USBHub_Current_Monitor.ipynb

{
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   "cell_type": "code",
   "execution_count": 338,
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   "outputs": [],
   "source": [
    "import os, sys, inspect\n",
    "import time\n",
    "\n",
    "lib_folder = os.path.join(os.path.split(inspect.getfile( inspect.currentframe() ))[0], 'CapableRobot_USBHub_Driver')\n",
    "lib_load = os.path.realpath(os.path.abspath(lib_folder))\n",
    "\n",
    "if lib_load not in sys.path:\n",
    "    sys.path.insert(0, lib_load)\n",
    "\n",
    "import capablerobot_usbhub \n",
    "\n",
    "SIM = False\n",
    "\n",
    "# hub = capablerobot_usbhub.USBHub()\n",
    "# hub.i2c.enable()\n",
    "\n",
    "try:\n",
    "    hub = capablerobot_usbhub.USBHub()\n",
    "    hub.i2c.enable()\n",
    "except ValueError:\n",
    "    SIM = True"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 339,
   "metadata": {},
   "outputs": [],
   "source": [
    "import time\n",
    "\n",
    "import paho.mqtt.client as mqtt\n",
    "import bqplot as bq\n",
    "import numpy as np\n",
    "import pandas as pd\n",
    "\n",
    "from IPython.display import display\n",
    "\n",
    "def live_plot(title, fields, x=\"\", y=\"\", ylimit=None, history=50):\n",
    "    global drop_count\n",
    "    drop_count=0\n",
    "    \n",
    "    x_sc = bq.LinearScale()\n",
    "    y_sc = bq.LinearScale()\n",
    "    \n",
    "    if ylimit is not None:\n",
    "        y_sc.min = ylimit[0]\n",
    "        y_sc.max = ylimit[1]\n",
    "\n",
    "    ax_x = bq.Axis(label=x, scale=x_sc, grid_lines='solid')\n",
    "    ax_y = bq.Axis(label=y, scale=y_sc, orientation='vertical', grid_lines='solid')\n",
    "\n",
    "    df = pd.DataFrame(columns=['time']+fields)\n",
    "        \n",
    "    pts = bq.Lines(x=df.index, y=[df[f].values for f in fields], display_legend=True, scales={'x': x_sc, 'y': y_sc})\n",
    "    fig = bq.Figure(axes=[ax_x, ax_y], marks=[pts], labels=fields, legend_location='top-left', title=title)\n",
    "    \n",
    "    def cb(data):\n",
    "        global drop_count\n",
    "        \n",
    "        if len(df) > history:\n",
    "            try:\n",
    "                df.drop([drop_count], inplace=True)\n",
    "                drop_count += 1\n",
    "            except KeyError:\n",
    "                pass\n",
    "        \n",
    "        df.loc[len(df)+drop_count] = [time.time()] + data\n",
    "        \n",
    "        with pts.hold_sync():\n",
    "            pts.x = df.index \n",
    "            pts.y = [df[f] for f in fields]\n",
    "    \n",
    "    return fig, cb"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 340,
   "metadata": {},
   "outputs": [],
   "source": [
    "def print_currents():\n",
    "    last = int(time.time() * 1000)\n",
    "    \n",
    "    while True:\n",
    "        now = int(time.time() * 1000)\n",
    "        print(str(now - last).rjust(3), \" \".join([(\"%.2f\" % v).rjust(7) for v in hub.power.measurements()]))\n",
    "        last = now\n",
    "        time.sleep(0.5)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 341,
   "metadata": {},
   "outputs": [
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      "text/plain": [
       "Output()"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "import ipywidgets as widgets\n",
    "import copy\n",
    "import random\n",
    "\n",
    "out = widgets.Output()\n",
    "display(out)\n",
    "\n",
    "## Since UI uses 'Button' instead of 'ToggleButton' objects,\n",
    "## default & current state of the buttons must be tracked.\n",
    "## Events fire on click, and don't have 'new' vs 'old' states\n",
    "## like ToggleButton objects do.\n",
    "\n",
    "power_states = [True, True, True, True] \n",
    "data_states = [\"on\", \"on\", \"on\", \"on\"]\n",
    "\n",
    "power_buttons = []\n",
    "data_buttons = []\n",
    "\n",
    "if not SIM:\n",
    "    ## Get state upon connection and ignore last data state (it's the upstream link)\n",
    "    power_states = hub.power.state()\n",
    "    data_states = hub.data_state()[0:4]\n",
    "\n",
    "@out.capture()\n",
    "def power_change(button):\n",
    "    \n",
    "    port = int(button.description.split(\" \")[1])\n",
    "    off = (power_states[port-1] == False)\n",
    "    \n",
    "    if off:\n",
    "        power_states[port-1] = True\n",
    "        color = 'lightgray'\n",
    "    else:\n",
    "        power_states[port-1] = False\n",
    "        color = 'orange'\n",
    "    \n",
    "    power_buttons[port-1].style.button_color = color\n",
    "        \n",
    "    if not SIM:\n",
    "        if off:\n",
    "            hub.power.enable(ports=[port])\n",
    "        else:  \n",
    "            hub.power.disable(ports=[port])\n",
    "              \n",
    "\n",
    "            \n",
    "@out.capture()\n",
    "def data_change(button):\n",
    "\n",
    "    port = int(button.description.split(\" \")[1])\n",
    "    off = (data_states[port-1] == \"off\")\n",
    "    \n",
    "    if SIM:\n",
    "        if off:\n",
    "            print(\"DATA ENABLE {}\".format(port))\n",
    "            data_states[port-1] = \"on\"\n",
    "        else:\n",
    "            print(\"DATA DISABLE {}\".format(port))\n",
    "            data_states[port-1] = \"off\"\n",
    "    else:\n",
    "        if off:      \n",
    "            hub.data_enable(ports=[port])\n",
    "            data_states[port-1] = \"on\"\n",
    "        else:  \n",
    "            hub.data_disable(ports=[port])\n",
    "            data_states[port-1] = \"off\"\n",
    "\n",
    "def setup_ui():\n",
    "\n",
    "    for idx in [1,2,3,4]:\n",
    "        label = \"Port {}\".format(idx)\n",
    "        \n",
    "        button = widgets.Button(description=label, disabled=False, value=True)\n",
    "        button.on_click(power_change)\n",
    "        \n",
    "        ## Set the initial button color based on the port power state\n",
    "        if power_states[idx-1]:\n",
    "            button.style.button_color = 'lightgray'\n",
    "        else:\n",
    "            button.style.button_color = 'orange'\n",
    "            \n",
    "        power_buttons.append(button)\n",
    "        \n",
    "        button = widgets.Button(description=label, disabled=False, value=True)\n",
    "        button.on_click(data_change)\n",
    "        data_buttons.append(button)\n",
    "    \n",
    "    power_label = widgets.Label(value=\"Power\", layout=widgets.Layout(width='20%'))\n",
    "    power_row   = widgets.HBox([power_label]+power_buttons)\n",
    "    \n",
    "    data_label  = widgets.Label(value=\"Data\", layout=widgets.Layout(width='20%'))\n",
    "    data_row    = widgets.HBox([data_label]+data_buttons)\n",
    "    \n",
    "    display(widgets.VBox([data_row, power_row]))        \n",
    "    \n",
    "def graph_currents(do_stop):\n",
    "    fields = [\"1\", \"2\", \"3\", \"4\"]\n",
    "    lim = 1700\n",
    "    if SIM:\n",
    "        lim = 10\n",
    "    fig, cb = live_plot(\"Port Current\", fields, x=\"Time (sec)\", y=\"Current (mA)\", ylimit=[0,lim])\n",
    "\n",
    "    display(fig)\n",
    "    \n",
    "    while True:\n",
    "        try:\n",
    "            if SIM:\n",
    "                cb([random.random(),random.random(),random.random(),random.random()])\n",
    "            else:\n",
    "                cb(hub.power.measurements())\n",
    "                \n",
    "                if len(data_buttons) < 4:\n",
    "                    continue\n",
    "                    \n",
    "                speeds = hub.speeds()\n",
    "\n",
    "                for idx,state in enumerate(hub.data_state()[0:4]):\n",
    "                        \n",
    "                    speed = speeds[idx]\n",
    "                    color = \"lightgray\"\n",
    "                \n",
    "                    if speed == \"high\":\n",
    "                        color = \"white\"\n",
    "                    elif speed == \"full\":\n",
    "                        color = \"green\"\n",
    "                    elif speed == \"low\": \n",
    "                        color = \"blue\"\n",
    "                    elif state == \"off\":\n",
    "                        color = \"orange\"\n",
    "\n",
    "                    data_buttons[idx].style.button_color = color\n",
    "                        \n",
    "        except ValueError as e:\n",
    "            pass\n",
    "\n",
    "        time.sleep(0.2)\n",
    "        \n",
    "        if do_stop():\n",
    "            break"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 342,
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "model_id": "041461bcecca404b9b0663cbf67f3fa6",
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      "text/plain": [
       "VBox(children=(HBox(children=(Label(value='Data', layout=Layout(width='20%')), Button(description='Port 1', st…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
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    {
     "data": {
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       "model_id": "cdfe540984254157bd9f50f9d376fd3c",
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       "version_minor": 0
      },
      "text/plain": [
       "Figure(axes=[Axis(label='Time (sec)', scale=LinearScale()), Axis(label='Current (mA)', orientation='vertical',…"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "# print_currents()\n",
    "\n",
    "setup_ui()\n",
    "\n",
    "stop_threads = False\n",
    "\n",
    "def stop():\n",
    "    global stop_threads\n",
    "    stop_threads = True\n",
    "\n",
    "## Graphing must be done in a thread, if done in the main loop\n",
    "## it will block event observation of the UI buttons\n",
    "import threading\n",
    "thread = threading.Thread(target=graph_currents, args=(lambda: stop_threads, ))\n",
    "thread.start()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 343,
   "metadata": {},
   "outputs": [],
   "source": [
    "# stop()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
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