Serial Reader feels finished

Author: 5herlocked

.idea/misc.xml

@@ -1 +1,12 @@
 import cv2
+
+
+class CameraReader:
+    def __init__(self, output_file):
+        pass
+
+    def start(self):
+        pass
+
+    def stop(self):
+        pass

CameraReader.py

@@ -1,11 +1,10 @@
-# Serial Reader Threaded class
-#
-#
-#
+import csv
 import struct
-from multiprocessing import Queue
-from threading import Thread
+from datetime import datetime
+
 from Frame import ShortRangeRadarFrameHeader, Frame, FrameError
+from threading import Thread
+from multiprocessing import Queue
 from SerialInterface import SerialInterface
 
 
@@ -28,14 +27,38 @@ def process_receiving(self):
             if frame:
                 try:
                     frame = Frame(frame, frame_type=self.interface.frame_type)
-                    pass
+
+                    for tlv in frame.tlvs:
+                        objs = tlv.objects
+
+                        if tlv.name == 'DETECTED_POINTS':
+                            self.received_queue.put(objs)
+
                 except(KeyError, struct.error, IndexError, FrameError, OverflowError) as e:
                     print('Exception occurred: ', e)
                     print('Skipping frame')
 
     def process_storing(self):
-        while self.running:
-            pass
+        # if running or received queue has stuff in it
+        counter = 1
+        with open(self.file, 'x+', newline='\n') as csvFile:
+            writer = csv.writer(csvFile)
+            writer.writerow(['time', 'frame_number', 'object_number', 'x (m)', 'y(m)', 'z(m)', 'doppler (m/s)'])
+
+            while self.running or not self.received_queue.empty():
+                received_objs = self.received_queue.get()
+                if received_objs.name == 'DETECTED_POINTS':
+                    inner = 1
+                    for obj in received_objs:
+                        x = obj.x
+                        y = obj.y
+                        z = obj.z
+                        speed = obj.doppler
+                        time_instant = datetime.now().isoformat()
+
+                        writer.writerow([time_instant, counter, inner, x, y, z, speed])
+                        inner += 1
+                    counter += 1
 
     def send_profile(self, profile_file):
         with open(profile_file) as f:
@@ -45,7 +68,10 @@ def send_profile(self, profile_file):
                 else:
                     self.interface.send_item(self.interface.control_tx_queue, line)
 
+    def start(self):
+        self.running = True
+        self.receiving_process.start()
+
     def stop(self):
         self.running = False
-
         self.receiving_process.join()

SerialReader.py

@@ -6,7 +6,7 @@
 
 # pseudocode
 # on launch
-#   open serial interface + open camera interface in TWO seperate threads
+#   open serial interface + open camera interface in TWO separate threads
 #   BUT do NOT start recording
 # on gpio rising edge:
 #   start serial recording
@@ -19,35 +19,31 @@
 #           save_frame()
 #   Camera Reader class: launch/open_camera() | process_frame() | close_camera()
 #           save_frame()
+import signal
+import time
 
+from SerialReader import SerialReader
+from CameraReader import CameraReader
 
-from threading import Thread
-import SerialReader
-import CameraReader
 
+def interrupt_handler(sig, frame):
+    global kill
+    kill = True
+    stop_watching()
 
-def open_files():
-    pass
 
+def stop_watching():
+    camera.stop()
+    serial.stop()
 
-def watch_camera():
-    with open('' + args.output_name + '.mp4', mode='wb+') as vid:
-        # Create an instance of CameraReader and pass the file to it
-        pass
 
-    pass
+def start_watching():
+    global kill
+    camera.start()
+    serial.start()
 
-
-def watch_serial():
-    with open('' + args.output_name + '.csv', mode='w+') as csv:
-        # Create an instance of SerialReader and pass the file to it
-        pass
-    pass
-
-
-async def watch():
-    camera_thread = Thread(target=watch_camera)
-    serial_thread = Thread(target=watch_serial)
+    while not kill:
+        time.sleep(0.5)
 
 
 if __name__ == '__main__':
@@ -61,4 +57,11 @@ async def watch():
     parser.add_argument('--prof', help='Radar Chirp profile to use')
     args = parser.parse_args()
 
-    await watch()
+    kill = False
+
+    signal.signal(signal.SIGINT, interrupt_handler)
+
+    camera = CameraReader(args.output_name + '.mp4')
+    serial = SerialReader(args.output_name + '.csv', args.control_port, args.data_port)
+
+    start_watching()