dht11 sensor only retuning unexpected number of pulse often - micropython

I am trying to make a simple water pump controller using a dth11 to make the pump turn on more frequently when the temperature is higher. i have it working but every 4th or 5th time i call measure on the dht11 sensor i get an error saying "InvalidPulseCount: Expected 82 but got 0 pulses" or "InvalidPulseCount: Got more than 82 pulses". I have added try block that is stopping the program from crashing but would really like to figure out why it is happening. I also had to edit the dht.py lib to have 82 instead of 84 as the default expected pulses because that was what was commonly returned.
here is my main.py file
from machine import Pin
from time import sleep_ms
import dht
import I2C_LCD_driver
sensor = dht.DHT11(Pin(28))
lcd = I2C_LCD_driver.lcd()
pump = Pin(7, machine.Pin.OUT)
counter = 0
pumpTime = 30
normalTime = 60
hotTime = 30
lowTemp = 19
# sensor variables only updated every 3 loops
lastMesure = 1
temp = 0
humid = 0
first = True
while True:
# sensor.messure can only be called ever 3 seconds
# start at 1 and set to zero in the first loop for our first messurement
lastMesure += -1
if lastMesure <= 0:
try:
sensor.measure()
lastMesure = 3
temp = round((sensor.temperature), 0)
humid = sensor.humidity
except:
print("something went wrong")
print("Counter: {:.0f} pumpping:{:0.f}".format(counter, pump.value()))
print("Temp: {:.0f}℃ HUMIDITY: {:.0F}% ".format(temp, humid))
# if the pump is running
if pump.value() == 1:
if counter >= pumpTime: # if it has been the set pump run time
pump.value(0) # turn off pump
counter = 0 # reset counter
else:
counter += 1
else:
# check current temp
# if warmer then {lowTemp} check for {hotTime} else check for {normalTime}
if (temp > lowTemp and counter >= hotTime) or counter >= normalTime:
pump.value(1) # turn on pump
counter = 0 # reset counter
else:
counter += 1
# print current data to the screen
lcd.lcd_clear()
lcd.lcd_display_string("T: {:.0f}C H:{:.0f}%".format(temp, humid), 1)
if pump.value() == 1:
status = f'Pumping {pumpTime - counter}s'
lcd.lcd_display_string(status, 2);
else:
lcd.lcd_display_string("Pump off ", 2)
sleep_ms(1000)
here is a picture of my breadboard set up. I have run it both with and without a 1k pull up resistor on the data pin

Related

Decay chain simulation - with significantly different time scales

I would like to simulate a decay chain with Python. Normally, (in a loop over all nuclides) one calculates the number of decays per time step and updates the number of mother and daughter nuclei.
My problem is that the decay chain contains half-lives on very different time scales, i.e.
0.0001643 seconds for Po-214 and 307106512477175.9 seconds (= 1600 years) for Ra-226.
Using the same time step for all nuclides seems useless.
Is there a simulation method, preferably in Python, that can be used to handle this case?
Don't use time steps for this. Use event scheduling.
Half lives can be expressed as exponential decay, and the conversion between half life and rate of decay is straightforward. Start with the number of both types of nuclei, and schedule exponential inter-event times to figure out when the next decay of each type will occur. Whichever type has the lower time, decrement the corresponding number of nuclei and schedule the next decay for that type (and if need be, increment the count of whatever it decays into).
This can easily be generalized to multiple distinct event types by using a priority queue ordered by time of occurrence to determine which event will be the next one performed. This is the underlying principle behind discrete event simulation.
Update
This approach works with individual decay events, but we can leverage two important properties when we have exponential inter-event times.
The first is to note that exponentially distributed inter-event times means these are Poisson processes. The superposition property tells us that the union of two independent Poisson processes, each having rate λ, is a Poisson process with rate 2λ. Simple induction shows that if we have n independent Poisson properties with the same rate, their superposition is a Poisson process with rate nλ.
The second property is that the exponential distribution is memoryless. This means that when a Poisson event occurs, we can generate the time to the next event by generating a new exponentially distributed time at the current rate and adding it to the current time.
You haven't provided any information about what you want in the way of output, so I arbitrarily decided to print a report showing the time and the current numbers of nuclides whenever that number was halved. I also printed a report every 10 years, given the long half-life of Po-214.
I converted half-lifes to rates using the link provided at the top of the post, and then to means since that's what
Python numpy's exponential generator is parameterized to use. That's an easy conversion, since means and rates are inverses of each other.
Here's a Python implementation with comments:
from numpy.random import default_rng
from math import log
rng = default_rng()
# This creates a list of entries of quantities that will trigger a report.
# I've chosen to go with successive halvings of the original quantity.
def generate_report_qtys(n0):
report_qty = []
divisor = 2
while divisor < n0:
report_qty.append(n0 // divisor) # append next half-life qty to array
divisor *= 2
return report_qty
seconds_per_year = 365.25 * 24 * 60 * 60
po_214_half_life = 0.0001643 # seconds
ra_226_half_life = 1590 * seconds_per_year
log_2 = log(2)
po_mean = po_214_half_life / log_2 # per-nuclide decay rate for po_214
ra_mean = ra_226_half_life / log_2 # ditto for ra_226
po_n = po_n0 = 1_000_000_000
ra_n = ra_n0 = 1_000_000_000
time = 0.0
# Generate a report when the following sets of half-lifes are reached
po_report_qtys = generate_report_qtys(po_n0)
ra_report_qtys = generate_report_qtys(ra_n0)
# Initialize first event times for each type of event:
# - first entry is polonium next event time
# - second entry is radium next event time
# - third entry is next ten year report time
next_event_time = [
rng.exponential(po_mean / po_n),
rng.exponential(ra_mean / ra_n),
10 * seconds_per_year
]
# Print column labels and initial values
print("time,po_214,ra_226,time_in_years")
print(f"{time},{po_n},{ra_n},{time / seconds_per_year}")
while time < ra_226_half_life:
# Find the index of the next event time. Index tells us the event type.
min_index = next_event_time.index(min(next_event_time))
if min_index == 0:
po_n -= 1 # decrement polonium count
time = next_event_time[0] # update clock to the event time
if po_n > 0:
next_event_time[0] += rng.exponential(po_mean / po_n) # determine next event time for po
else:
next_event_time[0] = float('Inf')
# print report if this is a half-life occurrence
if len(po_report_qtys) > 0 and po_n == po_report_qtys[0]:
po_report_qtys.pop(0) # remove this occurrence from the list
print(f"{time},{po_n},{ra_n},{time / seconds_per_year}")
elif min_index == 1:
# same as above, but for radium
ra_n -= 1
time = next_event_time[1]
if ra_n > 0:
next_event_time[1] += rng.exponential(ra_mean / ra_n)
else:
next_event_time[1] = float('Inf')
if len(ra_report_qtys) > 0 and ra_n == ra_report_qtys[0]:
ra_report_qtys.pop(0)
print(f"{time},{po_n},{ra_n},{time / seconds_per_year}")
else:
# update clock, print ten year report
time = next_event_time[2]
next_event_time[2] += 10 * seconds_per_year
print(f"{time},{po_n},{ra_n},{time / seconds_per_year}")
Run times are proportional to the number of nuclides. Running with a billion of each took 831.28s on my M1 MacBook Pro, versus 2.19s for a million of each. I also ported this to Crystal, a compiled Ruby-like language, which produced comparable results in 32 seconds for a billion of each nuclide. I would recommend using a compiled language if you intend to run larger sized problems, but I will also point out that if you use half-life reporting as I did the results are virtually identical for smaller population sizes but are obtained much more rapidly.
I would also suggest that if you want to use this approach for a more complex model, you should use a priority queue of tuples containing time and type of event to store the set of pending future events rather than a simple list.
Last but not least, here's some sample output:
time,po_214,ra_226,time_in_years
0.0,1000000000,1000000000,0.0
0.0001642985647308265,500000000,1000000000,5.20630734690935e-12
0.0003286071415481526,250000000,1000000000,1.0412931957694901e-11
0.0004929007624958987,125000000,1000000000,1.5619082645571865e-11
0.0006571750701843468,62500000,1000000000,2.082462133319222e-11
0.0008214861652253772,31250000,1000000000,2.6031325741671646e-11
0.0009858208114474198,15625000,1000000000,3.1238776442043114e-11
0.0011502417677631668,7812500,1000000000,3.6448962144243124e-11
0.0013145712145548718,3906250,1000000000,4.165624808460947e-11
0.0014788866075394896,1953125,1000000000,4.686308868670272e-11
0.0016432124609700412,976562,1000000000,5.2070260760325286e-11
0.001807832817519779,488281,1000000000,5.728676507465013e-11
0.001972981254301889,244140,1000000000,6.252000324175124e-11
0.0021372947080755688,122070,1000000000,6.772678239395799e-11
0.002301139510796509,61035,1000000000,7.29187108904514e-11
0.0024642826956509244,30517,1000000000,7.808840645837847e-11
0.0026302282280720344,15258,1000000000,8.33469030620844e-11
0.0027944471221414947,7629,1000000000,8.855068579808016e-11
0.002954014120737834,3814,1000000000,9.3607058861822e-11
0.0031188370035748177,1907,1000000000,9.882998084692174e-11
0.003282466175503322,953,1000000000,1.0401507641592902e-10
0.003457552492113242,476,1000000000,1.0956322699169905e-10
0.003601851131916978,238,1000000000,1.1413577496124477e-10
0.0037747824699194033,119,1000000000,1.1961563838566314e-10
0.0039512825256332275,59,1000000000,1.252085876503038e-10
0.004124330529803301,29,1000000000,1.3069214800248755e-10
0.004337121375518753,14,1000000000,1.3743508300754027e-10
0.004535068261934763,7,1000000000,1.437076413268044e-10
0.004890820999020369,3,1000000000,1.5498076529965425e-10
0.004909065046898487,1,1000000000,1.555588842908994e-10
315576000.0,0,995654793,10.0
631152000.0,0,991322602,20.0
946728000.0,0,987010839,30.0
1262304000.0,0,982711723,40.0
1577880000.0,0,978442651,50.0
1893456000.0,0,974185269,60.0
2209032000.0,0,969948418,70.0
2524608000.0,0,965726762,80.0
2840184000.0,0,961524848,90.0
3155760000.0,0,957342148,100.0
3471336000.0,0,953178898,110.0
3786912000.0,0,949029294,120.0
4102488000.0,0,944898063,130.0
4418064000.0,0,940790494,140.0
4733640000.0,0,936699123,150.0
5049216000.0,0,932622334,160.0
5364792000.0,0,928565676,170.0
5680368000.0,0,924523267,180.0
5995944000.0,0,920499586,190.0
6311520000.0,0,916497996,200.0
6627096000.0,0,912511030,210.0
6942672000.0,0,908543175,220.0
7258248000.0,0,904590364,230.0
7573824000.0,0,900656301,240.0
7889400000.0,0,896738632,250.0
8204976000.0,0,892838664,260.0
8520552000.0,0,888956681,270.0
8836128000.0,0,885084855,280.0
9151704000.0,0,881232862,290.0
9467280000.0,0,877401861,300.0
9782856000.0,0,873581425,310.0
10098432000.0,0,869785364,320.0
10414008000.0,0,866002042,330.0
10729584000.0,0,862234212,340.0
11045160000.0,0,858485627,350.0
11360736000.0,0,854749939,360.0
11676312000.0,0,851032010,370.0
11991888000.0,0,847329028,380.0
12307464000.0,0,843640016,390.0
12623040000.0,0,839968529,400.0
12938616000.0,0,836314000,410.0
13254192000.0,0,832673999,420.0
13569768000.0,0,829054753,430.0
13885344000.0,0,825450233,440.0
14200920000.0,0,821859757,450.0
14516496000.0,0,818284787,460.0
14832072000.0,0,814727148,470.0
15147648000.0,0,811184419,480.0
15463224000.0,0,807655470,490.0
15778800000.0,0,804139970,500.0
16094376000.0,0,800643280,510.0
16409952000.0,0,797159389,520.0
16725528000.0,0,793692735,530.0
17041104000.0,0,790239221,540.0
17356680000.0,0,786802135,550.0
17672256000.0,0,783380326,560.0
17987832000.0,0,779970864,570.0
18303408000.0,0,776576174,580.0
18618984000.0,0,773197955,590.0
18934560000.0,0,769836170,600.0
19250136000.0,0,766488931,610.0
19565712000.0,0,763154778,620.0
19881288000.0,0,759831742,630.0
20196864000.0,0,756528400,640.0
20512440000.0,0,753237814,650.0
20828016000.0,0,749961747,660.0
21143592000.0,0,746699940,670.0
21459168000.0,0,743450395,680.0
21774744000.0,0,740219531,690.0
22090320000.0,0,736999181,700.0
22405896000.0,0,733793266,710.0
22721472000.0,0,730602000,720.0
23037048000.0,0,727427544,730.0
23352624000.0,0,724260327,740.0
23668200000.0,0,721110260,750.0
23983776000.0,0,717973915,760.0
24299352000.0,0,714851218,770.0
24614928000.0,0,711740161,780.0
24930504000.0,0,708645945,790.0
25246080000.0,0,705559170,800.0
25561656000.0,0,702490991,810.0
25877232000.0,0,699436919,820.0
26192808000.0,0,696394898,830.0
26508384000.0,0,693364883,840.0
26823960000.0,0,690348242,850.0
27139536000.0,0,687345934,860.0
27455112000.0,0,684354989,870.0
27770688000.0,0,681379178,880.0
28086264000.0,0,678414567,890.0
28401840000.0,0,675461363,900.0
28717416000.0,0,672522494,910.0
29032992000.0,0,669598412,920.0
29348568000.0,0,666687807,930.0
29664144000.0,0,663787671,940.0
29979720000.0,0,660901676,950.0
30295296000.0,0,658027332,960.0
30610872000.0,0,655164886,970.0
30926448000.0,0,652315268,980.0
31242024000.0,0,649481821,990.0
31557600000.0,0,646656096,1000.0
31873176000.0,0,643841377,1010.0
32188752000.0,0,641041609,1020.0
32504328000.0,0,638253759,1030.0
32819904000.0,0,635479981,1040.0
33135480000.0,0,632713706,1050.0
33451056000.0,0,629962868,1060.0
33766632000.0,0,627223350,1070.0
34082208000.0,0,624494821,1080.0
34397784000.0,0,621778045,1090.0
34713360000.0,0,619076414,1100.0
35028936000.0,0,616384399,1110.0
35344512000.0,0,613702920,1120.0
35660088000.0,0,611035112,1130.0
35975664000.0,0,608376650,1140.0
36291240000.0,0,605729994,1150.0
36606816000.0,0,603093946,1160.0
36922392000.0,0,600469403,1170.0
37237968000.0,0,597854872,1180.0
37553544000.0,0,595254881,1190.0
37869120000.0,0,592663681,1200.0
38184696000.0,0,590085028,1210.0
38500272000.0,0,587517782,1220.0
38815848000.0,0,584961743,1230.0
39131424000.0,0,582420312,1240.0
39447000000.0,0,579886455,1250.0
39762576000.0,0,577362514,1260.0
40078152000.0,0,574849251,1270.0
40393728000.0,0,572346625,1280.0
40709304000.0,0,569856166,1290.0
41024880000.0,0,567377753,1300.0
41340456000.0,0,564908008,1310.0
41656032000.0,0,562450828,1320.0
41971608000.0,0,560005832,1330.0
42287184000.0,0,557570018,1340.0
42602760000.0,0,555143734,1350.0
42918336000.0,0,552729893,1360.0
43233912000.0,0,550326162,1370.0
43549488000.0,0,547932312,1380.0
43865064000.0,0,545550017,1390.0
44180640000.0,0,543178924,1400.0
44496216000.0,0,540814950,1410.0
44811792000.0,0,538462704,1420.0
45127368000.0,0,536123339,1430.0
45442944000.0,0,533792776,1440.0
45758520000.0,0,531469163,1450.0
46074096000.0,0,529157093,1460.0
46389672000.0,0,526854383,1470.0
46705248000.0,0,524564196,1480.0
47020824000.0,0,522282564,1490.0
47336400000.0,0,520011985,1500.0
47651976000.0,0,517751635,1510.0
47967552000.0,0,515499791,1520.0
48283128000.0,0,513257373,1530.0
48598704000.0,0,511022885,1540.0
48914280000.0,0,508798440,1550.0
49229856000.0,0,506582663,1560.0
49545432000.0,0,504379227,1570.0
49861008000.0,0,502186693,1580.0
50176584000.0,0,500000869,1590.0
Expanded for More than 2 Nuclides
I mentioned that for more than a couple of nuclides you'd want to use a priority queue to track which decays occur next. I reorganized the code around functions, but that allowed greater flexibility in expanding the scope of the problem. Here you go:
#!/usr/bin/env python3
from numpy.random import default_rng
from math import log
import heapq
SECONDS_PER_YEAR = 365.25 * 24 * 60 * 60
LOG_2 = log(2)
rng = default_rng()
def generate_report_qtys(n0):
report_qty = []
divisor = 2
while divisor < n0:
report_qty.append(n0 // divisor) # append next half-life qty to array
divisor *= 2
return report_qty
po_n0 = 10_000_000
ra_n0 = 10_000_000
mu_n0 = 10_000_000
# mean is half-life / LOG_2
properties = dict(
po_214 = dict(
mean = 0.0001643 / LOG_2,
qty = po_n0,
report_qtys = generate_report_qtys(po_n0)
),
ra_226 = dict(
mean = 1590 * SECONDS_PER_YEAR / LOG_2,
qty = ra_n0,
report_qtys = generate_report_qtys(ra_n0)
),
made_up = dict(
mean = 75 * SECONDS_PER_YEAR / LOG_2,
qty = mu_n0,
report_qtys = generate_report_qtys(mu_n0)
)
)
nuclide_names = [name for name in properties.keys()]
def population_mean(nuclide):
return properties[nuclide]['mean'] / properties[nuclide]['qty']
def report(): # isolate as single point of maintenance even though it's a one-liner
nuc_qtys = [str(properties[nuclide]['qty']) for nuclide in nuclide_names]
print(f"{time},{time / SECONDS_PER_YEAR}," + ','.join(nuc_qtys))
def decay_event(nuclide):
properties[nuclide]['qty'] -= 1
current_qty = properties[nuclide]['qty']
if current_qty > 0:
heapq.heappush(event_q, (time + rng.exponential(population_mean(nuclide)), nuclide))
rep_qty = properties[nuclide]['report_qtys']
if len(rep_qty) > 0 and current_qty == rep_qty[0]:
rep_qty.pop(0) # remove this occurrence from the list
report()
def report_event():
heapq.heappush(event_q, (time + 10 * SECONDS_PER_YEAR, 'report_event'))
report()
event_q = [(rng.exponential(population_mean(nuclide)), nuclide) for nuclide in nuclide_names]
event_q.append((0.0, "report_event"))
heapq.heapify(event_q)
time = 0.0 # simulated time
print("time(seconds),time(years)," + ','.join(nuclide_names)) # column labels
while time < 1600 * SECONDS_PER_YEAR:
time, event_id = heapq.heappop(event_q)
if event_id == 'report_event':
report_event()
else:
decay_event(event_id)
To add more nuclides, add more entries to the properties dictionary, following the template of the current entries.

Micro:bit - Accelerometer - (Micro python) make microbit count downward movements - only works with gestures

The following code works just fine:
# Add your Python code here. E.g.
from microbit import *
score = 0
display.show(str(score))
while True:
if accelerometer.was_gesture('face down'):
score += 1
if score < 10:
display.show(score)
else:
display.scroll(score)
continue
'''But when I try to replace was_gesture('face down') with get_Z i get an error:'''
# Add your Python code here. E.g.
from microbit import *
score = 0
display.show(str(score))
z = accelerometer.get_z()
while True:
if z < accelerometer.get_z(-500)
score += 1
if score < 10:
display.show(score)
else:
display.scroll(score)
continue
I get an error? But why? I just want to get the microbit to count every time I move the device below a certain point?
The accelerometer.get_z() statement needs to be inside the while loop so that it is updated. The loop also needs a sleep statement so that there is not a backlog of detections to display.
I tested the code below on a micro:bit using the mu editor. When the microbit is LED side up, the count increments. When it is face down, the count stops.
from microbit import *
uart.init(baudrate=115200)
score = 0
display.show(str(score))
while True:
z = accelerometer.get_z()
if z < -500:
score += 1
if score < 10:
display.show(score)
else:
display.scroll(score)
sleep(1000)
continue
You've missed a colon at the end of this line:
if z < accelerometer.get_z(-500)
Also, the get_z() method doesn't take any arguments:
https://microbit-micropython.readthedocs.io/en/latest/accelerometer.html#microbit.accelerometer.get_z

Program not running with error unsupported operand type(s) for +: 'function' and 'int'

Im creating a program for NIM for my Python Intro class, and am having a problem with trying to get the program to finish.
I am at a loss...
def main():
import random
#User random to generate integer between 10 and 100 for random pile size of marbles.
ballCount = random.randint(10, 100)
print("The size of the pile is: ",ballCount)
#Generate a random integer between 0 and 1, this will tell if the human or computer takes first turn.
def playerTurn(ballCount):
playerTurn = random.randint(0, 1)
if playerTurn == 0:
print("Its the computers turn...")
else:
print("Its your turn...")
#Generate a random integer between 0 and 1, to determine if the computer is smart or dumb.
computerMode = random.randint(0, 1)
def computerDumbMode(ballCount):
computerMode = random.randint(0, 1)
if computerMode == 0:
print("This computer is very dumb, no need to stress")
def computerSmartMode(ballCount):
computerMode = random.randint(0, 1)
if computerMode == 1:
print("This computer is very intelligent, beware")
#In dumb mode the computer generates random values (between 1 and n/2),
#you will use a random integer n for ballCount, when it is the computers turn.
while ballCount != 1: #This will compile untill you are left with only one marble.
if playerTurn == 0: #This will initiate computers turn.
if computerMode == 1: #This will initiate Smart Mode.
temp = random.randint(1, ballCount/2) #Pick a random number between 1, and n/2.
else: # Pick your own number of Marbles for your ballCount (n).
if ballCount - 3 > 0 and ballCount - 3 < ballCount/2:
temp = ballCount - 3
elif ballCount - 7 > 0 and ballCount - 7 < ballCount/2:
temp = ballCount - 7
elif ballCount - 15 > 0 and ballCount - 15 < ballCount/2:
temp = ballCount - 15
elif ballCount - 31 > 0 and ballCount - 31 < ballCount / 2:
temp = ballCount - 31
else:
temp = ballCount - 63
print("The computer has chosen: %d marbles." % temp) #Print the number of marbles the computer has chosen.
ballCount -= temp #Then subtract the number of marbles chosen by the computer.
else:
ballCountToPick = int(input("It is now your turn, Please pick the number of marbles in the range 1 - %d: " % int(ballCount/2))) #Reads the number of marbles to be picked by user.
while ballCountToPick < 1 or ballCountToPick > ballCount/2: #If computer reads this invalidly, it will try repeatedly.
ballCountToPick = int(input("The number you chose, is incorrect. Try again, and pick marbles in the range 1 - %d: " % int(ballCount/2)))
ballCount -= ballCountToPick #Subtract the marbles that were chosen by user.
playerTurn = (playerTurn + 1) % 2 #Changes the turn of player.
print("Now the pile is of size %d." % ballCount)
if playerTurn == 0: #Show the outcome.
print("You came, you saw, and you won... CONGRATULATIONS!!!")
else:
print("Once again... You lost and the computer wins!!!")
main()
Trying to get the program/game to run and print end result if the computer or person wins!
Your "playerTurn" variable is a function in the following line:
playerTurn = (playerTurn + 1) % 2 #Changes the turn of player.
Have a separate "playerTurn" function and "player_turn" variable will resolve your problem.

How I read mouse data In a non blocking way

I'm implementing a fail safe handover procedure in ROS and I'm using python scripts to do so.
I'm using the optical sensor from a mouse to keep under control the acceleration of the object so I can detect when is falling. Everything seems to works fine but now I want to give give a limit to the monitoring procedure (let's say 1000 times) before declaring the handover succeded. The problem is that the function read that I use for the mouse get stucked, if no movement are detected the next iteration is not performed. How can I read from the device without encountering this issue?
Here is the code I'm using to read from the mouse:
def getMouseEvent():
buf = file.read(3)
x, y = struct.unpack( "bb", buf[1:] ) # <--- X and Y deltas.
return [x , y]
Here the loop I want to implement
release_grasp()
rospy.loginfo( "Force detected -- Release mode active")
# If the object is falling regrasp it.
detected= False
trials = 0
while (not(detected) and trials < 1000):
trials = trials + 1
rospy.loginfo ("Acc monitored for the" + str(trials) + "th time"
if fall_test():
cilindrical_grasp()
rospy.loginfo("Fall detected -- Object regrasped")
detected = True
rate.sleep()
The output I get blocks to a given iteration until the mouse does not detect some kind of movement.
UPDATE: Here is the full code
#!/usr/bin/env python2
import rospy
import numpy
import struct
from reflex_sf_msgs.msg import SFPose
from matteo.msg import force
from matteo.msg import acc
# Defining force treshold in each direction ( to be completed and tuned )
rospy.init_node('DetectionFail')
xt = 0.5
yt = xt
zt = 0.3
# For the future try to handle the initialization.
fx = None
fy = None
fz = None
ax = None
ay = None
rate = rospy.Rate(100) # <--- Rate Hz
#-----------------------------MOUSE-----------------------------------#
# Open the mouse device. To be sure if it is "mouse2" type in the terminal: cat /proc/bus/input/devices, look for the device whose name is "Logitech optical USB mouse" and get the name of the handler. If you need root permissions type: sudo chmod 777 /dev/input/(handler)
file = open ("/dev/input/mouse3" , "rb")
#Defining the function to read mouse deltas.
def getMouseEvent():
buf = file.read(3);
x,y = struct.unpack( "bb", buf[1:] ); # <--- X and Y deltas.
return [x , y]
#Defining the function to estimate the acceleraton.
def acc_comp():
vx_old = 0
vy_old = 0
vx_new = getMouseEvent()[0]
vy_new = getMouseEvent()[1]
x_acc = (vx_old - vx_new)*100
y_acc = (vy_old - vy_new)*100
vx_old = vx_new
vy_old = vy_new
return [x_acc , y_acc]
#---------------------------------------------------------------------#
#Defining function fall test
def fall_test():
if ( acc_comp()[1] >= 3000 or acc_comp()[1] <= -3000 ):
return True
else:
return False
#---------------------------------------------------------------------#
# Initialize hand publisher.
hand_pub = rospy.Publisher('/reflex_sf/command', SFPose, queue_size=1)
rospy.sleep(0.5)
#---------------------------------------------------------------------#
# Defining sferical grasp.
def cilindrical_grasp():
hand_pub.publish ( 2.5 , 2.5 , 2.5, 0)
#---------------------------------------------------------------------#
# Define release position.
def release_grasp():
hand_pub.publish ( 2, 2 , 2 , 0)
#---------------------------------------------------------------------#
# Define test for the force measure
def force_treshold ( fx, fy , fz):
if ( fx > xt and fy > yt or fz > zt):
return True
else:
return False
#---------------------------------------------------------------------#
# Callback function to save the datas obtained by the force sensor
def callback_force(msg):
global fx
global fy
global fz
fx = msg.fx
fy = msg.fy
fz = msg.fz
# Main loop.
def main():
#Apply the sferical grasp.
rospy.loginfo("Applying grasp")
cilindrical_grasp()
while not(rospy.is_shutdown()):
rospy.Subscriber("/Forces", force, callback_force )
if force_treshold ( fx , fy , fz ):
release_grasp()
rospy.loginfo( "Force detected -- Release mode active")
# If the object is falling regrasp it.
detected= False
trials = 0
while (not(detected) and trials < 1000):
trials = trials +1
if fall_test():
cilindrical_grasp()
rospy.loginfo("Fall detected -- Object regrasped")
detected = True
rate.sleep()
if rospy.is_shutdown() :
break
Yesterday I came out with this code:
#!/usr/bin/env python
import struct
import rospy
from matteo.msg import acc
import struct
import os
import time
i = 0
# Mouse read with a non blocking structure, the problem is that does not provide the same output as
# mouse_clean.py, probably there is a problem with the unpacking or the reading.
while i < 1000:
i += 1
try:
file = os.open("/dev/input/mouse0", os.O_RDONLY | os.O_NONBLOCK)
time.sleep(0.1)
buf = os.read(file , 3)
x,y = struct.unpack( "bb", buf[1:] ) # <--- X and Y deltas.
print ( "X:" +str ( x ) + "---" +"Y:" +str ( y ) )
except OSError as err:
if err.errno == 11:
print ( "No motion detected")
continue
os.close(file)
It works fine, if there is no motion the message is printed out but, in case of motion the output I get is quite different from the "vanilla" mode.

SystemVerilog array random seed of Shuffle function

I get the same output everytime I run the code below.
module array_shuffle;
integer data[10];
initial begin
foreach (data[x]) begin
data[x] = x;
end
$display("------------------------------\n");
$display("before shuffle, data contains:\n");
foreach (data[x]) begin
$display("data[%0d] = %0d", x, data[x]);
end
data.shuffle();
$display("------------------------------\n");
$display("after shuffle, data contains:\n");
foreach (data[x]) begin
$display("data[%0d] = %0d", x, data[x]);
end
end
endmodule
Output:
------------------------------
before shuffle, data contains:
data[0] = 0
data[1] = 1
data[2] = 2
data[3] = 3
data[4] = 4
data[5] = 5
data[6] = 6
data[7] = 7
data[8] = 8
data[9] = 9
------------------------------
after shuffle, data contains:
data[0] = 8
data[1] = 6
data[2] = 7
data[3] = 9
data[4] = 5
data[5] = 0
data[6] = 1
data[7] = 4
data[8] = 2
data[9] = 3
Is there a way to seed the randomization of the shuffle function?
Shuffle returns the same result every time because you probably run the simulator with the same seed. This is the intended behavior, because when you run a simulation and find a bug, you want to be able to reproduce it, regardless of any design (and to some extent testbench) changes. To see a different output, try setting the seed on the simulator command line. For Incisive this is:
irun -svseed 1 // sets the seed to 1
irun -svseed random // will set a random seed
It's also possible to manipulate the seed of the random number generator using set_randstate, but I wouldn't mess with that.