ohmpi.py

        else:
            # create data file and add headers
            with open(filename, 'a') as f:
                w = csv.DictWriter(f, last_measurement.keys())
                w.writeheader()
                w.writerow(last_measurement)

    def _process_commands(self, command):
        """ TODO

        Parameters
        ----------
        command

        Returns
        -------

        """
        print('yyyy', command)
        try:
            cmd_id = None
            decoded_message = json.loads(command)
            cmd_id = decoded_message.pop('cmd_id', None)
            cmd = decoded_message.pop('cmd', None)
            args = decoded_message.pop('args', None)
            status = False
            e = None
            if cmd is not None and cmd_id is not None:
                if cmd == 'update_settings' and args is not None:
                    self.update_settings(args)
                    status = True
                elif cmd == 'set_sequence' and args is not None:
                    try:
                        self.sequence = np.loadtxt(StringIO(args)).astype('uint32')
                        status = True
                    except Exception as e:
                        self.exec_logger.warning(f'Unable to set sequence: {e}')
                        status = False
                elif cmd == 'run_sequence': 
                    self.run_sequence(cmd_id=cmd_id)
                elif cmd == 'run_sequence_async':
                    self.run_sequence_async(cmd_id=cmd_id)
                    #while not self.status == 'idle':  # idem for async, we need to return immediately otherwise
                    # the interrupt command cannot be processed
                    #    time.sleep(0.1)
                    status = True
                elif cmd == 'run_multiple_sequences':
                    self.run_multiple_sequences(cmd_id=cmd_id)
                    #while not self.status == 'idle':  # we cannot do that as it's supposed to be an asynchrone command
                    #    time.sleep(0.1)
                    status = True
                elif cmd == 'interrupt':
                    self.interrupt()
                    status = True
                elif cmd == 'load_sequence':
                    try:
                        self.load_sequence(args)
                        status = True
                    except Exception as e:
                        self.exec_logger.warning(f'Unable to load sequence: {e}')
                        status = False
                elif cmd == 'rs_check':
                    try:
                        self.rs_check()
                        status = True
                    except Exception as e:
                        print('error====', e)
                        self.exec_logger.warning(f'Unable to run rs-check: {e}')
                else:
                    self.exec_logger.warning(f'Unknown command {cmd} - cmd_id: {cmd_id}')
        except Exception as e:
            self.exec_logger.warning(f'Unable to decode command {command}: {e}')
            status = False
        finally:
            reply = {'cmd_id': cmd_id, 'status':status, 'ohmpi_status': self.status}
            reply = json.dumps(reply)
            self.exec_logger.debug(f'Execution report: {reply}')

    def set_sequence(self, args):
        try:
            self.sequence = np.loadtxt(StringIO(args)).astype('uint32')
            status = True
        except Exception as e:
            self.exec_logger.warning(f'Unable to set sequence: {e}')
            status = False

    def run_sequence(self, **kwargs):
        """Run sequence synchronously (=blocking on main thread).
           Additional arguments are passed to run_measurement().
        """
        self.status = 'running'
        self.exec_logger.debug(f'Status: {self.status}')
        self.exec_logger.debug(f'Measuring sequence: {self.sequence}')

        # create filename with timestamp
        filename = self.settings["export_path"].replace('.csv',
                                                        f'_{datetime.now().strftime("%Y%m%dT%H%M%S")}.csv')
        self.exec_logger.debug(f'Saving to {filename}')

        # make sure all multiplexer are off
        self.reset_mux()

        # measure all quadrupole of the sequence
        if self.sequence is None:
            n = 1
        else:
            n = self.sequence.shape[0]
        for i in range(0, n):
            if self.sequence is None:
                quad = np.array([0, 0, 0, 0])
            else:
                quad = self.sequence[i, :]  # quadrupole
            if self.status == 'stopping':
                break

            # call the switch_mux function to switch to the right electrodes
            self.switch_mux_on(quad)

            # run a measurement
            acquired_data = self.run_measurement(quad, **kwargs)
            
            # switch mux off
            self.switch_mux_off(quad)

            # save data and print in a text file
            self.append_and_save(filename, acquired_data)
            self.exec_logger.debug(f'{i+1:d}/{n:d}')

        self.status = 'idle'

    def run_sequence_async(self, **kwargs):
        """ Run the sequence in a separate thread. Can be stopped by 'OhmPi.interrupt()'.
            Additional arguments are passed to run_measurement().
        """
        def func():
            self.run_sequence(**kwargs)
        
        self.thread = threading.Thread(target=func)
        self.thread.start()
        self.status = 'idle'
        
    def measure(self, *args, **kwargs):
        warnings.warn('This function is deprecated. Use run_multiple_sequences() instead.', DeprecationWarning)
        self.run_multiple_sequences(self, *args, **kwargs)
        
    def run_multiple_sequences(self, sequence_delay=None, **kwargs):
        """ Run multiple sequences in a separate thread for monitoring mode.
            Can be stopped by 'OhmPi.interrupt()'.
            Additional arguments are passed to run_measurement().
        
        Parameters
        ----------
        sequence_delay : int, optional
            Number of seconds at which the sequence must be started from each others.
        kwargs : dict, optional
            See help(k.run_measurement) for more info.
        """
        # self.run = True
        if sequence_delay == None:
            sequence_delay = self.settings['sequence_delay']
        sequence_delay = int(sequence_delay)
        self.status = 'running'
        def func():
            for g in range(0, self.settings["nb_meas"]): # for time-lapse monitoring
                if self.status != 'running':
                    self.exec_logger.warning('Data acquisition interrupted')
                    break
                t0 = time.time()
                self.run_sequence(**kwargs)

                # sleeping time between sequence
                dt = sequence_delay - (time.time() - t0)
                if dt < 0:
                    dt = 0
                if self.settings["nb_meas"] > 1:
                    time.sleep(dt)  # waiting for next measurement (time-lapse)
            self.status = 'idle'
        self.thread = threading.Thread(target=func)
        self.thread.start()

    def stop(self):
        warnings.warn('This function is deprecated. Use interrupt instead.', DeprecationWarning)
        self.interrupt()

    def interrupt(self):
        """ Interrupt the acquisition. """
        self.status = 'stopping'
        if self.thread is not None:
            print('joining thread')
            self.thread.join()
        self.exec_logger.debug(f'Status: {self.status}')

    def quit(self):
        """Quit OhmPi.
        """
        self.cmd_listen = False
        if self.cmd_thread is not None:
            self.cmd_thread.join()
        self.exec_logger.debug(f'Stopped listening to control topic.')
        exit()

    def restart(self):
        self.exec_logger.info('Restarting pi...')
        os.system('reboot')


VERSION = '2.1.5'

print(colored(r' ________________________________' + '\n' +
              r'|  _  | | | ||  \/  || ___ \_   _|' + '\n' +
              r'| | | | |_| || .  . || |_/ / | |' + '\n' +
              r'| | | |  _  || |\/| ||  __/  | |' + '\n' +
              r'\ \_/ / | | || |  | || |    _| |_' + '\n' +
              r' \___/\_| |_/\_|  |_/\_|    \___/ ', 'red'))
print('OhmPi start')
print('Version:', VERSION)
platform, on_pi = OhmPi._get_platform()
if on_pi:
    print(colored(f'Running on {platform} platform', 'green'))
    # TODO: check model for compatible platforms (exclude Raspberry Pi versions that are not supported...)
    #       and emit a warning otherwise
    if not arm64_imports:
        print(colored(f'Warning: Required packages are missing.\n'
                      f'Please run ./env.sh at command prompt to update your virtual environment\n', 'yellow'))
else:
    print(colored(f'Not running on the Raspberry Pi platform.\nFor simulation purposes only...', 'yellow'))

current_time = datetime.now()
print(current_time.strftime("%Y-%m-%d %H:%M:%S"))

# for testing
if __name__ == "__main__":
    ohmpi = OhmPi(settings=OHMPI_CONFIG['settings'])
    def func():
        ohmpi.controller.loop_forever()
    t = threading.Thread(target=func)
    t.start()