Work on state machine

SMorettini · Mar 4, 2020 · be02afb · be02afb
1 parent 7642282
commit be02afb
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Showing 4 changed files with 38 additions and 24 deletions.
diff --git a/Measurement.py b/Measurement.py
@@ -83,7 +83,7 @@ class ADXL345:
 
     def __init__(self, address=0x53):
         self.address = address
-        self.setBandwidthRate(BW_RATE_25HZ)
+        self.setBandwidthRate(BW_RATE_400HZ)
         self.setRange(RANGE_4G)
         self.enableMeasurement()
 
@@ -145,7 +145,7 @@ def getAxes(self, gforce=False):
     # Try to catch the Interrupt and close the file saving the results
     try:
         # Interval to update measures
-        timeInterval = 0.05
+        timeInterval = 0.020
         dimDer = 2
         dimStd = 20
         dimFilter = 5
@@ -188,7 +188,19 @@ def getAxes(self, gforce=False):
             values.update(utils.calculateSTD())
             values.update(utils.calculateDerivative())
 
-            m.runOneStep(values)
+            state=m.runOneStep(values)
+            if(state=="Still_state"):
+                values["event"]=10
+            elif(state=="Moving_state"):
+                values["event"]=20
+            elif(state=="Bumping_state"):
+                values["event"]=30
+            elif(state=="Holding_state"):
+                values["event"]=40
+            elif(state=="Crash_state"):
+                values["event"]=50
+
+
 
             # Save the information on the file
             writer.writerow(values.values())

diff --git a/plot.py b/plot.py
@@ -10,16 +10,16 @@ def plotData(data, message='Data', s=None, e=None):
 
     for key in data.columns.values:
         if(key!="time"):
-            if(key!="event"):
-                if(key=="current"):
-                    dataG.append(go.Scatter(y=data[key][s:e],
-                                    x=data["time"][s:e],
-                                    yaxis='y2',
-                                    name=key))
-                else:
-                    dataG.append(go.Scatter(y=data[key][s:e],
-                                    x=data["time"][s:e],
-                                    name=key))
+            #if(key!="event"):
+            if(key=="current"):
+                dataG.append(go.Scatter(y=data[key][s:e],
+                                x=data["time"][s:e],
+                                yaxis='y2',
+                                name=key))
+            else:
+                dataG.append(go.Scatter(y=data[key][s:e],
+                                x=data["time"][s:e],
+                                name=key))
 
     layout = dict(
         title=message,

diff --git a/safetySM.py b/safetySM.py
@@ -37,25 +37,26 @@ def conditionAnd(op,data, names, values):
 
     def still_state_transitions(self, data):
         #if data["Std_norm"] >0.01 or abs(data["Der_norm"])>0.04 or data["Std_current"] >1 or abs(data["Der_current"])>10:
-        if self.conditionOr(">",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
+        #if self.conditionAnd(">",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
+        if self.conditionAnd(">",data, ["Std_norm","Std_current"], [0.01,1]):
             newState = "Moving_state"
         else:
             newState = "Still_state"
         return newState
 
     def moving_state_transitions(self, data):
-        if self.conditionOr(">",data, ["Std_norm","Der_norm"], [0.1,1.1]):
+        if self.conditionOr(">",data, ["Std_norm","Der_norm"], [0.5,1.5]):
             newState = "Crash_state"
-        elif self.conditionOr(">",data, ["Std_current","Der_current"], [10,30]):
-            newState = "Holding_state"
-        elif self.conditionOr(">",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.1,0.5,4,20]):
-            newState = "Bumping_state"
-        elif self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
+        #elif self.conditionAnd(">",data, ["Std_current","Der_current"], [20,30]):
+        #    newState = "Holding_state"
+        #elif self.conditionAnd(">",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.1,0.5,4,20]):
+        #    newState = "Bumping_state"
+        elif self.conditionAnd("<",data, ["Std_norm","Std_current"], [0.01,1]):
             newState = "Still_state"
         else:
             newState = "Moving_state"
         return newState
-
+    
     def bumping_state_transitions(self, data):
         if self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.1,0.5,4,20]):
             newState = "Moving_state"
@@ -66,14 +67,14 @@ def bumping_state_transitions(self, data):
         return newState
 
     def holding_state_transitions(self, data):
-        if self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.1,0.5,10,30]):
+        if self.conditionAnd("<",data, ["Std_current","Der_current"], [20,30]):
             newState = "Moving_state"
         elif self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
             newState = "Still_state"
         else:
             newState = "Holding_state"
         return newState
-
+    
     def crash_state_transitions(self, data):
         if self.conditionOr("<",data, ["Std_norm","Der_norm","Std_current","Der_current"], [0.01,0.04,1,10]):
             newState = "Still_state"
@@ -82,7 +83,7 @@ def crash_state_transitions(self, data):
         return newState
 
     def runOneStep(self,data):
-        self.m.runOneStep(data)
+        return self.m.runOneStep(data)
 
 
 if __name__== "__main__":

diff --git a/statemachine.py b/statemachine.py
@@ -30,3 +30,4 @@ def runOneStep(self, cargo):
         else:
             print("State: ", newState)
             self.handler = self.handlers[newState.upper()]
+        return newState