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Y !^!@iĎ@IiS`"lHt^CgEG.^f$nه.5[-%VC;i`Nh^4 %-fLIg6HMa4b2M w 8?V*F4?ӲEFzhl|+zJͦC6@|v D 8#֩p떺ϩiJkeƿUA@ԄΚ (h,ŵ&Ҕ[ hb$qs5.2W^$哭ބW %|^T GJ;׭?4ؒ*-/cF(Tv/#[yUVֺ.:ww/ܥE6:KRC߭m75K ω{=o(wnxe^'C?PԎ~Iߣb>=.]9f0yI{w!& {resp_type}, {resp_length} | {resp_meta}') if resp_length > 0: resp = b'' while len(resp) < resp_length: chunk = sock.recv(resp_length - len(resp)) if not chunk: raise ConnectionError("Connection closed") resp += chunk # print(f' {len(resp)} ') return (resp_time, resp_length, resp) except (socket.error, BrokenPipeError): print('!!! socket error') def fetch_data(): global val_cnt global measure_data_lock global vals global vals_raw global vals_times global tilts global ffts global freqs global fft_ffts global fft_ffts_freqs global save_to_file global save_to_file_starttime global vals_save qc = 0 socket_perform_request(b'clear_data') while True: (resp_time, resp_length, acc_gyr_raw) = socket_perform_request(b'query_data') # print(f'{len(acc_gyr_raw)}') tilt = {} tilt_xs = [] tilt_ys = [] measure_data_lock.acquire() for i in range(0, len(acc_gyr_raw), MPU6050_FIFO_BYTES_PER_PACKAGE): v = list(struct.unpack(">hhhhhh", bytearray(acc_gyr_raw[i : i + MPU6050_FIFO_BYTES_PER_PACKAGE]))) vals_acc = (np.array(v[:3]) / MPU6050_ACC_SCALING).tolist() vals_gyr = (np.array(v[3:]) / MPU6050_GYRO_SCALING).tolist() tilt_x = np.rad2deg(np.arctan2(v[2], v[1]) + np.pi / 2) - TILT_X_AVG tilt_y = np.rad2deg(np.arctan2(v[2], v[0]) + np.pi / 2) - TILT_Y_AVG # print(f'{tilt_x:.2f}, {tilt_y:.2f}') tilt_xs.append(tilt_x) tilt_ys.append(tilt_y) v.append(tilt_x) v.append(tilt_y) vals_raw.append(v) # vals_all = vals_acc + vals_gyr vals_all = vals_acc + vals_gyr + [tilt_x] + [tilt_y] vals.append(vals_all) # vals.append((np.array(v) / MPU6050_ACC_SCALING).tolist()) # print(vals[-1:]) # print(type(vals[-1:])) vals_times.append(resp_time) measure_data_lock.release() # print(len(vals)) # if qc > 100: # tilt_x_avg = np.average(np.array(tilt_xs)) # tilt_y_avg = np.average(np.array(tilt_ys)) # print(f'{tilt_x_avg:.2f}, {tilt_y_avg:.2f}') tilt['x'] = np.average(np.array(tilt_xs)) tilt['y'] = np.average(np.array(tilt_ys)) tilts.append(tilt) # if vals.length > FFT_VAL_CNT: # if qc > FFT_VAL_CNT: if len(vals) > FFT_VAL_CNT: t0 = time.perf_counter() ffts_loc = [] freqs_loc = [] fft_ffts_loc = [] fft_ffts_freqs_loc = [] fft_vals = vals[-FFT_VAL_CNT:] for i in range(MPU6050_FIFO_VALUES_PER_PACKAGE + 2): fft_vals_single = [r[i] for r in fft_vals] # fft_vals = vals[-FFT_VAL_CNT][:, i] #fft = np.abs(np.fft.fft(fft_vals_single)[:FFT_VAL_CNT // 2]).tolist()[1:100] #freq = np.fft.fftfreq(FFT_VAL_CNT, 1 / MEAS_SAMPLE_RATE)[:FFT_VAL_CNT // 2].tolist()[1:100] fft = np.abs(np.fft.fft(fft_vals_single)[:FFT_VAL_CNT // 2]).tolist()[1:500] freq = np.fft.fftfreq(FFT_VAL_CNT, 1 / MEAS_SAMPLE_RATE)[:FFT_VAL_CNT // 2].tolist()[1:500] ffts_loc.append(fft) freqs_loc.append(freq) fft_fft = np.abs(np.fft.fft(fft)[:len(fft) // 2]).tolist()[1:] fft_fft_freq = np.fft.fftfreq(len(fft), 1)[:len(fft) // 2].tolist()[1:] fft_ffts_loc.append(fft_fft) fft_ffts_freqs_loc.append(fft_fft_freq) # positive_fft = np.abs(fft_result[:len(fft_result)//2]) # positive_freqs = frequencies[:len(frequencies)//2] ffts.append(ffts_loc) freqs.append(freqs_loc) fft_ffts.append(fft_ffts_loc) fft_ffts_freqs.append(fft_ffts_freqs_loc) t1 = time.perf_counter() d = t1 - t0 # print(d) qc += 1 print(vals_all) if save_to_file: vals_save.append(vals_all) print(f' > {len(vals_all)}, {len(vals_save)}') if time.time() - save_to_file_starttime > SAVE_DURATION: fn = os.path.join(Path(__file__).parent, DATA_FILEPATH, str(int(save_to_file_starttime))) print(f' > saving file {fn}') with open(fn, "wb") as f: pickle.dump(vals_save, f) vals_save.clear() save_to_file = False if len(vals) > 100000: del vals[:9000] time.sleep(FETCH_DATA_INTERVAL) ## --- main ---------------------------------------------------------------- val_cnt = 0 # --- python deque (> RingBuffer) --- # vals = RingBuffer() # vals_raw = RingBuffer() # vals_times = RingBuffer() # tilts = RingBuffer() # ffts = RingBuffer() # freqs = RingBuffer() # fft_ffts= RingBuffer() # fft_ffts_freqs = RingBuffer() # --- python list --- vals = [] vals_raw = [] vals_times = [] tilts = [] ffts = [] freqs = [] fft_ffts= [] fft_ffts_freqs = [] save_to_file = False save_to_file_starttime = None vals_save = [] measure_state = threading.Event() measure_data_lock = threading.Lock() data_fetcher_thread = threading.Thread(target=fetch_data) data_fetcher_thread.start() asyncio.run(run_server())