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@justinshenk justinshenk/distance.py

Last active Sep 11, 2018
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Posture Monitor Server for Walabot
#!/usr/local/env python
from __future__ import print_function
from sys import platform
from os import system
import WalabotAPI
try: # for Python 2
import Tkinter as tk
except ImportError: # for Python 3
import tkinter as tk
MYPORT = 5002
import requests
import sys, time
from socket import *
class Walabot:
def __init__(self):
self.wlbt = WalabotAPI
self.wlbt.Init()
self.wlbt.SetSettingsFolder()
self.isConnected = False
self.isTargets = False
self.rMin = self.WalabotParameter(self, "R Min", 1, 1000, 10.0)
self.rMax = self.WalabotParameter(self, "R Max", 1, 1000, 100.0)
self.rRes = self.WalabotParameter(self, "R Res", 0.1, 10, 2.0)
self.tMax = self.WalabotParameter(self, "Theta Max", 1, 90, 20.0)
self.tRes = self.WalabotParameter(self, "Theta Res", 1, 10, 10.0)
self.pMax = self.WalabotParameter(self, "Phi Max", 1, 90, 45.0)
self.pRes = self.WalabotParameter(self, "Phi Res", 1, 10, 2.0)
self.thld = self.WalabotParameter(self, "Threshold", 0.1, 100, 15.0)
self.mti = self.WalabotParameterMTI(self)
self.parameters = (
self.rMin, self.rMax, self.rRes, self.tMax, self.tRes,
self.pMax, self.pRes, self.thld, self.mti)
class WalabotParameter(tk.Frame):
""" The frame that sets each Walabot parameter line.
"""
def __init__(self, master, varVal, minVal, maxVal, defaultVal):
""" Init the Labels (parameter name, min/max value) and entry.
"""
self.minVal, self.maxVal = minVal, maxVal
self.var = tk.StringVar()
self.var.set(defaultVal)
self.var.trace("w", lambda a, b, c, var=self.var: self.validate())
txt = "[{}, {}]".format(minVal, maxVal)
def validate(self):
""" Checks that the entered value is a valid number and between
the min/max values. Change the font color of the value to red
if False, else to black (normal).
"""
num = self.var.get()
try:
num = float(num)
if num < self.minVal or num > self.maxVal:
self.entry.config(fg="red")
return
self.entry.config(fg="gray1")
except ValueError:
self.entry.config(fg="red")
return
def get(self):
""" Returns the entry value as a float.
"""
return float(self.var.get())
def set(self, value):
""" Sets the entry value according to a given one.
"""
self.var.set(value)
def changeState(self, state):
""" Change the entry state according to a given one.
"""
self.entry.configure(state=state)
class WalabotParameterMTI(tk.Frame):
""" The frame that control the Walabot MTI parameter line.
"""
def __init__(self, master):
self.mtiVar = tk.IntVar()
self.mtiVar.set(0)
def get(self):
""" Returns the value of the pressed radiobutton.
"""
return self.mtiVar.get()
def set(self, value):
""" Sets the pressed radiobutton according to a given value.
"""
self.mtiVar.set(value)
def changeState(self, state):
""" Change the state of the radiobuttons according to a given one.
"""
self.true.configure(state=state)
self.false.configure(state=state)
def getParameters(self):
""" Return the values of all the parameters entries/radiobuttons.
"""
rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
thldParam, mtiParam = self.thld.get(), self.mti.get()
return rParams, tParams, pParams, thldParam, mtiParam
def setParameters(self):
""" Set the arena Parameters according given ones.
"""
rParams = (self.rMin.get(), self.rMax.get(), self.rRes.get())
tParams = (-self.tMax.get(), self.tMax.get(), self.tRes.get())
pParams = (-self.pMax.get(), self.pMax.get(), self.pRes.get())
thldParam, mtiParam = self.thld.get(), self.mti.get()
self.wlbt.SetProfile(self.wlbt.PROF_SENSOR)
self.wlbt.SetArenaR(self.rMin.get(), self.rMax.get(), self.rRes.get())
self.wlbt.SetArenaTheta(-self.tMax.get(), self.tMax.get(), self.tRes.get())
self.wlbt.SetArenaPhi(-self.pMax.get(), self.pMax.get(), self.pRes.get())
self.wlbt.SetThreshold(thldParam)
self.wlbt.SetDynamicImageFilter(mtiParam)
self.wlbt.Start()
def connect(self):
try:
self.wlbt.ConnectAny()
self.isConnected = True
self.setParameters()
except self.wlbt.WalabotError as err:
if err.code != 19: # 'WALABOT_INSTRUMENT_NOT_FOUND'
raise err
def start(self):
self.wlbt.Start()
def get_targets(self):
self.wlbt.Trigger()
return self.wlbt.GetSensorTargets()
def stop(self):
self.wlbt.Stop()
def disconnect(self):
self.wlbt.Disconnect()
def calibrate(self):
""" Calibrate the Walabot.
"""
self.wlbt.StartCalibration()
while self.wlbt.GetStatus()[0] == self.wlbt.STATUS_CALIBRATING:
self.wlbt.Trigger()
def print_targets(targets):
system("cls" if platform == "win32" else "clear") # clear the screen
distance = str(targets[0].zPosCm)
r = requests.get("http://localhost:3000/set?distance=" + distance)
print(targets[0].zPosCm)
def main():
root = tk.Tk()
wlbt = Walabot()
wlbt.connect()
if not wlbt.isConnected:
print("Not Connected")
else:
print("Connected")
while True:
print_targets(wlbt.get_targets())
if __name__ == '__main__':
main()
#!/usr/local/env python
import distance
import json
import time
from flask import Flask, jsonify, request, Response
app = Flask(__name__)
distance=0
@app.route('/set')
def set():
global distance
distance = request.args.get('distance')
return jsonify(distance)
@app.route('/status')
def status():
return Response(json.dumps({'status':distance}))
if __name__ == '__main__':
app.run(host='0.0.0.0', port=3000)
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