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@Tiryoh
Last active October 4, 2017 15:00
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Jupyter Notebook + Robot (getting light sensor status from Raspberry Pi Mouse)
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{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"# 数値計算及び描画に必要なモジュール\n",
"import numpy as np\n",
"import math\n",
"from matplotlib import pyplot as plt\n",
"\n",
"import urllib.request\n",
"import time\n",
"import argparse\n",
"import json\n",
"import threading"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"class Reciever(object):\n",
" def __init__(self, ip, port):\n",
" print(\"init\")\n",
" self.url = \"http://{}:{}\".format(ip, port)\n",
" print (\"connecting to \" + self.url)\n",
"\n",
" def get_sensor_val(self):\n",
" start = time.time()\n",
" request = urllib.request.Request(self.url)\n",
" response = urllib.request.urlopen(request)\n",
" sensor_dict = json.loads(response.read().decode('utf-8'))\n",
" return sensor_dict"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"init\n",
"connecting to http://192.168.22.234:5000\n"
]
}
],
"source": [
"# r = Reciever(\"192.168.64.3\", 5000)\n",
"r = Reciever(\"192.168.22.234\", 5000)"
]
},
{
"cell_type": "code",
"execution_count": 4,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"{'2': 15, '3': -1, '1': 8, '0': 20}\n",
"[{'2': 15, '3': -1, '1': 8, '0': 20}]\n"
]
}
],
"source": [
"history = []\n",
"hoge = r.get_sensor_val()\n",
"history.append(hoge)\n",
"print(hoge)\n",
"print(history)"
]
},
{
"cell_type": "code",
"execution_count": 17,
"metadata": {},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"[{'2': 15, '3': -1, '1': 8, '0': 20}, {'2': 18, '3': 5, '1': 16, '0': 15}, {'2': 22, '3': 9, '1': 12, '0': 11}, {'2': 8, '3': -1, '1': 16, '0': 13}, {'2': 18, '3': 0, '1': 12, '0': 16}, {'2': 7, '3': 3, '1': 14, '0': 20}, {'2': 18, '3': 3, '1': 5, '0': 20}, {'2': 9, '3': 3, '1': 8, '0': 11}, {'2': 16, '3': 7, '1': 15, '0': 16}, {'2': 15, '3': -1, '1': 9, '0': 17}, {'2': 12, '3': 4, '1': 12, '0': 14}, {'2': 13, '3': 6, '1': 9, '0': 10}, {'2': 15, '3': 4, '1': 7, '0': 16}, {'2': 12, '3': 6, '1': 8, '0': 17}, {'2': 10, '3': 10, '1': 11, '0': 14}, {'2': 22, '3': 9, '1': 14, '0': 16}, {'2': 12, '3': -2, '1': 13, '0': 14}, {'2': 13, '3': -3, '1': 10, '0': 21}, {'2': 10, '3': 0, '1': 12, '0': 12}, {'2': 12, '3': 4, '1': 10, '0': 15}, {'2': 12, '3': 6, '1': 13, '0': 14}, {'2': 21, '3': 687, '1': 14, '0': 1005}, {'2': 20, '3': 701, '1': 15, '0': 995}, {'2': 20, '3': 715, '1': 14, '0': 1006}, {'2': 20, '3': 687, '1': 14, '0': 1021}, {'2': 21, '3': 685, '1': 15, '0': 1002}, {'2': 20, '3': 691, '1': 19, '0': 1003}, {'2': 21, '3': 695, '1': 17, '0': 1006}, {'2': 27, '3': 711, '1': 15, '0': 1018}, {'2': 24, '3': 705, '1': 13, '0': 995}, {'2': 20, '3': 713, '1': 15, '0': 1019}, {'2': 762, '3': 2906, '1': 630, '0': 2516}, {'2': 771, '3': 2866, '1': 643, '0': 2532}, {'2': 784, '3': 2881, '1': 622, '0': 2558}, {'2': 768, '3': 2885, '1': 628, '0': 2535}, {'2': 777, '3': 2905, '1': 653, '0': 2536}, {'2': 784, '3': 2907, '1': 643, '0': 2538}, {'2': 768, '3': 2871, '1': 651, '0': 2538}, {'2': 770, '3': 2878, '1': 638, '0': 2555}, {'2': 789, '3': 2876, '1': 638, '0': 2555}, {'2': 762, '3': 2875, '1': 639, '0': 2528}, {'2': 16, '3': 2, '1': 417, '0': 26}, {'2': 14, '3': 6, '1': 405, '0': 24}, {'2': 12, '3': 0, '1': 401, '0': 26}, {'2': 15, '3': -2, '1': 425, '0': 26}, {'2': 20, '3': 1, '1': 402, '0': 30}, {'2': 14, '3': 4, '1': 396, '0': 27}, {'2': 20, '3': -4, '1': 411, '0': 20}, {'2': 14, '3': 0, '1': 409, '0': 21}, {'2': 10, '3': 2, '1': 401, '0': 30}, {'2': 12, '3': 0, '1': 400, '0': 26}, {'2': 607, '3': 3, '1': 11, '0': 12}, {'2': 611, '3': -1, '1': 15, '0': 18}, {'2': 617, '3': 11, '1': 9, '0': 21}, {'2': 633, '3': 8, '1': 13, '0': 16}, {'2': 611, '3': 4, '1': 14, '0': 21}, {'2': 614, '3': 7, '1': 8, '0': 18}, {'2': 615, '3': 8, '1': 16, '0': 14}, {'2': 628, '3': 9, '1': 15, '0': 20}, {'2': 611, '3': 6, '1': 17, '0': 13}, {'2': 607, '3': 4, '1': 15, '0': 16}, {'2': 62, '3': 1034, '1': 105, '0': 1712}, {'2': 72, '3': 1055, '1': 112, '0': 1723}, {'2': 73, '3': 1037, '1': 106, '0': 1733}, {'2': 72, '3': 1047, '1': 107, '0': 1712}, {'2': 72, '3': 1047, '1': 107, '0': 1715}, {'2': 67, '3': 1034, '1': 125, '0': 1719}, {'2': 64, '3': 1038, '1': 109, '0': 1712}, {'2': 72, '3': 1034, '1': 111, '0': 1711}, {'2': 66, '3': 1042, '1': 106, '0': 1728}, {'2': 72, '3': 1033, '1': 112, '0': 1709}]\n"
]
}
],
"source": [
"for i in range(10):\n",
" hoge = r.get_sensor_val()\n",
" history.append(hoge)\n",
" time.sleep(0.1)\n",
"\n",
"print(history)"
]
},
{
"cell_type": "code",
"execution_count": 18,
"metadata": {},
"outputs": [
{
"data": {
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P/bvvvqNz5861dEX2ufrqqznllFM4/vjjd/u8HTt2UKdOHUSEl19+malTp/LWW6m7s+7f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\nopxHqLAriqIoynnE/wfRgSpux+tYSAAAAABJRU5ErkJggg==\n",
"text/plain": [
"<matplotlib.figure.Figure at 0x11479bf28>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"# タイトル付き新規ウィンドウ、座標軸を用意\n",
"fig = plt.figure(figsize=(8, 8))\n",
"plt.title(\"sensor history\")\n",
"world = fig.add_subplot(1,1,1)\n",
"world.set_xlim(0,100)\n",
"world.set_ylim(-1.5,2000)\n",
"\n",
"\n",
"x_arr = np.array([])\n",
"y1_arr = np.array([])\n",
"y2_arr = np.array([])\n",
"y3_arr = np.array([])\n",
"y0_arr = np.array([])\n",
"\n",
"for i in range(len(history)):\n",
" x_arr = np.append(x_arr, i)\n",
" y0_arr = np.append(y0_arr, history[i][\"0\"])\n",
" y1_arr = np.append(y1_arr, history[i][\"1\"])\n",
" y2_arr = np.append(y2_arr, history[i][\"2\"])\n",
" y3_arr = np.append(y3_arr, history[i][\"3\"])\n",
"\n",
"plt.plot(x_arr, y0_arr, label = \"sensor 0(right front)\")\n",
"plt.plot(x_arr, y1_arr, label = \"sensor 1(right side)\")\n",
"plt.plot(x_arr, y2_arr, label = \"sensor 2(left side)\")\n",
"plt.plot(x_arr, y3_arr, label = \"sensor 3(left front)\")\n",
"\n",
"# 左上に凡例を追加\n",
"world.legend(loc='upper left')\n",
"\n",
"# 現在の状態を確認\n",
"plt.show()"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "py36",
"language": "python",
"name": "py36"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 3
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython3",
"version": "3.6.1"
}
},
"nbformat": 4,
"nbformat_minor": 2
}
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