Merge pull request #5 from VIP-LES/develop

Completed file and script cutting implementations, etc.

Dockerfile

@@ -1,20 +1,14 @@
-FROM python:2.7
+FROM armhf/python:2.7
 MAINTAINER Cem Gokmen <[email protected]>
 
 COPY . /verne
 WORKDIR /verne
 
-RUN chmod +x install_git.sh
-RUN ./install_git.sh
-
 RUN chmod +x install_rtimulib.sh
 RUN ./install_rtimulib.sh
 
 RUN pip install -r requirements.txt
 
-VOLUME /dev/uart
-VOLUME /dev/i2c-0
-VOLUME /dev/i2c-1
 VOLUME /data
 
 CMD python main.py

README.md

@@ -26,10 +26,10 @@ To run the project, a container must be created with this image and the correct
 ```
 docker create \
     --name=verne
-    -v /dev/ttyAMA0:/dev/uart \
-    -v /dev/i2c-1:/dev/i2c-1 \
+    --device /dev/ttyAMA0 \
+    --device /dev/i2c-1 \
     -v /home/pi/vernedata:/data \
-    --restart=unless-stopped \
+    --restart=on-failure \
     gtviples/verne
 ```
 

install_git.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/bin/sh
 set -ex         #Fail if any line fails, print everything
 
 apt-get update

install_rtimulib.sh

@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/bin/sh
 set -ex         #Fail if any line fails, print everything
 
 apt-get update

main.py

@@ -2,8 +2,14 @@
 import logging
 import signal
 import csv
+import yaml
+import os
 import time
-from datetime import datetime
+from datetime import datetime, timedelta
+from shutil import copyfile
+
+fileDir = os.path.dirname(os.path.realpath(__file__))
+CONFIG_PATH = "/data/config.yml"
 
 class GracefulKiller:
     kill_now = False
@@ -15,43 +21,97 @@ def __init__(self):
     def exit_gracefully(self, signum, frame):
         self.kill_now = True
 
+def getCSVFilesFromModules(modules, missionTime, i):
+    csvs = {}
+    for m in modules.keys():
+        f = open('/data/%s-%d.csv' % (m, i), 'wb')
+        writer = csv.writer(f, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
+
+        printableMissionTime = missionTime - datetime.fromtimestamp(0)
+        writer.writerow([int(printableMissionTime.total_seconds() * 1000)])
+
+        csvs[m] = (f, writer)
+
+    return csvs
+
+def closeCSVFiles(csvs):
+    for c in csvs.values():
+        c[1].close()
 
 if __name__ == '__main__':
     killer = GracefulKiller()
-    modules = {}
-    csvs = {}
 
+    if not os.path.isfile(CONFIG_PATH):
+        copyfile(os.path.join(fileDir, "sampleConfig.yml"), CONFIG_PATH)
+
+    # Start by reading the config
+    cutFileAfterHours = None
+    killScriptAfterHours = None
+    with open(CONFIG_PATH, 'r') as ymlfile:
+        cfg = yaml.load(ymlfile)
+
+        cutFileAfterHours = float(cfg["cutFileInterval"])
+        killScriptAfterHours = float(cfg["killScriptInterval"])
+
+    if cutFileAfterHours is None or killScriptAfterHours is None:
+        raise ValueError("Could not read config file. Delete file if you want it reset.")
+
+    # Initialize the logger
     logger = logging.getLogger("verne")
 
+    # Load the modules
+    modules = {}
     modules['imu'] = IMUModule(logger.getChild("imu"))
-    modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/uart", 9600)
+    modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/ttyAMA0", 9600)
 
     missionTime = datetime.now()
+    timeToKill = missionTime + timedelta(hours=killScriptAfterHours)
+    timeToRenewFile = missionTime + timedelta(hours=cutFileAfterHours)
 
-    for m in modules.keys():
-        f = open('/data/%s.csv' % m, 'wb')
-        writer = csv.writer(f, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
+    currentFile = 0
 
-        writer.writerow([missionTime])
+    # If files exist, we want to find an int at which file-i does not exist, and increment it
+    # once more to make it clear that this is from a new recording.
+    while True:
+        filesExist = [os.path.isfile("/data/%s-%d.csv" % (m, currentFile)) for m in modules.keys()].count(True)
 
-        csvs[m] = (f, writer)
+        if filesExist > 0:
+            currentFile += 1
+        else:
+            break
+
+    currentFile += 1
+
+    csvs = getCSVFilesFromModules(modules, missionTime, currentFile)
+    currentFile += 1
 
     while True:
         missionElapsedTime = int((datetime.now() - missionTime).total_seconds() * 1000)
 
+        if missionElapsedTime > timeToKill:
+            # It's time to end the recording! Goodbye!
+            break
+
+        if missionElapsedTime > timeToRenewFile:
+            closeCSVFiles(csvs)
+
+            csvs = getCSVFilesFromModules(modules, missionTime, currentFile)
+            currentFile += 1
+
+            timeToRenewFile = missionElapsedTime + timedelta(hours=cutFileAfterHours)
+
         for m in modules.keys():
             data = modules[m].poll(missionElapsedTime)
 
-            if len(data) > 0:
-                writer = csvs[m][0]
+            if data is not None and len(data) > 0:
+                writer = csvs[m][1]
 
                 for datum in data:
                     writer.writerow([missionElapsedTime] + list(datum))
 
         if killer.kill_now:
             break
 
-    for c in csvs.values():
-        c[1].close()
+    closeCSVFiles(csvs)
 
-    print("The eagle has landed.")
+    logger.info("The eagle has landed: stopping recording. Goodbye!")

requirements.txt

@@ -1 +1,2 @@
-pyserial==3.3
+pyserial==3.3
+PyYAML==3.12

sampleConfig.yml

@@ -0,0 +1,5 @@
+# Create new CSV file after how many hours:
+cutFileInterval: 1
+
+# Stop the main script after how many hours:
+killScriptInterval: 6

sensormodules/GeigerCounterModule.py

@@ -13,9 +13,9 @@ def poll(self, dt):
 
         data = self.sm.poll(dt)
 
-        retval = []
+        if data is not None:
+            retval = []
+            for c in data:
+                retval.append(c)
 
-        for c in data:
-            retval.append(c)
-
-        return retval
+            return retval

sensormodules/IMUModule.py

@@ -32,15 +32,18 @@ def __init__(self, logger):
         imu.setCompassEnable(True)
 
         self.imu = imu
-        self.pollInterval = imu.IMUGetPollInterval()
+        self.pollInterval = IMUModule.MILLISECOND_POLLING_INTERVAL
         self.logger = logger
+        self.data = None
+        self.lastPoll = None
 
     def poll(self, dt):
         if self.imu.IMURead():
             data = self.imu.getIMUData()
             fusionPose = data["fusionPose"]
-            self.data = [(math.degrees(fusionPose[0]), math.degrees(fusionPose[1]), math.degrees(fusionPose[2]))]
+            #self.data = [(math.degrees(fusionPose[0]), math.degrees(fusionPose[1]), math.degrees(fusionPose[2]))]
+            self.data = tuple([math.degrees(v) for v in fusionPose])
 
         if (self.data is not None) and (self.lastPoll is None or ((dt - self.lastPoll).total_seconds() * 1000 >= self.pollInterval)):
             self.lastPoll = dt
-            return self.data
+            return [self.data]