mount: position feedback based on HBSTEP counter, clean code, better …

…HBSTEP setting, modify RUN function of HBSTEP, right tracking speed, software for mount calibration (1 revolution steps counter), new AWS weatheunderground methods (real time upload)

src/arom_manager.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import math
+import time
+import rospy
+import std_msgs
+import json
+import os
+from std_msgs.msg import String
+from std_msgs.msg import Float32
+from arom.srv import *
+from arom.msg import *
+import numpy as np
+import pylirc
+from drivers.__init__ import AromNode
+
+try:
+    import xml.etree.cElementTree as ET
+except ImportError:
+    import xml.etree.ElementTree as ET
+
+recieved = []
+
+def manager_callback(recive):
+    global recieved
+    recieved.append(recive.data)
+    #print recive, recieved
+
+class arom_manager(AromNode):
+    node_name = "arom_manager"
+    node_type = "arom_manager"
+    node_pymlab = True
+
+    def __init__(self, rows = 2, cols = 2, file = None):
+        print os.path.abspath(__file__)
+
+        rospy.Subscriber("/arom/manager", std_msgs.msg.String, manager_callback)
+
+        AromNode.__init__(self)
+        self.set_feature('arom_nodes',{'publish': '/arom/manager'})
+
+        ##
+        ##  Konec zakladni inicializace
+        ##
+
+        rate = rospy.Rate(10)
+        while not rospy.is_shutdown():
+            try:
+                if len(recieved) > 0:
+                    print recieved
+            except Exception, e:
+                print e
+            time.sleep(0.5)
+
+
+
+
+if __name__ == '__main__':
+    m = arom_manager()

src/drivers/__init__.py

@@ -25,4 +25,5 @@ def pymlab(self, *args, **kwds):
         self.pymlabService(**kwds)
 
     def set_feature(self, name, value):
-        rospy.set_param('/arom/node'+ str(rospy.get_name()) + '/feature/'+name, value)
+        rospy.set_param('/arom/node%s/feature/%s' %(str(rospy.get_name()),name), value)
+        rospy.loginfo("New feature '%s' for %s" %(rospy.get_name(), name))

src/drivers/aws_weatherunderground.py

@@ -5,46 +5,204 @@
 import rospy
 from arom.srv import *
 from arom.msg import *
+from std_msgs.msg import String
 import httplib2
 
+from __init__ import AromNode
 
 data = {}
 
 def callback(recive):
     global data
     for i, type in enumerate(recive.type):
         data[type] = recive.value[i]
-    print data
+    #print data
 
+def update_parameters(recive):
+    data = eval(recive.data)
+    print '/arom/node%s/feature/aws_uploader_api_params/data/%s/%s/' %(rospy.get_name(), data['id'], 'value')
+    rospy.set_param('/arom/node%s/feature/aws_uploader_api_params/data/%s/%s/' %(rospy.get_name(), data['id'], 'value'), data['source'])
 
-def weatherUploader():
-    name = 'aws_weatherudnerground'
-    rospy.init_node(name, anonymous=True)
-    rospy.Subscriber("/aws_out", msg_WeatherStation, callback)
+class weatherUploader(AromNode):
+    node_name = "aws_weatherudnerground"
+    node_type = "aws_uploader"
+    node_pymlab = False
 
-    ID = rospy.get_param('/arom/aws/%s/ID'%(name))
-    PASSWORD = rospy.get_param('/arom/aws/%s/PASSWORD'%(name))
+    def __init__(self):
+        rospy.Subscriber("/aws_out", msg_WeatherStation, callback)
+        rospy.Subscriber("/%s/update_parameters"%(self.node_name), String, update_parameters)
+        ID = rospy.get_param('/arom/aws/%s/ID'%(self.node_name))
+        PASSWORD = rospy.get_param('/arom/aws/%s/PASSWORD'%(self.node_name))
+
+        AromNode.__init__(self)
+        self.UpdateFeature()
+
+        rate = rospy.Rate(0.2) # 10hz
+        while data == {} and not rospy.is_shutdown():
+            time.sleep(0.25)
+        while not rospy.is_shutdown():
+            try:
+                print "Ahoj :)"
+                self.UpdateFeature()
+                req = ""
+                types = rospy.get_param('/arom/node/aws_weatherudnerground/feature/aws_uploader_api_params/data/')
+                for preset in self.aws_preset:
+                    try:
+                        req += "&%s=%s" %(str(self.aws_preset[preset]), preset)
+
+                    except Exception, e:
+                        rospy.loginfo("#1> " + repr(e))
+
+                for sensor in data:
+                    try:
+                        print
+                        req += "&%s=%f" %(self.aws_data[sensor], self.ConvertValue(float(data[sensor]), self.api_data[self.aws_data[sensor]]['unit']))
+
+                    except Exception, e:
+                        rospy.loginfo("#2> " + repr(e))
+
+                print req
+
+                print "https://rtupdate.wunderground.com/weatherstation/updateweatherstation.php?realtime=1&rtfreq=5"+req
+
+                #resp, content = httplib2.Http().request("http://weatherstation.wunderground.com/weatherstation/updateweatherstation.php"+req)
+                resp, content = httplib2.Http().request("https://rtupdate.wunderground.com/weatherstation/updateweatherstation.php?realtime=1&rtfreq=5"+req)
+            except Exception, e:
+                rospy.logerr(e)
+
+            rate.sleep()
+
+    def ConvertValue(self, value, outUnit, multiply = 1):
+        if outUnit == 'fahrenheit':
+            print "CALC FAHRENHEIT"
+            calc = value * 9/5 + 32
+        else:
+            print "NO CALC"
+            calc = value
+
+        return calc*multiply
+
+
+
+    def UpdateFeature(self):
+        self.aws_data = {}
+        self.aws_preset={}
+        self.api_data = rospy.get_param('/arom/node%s/feature/aws_uploader_api_params/data' %(str(rospy.get_name())), False)
+        print self.api_data
+        if not self.api_data:
+            self.api_data = {'action':{'type': 'static', 'when': 'always', 'value': 'updateraw'},
+                    'ID':   {'type': 'preset', 'when': 'always'},
+                    'PASSWORD':{'type': 'preset', 'when': 'always'},
+                    'softwaretype': {'type': 'static', 'when': 'always', 'value': 'AROM-Autonomou-robotic-observatory-manager'},
+                    'dateutc': {'type': 'static', 'when': 'always', 'value': 'now'},
+
+                    'winddir': {'type': 'data', 'when': '0;360', 'unit': 'degree', 'multiply': 1},
+                    'windspeedmph': {'type': 'data', 'when': '0;200', 'unit': 'mph', 'multiply': 1},
+                    'windgustmph': {'type': 'data', 'when': '0;200', 'unit': 'mph', 'multiply': 1},
+                    'windgustdir': {'type': 'data', 'when': '0;360', 'unit': 'degree', 'multiply': 1},
+                    'windspdmph_avg2m': {'type': 'data', 'when': '0;200', 'unit': 'mph', 'multiply': 1},
+                    'winddir_avg2m': {'type': 'data', 'when': '0;360', 'unit': 'degree', 'multiply': 1},
+                    'windgustdir_10m': {'type': 'data', 'when': '0;360', 'unit': 'degree', 'multiply': 1},
+                    'humidity': {'type': 'data', 'when': '0;100', 'unit': 'percentage', 'multiply': 1},
+                    'dewptf': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'tempf': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'rainin': {'type': 'data', 'when': '0;100', 'unit': 'inch', 'multiply': 1},
+                    'dailyrainin': {'type': 'data', 'when': '0;100', 'unit': 'inch', 'multiply': 1},
+                    'baromin': {'type': 'data', 'when': '500;1500', 'unit': 'pressure', 'multiply': 1},
+                    'weather': {'type': 'data', 'unit': 'text', 'multiply': 1},
+                    'clouds': {'type': 'data', 'unit': 'text', 'multiply': 1},
+                    'soiltempf':  {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soiltemp2f': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soiltemp3f': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soiltemp4f': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soiltemp5f': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soilmoisture':  {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soilmoisture2': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soilmoisture3': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soilmoisture4': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'soilmoisture5': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    'leafwetness':  {'type': 'data', 'when': '0;100', 'unit': 'percentage', 'multiply': 1},
+                    'leafwetness2': {'type': 'data', 'when': '0;100', 'unit': 'percentage', 'multiply': 1},
+                    'solarradiation': {'type': 'data', 'when': '0;1000', 'unit': 'wpm', 'multiply': 1},
+                    'UV': {'type': 'data', 'when': '0;10', 'unit': 'index', 'multiply': 1},
+                    'visibility': {'type': 'data', 'when': 'always', 'unit': 'miles', 'multiply': 1},
+                    'indoorhumidity': {'type': 'data', 'when': '0;100', 'unit': 'percentage', 'multiply': 1},
+                    'indoortempf': {'type': 'data', 'when': '-40;120', 'unit': 'fahrenheit', 'multiply': 1},
+                    }
+            self.set_feature('aws_uploader_api_params',{'data': self.api_data})
+
+        for value in self.api_data:
+            if self.api_data[value]['type'] == 'data' and 'value' in self.api_data[value]:
+                self.aws_data[self.api_data[value]['value']] = value
+            elif (self.api_data[value]['type'] == 'preset' or self.api_data[value]['type'] == 'static') and 'value' in self.api_data[value]:
+                self.aws_preset[self.api_data[value]['value']] = value
+
+        #print "^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^66"
+        #print self.aws_data
+        #print "^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^66"
+        #print self.aws_preset
 
-    rate = rospy.Rate(0.01) # 10hz
-    while data == {} and not rospy.is_shutdown():
-        time.sleep(0.25)
-    while not rospy.is_shutdown():
-        try:
-            req = "?ID=%s&PASSWORD=%s&dateutc=now&softwaretype=AROM-AWS" %(ID , PASSWORD)
-            req += "&tempf=%f" %(data['temperatureAWS0']*9/5+32)
-            req += "&dewptf=%f" %(data['dewpointAWS']*9/5+32)
-            req += "&humidity=%f" %(data['humidityAWS0'])
-            req += "&winddir=%f" %(data['winddirAWS'])
-            req += "&windspeedmph=%f" %(data['windspdAWS'])
-            req += "&baromin=%f" %(data['pressureAWS']*0.0002952998751)
 
-            rospy.loginfo("Uploading data to weatherudnerground.com: %s" %repr(req))
-            resp, content = httplib2.Http().request("http://weatherstation.wunderground.com/weatherstation/updateweatherstation.php"+req)
-        except Exception, e:
-            rospy.logerr(e)
 
-        rate.sleep()
 
 
 if __name__ == '__main__':
-    weatherUploader()
+    weatherUploader()
+
+
+
+
+
+'''
+action [action=updateraw] -- always supply this parameter to indicate you are making a weather observation upload
+ID [ID as registered by wunderground.com]
+PASSWORD [Station Key registered with this PWS ID, case sensitive]
+dateutc - [YYYY-MM-DD HH:MM:SS (mysql format)] In Universal Coordinated Time (UTC) Not local time
+=========================
+winddir - [0-360 instantaneous wind direction]
+windspeedmph - [mph instantaneous wind speed]
+windgustmph - [mph current wind gust, using software specific time period]
+windgustdir - [0-360 using software specific time period]
+windspdmph_avg2m  - [mph 2 minute average wind speed mph]
+winddir_avg2m - [0-360 2 minute average wind direction]
+windgustmph_10m - [mph past 10 minutes wind gust mph ]
+windgustdir_10m - [0-360 past 10 minutes wind gust direction]
+humidity - [% outdoor humidity 0-100%]
+dewptf- [F outdoor dewpoint F]
+tempf - [F outdoor temperature] (for extra outdoor sensors use temp2f, temp3f, and so on)
+rainin - [rain inches over the past hour)] -- the accumulated rainfall in the past 60 min
+dailyrainin - [rain inches so far today in local time]
+baromin - [barometric pressure inches]
+weather - [text] -- metar style (+RA)
+clouds - [text] -- SKC, FEW, SCT, BKN, OVC
+soiltempf - [F soil temperature]  (for sensors 2,3,4 use soiltemp2f, soiltemp3f, and soiltemp4f)
+soilmoisture - [%] (for sensors 2,3,4 use soilmoisture2, soilmoisture3, and soilmoisture4)
+leafwetness  - [%] (for sensor 2 use leafwetness2)
+solarradiation - [W/m^2]
+UV - [index]
+visibility - [nm visibility]
+indoortempf - [F indoor temperature F]
+indoorhumidity - [% indoor humidity 0-100]
+---
+##Pollution Fields:
+AqNO - [ NO (nitric oxide) ppb ]
+AqNO2T - (nitrogen dioxide), true measure ppb
+AqNO2 - NO2 computed, NOx-NO ppb
+AqNO2Y - NO2 computed, NOy-NO ppb
+AqNOX - NOx (nitrogen oxides) - ppb
+AqNOY - NOy (total reactive nitrogen) - ppb
+AqNO3 -NO3 ion (nitrate, not adjusted for ammonium ion) UG/M3
+AqSO4 -SO4 ion (sulfate, not adjusted for ammonium ion) UG/M3
+AqSO2 -(sulfur dioxide), conventional ppb
+AqSO2T -trace levels ppb
+AqCO -CO (carbon monoxide), conventional ppm
+AqCOT -CO trace levels ppb
+AqEC -EC (elemental carbon) - PM2.5 UG/M3
+AqOC -OC (organic carbon, not adjusted for oxygen and hydrogen) - PM2.5 UG/M3
+AqBC -BC (black carbon at 880 nm) UG/M3
+AqUV-AETH  -UV-AETH (second channel of Aethalometer at 370 nm) UG/M3
+AqPM2.5 - PM2.5 mass - UG/M3 
+AqPM10 - PM10 mass - PM10 mass
+AqOZONE - Ozone - ppb
+softwaretype - [text] ie: WeatherLink, VWS, WeatherDisplay
+'''

src/drivers/mount.py

@@ -61,7 +61,7 @@ def __init__(self, parent = None, arg = None, name = "mount", port="", connect =
         self.rate = 1
 
         self.mount = drive(profile = 'HEQ5', mode = "eq", connectMethod = 'pymlab',
-            obs_lat = 48.986976, obs_lon = 14.467532, obs_alt = 300, port = '/dev/ttyUSB0')
+            obs_lat = 48.986976, obs_lon = 14.467532, obs_alt = 382, port = '/dev/ttyUSB0')
 
         self.mount.run()
         self.mount.UnPark()
@@ -78,6 +78,7 @@ def __init__(self, parent = None, arg = None, name = "mount", port="", connect =
         #self.set_feature('mount_position',{'publish': '/mount/status/coordinates/RaDec'})
         #self.set_feature('mount_offset',{'subscrib': '/mount/controll'})
         self.set_feature('mount_slew',{'subscrib': '/mount/controll', 'publish': '/mount/status/coordinates/RaDec'})
+        self.set_feature('mount_tracking',{'subscrib': '/mount/controll', 'publish': '/mount/status/coordinates/RaDec'})
         self.set_feature('mount_skymap',{})
         #self.set_feature('mount_info',{'type': 'HEQ5', 'mount_mode': 'eq', 'obs_lat': 10.2332, 'obs_lon': 10.2332, 'obs_alt': 10.2332})
 
@@ -86,7 +87,7 @@ def __init__(self, parent = None, arg = None, name = "mount", port="", connect =
         rate = rospy.Rate(self.rate)
         ra = 0
         dec = 90
-        rospy.Timer(rospy.Duration(2), self.send_position, oneshot=False)
+        rospy.Timer(rospy.Duration(1), self.send_position, oneshot=False)
         while not rospy.is_shutdown():
             try:
                 if len(btn_data) > 0:
@@ -111,13 +112,27 @@ def __init__(self, parent = None, arg = None, name = "mount", port="", connect =
 
                     elif "radec" in lastBtn:
                         split = lastBtn.split(" ")
-                        self.mount.Slew(SkyCoord(alt = float(split[1]), az = float(split[2]), obstime = Time.now(), frame = 'altaz', unit="deg", location = self.mount.getObs()).icrs)
+                        self.mount.Slew(SkyCoord(ra = float(split[1]), dec = float(split[2]), obstime = Time.now(), unit="deg", location = self.mount.getObs()).icrs)
 
                     elif "tle" in lastBtn:
                         split = lastBtn.split(" ")
                         self.mount.StartTrackingTLE(name = split[1])
                         #self.mount.Slew(SkyCoord(alt = float(split[1]), az = float(split[2]), obstime = Time.now(), frame = 'altaz', unit="deg", location = self.mount.getObs()).icrs)
 
+                    elif "resetMount" in lastBtn:
+                        self.mount.Reset()
+
+                    elif "spd" in lastBtn:
+                        split = lastBtn.split(" ")
+                        self.mount.setTrackingSpeed(ra = float(split[1]), dec = float(split[2]))
+                        self.mount.tracking(True)
+
+                    elif "startTracking" in lastBtn:
+                        self.mount.tracking(True)
+
+                    elif "stopTracking" in lastBtn:
+                        self.mount.tracking(False)
+
                     elif lastBtn == 'home' or lastBtn == 'KEY_STOP':
                         self.mount.GoPark()
 
@@ -178,11 +193,12 @@ def __init__(self, parent = None, arg = None, name = "mount", port="", connect =
         self.connection.close()
 
     def send_position(self, object):
-        print "send position :)"
-        coord = self.mount.getCoordinates()
-        #return (coord.ra.degree, coord.dec.degree)
-        mat = Float32MultiArray(data=[coord.ra.degree, coord.dec.degree])
-        self.pub_radec.publish(mat)
+        try:
+            coord = self.mount.getCoordinates()
+            mat = Float32MultiArray(data=[coord.ra.degree, coord.dec.degree])
+            self.pub_radec.publish(mat)
+        except Exception, e:
+            print e
 
 
 

src/initPymlab.py

@@ -76,7 +76,7 @@
 
     i2c2 = str({
             "device": "serial",
-            "port": '/dev/ttyUSB2',
+            "port": '/dev/ttyUSB0',
         })
     bus2 = str([
                 {