diff options
Diffstat (limited to 'scripts/motan')
| -rwxr-xr-x | scripts/motan/data_logger.py | 6 | ||||
| -rw-r--r-- | scripts/motan/readlog.py | 65 |
2 files changed, 69 insertions, 2 deletions
diff --git a/scripts/motan/data_logger.py b/scripts/motan/data_logger.py index 81370713..e00c9956 100755 --- a/scripts/motan/data_logger.py +++ b/scripts/motan/data_logger.py @@ -152,10 +152,12 @@ class DataLogger: "motion_report/dump_stepper", {"name": stepper}) # Subscribe to additional sensor data stypes = ["adxl345", "lis2dw", "mpu9250", "angle"] + stypes = {st:st for st in stypes} + stypes['probe_eddy_current'] = 'ldc1612' config = status["configfile"]["settings"] for cfgname in config.keys(): - for st in stypes: - if cfgname == st or cfgname.startswith(st + " "): + for capprefix, st in sorted(stypes.items()): + if cfgname == capprefix or cfgname.startswith(capprefix + " "): aname = cfgname.split()[-1] lname = "%s:%s" % (st, aname) qcmd = "%s/dump_%s" % (st, st) diff --git a/scripts/motan/readlog.py b/scripts/motan/readlog.py index f49f0b59..1b44c937 100644 --- a/scripts/motan/readlog.py +++ b/scripts/motan/readlog.py @@ -439,6 +439,71 @@ class HandleAngle: self.data_pos += 1 LogHandlers["angle"] = HandleAngle +def interpolate(next_val, prev_val, next_time, prev_time, req_time): + vdiff = next_val - prev_val + tdiff = next_time - prev_time + rtdiff = req_time - prev_time + return prev_val + rtdiff * vdiff / tdiff + +# Extract eddy current data +class HandleEddyCurrent: + SubscriptionIdParts = 2 + ParametersMin = 1 + ParametersMax = 2 + DataSets = [ + ('ldc1612(<name>)', 'Coil resonant frequency'), + ('ldc1612(<name>,period)', 'Coil resonant period'), + ('ldc1612(<name>,z)', 'Estimated Z height'), + ] + def __init__(self, lmanager, name, name_parts): + self.name = name + self.sensor_name = name_parts[1] + if len(name_parts) == 3 and name_parts[2] not in ("period", "z"): + raise error("Unknown ldc1612 selection '%s'" % (name_parts[2],)) + self.report_frequency = len(name_parts) == 2 + self.report_z = len(name_parts) == 3 and name_parts[2] == "z" + self.jdispatch = lmanager.get_jdispatch() + self.next_samp = self.prev_samp = [0., 0., 0.] + self.cur_data = [] + self.data_pos = 0 + def get_label(self): + if self.report_frequency: + label = '%s frequency' % (self.sensor_name,) + return {'label': label, 'units': 'Frequency\n(Hz)'} + if self.report_z: + label = '%s height' % (self.sensor_name,) + return {'label': label, 'units': 'Position\n(mm)'} + label = '%s period' % (self.sensor_name,) + return {'label': label, 'units': 'Period\n(s)'} + def pull_data(self, req_time): + while 1: + next_time, next_freq, next_z = self.next_samp + if req_time <= next_time: + prev_time, prev_freq, prev_z = self.prev_samp + if self.report_frequency: + next_val = next_freq + prev_val = prev_freq + elif self.report_z: + next_val = next_z + prev_val = prev_z + else: + next_val = 1. / next_freq + prev_val = 1. / prev_freq + return interpolate(next_val, prev_val, next_time, prev_time, + req_time) + if self.data_pos >= len(self.cur_data): + # Read next data block + jmsg = self.jdispatch.pull_msg(req_time, self.name) + if jmsg is None: + return 0. + self.cur_data = jmsg['data'] + self.data_pos = 0 + continue + self.prev_samp = self.next_samp + self.next_samp = self.cur_data[self.data_pos] + self.data_pos += 1 +LogHandlers["ldc1612"] = HandleEddyCurrent + ###################################################################### # Log reading |