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main_control.py
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main_control.py
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import os
from datetime import datetime
from matplotlib import pyplot as plt
from matplotlib.animation import FuncAnimation
from radar import FMCWRadar, Troy
from RPi import GPIO
from view import PPIView, SigView, ObjView
def main():
## For File Writing (Command: Save)
now = datetime.today().strftime('%Y%m%d')
## For Matplotlib
views = {}
## Initialize troy model
troy = Troy()
troy.getInfo()
try:
prompt = ''
while True:
s = input("commands: " + prompt).strip()
if s == '':
pass
elif s.startswith('read'):
troy.start()
elif s.startswith('stop'):
troy.stop()
elif s.startswith('setbg'):
# If s contains one argument only, overwrite background signal.
# Otherwise, take average of previous background signal
if len(s.split()) == 1:
print('Reset Background Signal')
troy.setBgSignal(overwrite=True)
else:
print('Take Average on Background Signal')
troy.setBgSignal(overwrite=False)
elif s.startswith('clearbg'):
# If s contains one argument only, overwrite background signal.
# Otherwise, take average of previous background signal
print('Clear Background Signal')
troy.resetBgSignal()
elif s.startswith('sig'):
# Open SigView (Oscillscope)
if ("Oscilloscope-5.8" not in views) and (isinstance(troy.highFreqRadar, FMCWRadar)):
view = SigView(timeYMax=1, freqYMax=0.05, avgFreqYMax=8e-4,
maxFreq=4e3, maxTime=0.24, linecolor='g',figname='Waveform: 5.8GHz')
animation = FuncAnimation(view.fig, view.update, init_func=view.init, interval=200, blit=True,
fargs=(troy.highFreqRadar.realTimeSig, ))
view.figShow()
views["Oscilloscope-5.8"] = (view, animation)
if ("Oscilloscope-915" not in views) and (isinstance(troy.lowFreqRadar, FMCWRadar)):
view = SigView(timeYMax=1, freqYMax=0.1, avgFreqYMax=8e-4,
maxFreq=4e3, maxTime=0.24, linecolor='r',figname='Waveform: 915MHz')
animation = FuncAnimation(view.fig, view.update, init_func=view.init, interval=200, blit=True,
fargs=(troy.lowFreqRadar.realTimeSig, ))
view.figShow()
views["Oscilloscope-915"] = (view, animation)
elif s.startswith('obj'):
# Open Objview
if 'OBJ' in views:
continue
view = ObjView(maxR=20, maxV=25)
animation = FuncAnimation(view.fig, view.update,
init_func=view.init, interval=200, blit=True,
fargs=(troy.lowData, troy.highData, ))
view.figShow()
# Record down the view
views['OBJ'] = (view, animation)
elif s.startswith('ppi'):
# Open PPIView (Object Inferencing)
if 'PPI' in views:
continue
view = PPIView(maxR=25)
animation = FuncAnimation(view.fig, view.update,
init_func=view.init, interval=200, blit=True,
fargs=(troy.objectInfo, ))
view.figShow()
# Record down the view
views['PPI'] = (view, animation)
elif s.startswith('close'):
for view, _ in views.values(): plt.close(view.fig)
views.clear()
elif s.startswith('save'):
## Save time domain signal
distance = input('Distances: ').strip() if len(s.split()) == 1 else s.split()[1]
path = './rawdata/arduino/{}'.format(now)
if not os.path.exists(path): os.makedirs(path)
troy.save(
os.path.join(path, 'high-' + distance + '.csv'),
os.path.join(path, 'low-' + distance + '.csv')
)
print(" > File is saved! Check at: {}".format(path))
elif s.startswith('setdirection'):
direction = input('Direction: ').strip() if len(s.split()) == 1 else s.split()[1]
try:
direction = float(direction)
troy.setDirection(direction)
except ValueError:
print('invalid direction')
elif s.startswith('resetdirection'):
troy.resetDirection()
elif s.startswith('flush'):
troy.flush()
elif s.startswith('info'):
troy.getInfo()
elif s.startswith('track'):
troy.tracking()
elif s.startswith('q'):
break
else:
print('Undefined Command')
except KeyboardInterrupt:
pass
except Exception as e:
print(e)
finally:
for view, _ in views.values():
plt.close(view.fig)
views.clear()
troy.close()
GPIO.cleanup()
print('Quit main')
if __name__ == '__main__':
main()