Uranus Explorers - Space Apps Challenge

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        import matplotlib.pyplot as plt
      
        import numpy as np
      
        from mpl_toolkits.mplot3d import Axes3D
      
        import matplotlib.animation as animation
      
        # ******************************************************
      
        #
      
        # REAL DATA FROM SERVER (IMU)
      
        #
      
        # def gen_point():
      
        #     return client.get_data()
      
        #
      
        # def update_line(num, data, line):
      
        #     try:
      
        #         x, y, z = gen_point()
      
        #         data[0].append(x)
      
        #         data[1].append(y)
      
        #         data[2].append(z)
      
        #
      
        #         line.set_data([data[0][:num], data[1][:num]])
      
        #         line.set_3d_properties(data[2][:num])
      
        #
      
        #         relimit(data)
      
        #         return [line]
      
        #     except socket.timeout:
      
        #         return [line]
      
        #
      
        # ******************************************************
      
        # ******************************************************
      
        #                   SIMULATED DATA
      
        # ******************************************************
      
        import dataset
      
        def update_line(num, data, line):
      
            line.set_data(dataset.x[:num], dataset.y[:num])
      
            line.set_3d_properties(dataset.z[:num])
      
        def relimit(data):
      
            max_x = max(0.4, max([abs(i) for i in data[0]]))
      
            max_y = max(0.4, max([abs(i) for i in data[1]]))
      
            max_z = max(0.4, max([abs(i) for i in data[2]]))
      
            x = [-max_x, max_x]
      
            y = [-max_y, max_y]
      
            z = [-max_z, max_z]
      
            ax.set_xlim3d(x)
      
            ax.set_ylim3d(y)
      
            ax.set_zlim3d(z)
      
        fig = plt.figure()
      
        ax = fig.add_subplot(111, projection='3d')
      
        # x = np.linspace(-10, 10, 2000)
      
        # y = np.linspace(-10, 10, 2000)
      
        # z = np.sin(x) * np.cos(y)
      
        # theta = np.linspace(-4 * np.pi, 4 * np.pi, 100)
      
        # z = np.linspace(-2, 2, 100)
      
        # r = z ** 2 + 1
      
        # x = r * np.sin(theta)
      
        # y = r * np.cos(theta)
      
        data = [[], [], []]
      
        line, = ax.plot(data[0][0:1], data[1][0:1], data[2][0:1])
      
        # Setting the axes properties
      
        ax.set_xlim3d([-4.0, 18.0])
      
        ax.set_ylim3d([-8.0, 10.0])
      
        ax.set_zlim3d([-1.0, 1.0])
      
        ax.set_xlabel('X')
      
        ax.set_ylabel('Y')
      
        ax.set_zlabel('Z')
      
        ax.set_title('ALPS 3D simulation')
      
        line_ani = animation.FuncAnimation(fig, update_line, fargs=(data, line),
      
                                           interval=100, blit=False)
      
        # ax.plot(x, y, z, label="Image")
      
        # ax.legend()
      
        plt.show()

view raw app.py hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        import socket
      
        import json
      
        print("Initializing client")
      
        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
      
        sock.settimeout(0.1)
      
        host = "raspberrypi.local"
      
        sock.sendto("connect".encode(), (host, 8088))
      
        print("connected")
      
        def get_data():
      
            data = json.loads(sock.recv(1024).decode())
      
            print(data)
      
            return data

view raw client.py hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        from numpy import linspace
      
        from numpy.random import rand
      
        # First segment
      
        x1 = (linspace(0, 10, num=130) + (rand(130) - 0.5) * 0.1).tolist()
      
        y1 = (linspace(0, 0, num=130) + (rand(130) - 0.5) * 0.1).tolist()
      
        # Second
      
        x2 = (linspace(10, 10, num=40) + (rand(40) - 0.5) * 0.1).tolist()
      
        y2 = (linspace(0, -4, num=40) + (rand(40) - 0.5) * 0.1).tolist()
      
        # Third
      
        x3 = (linspace(10, 16, num=50) + (rand(50) - 0.5) * 0.1).tolist()
      
        y3 = (linspace(-4, -4, num=50) + (rand(50) - 0.5) * 0.1).tolist()
      
        x = x1 + x2 + x3
      
        y = y1 + y2 + y3
      
        z = (linspace(0, 0, num=220) + (rand(220) - 0.5) * 0.05).tolist()

view raw dataset.py hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        #!/usr/bin/python
      
        import smbus
      
        import math
      
        from numpy import array
      
        # Register
      
        power_mgmt_1 = 0x6b
      
        power_mgmt_2 = 0x6c
      
        def read_byte(reg):
      
            return bus.read_byte_data(address, reg)
      
        def read_word(reg):
      
            h = bus.read_byte_data(address, reg)
      
            l = bus.read_byte_data(address, reg + 1)
      
            value = (h << 8) + l
      
            return value
      
        def read_word_2c(reg):
      
            val = read_word(reg)
      
            if (val >= 0x8000):
      
                return -((65535 - val) + 1)
      
            else:
      
                return val
      
        def dist(a, b):
      
            return math.sqrt((a * a) + (b * b))
      
        def get_y_rotation(x, y, z):
      
            radians = math.atan2(x, dist(y, z))
      
            return -math.degrees(radians)
      
        def get_x_rotation(x, y, z):
      
            radians = math.atan2(y, dist(x, z))
      
            return math.degrees(radians)
      
        bus = smbus.SMBus(1)  # bus = smbus.SMBus(0) fuer Revision 1
      
        address = 0x68  # via i2cdetect
      
        # Aktivieren, um das Modul ansprechen zu koennen
      
        bus.write_byte_data(address, power_mgmt_1, 0)
      
        # print "Gyroskop"
      
        # print "--------"
      
        #
      
        # gyroskop_xout = read_word_2c(0x43)
      
        # gyroskop_yout = read_word_2c(0x45)
      
        # gyroskop_zout = read_word_2c(0x47)
      
        #
      
        # print "gyroskop_xout: ", ("%5d" % gyroskop_xout), " skaliert: ", (gyroskop_xout / 131)
      
        # print "gyroskop_yout: ", ("%5d" % gyroskop_yout), " skaliert: ", (gyroskop_yout / 131)
      
        # print "gyroskop_zout: ", ("%5d" % gyroskop_zout), " skaliert: ", (gyroskop_zout / 131)
      
        #
      
        # print
      
        # print "Beschleunigungssensor"
      
        # print "---------------------"
      
        #
      
        # beschleunigung_xout = read_word_2c(0x3b)
      
        # beschleunigung_yout = read_word_2c(0x3d)
      
        # beschleunigung_zout = read_word_2c(0x3f)
      
        #
      
        # beschleunigung_xout_skaliert = beschleunigung_xout / 16384.0
      
        # beschleunigung_yout_skaliert = beschleunigung_yout / 16384.0
      
        # beschleunigung_zout_skaliert = beschleunigung_zout / 16384.0
      
        #
      
        # print "beschleunigung_xout: ", ("%6d" % beschleunigung_xout), " skaliert: ", beschleunigung_xout_skaliert
      
        # print "beschleunigung_yout: ", ("%6d" % beschleunigung_yout), " skaliert: ", beschleunigung_yout_skaliert
      
        # print "beschleunigung_zout: ", ("%6d" % beschleunigung_zout), " skaliert: ", beschleunigung_zout_skaliert
      
        #
      
        # print "X Rotation: " , get_x_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert)
      
        # print "Y Rotation: " , get_y_rotation(beschleunigung_xout_skaliert, beschleunigung_yout_skaliert, beschleunigung_zout_skaliert)
      
        def get_gyro_raw():
      
            gyroskop_xout = read_word_2c(0x43)
      
            gyroskop_yout = read_word_2c(0x45)
      
            gyroskop_zout = read_word_2c(0x47)
      
            _tuple =  ((gyroskop_xout / 131),
      
             (gyroskop_yout / 131),
      
             (gyroskop_zout / 131)
      
            )
      
            return array(_tuple)
      
        def calibrate():
      
            global offset
      
            s = array((0.0, 0.0, 0.0))
      
            for i in range(2000):
      
                s += array(get_acceleration_raw())
      
            offset = s / 2000.0
      
            print("offset:", offset)
      
        def get_acceleration_raw():
      
            beschleunigung_xout = read_word_2c(0x3b)
      
            beschleunigung_yout = read_word_2c(0x3d)
      
            beschleunigung_zout = read_word_2c(0x3f)
      
            beschleunigung_xout_skaliert = beschleunigung_xout / 16384.0
      
            beschleunigung_yout_skaliert = beschleunigung_yout / 16384.0
      
            beschleunigung_zout_skaliert = beschleunigung_zout / 16384.0
      
            a = (beschleunigung_xout_skaliert, beschleunigung_yout_skaliert,
      
                 beschleunigung_zout_skaliert)
      
            return a
      
        def get_acceleration():
      
            global offset
      
            a_raw = array(get_acceleration_raw())
      
            a = 9.81 * (a_raw - offset)
      
            return tuple(a.tolist())

view raw gyro.py hosted with ❤ by GitHub

      
        Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        software and associated documentation files (the "Software"), to deal in the Software
      
        without restriction, including without limitation the rights to use, copy, modify, merge,
      
        publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        to whom the Software is furnished to do so, subject to the following conditions:
      
        The above copyright notice and this permission notice shall be included in all copies
      
        or substantial portions of the Software.
      
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

view raw LICENSE hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        import numpy
      
        import gyro
      
        from threading import Thread
      
        from time import sleep
      
        interval = 0.01
      
        class LPS(Thread):
      
            def __init__(self):
      
                super().__init__()
      
                gyro.calibrate()
      
                self.pos = numpy.array((0, 0, 0))
      
                # self.vel = numpy.array(0, 0, 0)
      
                # self.acc = numpy.array(0, 0, 0)
      
            def run(self):
      
                #a = numpy.array(gyro.get_acceleration())
      
                #sleep(interval)
      
                while True:
      
                    a = numpy.array(gyro.get_acceleration())
      
                    self.pos = self.pos + a * (interval ** 2)
      
                    sleep(interval)
      
            def get_pos(self): return self.pos.tolist()

view raw lps.py hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        from PyQt5.QtWidgets import *
      
        from sys import argv
      
        class Application(QWidget):
      
            def __init__(self):
      
                super().__init__()
      
                self.__initialize_window__()
      
                self.__initialize_components__()
      
            def __initialize_window__(self):
      
                self.resize(250, 150)
      
                self.move(300, 300)
      
                self.setWindowTitle('Simple')
      
                self.show()
      
                print("shown")
      
            def __initialize_components__(self):
      
                self.text = QTextEdit("Ciao", self)
      
                self.text.show()
      
            def run(self):
      
                self.app.exec()
      
        app = QApplication(argv)
      
        w = Application()
      
        exit(app.exec_())

view raw sensors.py hosted with ❤ by GitHub

      
        # Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver 
      
        # 
      
        # Permission is hereby granted, free of charge, to any person obtaining a copy of this
      
        # software and associated documentation files (the "Software"), to deal in the Software
      
        # without restriction, including without limitation the rights to use, copy, modify, merge,
      
        # publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons 
      
        # to whom the Software is furnished to do so, subject to the following conditions:
      
        # 
      
        # The above copyright notice and this permission notice shall be included in all copies
      
        # or substantial portions of the Software.
      
        # 
      
        # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
      
        # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
      
        # PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
      
        # FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 
      
        # ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
      
        import socket
      
        import json
      
        from time import sleep, time
      
        import threading
      
        import lps
      
        import gyro
      
        interval =  1  # 100 ms
      
        lps_thread = lps.LPS()
      
        #gyro.calibrate()
      
        def client_thread(addr):
      
            global lps_thread
      
            while True:
      
                data = lps_thread.get_pos()
      
                #data = {"acceleration": gyro.get_acceleration(), "time": time()}
      
                sock.sendto(json.dumps(data).encode(), addr)
      
                sleep(interval)
      
            conn.close()
      
        print("Initializing server")
      
        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM, socket.IPPROTO_UDP)
      
        sock.bind(("", 8088))
      
        # sock.listen(10)
      
        print("Server started")
      
        # now keep talking with the client
      
        while 1:
      
            # wait to accept a connection - blocking call
      
            _data, addr = sock.recvfrom(4096)
      
            print('Connected with ' + addr[0] + ':' + str(addr[1]))
      
            threading.Thread(target=client_thread, args=(addr,)).start()
      
            lps_thread.start()
      
        s.close()

view raw server.py hosted with ❤ by GitHub

Space Apps Challenge 2018

Uranus Explorers | Make Sense Out of Mars

Team Updates

	# Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver
	#
	# Permission is hereby granted, free of charge, to any person obtaining a copy of this
	# software and associated documentation files (the "Software"), to deal in the Software
	# without restriction, including without limitation the rights to use, copy, modify, merge,
	# publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons
	# to whom the Software is furnished to do so, subject to the following conditions:
	#
	# The above copyright notice and this permission notice shall be included in all copies
	# or substantial portions of the Software.
	#
	# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
	# INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
	# PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
	# FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
	# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

	import matplotlib.pyplot as plt
	import numpy as np
	from mpl_toolkits.mplot3d import Axes3D
	import matplotlib.animation as animation

	# ******************************************************
	#
	# REAL DATA FROM SERVER (IMU)
	#
	# def gen_point():
	# return client.get_data()
	#
	# def update_line(num, data, line):
	# try:
	# x, y, z = gen_point()
	# data[0].append(x)
	# data[1].append(y)
	# data[2].append(z)
	#
	# line.set_data([data[0][:num], data[1][:num]])
	# line.set_3d_properties(data[2][:num])
	#
	# relimit(data)
	# return [line]
	# except socket.timeout:
	# return [line]
	#
	# ******************************************************


	# ******************************************************
	# SIMULATED DATA
	# ******************************************************
	import dataset
	def update_line(num, data, line):
	line.set_data(dataset.x[:num], dataset.y[:num])
	line.set_3d_properties(dataset.z[:num])

	def relimit(data):
	max_x = max(0.4, max([abs(i) for i in data[0]]))
	max_y = max(0.4, max([abs(i) for i in data[1]]))
	max_z = max(0.4, max([abs(i) for i in data[2]]))

	x = [-max_x, max_x]
	y = [-max_y, max_y]
	z = [-max_z, max_z]

	ax.set_xlim3d(x)
	ax.set_ylim3d(y)
	ax.set_zlim3d(z)


	fig = plt.figure()
	ax = fig.add_subplot(111, projection='3d')

	# x = np.linspace(-10, 10, 2000)
	# y = np.linspace(-10, 10, 2000)
	# z = np.sin(x) * np.cos(y)

	# theta = np.linspace(-4 * np.pi, 4 * np.pi, 100)
	# z = np.linspace(-2, 2, 100)
	# r = z ** 2 + 1
	# x = r * np.sin(theta)
	# y = r * np.cos(theta)

	data = [[], [], []]
	line, = ax.plot(data[0][0:1], data[1][0:1], data[2][0:1])

	# Setting the axes properties
	ax.set_xlim3d([-4.0, 18.0])
	ax.set_ylim3d([-8.0, 10.0])
	ax.set_zlim3d([-1.0, 1.0])

	ax.set_xlabel('X')
	ax.set_ylabel('Y')
	ax.set_zlabel('Z')

	ax.set_title('ALPS 3D simulation')

	line_ani = animation.FuncAnimation(fig, update_line, fargs=(data, line),
	interval=100, blit=False)

	# ax.plot(x, y, z, label="Image")
	# ax.legend()
	plt.show()

	Copyright 2018 Uranus Explorers Team: Lorenzo Mureu, Andrea Foschiatti, Matteo Stoppa, Juan Carlos Vega Oliver

	Permission is hereby granted, free of charge, to any person obtaining a copy of this
	software and associated documentation files (the "Software"), to deal in the Software
	without restriction, including without limitation the rights to use, copy, modify, merge,
	publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons
	to whom the Software is furnished to do so, subject to the following conditions:

	The above copyright notice and this permission notice shall be included in all copies
	or substantial portions of the Software.

	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
	INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
	PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE
	FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
	ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.