Started development

Dockerfile

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+FROM python:2.7
+MAINTAINER Cem Gokmen <[email protected]>
+
+COPY app /app
+WORKDIR /app
+
+RUN install_git.sh
+RUN install_rtimulib.sh
+RUN pip install -r requirements.txt
+
+VOLUME /data
+EXPOSE 9000
+
+CMD twistd -n -l - -y nobelgt.tac

install_git.sh

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+#!/bin/bash
+set -ex         #Fail if any line fails, print everything
+
+apt-get update
+apt-get install git

install_rtimulib.sh

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+#!/bin/bash
+set -ex         #Fail if any line fails, print everything
+
+apt-get update
+apt-get install python-dev
+
+cd /tmp
+git clone https://github.com/VIP-LES/RTIMULib2.git
+
+cd RTIMULib2/Linux/python
+python setup.py build
+python setup.py install

main.py

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+from sensormodules import IMUModule, GeigerCounterModule
+import logging
+import signal
+import csv
+
+
+class GracefulKiller:
+    kill_now = False
+
+    def __init__(self):
+        signal.signal(signal.SIGINT, self.exit_gracefully)
+        signal.signal(signal.SIGTERM, self.exit_gracefully)
+
+    def exit_gracefully(self, signum, frame):
+        self.kill_now = True
+
+
+if __name__ == '__main__':
+    killer = GracefulKiller()
+    modules = {}
+    csvs = {}
+
+    logger = logging.getLogger("verne")
+
+    modules['imu'] = IMUModule(logger.getChild("imu"))
+    modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/geigerCounter", 9600)
+
+    for m in modules.keys():
+        f = open('%s.csv' % m, 'wb')
+        writer = csv.writer(f, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
+
+        csvs[m] = (f, writer)
+
+    while True:
+        for m in modules.keys():
+            data = modules[m].poll()
+
+            if len(data) > 0:
+                currentTime = None # Todo: get the time here.
+                writer = csvs[m][0]
+
+                for datum in data:
+                    writer.writerow([currentTime] + list(datum))
+
+        if killer.kill_now:
+            break
+
+    for c in csvs.values():
+        c[1].close()
+
+    print("Goodbye!")

requirements.txt

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+pyserial==3.3

sensormodules/GeigerCounterModule.py

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+from . import SensorModule
+from . import SerialModule
+
+
+class GeigerCounterModule(SensorModule):
+    def __init__(self, logger, device, baudRate):
+        self.sm = SerialModule(logger, device, baudRate)
+        self.logger = logger
+
+    def poll(self):
+        # The geiger counter's number of ticks is equal to the number of
+        # characters on the serial output.
+
+        data = self.sm.poll()
+
+        retval = []
+
+        for _ in xrange(data):
+            retval.append(True)
+
+        return retval

sensormodules/IMUModule.py

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+import sys
+
+import RTIMU
+import os.path
+import time
+import math
+
+from . import SensorModule
+
+class IMUModule(SensorModule):
+    SETTINGS_FILE = "RTIMULib"
+
+    def __init__(self, logger):
+        sys.path.append('.')
+
+        logger.info("Using settings file " + IMUModule.SETTINGS_FILE + ".ini")
+        if not os.path.exists(IMUModule.SETTINGS_FILE + ".ini"):
+            logger.warning("Settings file does not exist, will be created")
+
+        s = RTIMU.Settings(IMUModule.SETTINGS_FILE)
+        imu = RTIMU.RTIMU(s)
+
+        logger.info("IMU Name: " + imu.IMUName())
+
+        if not imu.IMUInit():
+            raise ValueError("IMU Init Failed")
+
+        imu.setSlerpPower(0.02)
+        imu.setGyroEnable(True)
+        imu.setAccelEnable(True)
+        imu.setCompassEnable(True)
+
+        self.imu = imu
+        self.poll_interval = imu.IMUGetPollInterval()
+        self.logger = logger
+
+    def poll(self):
+        if self.imu.IMURead():
+            # x, y, z = imu.getFusionData()
+            # print("%f %f %f" % (x,y,z))
+            data = self.imu.getIMUData()
+            fusionPose = data["fusionPose"]
+            processedData = [(math.degrees(fusionPose[0]), math.degrees(fusionPose[1]), math.degrees(fusionPose[2]))]
+
+            return processedData

sensormodules/SensorModule.py

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+import abc
+
+class SensorModule:
+    __metaclass__ = abc.ABCMeta
+
+    @abc.abstractmethod
+    def poll(self):
+        """
+        This is our module's polling method which will be called from the main event loop.
+        This method should not block under any circumstances.
+        """
+        return

sensormodules/SerialModule.py

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+from . import SensorModule
+import serial
+
+class SerialModule(SensorModule):
+    def __init__(self, logger, device, baudRate):
+        self.sd = serial.Serial(device, baudRate, timeout=None)
+
+        self.logger = logger
+
+    def poll(self):
+        # It's important to realize that this method may produce incomplete data if called
+        # in the middle of a line and it's up to the main loop to handle that.
+        if self.sd.in_waiting > 0:
+            data = self.sd.read(self.sd.in_waiting)
+            return [data]

sensormodules/__init__.py

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+from SensorModule import SensorModule
+from SerialModule import SerialModule
+from GeigerCounterModule import GeigerCounterModule
+from IMUModule import IMUModule