Merge branch 'main' into 401

Signed-off-by: Tianhao (Terry) Fu <[email protected]>
ProjectNeura · Sep 27, 2024 · 86ef1db · 86ef1db
2 parents e4f7f2e + 329ee6d
commit 86ef1db
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Showing 5 changed files with 33 additions and 12 deletions.
diff --git a/arduino/leads b/arduino/leads
diff --git a/arduino/leads_vec_wsc/leads_vec_wsc.ino b/arduino/leads_vec_wsc/leads_vec_wsc.ino
@@ -12,7 +12,7 @@ WheelSpeedSensor RFWSS{ArrayList<int>(PIN_RFWSS, 1), [](float ws) {returnFloat(P
 WheelSpeedSensor LRWSS{ArrayList<int>(PIN_LRWSS, 1), [](float ws) {returnFloat(P, LEFT_REAR_WHEEL_SPEED_SENSOR, ws);}};
 WheelSpeedSensor RRWSS{ArrayList<int>(PIN_RRWSS, 1), [](float ws) {returnFloat(P, RIGHT_REAR_WHEEL_SPEED_SENSOR, ws);}};
 WheelSpeedSensor CRWSS{ArrayList<int>(PIN_CRWSS, 1), [](float ws) {returnFloat(P, CENTER_REAR_WHEEL_SPEED_SENSOR, ws);}};
-Accelerometer ACCL{[](Acceleration acceleration) {returnString(acceleration.toString());}};
+Accelerometer ACCL{[](Acceleration acceleration) {returnString(P, ACCELEROMETER, acceleration.toString());}};
 
 void setup() {
     P.initializeAsRoot();

diff --git a/leads/data_persistence/core.py b/leads/data_persistence/core.py
@@ -8,8 +8,8 @@
 
 from leads.types import Compressor as _Compressor, VisualHeader as _VisualHeader, \
     VisualHeaderFull as _VisualHeaderFull, DefaultHeaderFull as _DefaultHeaderFull, DefaultHeader as _DefaultHeader
-from ._computational import array as _array, norm as _norm, read_csv as _read_csv, DataFrame as _DataFrame, \
-    TextFileReader as _TextFileReader, sum_up as _sum_up, diff as _diff
+from ._computational import mean as _mean, array as _array, norm as _norm, read_csv as _read_csv, \
+    DataFrame as _DataFrame, TextFileReader as _TextFileReader
 
 T = _TypeVar("T", bound=_SupportsFloat)
 

diff --git a/leads_arduino/accelerometer.py b/leads_arduino/accelerometer.py
@@ -1,6 +1,17 @@
+from dataclasses import dataclass as _dataclass
 from typing import override as _override
 
-from leads import Device as _Device
+from leads import Device as _Device, Serializable as _Serializable
+
+
+@_dataclass
+class Acceleration(_Serializable):
+    yaw: float
+    pitch: float
+    roll: float
+    forward_acceleration: float
+    lateral_acceleration: float
+    vertical_acceleration: float
 
 
 class Accelerometer(_Device):
@@ -18,5 +29,5 @@ def update(self, data: str) -> None:
         self._yaw, self._pitch, self._roll, self._fa, self._la, self._va = tuple(map(float, data.split(',')))
 
     @_override
-    def read(self) -> tuple[float, float, float, float, float, float]:
-        return self._yaw, self._pitch, self._roll, self._fa, self._la, self._va
+    def read(self) -> Acceleration:
+        return Acceleration(self._yaw, self._pitch, self._roll, self._fa, self._la, self._va)
diff --git a/leads_vec/devices.py b/leads_vec/devices.py
@@ -4,8 +4,8 @@
     Controller, CENTER_REAR_WHEEL_SPEED_SENSOR, require_config, mark_device, ODOMETER, GPS_RECEIVER, \
     ConcurrentOdometer, LEFT_INDICATOR, RIGHT_INDICATOR, VOLTAGE_SENSOR, DataContainer, has_device, \
     FRONT_VIEW_CAMERA, LEFT_VIEW_CAMERA, RIGHT_VIEW_CAMERA, REAR_VIEW_CAMERA, VisualDataContainer, BRAKE_INDICATOR, \
-    SFT, read_device_marker, has_controller, POWER_CONTROLLER, WHEEL_SPEED_CONTROLLER
-from leads_arduino import ArduinoMicro, WheelSpeedSensor, VoltageSensor
+    SFT, read_device_marker, has_controller, POWER_CONTROLLER, WHEEL_SPEED_CONTROLLER, ACCELEROMETER
+from leads_arduino import ArduinoMicro, WheelSpeedSensor, VoltageSensor, Accelerometer
 from leads_gpio import NMEAGPSReceiver, LEDGroup, LED, LEDGroupCommand, LEDCommand, Entire, Transition
 from leads_vec.config import Config
 from leads_video import Base64Camera, get_camera
@@ -57,7 +57,9 @@ def read(self) -> DataContainer:
             "longitude": gps[3],
             **self.device(POWER_CONTROLLER).read()
         }
-        wsc = {"speed": gps[0]} if GPS_ONLY else self.device(WHEEL_SPEED_CONTROLLER).read()
+        wsc = self.device(WHEEL_SPEED_CONTROLLER).read()
+        if GPS_ONLY:
+            wsc["speed"] = gps[1]
         visual = {}
         if has_device(FRONT_VIEW_CAMERA):
             cam = get_camera(FRONT_VIEW_CAMERA, Base64Camera)
@@ -113,9 +115,9 @@ def initialize(self, *parent_tags: str) -> None:
     def read(self) -> dict[str, float]:
         lfws = self.device(LEFT_FRONT_WHEEL_SPEED_SENSOR).read()
         rfws = self.device(RIGHT_FRONT_WHEEL_SPEED_SENSOR).read()
-        front_wheel_speed = (lfws + rfws) * .5
         return {"speed": min(lfws, rfws, rws := self.device(CENTER_REAR_WHEEL_SPEED_SENSOR).read()),
-                "front_wheel_speed": front_wheel_speed, "rear_wheel_speed": rws}
+                "front_wheel_speed": (lfws + rfws) * .5, "rear_wheel_speed": rws,
+                **self.device(ACCELEROMETER).read().to_dict()}
 
 
 @device(ODOMETER, MAIN_CONTROLLER)
@@ -141,6 +143,14 @@ def initialize(self, *parent_tags: str) -> None:
         super().initialize(*parent_tags)
 
 
+@device(ACCELEROMETER, WHEEL_SPEED_CONTROLLER)
+class Accele(Accelerometer):
+    @override
+    def initialize(self, *parent_tags: str) -> None:
+        mark_device(self, "WSC", "ESC")
+        super().initialize(*parent_tags)
+
+
 @device(GPS_RECEIVER, MAIN_CONTROLLER, (GPS_RECEIVER_PORT,))
 class GPS(NMEAGPSReceiver):
     @override
+2 −1		keywords.txt
+1 −1		library.json
+1 −1		library.properties
+6 −1		platformio.ini
+1 −1		src/Utils.cpp
+1 −1		src/Utils.h
+2 −2		src/WheelSpeedSensor.cpp
+3 −3		src/WheelSpeedSensor.h