diff options
Diffstat (limited to 'scripts')
| -rwxr-xr-x | scripts/motan/data_logger.py | 7 | ||||
| -rw-r--r-- | scripts/motan/readlog.py | 44 |
2 files changed, 51 insertions, 0 deletions
diff --git a/scripts/motan/data_logger.py b/scripts/motan/data_logger.py index 3f23b2e8..cd64e465 100755 --- a/scripts/motan/data_logger.py +++ b/scripts/motan/data_logger.py @@ -150,6 +150,13 @@ class DataLogger: for stepper in motion_report.get("steppers", []): self.send_subscribe("stepq:" + stepper, "motion_report/dump_stepper", {"name": stepper}) + # Subscribe to additional sensor data + config = status["configfile"]["settings"] + for cfgname in config.keys(): + if cfgname == "adxl345" or cfgname.startswith("adxl345 "): + aname = cfgname.split()[-1] + self.send_subscribe("adxl345:" + aname, "adxl345/dump_adxl345", + {"sensor": aname}) def handle_dump(self, msg, raw_msg): msg_id = msg["id"] self.db.setdefault("subscriptions", {})[msg_id] = msg["result"] diff --git a/scripts/motan/readlog.py b/scripts/motan/readlog.py index 68f460be..476abbee 100644 --- a/scripts/motan/readlog.py +++ b/scripts/motan/readlog.py @@ -232,6 +232,50 @@ class HandleStepQ: step_data.append((step_time, step_halfpos, step_pos)) LogHandlers["stepq"] = HandleStepQ +# Extract accelerometer data +class HandleADXL345: + SubscriptionIdParts = 2 + ParametersMin = ParametersMax = 2 + DataSets = [ + ('adxl345(<name>,<axis>)', 'Accelerometer for given axis (x, y, or z)'), + ] + def __init__(self, lmanager, name, name_parts): + self.name = name + self.adxl_name = name_parts[1] + self.jdispatch = lmanager.get_jdispatch() + self.next_accel_time = self.last_accel_time = 0. + self.next_accel = self.last_accel = (0., 0., 0.) + self.cur_data = [] + self.data_pos = 0 + if name_parts[2] not in 'xyz': + raise error("Unknown adxl345 data selection '%s'" % (name,)) + self.axis = 'xyz'.index(name_parts[2]) + def get_label(self): + label = '%s %s acceleration' % (self.adxl_name, 'xyz'[self.axis]) + return {'label': label, 'units': 'Acceleration\n(mm/s^2)'} + def pull_data(self, req_time): + axis = self.axis + while 1: + if req_time <= self.next_accel_time: + adiff = self.next_accel[axis] - self.last_accel[axis] + tdiff = self.next_accel_time - self.last_accel_time + rtdiff = req_time - self.last_accel_time + return self.last_accel[axis] + rtdiff * adiff / tdiff + 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.last_accel = self.next_accel + self.last_accel_time = self.next_accel_time + self.next_accel_time, x, y, z = self.cur_data[self.data_pos] + self.next_accel = (x, y, z) + self.data_pos += 1 +LogHandlers["adxl345"] = HandleADXL345 + ###################################################################### # Log reading |