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#!/usr/bin/python3
# OSC komunikacija
from pythonosc.osc_server import BlockingOSCUDPServer
from pythonosc.dispatcher import Dispatcher
from time import time
from threading import Thread
# Risanje grafa
import matplotlib
matplotlib.use('GTK4Agg')
import matplotlib.pyplot as plt
from matplotlib.animation import FuncAnimation
dispecer = Dispatcher()
srv = BlockingOSCUDPServer(("127.0.0.1", 57120), dispecer)
# Zacetna (casovna) tocka
zacetek = time()
# use ggplot style for more sophisticated visuals
plt.style.use('ggplot')
size = 1000
x_vec = []
gx_vec = []
gy_vec = []
gz_vec = []
ax_vec = []
ay_vec = []
az_vec = []
x = 0
gx = 0
gy = 0
gz = 0
ax = 0
ay = 0
az = 0
interval = 60 / 1000
razlika = 0
# Shranim "trenutne" vrednosti
def beriSenzor(address, *args):
global x, gx, gy, gz, ax, ay, az, razlika
if (address == '/accel'):
ax, ay, az = args
if (address == '/euler'):
gx, gy, gz = args
print("euler", args)
razlika = time() - zacetek
if (razlika > interval):
izrisi()
razlika = razlika % interval
fig = plt.gcf()
#gxs = fig.add_subplot()
#gys = fig.add_subplot()
#gxp, = gxs.plot([])
#gyp, = gys.plot([])
fajl_g = open("graf_g.csv", "w")
fajl_g.write("t,gx,gy,gz,rgx,rgy,rgz\n")
fajl_a = open("graf_a.csv", "w")
fajl_a.write("t,ax,ay,az\n")
def izrisi():
global x, gx, gy, gz, ax, ay, az, fig, plt, gxp, gyp, zacetek
# Dodamo casovno tocko
x = time() - zacetek
#x_vec.append(x)
fajl_g.write(str(x) + "," + str(gx) + "," + str(gy) + "," + str(gz) + "," + str(gx % 3.14) + "," + str(gy % 3.14) + "," + str(gz % 3.14) + "\n")
fajl_a.write(str(x) + "," + str(ax) + "," + str(ay) + "," + str(az) + "\n")
# Dodamo gyro in accel vrednosti v polja
#gx_vec.append(gx)
#gy_vec.append(gy)
#gz_vec.append(gz)
#ax_vec.append(ax)
#ay_vec.append(ay)
#az_vec.append(az)
#plt.cla()
#yplot.plot(x_vec, gx_vec)
#yplot.plot(x_vec, gy_vec)
#fig.set_xdata(x_vec)
#gxp.set_data(x_vec, gx_vec)
#gyp.set_data(x_vec, gy_vec)
#print("RISEMO", x, gx)
#plt.plot(x_vec, gx_vec, label="gyro x")
#plt.plot(x_vec, gy_vec)
#plt.plot(x_vec, gz_vec)
#plt.plot(x_vec, ax_vec)
#plt.plot(x_vec, ay_vec)
#plt.plot(x_vec, az_vec)
#plt.pause(0.0001)
#fig.canvas.draw()
#plt.show()
#plt.pause(0.0001)
#return gxp,
#plt.gcf().autofmt_xdate()
#plt.tight_layout()
#plt.pause(0.001)
#plt.gcf()
#plt.pause(1)
#return plt
#plt.show()
#return plt
# Animiraj na cca 60hz
#animacija = FuncAnimation(fig, izrisi, 500)
#animacija = FuncAnimation(plt.gcf(), izrisi, interval=0.05, repeat=True)
#print(animacija)
#animacija = FuncAnimation(fig, izrisi)
#plt.show()
dispecer.map("/*", beriSenzor)
# Zacni poslusat senzor
print("serving...")
srv.serve_forever()
#trd = Thread(target=srv.serve_forever).start()
# Kazi graf
#print("Kazi graf!")
#plt.tight_layout()
#plt.show()
#plt.plot([0, 0], [1, 5], [3, 7])
#print('kazem', plt)
# AJD!
file.close()
print("bye")