From 7621fee2f44164cc7339ad7def7d59112faf192f Mon Sep 17 00:00:00 2001
From: Cem Gokmen <cem@cemgokmen.com>
Date: Wed, 29 Mar 2017 11:35:03 -0400
Subject: [PATCH] Fixed time recording method and added polling rate for IMU

---
 main.py                              | 18 ++++++++++--------
 sensormodules/GeigerCounterModule.py |  8 ++++----
 sensormodules/IMUModule.py           | 13 +++++++------
 sensormodules/SensorModule.py        |  2 +-
 sensormodules/SerialModule.py        |  2 +-
 5 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/main.py b/main.py
index d0e5da7..8d34799 100644
--- a/main.py
+++ b/main.py
@@ -3,10 +3,7 @@
 import signal
 import csv
 import time
-
-
-# TODO: Improve the time function!
-millis = lambda: int(round(time.time() * 1000))
+from datetime import datetime
 
 class GracefulKiller:
     kill_now = False
@@ -29,22 +26,27 @@ def exit_gracefully(self, signum, frame):
     modules['imu'] = IMUModule(logger.getChild("imu"))
     modules['geiger'] = GeigerCounterModule(logger.getChild("geiger"), "/dev/uart", 9600)
 
+    missionTime = datetime.now()
+
     for m in modules.keys():
         f = open('%s.csv' % m, 'wb')
         writer = csv.writer(f, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
 
+        writer.writerow([missionTime])
+
         csvs[m] = (f, writer)
 
     while True:
+        missionElapsedTime = int((datetime.now() - missionTime).total_seconds() * 1000)
+
         for m in modules.keys():
-            data = modules[m].poll()
+            data = modules[m].poll(missionElapsedTime)
 
             if len(data) > 0:
-                currentTime = millis()
                 writer = csvs[m][0]
 
                 for datum in data:
-                    writer.writerow([currentTime] + list(datum))
+                    writer.writerow([missionElapsedTime] + list(datum))
 
         if killer.kill_now:
             break
@@ -52,4 +54,4 @@ def exit_gracefully(self, signum, frame):
     for c in csvs.values():
         c[1].close()
 
-    print("Goodbye!")
+    print("The eagle has landed.")
diff --git a/sensormodules/GeigerCounterModule.py b/sensormodules/GeigerCounterModule.py
index be99db9..96c985e 100644
--- a/sensormodules/GeigerCounterModule.py
+++ b/sensormodules/GeigerCounterModule.py
@@ -7,15 +7,15 @@ def __init__(self, logger, device, baudRate):
         self.sm = SerialModule(logger, device, baudRate)
         self.logger = logger
 
-    def poll(self):
+    def poll(self, dt):
         # The geiger counter's number of ticks is equal to the number of
         # characters on the serial output.
         
-        data = self.sm.poll()
+        data = self.sm.poll(dt)
 
         retval = []
 
-        for _ in xrange(data):
-            retval.append(True)
+        for c in data:
+            retval.append(c)
 
         return retval
\ No newline at end of file
diff --git a/sensormodules/IMUModule.py b/sensormodules/IMUModule.py
index 659e9e1..a30a72b 100644
--- a/sensormodules/IMUModule.py
+++ b/sensormodules/IMUModule.py
@@ -9,6 +9,7 @@
 
 class IMUModule(SensorModule):
     SETTINGS_FILE = "RTIMULib"
+    MILLISECOND_POLLING_INTERVAL = 500
 
     def __init__(self, logger):
         sys.path.append('.')
@@ -31,15 +32,15 @@ def __init__(self, logger):
         imu.setCompassEnable(True)
 
         self.imu = imu
-        self.poll_interval = imu.IMUGetPollInterval()
+        self.pollInterval = imu.IMUGetPollInterval()
         self.logger = logger
 
-    def poll(self):
+    def poll(self, dt):
         if self.imu.IMURead():
-            # x, y, z = imu.getFusionData()
-            # print("%f %f %f" % (x,y,z))
             data = self.imu.getIMUData()
             fusionPose = data["fusionPose"]
-            processedData = [(math.degrees(fusionPose[0]), math.degrees(fusionPose[1]), math.degrees(fusionPose[2]))]
+            self.data = [(math.degrees(fusionPose[0]), math.degrees(fusionPose[1]), math.degrees(fusionPose[2]))]
 
-            return processedData
\ No newline at end of file
+        if (self.data is not None) and (self.lastPoll is None or ((dt - self.lastPoll).total_seconds() * 1000 >= self.pollInterval)):
+            self.lastPoll = dt
+            return self.data
\ No newline at end of file
diff --git a/sensormodules/SensorModule.py b/sensormodules/SensorModule.py
index ec3225e..79dccfc 100644
--- a/sensormodules/SensorModule.py
+++ b/sensormodules/SensorModule.py
@@ -4,7 +4,7 @@ class SensorModule:
     __metaclass__ = abc.ABCMeta
 
     @abc.abstractmethod
-    def poll(self):
+    def poll(self, dt):
         """
         This is our module's polling method which will be called from the main event loop.
         This method should not block under any circumstances.
diff --git a/sensormodules/SerialModule.py b/sensormodules/SerialModule.py
index 33673ba..97ed4f6 100644
--- a/sensormodules/SerialModule.py
+++ b/sensormodules/SerialModule.py
@@ -7,7 +7,7 @@ def __init__(self, logger, device, baudRate):
 
         self.logger = logger
 
-    def poll(self):
+    def poll(self, dt):
         # It's important to realize that this method may produce incomplete data if called
         # in the middle of a line and it's up to the main loop to handle that.
         if self.sd.in_waiting > 0: