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motors-scanner-test-1
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motors-scanner-test-1 [2012/09/21 15:51] 85.218.109.130 |
motors-scanner-test-1 [2012/10/06 16:40] 85.218.109.130 |
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| Line 7: | Line 7: | ||
| <code python> | <code python> | ||
| + | #!/usr/bin/python | ||
| + | |||
| + | # -*- coding: utf-8 -*- | ||
| + | |||
| import subprocess, glob, time, csv | import subprocess, glob, time, csv | ||
| from arduino import Arduino, Servo | from arduino import Arduino, Servo | ||
| Line 12: | Line 16: | ||
| # scanning part ----------------- | # scanning part ----------------- | ||
| - | # if you want to run airodump from python; | + | # airodump-ng is running and logging the results into a csv file |
| - | # disadvantage: doesn't run in the background | + | # subprocess looks for the last edited csv file in current folder |
| - | #cmd='airodump-ng --bssid 14:D6:4D:B6:97:3C -w /home/selena/doc/synergia/sator/scanning/salzamt1109 mon0' | + | # this file is parsed by the csv module to find the number of data packets that have passed through the network since the last check |
| - | #cmd=subprocess.call(cmd.split()) | + | |
| - | + | listlasted=subprocess.Popen("ls -ct1 /home/gordo/rknfg/*csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) | |
| - | listlasted=subprocess.Popen("ls -ct1 *csv | head -1", shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE) | + | |
| lasted=listlasted.communicate()[0].strip() | lasted=listlasted.communicate()[0].strip() | ||
| + | print lasted | ||
| # reading the scan log from a csv file | # reading the scan log from a csv file | ||
| def lookup(dump): | def lookup(dump): | ||
| - | scan=open(dump) | + | scan=open(dump, "rU") |
| next(scan) | next(scan) | ||
| - | scanDict=csv.DictReader(scan, delimiter=',') | + | scanDict=csv.DictReader((line.replace('\0','') for line in scan), delimiter=',') |
| for adict in scanDict: | for adict in scanDict: | ||
| if adict.has_key(' # IV'): | if adict.has_key(' # IV'): | ||
| data=adict.get(' # IV') | data=adict.get(' # IV') | ||
| return data | return data | ||
| - | + | ||
| - | #airodump='/home/selena/doc/synergia/sator/scanning/salzamt1109-01.csv' | + | packets=int(lookup(lasted)) |
| + | print 'packets', packets | ||
| # moving part ------------------- | # moving part ------------------- | ||
| - | + | ||
| - | portz=glob.glob("/dev/ttyUSB*")[0] | + | portz=glob.glob("/dev/tty*")[0] |
| #print portz | #print portz | ||
| + | |||
| my_board=Arduino(portz) | my_board=Arduino(portz) | ||
| - | my_board.output([9, 11]) | + | my_board.output([9, 10]) |
| - | linearone=my_board.attachServo(9) | + | linear_one=my_board.attachServo(9) |
| - | lineartwo=my_board.attachServo(11) | + | linear_two=my_board.attachServo(10) |
| - | position=40 | + | # !!!! motors are not in sync!!!! |
| - | linearone.write(position), lineartwo.write(position) | + | # extreme positions of the motor one and two: |
| - | time.sleep(1) | + | |
| - | packets=int(lookup(lasted)) | + | # | linear one | |
| - | print 'packets', packets | + | # 72 - - - - - - - - - - 139 |
| - | time.sleep(10) | + | |
| + | # | linear two | | ||
| + | # 87 - - - - - - - - - - 121 | ||
| + | |||
| + | # thus a dictionary of compatible values tupples is used to make sure the two motors are always in the same position | ||
| + | |||
| + | positions = {0:[(72,87)],1:[(73,88)],2:[(74,88)],3:[(75,89)],4:[(76,90)],5:[(77,90)],6:[(78,91)],7:[(82,92)],8:[(83,92)],9:[(84,92)],10:[(86,94)],11:[(88,95)],12:[(90,96)],13:[(92,97)],14:[(93,98)],15:[(95,99)],16:[(98,100)],17:[(100,101)],18:[(102,102)],19:[(103,103)],20:[(104,104)],21:[(106,105)],22:[(107,106)],23:[(109,107)],24:[(110,108)],25:[(114,109)],26:[(117,110)],27:[(120,111)],28:[(122,112)],29:[(124,113)],30:[(125,114)],31:[(128,115)],32:[(129,116)],33:[(130,117)],34:[(132,118)],35:[(135,119)],36:[(137,120)],37:[(139,121)]} | ||
| + | |||
| + | # the main loop ----------------- | ||
| + | |||
| + | # lookup function checks for difference in the number of packets | ||
| + | # it sends the motors to a new position accordingly | ||
| + | max_pos=len(positions)-1 | ||
| + | key_pos=max_pos | ||
| + | | ||
| + | # put the motors in the minimum position | ||
| + | linear_one.write(positions[key_pos][0][0]) | ||
| + | linear_two.write(positions[key_pos][0][1]) | ||
| + | time.sleep(5) | ||
| + | | ||
| while True: | while True: | ||
| - | newPackets=int(lookup(airodump)) | + | newPackets=int(lookup(lasted)) |
| packetsDiff=newPackets-packets | packetsDiff=newPackets-packets | ||
| print 'packetsDiff', packetsDiff | print 'packetsDiff', packetsDiff | ||
| - | # decide whether to stretch or shrink: | + | # decide whether to stretch or shrink (when shrinking the height of the space increases): |
| - | if packetsDiff>10: | + | if packetsDiff>=10 and packetsDiff<50 and key_pos>0: |
| - | newPosition=position+(packetsDiff/5) | + | new_key=key_pos-1 |
| - | print 'should stretch', newPosition | + | print 'linear1 will shrink',positions[new_key][0][0] |
| - | if newPosition <=140: | + | print 'linear2 will shrink',positions[new_key][0][1] |
| - | print 'and will do' | + | print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos) |
| - | linearone.write(newPosition), lineartwo.write(newPosition) | + | linear_one.write(positions[new_key][0][0]) |
| + | time.sleep(0.3) | ||
| + | linear_two.write(positions[new_key][0][1]) | ||
| + | time.sleep(0.3) | ||
| + | key_pos=new_key #update position | ||
| + | |||
| + | elif packetsDiff>50 and key_pos>0: | ||
| + | new_key=key_pos-5 | ||
| + | if new_key<=0: | ||
| + | new_key=1 #reset position | ||
| + | key_pos=new_key #update position | ||
| else: | else: | ||
| - | print 'already at maximum' | + | print 'linear1 will shrink',positions[new_key][0][0] |
| - | # reset | + | print 'linear2 will shrink',positions[new_key][0][1] |
| - | position=120 | + | linear_one.write(positions[new_key][0][0]) |
| - | elif packetsDiff<=0: | + | time.sleep(0.3) |
| - | newPosition=position-10 | + | linear_two.write(positions[new_key][0][1]) |
| - | print 'shrinking', newPosition | + | time.sleep(0.3) |
| - | if newPosition >= 40: | + | key_pos=new_key #update position |
| - | print 'will do' | + | elif packetsDiff<=0 and key_pos<max_pos: |
| - | linearone.write(newPosition), lineartwo.write(newPosition) | + | new_key=key_pos+2 |
| - | else: | + | print 'linear1 will stretch',positions[new_key][0][0] |
| - | print 'already at minumum' | + | print 'linear2 will stretch',positions[new_key][0][1] |
| - | position=50 | + | print 'current key_pos: ' + str(new_key) + " .. was oldkey: " + str(key_pos) |
| - | time.sleep(5) | + | linear_one.write(positions[new_key][0][0]) |
| - | packets=newPackets #resets the packets | + | time.sleep(0.3) |
| - | position=newPosition #resets the position (so the next time it will compare with the updated value) | + | linear_two.write(positions[new_key][0][1]) |
| + | time.sleep(0.3) | ||
| + | key_pos=new_key #update position | ||
| + | else: | ||
| + | print "else: packetDiff is too little", packetsDiff | ||
| + | new_key=key_pos | ||
| + | print 'nothing changed, will stay in the position', positions[new_key] | ||
| + | time.sleep(3) | ||
| + | packets=newPackets #updates the packets | ||
| </code> | </code> | ||
| + | |||
| + | TODO | ||
| + | |||
| + | * positions resolution | ||
| + | * main loop flow: first add or first decide on the limit | ||
| + | * exceptions, restart.... | ||
| + | |||
motors-scanner-test-1.txt · Last modified: 2012/10/08 16:45 by 85.218.109.130
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