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import serial
import os
from time import sleep
from filterpy.kalman import UnscentedKalmanFilter
from filterpy.kalman import MerweScaledSigmaPoints
import numpy as np
import re
from collections import deque
def fx(x, t):
return x
def hx(x):
return x
x_mu = -0.02163601775523146
x_std = 0.07074315964054628
y_mu = 0.02645106742760512
y_std = 0.07415316805017082
points = MerweScaledSigmaPoints(n=2, alpha=1, beta=2, kappa=0)
kf = UnscentedKalmanFilter(dim_x=2, dim_z=2, dt=0.1, fx=fx, hx=hx, points=points)
# Initial position
kf.x = np.array([0., 0.])
# Initial error
kf.P *= 1000
# Noise matrix
kf.R = np.diag([25, 25])
kf.Q = np.eye(2)
position = deque([(0, 0)])
updRate = "1 1" # Active Idle
with serial.Serial('/dev/ttyACM0', 115200, timeout = 1) as s:
# print(f"Opened serial port {s.name}")
sleep(1)
s.write(b"\r")
sleep(0.1)
s.write(b"\r")
s.write(b'nis ')
sleep(0.1)
s.write(b'0x1234')
sleep(0.1)
s.write(b'\r')
# print(f"Set PAN ID to 0x1234")
sleep(1)
s.write(b'nmt')
sleep(0.1)
s.write(b'\r')
# print("Configured node as tag")
sleep(1)
s.write(b"\r")
sleep(0.1)
s.write(b"\r")
sleep(2)
s.write(b"aurs ")
sleep(0.1)
s.write(updRate.encode())
sleep(0.1)
s.write(b'\r')
# print("Set update rate to " + updRate)
sleep(0.1)
s.write(b"lep")
sleep(0.1)
s.write(b"\r")
sleep(0.1)
for i in range(30):
s.readline()
for i in range(50):
position.append((0, 0))
while True:
dstr = s.readline().decode('utf-8').strip('\n')
if "POS," in dstr:
dstr = re.sub('[^0-9,.]', '', dstr)
_, x, y, z, qf = dstr.split(",")
x = int(float(x) * 1000)
y = int(float(y) * 1000)
kf.predict()
kf.update(np.array([x, y]))
kfx = int(kf.x[0])
kfy = int(kf.x[1])
position.popleft()
position.append((x, y))
xmean = 0
ymean = 0
for p_i in position:
xmean += p_i[0]
ymean += p_i[1]
xmean = int(xmean / 50)
ymean = int(ymean / 50)
with open("position_buf.txt", "w") as f:
print(f"{kfx},{kfy}")
f.write(f"{kfx},{kfy}\n")
os.rename("position_buf.txt", "position.txt")
with open("position_mean_buf.txt", "w") as f:
#print(f"xmean: {xmean}, ymean: {ymean}")
f.write(f"{xmean},{ymean}\n")
os.rename("position_mean_buf.txt", "position_mean.txt")
print("Shutting down serial communication")
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