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import urllib.parse

import http.client

import math

import serial

import os

import numpy as np

######## CLIENT CLASS ###########

class Client:

'string2string client class'

def __init__(self, address):

self.address = address

self.d_short = (0, 0)

self.d_long = (0, 0)

self.dx = 0

self.page = '/chalkboard'

serial_folder = '/dev/serial/by-id/'

serial_location = serial_folder + os.listdir(serial_folder)[0]

self.ser = serial.Serial(serial_location, 115200)

def eraseAll(self):

# HTTP POST

self.post('E')

def sendPoints(self,points):

# points must be a list of point pairs

points_string = 'P~'

for point in points:

points_string = points_string + str(point[0]) + ',' + str(point[1]) + ','

# remove comma

points_string = points_string[0:-1]

# HTTP POST

self.post(points_string)

def post(self,query):

headers = {'Content-Length':0}

headers = urllib.parse.urlencode(headers)

connection = http.client.HTTPConnection(self.address)

url = self.page + '?query=' + query + '&id=string2string'

connection.request('POST', url, headers)

response = connection.getresponse()

print(response.status, response.reason)

def d2p(self,d):

r0 = d[0] - self.d_short[0]

r1 = d[1] - self.d_short[1]

r = (r0, r1)

# Catch trig exceptions and try other angle

try:

t1 = math.acos( (self.dx*self.dx + r[1]*r[1] - r[0]*r[0])/(2*self.dx*r[1]) )

except ValueError:

try:

t1 = math.acos( (self.dx*self.dx + r[0]*r[0] - r[1]*r[1])/(2*self.dx*r[0]) )

print('bullshit')

except ValueError:

return 'E'

try:

t2 = math.acos( (self.dx*self.dx + r[0]*r[0] - r[1]*r[1])/(2*self.dx*r[0]) )

except ValueError:

try:

t2 = math.acos( (self.dx*self.dx + r[1]*r[1] - r[0]*r[0])/(2*self.dx*r[1]) )

print('bullshit')

except ValueError:

return 'E'

x1 = self.dx - r[1] * math.cos(t1)

x2 = r[0] * math.cos(t2)

y1 = r[1] * math.sin(t1)

y2 = r[0] * math.sin(t2)

x = (x1 + x2)/2

y = (y1 + y2)/2

p = (x, y)

return p

def serialRead(self):

byte = ''

while byte is not '~':

byte = self.ser.read(1).decode("utf-8")

if byte == 'P':

return byte

if byte == 'R':

return byte

if byte == 'B':

return byte

if byte == 'C':

return byte

if byte == 'D':

return byte

coord_string = ''

while byte is not '\r':

byte = self.ser.read(1).decode("utf-8")

if byte == 'P':

return byte

if byte == 'R':

return byte

coord_string = coord_string + byte

coord_string = coord_string.split(',')

coord = (int(coord_string[0]), int(coord_string[1]))

if coord[0] == 0 or coord[1] == 0:

return 'E'

return coord

def calibrate(self):

# Left Calibrate

print('Calibrate left')

serial_data = ''

while serial_data is not 'P':

serial_data = self.serialRead()

points = []

while 1:

serial_data = self.serialRead()

if serial_data is 'R':

break

if serial_data is 'E':

continue

if type(serial_data) is tuple:

points.append(serial_data)

summed = sumTuple(points)

self.d_short = (summed[0]/len(points), self.d_short[1])

self.d_long = (self.d_long[0], summed[1]/len(points))

# Right Calibrate

print('Calibrate right')

serial_data = ''

while serial_data is not 'P':

serial_data = self.serialRead()

points = []

while 1:

serial_data = self.serialRead()

if serial_data is 'R':

break

if serial_data is 'E':

continue

if type(serial_data) is tuple:

points.append(serial_data)

summed = sumTuple(points)

self.d_short = (self.d_short[0], summed[1]/len(points))

self.d_long = (summed[0]/len(points), self.d_long[1])

self.dx = ((self.d_long[0] - self.d_short[0]) + (self.d_long[1] - self.d_short[1]))/2

print('d_short:',self.d_short,'d_long:',self.d_long,'dx:',self.dx)

print('Calibration Complete')

def run(self):

while 1:

packet = []

while 1:

d = self.serialRead()

if type(d) is tuple:

p = self.d2p(d)

if type(p) is tuple:

packet.append(p)

#print(p[0],',',p[1])

print(d)

if d == 'B':

self.eraseAll()

if d == 'R':

break

if len(packet) > 3:

packet = smooth_points(packet)

packet = self.scalebywidth(packet)

self.sendPoints(packet)

def scalebywidth(self,packet):

new_packet = []

for point in packet:

new_packet.append((point[0]/self.dx, point[1]/self.dx))

return new_packet

####### FUNCTIONS ##########

# Sum list of tuples

def sumTuple(tuple):

return [sum(x) for x in zip(*tuple)]

# SciPy smoothing filter example http://wiki.scipy.org/Cookbook/SavitzkyGolay

def savitzky_golay(y, window_size, order, deriv=0, rate=1):

#try:

window_size = np.abs(np.int(window_size))

order = np.abs(np.int(order))

#except ValueError, msg:

# raise ValueError("window_size and order have to be of type int")

if window_size % 2 != 1 or window_size < 1:

raise TypeError("window_size size must be a positive odd number")

if window_size < order + 2:

raise TypeError("window_size is too small for the polynomials order")

order_range = range(order+1)

half_window = (window_size -1) // 2

# precompute coefficients

b = np.mat([[k**i for i in order_range] for k in range(-half_window, half_window+1)])

m = np.linalg.pinv(b).A[deriv] * rate**deriv * math.factorial(deriv)

# pad the signal at the extremes with

# values taken from the signal itself

firstvals = y[0] - np.abs( y[1:half_window+1][::-1] - y[0] )

lastvals = y[-1] + np.abs(y[-half_window-1:-1][::-1] - y[-1])

y = np.concatenate((firstvals, y, lastvals))

return np.convolve( m[::-1], y, mode='valid')

# Smooth list of tuples

def smooth_points(points_list):

x = []

y = []

for point in points_list:

x.append(point[0])

y.append(point[1])

x = np.array(x)

y = np.array(y)

xs = savitzky_golay(x,3,1)

ys = savitzky_golay(y,3,1)

new_points = []

for i in range(len(points_list)):

new_points.append((xs[i], ys[i]))

return new_points

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