUBLISH = "min_publish"
PUBLISH_LOCK = "publish_lock"
stopped = False
calibrated_by_values = False
calibrated_by_log = False
current_heading = -1
last_heading_publish_time = -1
last_calib_publish_time = -1
def on_connect(mqtt_client, userdata, flags, rc):
logger.info("Connected with result code: %s", rc)
Thread(target=background_publisher, args=(userdata, userdata[MIN_PUBLISH])).start()
mqtt_client.subscribe(userdata[COMMAND])
# SerialReader calls this for every line read from Arduino
def fetch_data(val, userdata):
global current_heading, calibrated_by_values, calibrated_by_log, last_calib_publish_time
if "X:" not in val:
logger.info("Non-data: %s", val)
else:
try:
mqtt_client = userdata[PAHO_CLIENT]
vals = val.split("\t")
x_val = vals[0]
heading = round(float(x_val.split(": ")[1]), 1)
if heading != current_heading:
logger.debug(val)
current_heading = heading
publish_heading(mqtt_client, userdata[HEADING_TOPIC], heading, userdata)
if userdata[CALIB_ENABLED] and not calibrated_by_values:
# The arduino sketch includes a "! " prefix to SYS if the data is not calibrated (and thus not reliable)
if "! " in val:
nocalib_str = val[val.index("! "):]
logger.info("9-DOF Sensor not calibrated by log: %s", nocalib_str)
mqtt_client.publish(userdata[CALIB_TOPIC], payload=(nocalib_str.encode("utf-8")), qos=0)
calibrated_by_log = False
else:
if not calibrated_by_log:
msg = CALIBRATION_BY_LOG
logger.info(msg)
mqtt_client.publish(userdata[CALIB_TOPIC], payload=(msg.encode("utf-8")), qos=0)
calibrated_by_log = True
calib_str = vals[3]
calibs = calib_str.split(" ")
sys_calib = int(calibs[0].split(":")[1])
gyro_calib = int(calibs[1].split(":")[1])
mag_calib = int(calibs[2].split(":")[1])
acc_calib = int(calibs[3].split(":")[1])
if sys_calib == 3 and gyro_calib == 3 and mag_calib == 3 and acc_calib == 3:
msg = CALIBRATION_BY_VALUES
logger.info(msg)
mqtt_client.publish(userdata[CALIB_TOPIC], payload=(msg.encode("utf-8")), qos=0)
calibrated_by_values = True
elif current_time_millis() - last_calib_publish_time > userdata[CALIB_PUBLISH] * 1000:
mqtt_client.publish(userdata[CALIB_TOPIC], payload=(calib_str.encode("utf-8")), qos=0)
last_calib_publish_time = current_time_millis()
except IndexError:
logger.info("Formatting error: %s", val)
def background_publisher(userdata, min_publish_secs):
client = userdata[PAHO_CLIENT]
heading_topic = userdata[HEADING_TOPIC]
while not stopped:
time.sleep(.5)
elapsed_time = current_time_millis() - last_heading_publish_time
if elapsed_time > min_publish_secs * 1000 and current_heading != -1:
publish_heading(client, heading_topic, current_heading, userdata)
def publish_heading(client, topic, heading, userdata):
global last_heading_publish_time
if not userdata[ENABLED]:
return
elapsed_time = current_time_millis() - last_heading_publish_time
if elapsed_time < 75:
return
publish_lock = userdata[PUBLISH_LOCK]
with publish_lock:
client.publish(topic, payload=(str(heading).encode("utf-8")), qos=0)
last_heading_publish_time = current_time_millis()
if __name__ == "__main__":
# Parse CLI args
parser = argparse.ArgumentParser()
cli.mqtt_host(parser)
cli.device_id(parser)
cli.serial_port(parser)
cli.baud_rate(parser)
parser.add_argument("--mpt", dest=MIN_PUBLISH, default=1, type=int, help="Minimum publishing time secs [1]")
parser.add_argument("--calib", dest=CALIB_ENABLED, default=False, action="store_true",
help="Enable calibration publishing[false]")
parser.add_argument("--cpt", dest=CALIB_PUBLISH, default=3, type=int, help="Calibration publishing time secs [3]")
cli.verbose(parser)
args = vars(parser.parse_args())
# Setup logging
setup_logging(level=args[LOG_LEVEL])
userdata = {HEADING_TOPIC: "heading/degrees",
CALIB_TOPIC: "heading/calibration",
COMMAND: "heading/command",
ENABLED: True,
PUBLISH_LOCK: Lock(),
CALIB_PUBLISH: args[CALIB_PUBLISH],
CALIB_ENABLED: args[CALIB_ENABLED],
MIN_PUBLISH: args[MIN_PUBLISH]},
with SerialReader(func=fetch_data,
userdata=userdata,
port=SerialReader.lookup_port(args[DEVICE_ID]) if args.get(DEVICE_ID) else args[SERIAL_PORT],
baudrate=args[BAUD_RATE],
debug=True):
with MqttConnection(hostname=(args[MQTT_HOST]),
userdata=userdata,
on_connect=on_connect,
on_message=frc_utils.on_message):
try:
sleep()
except KeyboardInterrupt:
pass
finally:
stopped = True
logger.info("Exiting...")