| 14,6 → 14,7 |
|---|
| import thread |
| import ConfigParser |
| import math |
| import copy |
| |
| import wx |
| import wx.lib |
| 28,7 → 29,7 |
|---|
| CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"] |
| MOTOR_MAX = 16 |
| |
| FS = 20 |
| FS = 18.0 |
| pi = 3.14 |
| COLOR_YELLOW = wx.Colour(255, 240, 0) |
| COLOR_BACKGROUND = wx.Colour(0x80, 0x80, 0x80) |
| 631,7 → 632,7 |
|---|
| nb = vibTest.getDataLen() |
| |
| if self.graphTypeChoice.GetSelection() == 0: |
| xydata = _Numeric.linspace(0,0.09*nb,2*nb) |
| xydata = _Numeric.linspace(0,(1/FS)*nb,2*nb) |
| xydata.shape = (nb, 2) |
| xydata[:,1] = vibTest.getRawData() |
| line = wx.lib.plot.PolyLine(xydata, legend= 'Raw Data', colour='red', width=2) |
| 638,13 → 639,13 |
|---|
| |
| title = "Raw Signal: %s %s %d" %(vibTest.descr, vibTest.channel, vibTest.speed) |
| self.graphCtrl.setLogScale((False,False)) |
| self.graphCtrl.Draw(wx.lib.plot.PlotGraphics([line], title, "Time (ms)", "Acc"), yAxis= (-y/2,y/2)) |
| self.graphCtrl.Draw(wx.lib.plot.PlotGraphics([line], title, "Time (s)", "Angle"), yAxis= (-y/2,y/2)) |
| self.graphCtrl.SetEnableGrid('Horizontal') |
| self.graphCtrl.SetEnableLegend(False) |
| |
| |
| if self.graphTypeChoice.GetSelection() == 1: |
| xydata = _Numeric.linspace(0,0.09*nb,2*nb) |
| xydata = _Numeric.linspace(0,(1/FS)*nb,2*nb) |
| xydata.shape = (nb, 2) |
| xydata[:,1] = vibTest.getFilteredData() |
| line = wx.lib.plot.PolyLine(xydata, legend= 'Raw Data', colour='red', width=2) |
| 651,7 → 652,7 |
|---|
| |
| title = "Filtered Signal: %s %s %d" %(vibTest.descr, vibTest.channel, vibTest.speed) |
| self.graphCtrl.setLogScale((False,False)) |
| self.graphCtrl.Draw(wx.lib.plot.PlotGraphics([line], title, "Time (ms)", "Acc"), yAxis= (-y/2,y/2)) |
| self.graphCtrl.Draw(wx.lib.plot.PlotGraphics([line], title, "Time (s)", "Angle"), yAxis= (-y/2,y/2)) |
| self.graphCtrl.SetEnableGrid('Horizontal') |
| self.graphCtrl.SetEnableLegend(False) |
| |
| 912,9 → 913,9 |
|---|
| self._sendEvent("Opening SerialPort \"%s\"" % self.param.serialPort) |
| self.mk.open(comPort=self.param.serialPort) |
| |
| print "Sending FC->NC forwarding", |
| self.mk.sendNCRedirectUartFromFC() |
| print "Done" |
| # print "Sending FC->NC forwarding", |
| # self.mk.sendNCRedirectUartFromFC() |
| # print "Done" |
| |
| msg = self.mk.getVersionMsg() |
| version = msg.getVersion() |
| 936,11 → 937,11 |
|---|
| if self.param.minVoltage > 0: |
| minVoltage = self.param.minVoltage |
| else: |
| minVoltage = nbCells*3.5 # auto |
| minVoltage = nbCells*3 # auto |
| if self.param.maxVoltage > 0: |
| maxVoltage = self.param.maxVoltage |
| else: |
| maxVoltage = nbCells*3.9 |
| maxVoltage = nbCells*4 |
| |
| self._sendEvent("Voltage: %2.1fV" % voltage) |
| self._sendEvent("Min/Max Voltage: %2.1fV-%2.1fV" % (minVoltage, maxVoltage), parVoltage=(minVoltage, maxVoltage, voltage)) |
| 947,23 → 948,47 |
|---|
| |
| msg = self.mk.getDebugMsg() |
| voltage = msg.getVoltage() |
| |
| for I in self.param.speeds: |
| self._sendEvent("TestSettings I=%d" % I) |
| orgSetting = self.mk.getSettingsMsg() |
| testSettings = copy.deepcopy(orgSetting) |
| |
| # testSettings.setSetting(MkProtocol.SettingsMsg.IDX_GYRO_P, I) |
| # testSettings.setSetting(MkProtocol.SettingsMsg.IDX_GYRO_I, 65) |
| |
| testSettings.setSetting(MkProtocol.SettingsMsg.IDX_GYRO_P, 0) |
| testSettings.setSetting(MkProtocol.SettingsMsg.IDX_GYRO_I, I) |
| |
| self.mk.sendSettings(testSettings.getSettings()) |
| |
| #time.sleep(3) |
| |
| #data = self.mk.doVibrationTest(1000, channel) |
| messages = self.mk.recordDbgMsg(0.05, 20*5) |
| data = [] |
| for msg in messages: |
| data.append(msg.getAngleRoll()) |
| print data |
| ## DISTURB |
| msg = MkProtocol.MkMsg(address=2, cmd='f', data=[7, 50]) |
| self.mk.sendMsg(msg) |
| time.sleep(.1) |
| |
| vt = VibTest(self.param.descr, voltage, self.param.motors, 0, "AngleRoll", data) |
| evt = MeasDataEvent(vibTest = vt) |
| wx.PostEvent(self.evtConsumer, evt) |
| |
| #data = self.mk.doVibrationTest(1000, channel) |
| messages = self.mk.recordDbgMsg(0.05, 20*5) |
| data = [] |
| for msg in messages: |
| data.append(msg.getAngleRoll()) |
| print data |
| |
| vt = VibTest(self.param.descr, voltage, self.param.motors, I, "AngleRoll", data) |
| evt = MeasDataEvent(vibTest = vt) |
| wx.PostEvent(self.evtConsumer, evt) |
| |
| self._sendEvent("Original Settings") |
| self.mk.sendSettings(orgSetting.getSettings()) |
| time.sleep(1) |
| |
| if voltage<minVoltage: |
| raise Exception("Voltage too low") |
| |
| self._sendEvent("Done !", parVoltage=(minVoltage, maxVoltage, voltage)) |
| |
| |
| except Exception, e: |
| self._sendEvent("Exception \"%s\"" % e, error=True) |
| |
| 1038,7 → 1063,8 |
|---|
| |
| def getVibValue(self): |
| if self.vibValue == None: |
| fd = self.getFilteredData()[100:-100]; |
| fd = self.getRawData() |
| #fd = self.getFilteredData()[100:-100]; |
| if self.useRms: |
| print "RMS" |
| self.vibValue = math.sqrt(sum([x*x for x in fd])/len(fd))*2*math.sqrt(2) |
| 1243,6 → 1269,6 |
|---|
| rootPath = os.path.abspath(os.path.dirname(sys.argv[0])) |
| |
| print rootPath |
| |
| |
| VibrationTestGui = App(0) |
| VibrationTestGui.MainLoop() |