data_recorder_with_daq.py

# This script is licensed under BSD License, see file LICENSE.txt, or search for `License` in the SDK online help.
# (c) TASKING Germany GmbH, 2023
#
# This script demonstrates recording of variables using fast data
# acquisition (DAQ) approach. The recorded data is written to CSV
# file. If the 'openpyxl' module is installed, the data is also
# written to XLSX file. If 'pylab' module is installed, the acquired
# data is also plotted.
# 
# All the above functionality is grouped into functions, so you can
# easily take out only part of the script. This script can also be
# imported as a module to user's scripts, so it is easy to reuse
# functions found here.
 
import sys
import csv
import time
import isystem.connect as ic
 
winidea_id = ''
 
 
try:
    import openpyxl
    isOpenPyXLInstalled = True
except (ImportError) as ex:
    isOpenPyXLInstalled = False
 
try:
    import pylab as plab
    isPyLabInstalled = True
except (ImportError) as ex:
    isPyLabInstalled = False
 
 
def printHelp():
    print("Usage:   dataRecorderWithDAQ.py <variableName1 samplingRateInSeconds1>  ...")
    print("")
    print("         If 'samplingRateInSeconds' == 0, the smallest possible sampling")
    print("         time is used. Supported values: 0.001, 0.01, 0.1, 1 second.")
    print("         See CDAQController::EDAQSampligFlags for all possible")
    print("         values.")
    print("")
    print("")
    print("Example: dataRecorderWithDAQ.py main_loop_counter 0.1 g_baseStruct.i_base 0.01")
    print("         records main_loop_counter each 100 ms, and g_baseStruct.i_base with 10 ms period.")
 
    
def initTarget(cmgr):
    """
    This function initializes the target. Customize it according to
    your needs.
    """
 
    debugCtrl = ic.CDebugFacade(cmgr)
 
    debugCtrl.download()
    debugCtrl.runUntilFunction("main")
    debugCtrl.waitUntilStopped()
 
    debugCtrl.run()
    
    return debugCtrl
 
 
def realTimeToDAQTimeFlags(samplTime):
    """
    Converts the given sampling time in seconds to EDAQSamplingFlags.
    """
    if samplTime < 0.001:
        return ic.CDAQController.daqSampleMax
    elif samplTime < 0.01:
        return ic.CDAQController.daqSample1ms
    elif samplTime < 0.1:
        return ic.CDAQController.daqSample10ms
    elif samplTime < 1:
        return ic.CDAQController.daqSample100ms
    else:
        return ic.CDAQController.daqSample1s
    
 
def recordVariables(cmgr,
                    debugCtrl,
                    variables,
                    recordingTimeInSeconds,
                    fileName,
                    isRecordToMemory,
                    isPrintToStdOut):
    """
    This function reads varibles and writes them to CSV file.
    If isRecordToMemory == False, the amount of data that can be recorded is
    limited by the free disk size.
 
    Parameters:
 
    debugCtrl - iSYSTEM's debugCtrl controller, which provides access to target
    
    variables - array of two element arrays, where the first element contains
                variable name and the second element contains sampling interval,
                for example: [['main_loop_counter', 0.1], ['g_baseStruct.i_base', 0]].
                Sampling interval set to 0 means the smallest interval possible.
              
    recordingTimeInSeconds - how long to record the data, in seconds. Recording
                             can also be terminated by pressing the 'q' key
 
    fileName - name of the output CSV file.
                 
    isRecordToMemory - if True, then data is also stored into memory
                       array and returned as function return value. Be
                       aware of memory usage in this case. If false,
                       an empty list is returned.
 
    isPrintToStdOut  - if True, each row is printed to stdout during recording
    
    Returns:
        List of rows, where each row is a list containing time stamp and recorded
        values in the same order as variable names were specified. Example for
        two samples of three variables::
 
            [[0, 23, 45, 4.35],
             [0.1, 24, -525, 1.78]
            ]
 
    """
 
    daqCtrl = ic.CDAQController(cmgr)
 
    # check if DAQ system is available
    daqInfo = daqCtrl.info()
    if daqInfo.getMaxItems() == 0:
        raise Exception("Data Acquisition (DAQ) system is not available.")
        
    print('MaxItems = ', daqInfo.getMaxItems())
 
    daqVariables = ic.DAQConfigVector()
    for varSamplData in variables:
        varName = varSamplData[0]
        samplTime = realTimeToDAQTimeFlags(varSamplData[1])
        
        if varName.startswith('0x'):
            # Direct memory address reading (32bit variable)
            memAddr = int(varName)
            daqVariables.append(ic.CDAQConfigItem(4, 0, memAddr, samplTime))
        else:
            # Reading a regular variable
            daqVariables.append(ic.CDAQConfigItem(varName, samplTime))
        
    # note the time of the DAQ system
    daqTimeStart = daqCtrl.status().getTime()
 
    daqCtrl.configure(daqVariables)
 
    # enable DAQ on the entire SoC
    daqCtrl.enableGlobal(True)
 
    startTime = time.time()
    endTime = startTime + recordingTimeInSeconds
 
    numVars = len(variables)
    recordedData = []
    
    with open(fileName, 'w') as csvFile:
 
        # add parameter dialect = 'excel' for Excel specific output
        # See also http://docs.python.org/library/csv.html
        # for configuring CSV output
        csvWriter = csv.writer(csvFile)
 
        varNames = []
        for varData in variables:
            varNames.append(varData[0])
            
        csvWriter.writerow(['Time'] + varNames)
        
        sampleCounter = 0
 
        lastTime = 0
        row = [''] * (1 + numVars)
 
        while time.time() < endTime:
 
            daqStatus = daqCtrl.status()
            # if any sample is available, display the status and print the samples  
            if daqStatus.getNumSamplesAvailable() > 0:
                # print 'Last DAQ acquisition time = ', daqStatus.getLastLoopTime()
                if daqStatus.getOverflow():
                    print('SAMPLING OVERFLOW!')
 
                # read available samples into daqSamples
                daqSamples = ic.DAQSampleVector()
                daqCtrl.read(daqSamples)
                
                # print 'Number of samples = ', daqSamples.size()
                for daqSample in daqSamples:
                    
                    sampleTime = daqSample.getTime() - daqTimeStart
                    columnIndex = daqSample.getIndex()+1
                    
                    var = daqCtrl.getDataValue(daqSample)
                    
                    if var.isTypeUnsigned() or var.isTypeSigned():
                        value = var.getLong()
                    elif var.isTypeFloat():
                        value = var.getDouble()
                    elif var.isTypeAddress():
                        value = var.getAddress().m_aAddress
                    elif var.isTypeCompound():
                        value = 'Struct'
 
                    # new time found - writing
                    if (sampleTime != lastTime):
                        
                        # Write the last row of data if this is not the first
                        # data received
                        if (lastTime != 0):
                            csvWriter.writerow(row)
                            if isPrintToStdOut:
                                print(row)
                            if isRecordToMemory:
                                recordedData.append(row)
                    
                        #row[:] = ''
                        row = [''] * (numVars+1)
                        row[0] = sampleTime
                        
                        # Remember what time was last used to fill rhe row of data
                        lastTime = sampleTime
 
                    row[columnIndex] = value
        
        # And the last line of data
        if (lastTime != 0):
            csvWriter.writerow(row)
            if isPrintToStdOut:
                print(row)
            if isRecordToMemory:
                recordedData.append(row)
                
    return recordedData
 
 
def writeDataToXLSX(fileName, data, expressions):
    book = openpyxl.Workbook()
    sheet = book.create_sheet()
    sheet.title = 'Variables'
 
    # write header
    sheet.append(['Time'] + expressions)
    
    for row in data:
        sheet.append(row)
        
    book.save(fileName)
 
 
def main():
 
    if len(sys.argv) < 2:
        printHelp()
        return
 
    samplingInfo = []
    varNames = []
    
    # create (varName, samplingTime) pairs from params in command line
    # Example input parameters:
    #    a_my_signal 0.01 a_my_int 0 a_my_char 1 DigitalIn.DIN0 0.1 AnalogIn.AIN1 0.1 DigitalIn.DIN125
    # For digital mask testing: 
    #    DigitalIn.DIN  1 DigitalIn.DIN2 1 DigitalIn.DIN123 1 DigitalIn.DIN765 1 DigitalIn.DIN23456 1
    for idx in range(1, len(sys.argv), 2):
        varName = sys.argv[idx]
        varNames.append(varName)
        samplingInfo.append([varName, float(sys.argv[idx + 1])])
 
    cmgr = ic.ConnectionMgr()
    cmgr.initLogger('daq', 'daqExample.log', ic.CLogger.PYTHON)
    cmgr.connect(ic.CConnectionConfig().instanceId(winidea_id))
    if not cmgr.isAttached():
        print("The connection to winIDEA has not been established - exiting script.")
        sys.exit(-1)
    else:
        print("Established connection to winIDEA.")
    debugCtrl = initTarget(cmgr)
 
    # Here you can modify recording time and file name.
    recordingTimeInSeconds = 3  # after this time the script will stop
    filePrefix = 'daqData'
    isRecordToMemory = True
    isPrintToStdOut = True
    print('Recording ...')
    
    daqResults = recordVariables(cmgr,
                                 debugCtrl,
                                 samplingInfo,
                                 recordingTimeInSeconds,
                                 filePrefix + '.csv',
                                 isRecordToMemory,
                                 isPrintToStdOut)
 
    if isOpenPyXLInstalled and daqResults:
        writeDataToXLSX(filePrefix + '.xlsx', daqResults, varNames)
 
    if isPyLabInstalled:
        lineTypes = ['k', 'r', 'g', 'b', 'k:', 'r:', 'g:', 'b:']
 
        # create array of strings, since empty values are stored as empty strings
        data = plab.array(daqResults).astype('S12') 
 
        plotIdx = 1
        for varName in varNames:
            plab.subplot(len(varNames), 1, plotIdx)
 
            # filters all lines, where data is not available - if we have
            # different sampling times for variables, then the less frequently
            # sampled variables have no values.
            linesData = data[data[:, plotIdx] != b'']
            times = linesData[:, 0]  # the first column is time
            plab.plot(times, linesData[:, plotIdx], lineTypes[(plotIdx - 1)% len(lineTypes)])
            plab.ylabel(varName)
            plotIdx += 1
 
        plab.xlabel('t[s]')
        plab.show()
    
    print('Done!')
 
if __name__ == '__main__':
    main()