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#! /usr/bin/env python
#
# Mikrokopter Vibration Test
#
# Author: FredericG
#
import mkProto
import time
import traceback
import getopt
import sys
CHANNEL_NAMES = ["GyroYaw", "GyroRoll", "GyroNick", "Pressure", "Batt", "AccTop", "AccRoll", "AccNick"]
def usage():
print
print "VibrationTest.py COMPORT MOTORS SPEEDS CHANNELS [-m MINSPEED] [-s NBSAMPLES] [-n NAME] [-d FILENAME] [-v]"
print " COMPORT Serial port to use. e.g. COM4"
print " MOTORS Motors to activate during test. Multiple motors can be used at the same time. e.g. 1,2,3,4"
print " SPEEDS Indicates at what speeds the motors need to be tested. e.g. 50,80,110,140,170"
print " CHANNELS Channels to monitor. e.g. 5,6,7"
i = 0
for channelName in CHANNEL_NAMES:
print " Channel %d = %s" % (i, channelName)
i += 1
print " -m MINSPEED Minimum speed of the motor(s)"
print " -s NBSAMPLES Number of samples"
print " -n NAME Name of the test"
print " -d FILENAME File to which the measured values will be logged in"
print " -v Verbose"
print
if __name__ == '__main__':
#print sys.argv
if len(sys.argv)<5:
usage()
sys.exit(2)
parComPort = sys.argv[1]
parMotors = sys.argv[2].split(',')
parSpeeds = sys.argv[3].split(',')
parChannels = sys.argv[4].split(',')
try:
opts, args = getopt.getopt(sys.argv[5:], "s:n:d:m:v")
except Exception, err:
print str(err) # will print something like "option -a not recognized"
usage()
sys.exit(2)
parVerbose = False
parFileName = None
parNbSamples = 400
parMinSpeed = 25
parTestName = ""
for o, a in opts:
if o == "-v":
parVerbose = True
elif o == "-d":
parFileName = a
elif o == "-s":
parNbSamples = int(a)
elif o == "-m":
parMinSpeed = int(a)
elif o == "-n":
parTestName = a
else:
assert False, "unhandled option %s" % (o)
if parVerbose:
print "comPort =", parComPort
print "motors =", parMotors
print "minSpeed =", parMinSpeed
print "speeds =", parSpeeds
print "channels =", parChannels
print "nbSamples=", parNbSamples
print "fileName =", parFileName
print "testName =", parTestName
try:
parMotors = map(int, parMotors)
parSpeeds = map(int, parSpeeds)
parChannels = map(int, parChannels)
if parVerbose:
print "Opening comPort... "
mk = mkProto.MkComm()
mk.open(comPort=parComPort)
msg = mk.getVersionMsg()
voltage = 0
if parVerbose:
print "Version: %d.%d" % msg.getVersion()
msg = mk.getDebugMsg()
if (voltage > 4.2*3):
minVoltage = 4*3.5
else:
minVoltage = 3*3.5
if parVerbose:
print "Voltage: %2.1fV" % msg.getVoltage()
print "Minimum Voltage: %2.1fV" % minVoltage
motorStartSpeeds = [0,0,0,0]
if parVerbose:
print "Starting motor(s) (speed=%d)... " % (parMinSpeed),
for i in range(0,parMinSpeed):
time.sleep(.2)
for motor in parMotors:
motorStartSpeeds[motor-1] = i
mk.setMotorTest(motorStartSpeeds)
if parVerbose:
print "OK"
for speed in parSpeeds:
if len(parChannels)>1:
print
if parVerbose:
print "Setting speed to %3d ..." % speed
motorSpeeds = [0,0,0,0]
for motor in parMotors:
motorSpeeds[motor-1] = speed
for i in range(0,10):
time.sleep(.1)
mk.setMotorTest(motorSpeeds)
for channel in parChannels:
channelName = CHANNEL_NAMES[channel]
if parVerbose:
print "Getting data... " ,
data = mk.doVibrationTest(motorSpeeds, parNbSamples, channel)
minval = min(data)
maxval = max(data)
if (maxval-minval)>100: print data
msg = mk.getDebugMsg()
voltage = msg.getVoltage()
if voltage<minVoltage:
print "VOLTAGE TOO LOW, TEST ABORTED"
sys.exit(2)
print "%s Speed=%3d U=%2.1fV Channel=%-10s Min=%3d Max=%3d pp=%3d" % (parTestName, speed, voltage, channelName, minval, maxval, maxval-minval)
if parFileName != None:
try:
logfile = open(parFileName, "r")
newFile = False
except:
newFile = True
if newFile:
logfile = open(parFileName, "w")
if parVerbose:
print "Writing result to %s ..." % parFileName,
logfile.write("%s %d %s\n" % (parTestName, speed, channelName))
for value in data[1:]:
logfile.write("%d\n" % value)
logfile.close()
if parVerbose:
print "OK"
else:
if parVerbose:
print "Appending result to %s ..." % parFileName,
prevData = []
for line in logfile:
prevData.append(line[:-1])
logfile.close()
logfile = open(parFileName, "w")
logfile.write("%s,%s %d %s\n" % (prevData[0], parTestName, speed, channelName))
i = 1
for value in data[1:]:
logfile.write("%s,%d\n" % (prevData[i], value))
i += 1
logfile.close()
if parVerbose:
print "OK"
except Exception,e:
print
print "== ERROR ==: \"%s\"" % e
if parVerbose:
print
print "Traceback:"
traceback.print_exc()
print
raw_input("Press ENTER, the application will close")
print