cookie

#!/usr/bin/python2

from fsk import Fsk
import struct
import json
import time
import os
import spidev
from gps import GPS
from ping import Ping
import signal
import sys
from imu import IMU


def readChannel(channel):
	adc = spi.xfer2([1,(8+channel)<<4,0])
	data = ((adc[1]&3) << 8) + adc[2]
	return data >> 2

def getAnalog(n):
	return [readChannel(i) for i in range(n)]

def signal_handler(signal, frame):
	gps.stop()
	ping.stop()
	fsk.stop()
	imu.stop()
	sys.exit(0)

NUMBER_ANALOG = 8

IMU_ADDRESS = 0x69
IMU_MAG_ADDRESS = 0x0C

spi = spidev.SpiDev()
spi.open(0,0)


signal.signal(signal.SIGINT, signal_handler)
signal.signal(signal.SIGTERM, signal_handler)


with open("conf.json") as fconf, open("dump.txt", "a") as fdump:
	conf = json.load(fconf)
	fsk = Fsk(conf)
	fsk.start()

	gps = GPS("/dev/ttyS3", 38400)
	gps.start()

	ping = Ping(size = .783)
	ping.start()

	imu = IMU(IMU_ADDRESS, IMU_MAG_ADDRESS)
	imu.start()

	while True:
		vals = []
		vals.append(getAnalog(NUMBER_ANALOG))
		vals.append(gps.get_data())
		vals.append(ping.get_data())
		vals.append(imu.get_data())

		#sys.stderr.write(str(ping.get_data()[0]) + "\n")

		#print("\t".join(map(str, imu.get_data())))

		fsk.feed(vals)
		fdump.write(",".join(map(str, vals)))
		time.sleep(0.1)