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ins_log.py
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"""
Program to log data from two INSs
Created on 2020-01-22
@author: xiankw
"""
import serial
import time
import datetime
import json
import requests
import threading
import sys
# need to find something python3 compatible
# import urllib2
from azure.storage.blob import AppendBlobService
from azure.storage.blob import ContentSettings
from azure.storage.blob import BlockBlobService
from azureSAStest import push2azure
class INSTestLog:
def __init__(self, serialport, timestr, user = False):
'''Initialize and create a txt file
'''
self.ser = 0
if serialport == '/dev/NovatelFLX6':
self.sensor = 'Novatel'
elif serialport == '/dev/INS2000':
self.sensor = 'INS2000'
pass
self.serialport = serialport
self.name = self.sensor + '-' + timestr + '.bin' #'.dat'
if user:
self.user = user
if self.user['fileName'] == '':
self.user['fileName'] = self.name
else:
self.user['fileName'] += timestr + '.dat'
self.file = open('data/' + self.user['fileName'], 'w')
else:
self.file = open('data/' + self.name, 'wb') #'wb'
self.ws = True # imu.ws
if self.sensor=='Novatel':
self.sn = '123456'
self.pn = '78901'
self.device_id = 'FLEX6-3456-0987'
self.odr_setting = 0
self.packet_type = 'Separate'
self.imu_properties = ''
elif self.sensor=='Frii':
self.sn = '0005532319289999'
self.pn = '0005532319289999'
self.device_id = 'FRII6809999'
self.odr_setting = 0
self.packet_type = 'Integrated'
self.imu_properties = ''
elif self.sensor=='INS2000':
self.sn = 'INS2000'
self.pn = 'INS2000'
self.device_id = 'INS2000'
self.odr_setting = 0
self.packet_type = 'Integrated'
self.imu_properties = ''
pass
def openSerialPort(self):
'''Open serial port for system configuration and data logging
'''
while True:
self.ser = serial.Serial(self.serialport,230400,parity='N',bytesize=8,stopbits=1,timeout=None) #115200
if self.ser.isOpen():
print ('\Port is open now\n')
break
else:
time.sleep(1)
pass
return True
# need to replace "RTKCASTER MNTPNT USERNAME PWD" with real values
# need to relace the setinstranslation with real lever arm values
def sysconfig(self):
'''configure the system
'''
if self.sensor == 'Novatel':
setupcommands = ['unlogall\r',\
'serialconfig com1 230400 N 8 1 N OFF\r',\
'ETHCONFIG ETHA AUTO AUTO AUTO AUTO\r',\
'ntripconfig NCOM1 client v1 RTKCASTER MNTPNT USERNAME PWD\r',\
'interfacemode ncom1 rtcmv3 novatel off\r',\
'interfacemode com1 novatel novatel on\r',\
'serialconfig com2 230400 N 8 1 N OFF\r',\
'connectimu com2 IMU_IMAR_FSAS\r',\
'alignmentmode automatic\r',\
'setimutoantoffset -0.5507 1.7123 1.3175 0.0289 0.0290 0.0499\r',
'log ncom1 gpgga ontime 1\r',\
'log inspvaxb ontime 0.05\r',\
'log bestgnssposb ontime 0.05\r',\
'log bestleverarmb onchanged\r',\
'log insconfig onchanged\r',\
'saveconfig\r']
elif self.sensor == 'INS2000':
setupcommands = ['unlogall\r',\
'com com2 230400\r',\
'ntripconfig DTU1 client v1 RTKCASTER MNTPNT USERNAME PWD\r',\
'ntripconfig NCOM1 client v1 RTKCASTER MNTPNT USERNAME PWD\r',\
'setinstranslation ANT1 -0.3507 1.7123 1.2575 0.10 0.10 0.10\r',\
'setinstranslation DUALANT 0.8128 0 0\r',\
'inscommand enable\r',\
'log inspvaxb ontime 0.05\r',\
'log bestgnssposb ontime 0.05\r',\
'saveconfig\r']
pass
for cmd in setupcommands:
self.ser.write(cmd.encode())
print (cmd)
response = self.ser.readline()
while response.find(b'OK',0,len(response)) < 0 and response.find(b'INSPVAXA',0,len(response)) < 0 :
response = self.ser.readline()
print (response)
self.ser.flushInput()
def log_upload(self):
''' log the serial port stream into a file
'''
while self.ser.isOpen():
try:
line = self.ser.readline()
self.file.write(bytes(line))
except:
print('Port disconnected')
break
self.close()
time.sleep(30)
print('Pushing to Azure ...')
toCloud = push2azure()
toCloud.push2AzureAsBlobs()
def write_to_azure(self):
# check for internet
# if not self.internet_on():
# return False
# record file to cloud
# f = open("data/" + self.name,"r")
f = open("data/" + self.user['fileName'], "r")
text = f.read()
self.block_blob_service = BlockBlobService(account_name='navview',
sas_token=self.sas_token, # account_key
protocol='http')
self.block_blob_service.create_blob_from_text(container_name='data',
blob_name=self.name,
text=text,
content_settings=ContentSettings(content_type='text/plain'))
# self.block_blob_service.create_blob_from_text(container_name='data-1000',
# blob_name=self.name,
# text=text,
# content_settings=ContentSettings(content_type='text/plain'))
# record record to ansplatform
self.record_to_ansplatform()
def record_to_ansplatform(self):
# data = { "pn" : self.pn, "sn": self.sn, "fileName" : self.user['fileName'], "url" : self.name, "imuProperties" : json.dumps(self.imu_properties),
# "sampleRate" : self.odr_setting, "packetType" : self.packet_type, "userId" : self.user['id'] }
data = {
"type":"INS",
"fileName" : self.user['fileName'],
"url" : self.name,
"userId" : self.user['id'],
"model" : self.device_id,
"logInfo": {
"pn" : self.pn,
"sn": self.sn,
"sampleRate" : self.odr_setting,
"packetType" : self.packet_type,
"appVersion" : self.imu_properties['appName'] if 'appName' in self.imu_properties else '',
"imuProperties" : json.dumps(self.imu_properties)
}
}
# host_address='http://40.118.233.18:3000/'
host_address='https://api.aceinna.com/'
url = host_address + "api/recordLogs/post" #"https://api.aceinna.com/api/datafiles/replaceOrCreate"
data_json = json.dumps(data)
headers = {'Content-type': 'application/json', 'Authorization' : self.user['access_token'] }
response = requests.post(url, data=data_json, headers=headers)
response = response.json()
# clean up
self.name = ''
return #ends thread
def internet_on(self):
try:
urllib2.urlopen('https://ans-platform.azurewebsites.net', timeout=1)
return True
except urllib2.URLError as err:
return False
def get_sas_token(self):
print('user token',self.user['access_token'])
try:
# host_address='http://40.118.233.18:3000/'
host_address='https://api.aceinna.com/'
url = host_address+"token/storagesas"
headers = {'Content-type': 'application/json', 'Authorization': self.user['access_token']}
response = requests.post(url, headers=headers)
rev = response.json()
if 'token' in rev:
self.sas_token = rev['token']
else:
self.sas_token = ''
print('Error: Get sas token failed!')
except Exception as e:
print('Exception when get_sas_token:', e)
def close(self):
time.sleep(0.1)
if self.ws:
self.file.close()
#self.get_sas_token()
#threading.Thread(target=self.write_to_azure).start()
else:
self.file.close()
return