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Versuchstag-4/ikt_car_sensorik.py

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+#!/usr/bin/python
+import os
+from time import time, sleep
+import threading
+import RPi.GPIO as GPIO
+import smbus
+
+GPIO.setmode(GPIO.BCM)
+
+# 1 indicates /dev/i2c-1 (port I2C1)
+bus = smbus.SMBus(1)
+
+#################################################################################
+# Sensors
+#################################################################################
+
+#################################################################################
+# Ultrasonic
+#################################################################################
+
+class Ultrasonic():
+	'''This class is responsible for handling i2c requests to an ultrasonic sensor'''
+
+	def __init__(self,address):
+		self.address = address
+ 	
+ 	# Aufgabe 2
+ 	#
+	# Diese Methode soll ein Datenbyte an den Ultraschallsensor senden um eine Messung zu starten
+	def write(self,value):
+		return 0
+
+	# Aufgabe 2
+	#
+	# Diese Methode soll den Lichtwert auslesen und zurueckgeben.
+	def get_brightness(self):
+		return 0
+
+	# Aufgabe 2
+	#
+	# Diese Methode soll die Entfernung auslesen und zurueckgeben. 
+	def get_distance(self):
+		return 0
+
+	def get_address(self):
+		return self.address
+
+class UltrasonicThread(threading.Thread):
+	''' Thread-class for holding ultrasonic data '''
+
+	# distance to obstacle in cm
+	distance = 0
+
+	# brightness value
+	brightness = 0
+
+	# Aufgabe 4
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self, address):
+		return 0
+
+	# Aufgabe 4
+	#
+	# Schreiben Sie die Messwerte in die lokalen Variablen
+	def run(self):
+		while not self.stopped:
+			continue
+			
+	def stop(self):
+		self.stopped = True
+
+#################################################################################
+# Compass
+#################################################################################
+
+class Compass(object):
+	'''This class is responsible for handling i2c requests to a compass sensor'''
+
+	def __init__(self,address):
+		self.address = address
+
+	# Aufgabe 2
+	#
+	# Diese Methode soll den Kompasswert auslesen und zurueckgeben. 
+	def get_bearing(self):
+		return 0
+
+class CompassThread(threading.Thread):
+	''' Thread-class for holding compass data '''
+
+	# Compass bearing value
+	bearing = 0
+
+	# Aufgabe 4
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self, address):
+		return 0
+
+	# Aufgabe 4
+	#
+	# Diese Methode soll den Kompasswert aktuell halten.
+	def run(self):
+		while not self.stopped:
+			continue
+
+	def stop(self):
+		self.stopped = True
+
+#################################################################################
+# Infrared
+#################################################################################
+
+class Infrared(object):
+	'''This class is responsible for handling i2c requests to an infrared sensor'''
+
+	def __init__(self,address):
+		self.address = address
+		
+	# Aufgabe 2 
+	#
+	# In dieser Methode soll der gemessene Spannungswert des Infrarotsensors ausgelesen werden.
+	def get_voltage(self):
+		return 0
+
+	# Aufgabe 3
+	#
+	# Der Spannungswert soll in einen Distanzwert umgerechnet werden.
+	def get_distance(self):
+		return 0
+
+
+class InfraredThread(threading.Thread):
+	''' Thread-class for holding Infrared data '''
+
+	# distance to an obstacle in cm
+	distance = 0
+
+	# length of parking space in cm
+	parking_space_length = 0
+
+	# Aufgabe 4
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self, address, encoder=None):
+		return 0
+
+	def run(self):
+		while not self.stopped:
+			read_infrared_value()
+			calculate_parking_space_length()
+
+	# Aufgabe 4
+	#
+	# Diese Methode soll den Infrarotwert aktuell halten
+	def read_infrared_value(self):	
+		return 0
+
+	# Aufgabe 5
+	#
+	# Hier soll die Berechnung der Laenge der Parkluecke definiert werden
+	def calculate_parking_space_length(self):
+		return 0
+
+	def stop(self):
+		self.stopped = True
+
+#################################################################################
+# Encoder
+#################################################################################
+	
+class Encoder(object):
+	''' This class is responsible for handling encoder data '''
+
+	# Aufgabe 2
+	#
+	# Wieviel cm betraegt ein einzelner Encoder-Schritt?
+	STEP_LENGTH = 0 # in cm
+
+	# number of encoder steps
+	count = 0
+
+	def __init__(self, pin):
+		self.pin = pin
+
+	# Aufgabe 2
+	#
+	# Jeder Flankenwechsel muss zur Berechnung der Entfernung gezaehlt werden. 
+	# Definieren Sie alle dazu noetigen Methoden.
+
+	# Aufgabe 2
+	# 
+	# Diese Methode soll die gesamte zurueckgelegte Distanz zurueckgeben.
+	def get_travelled_dist(self):
+		return 0
+
+class EncoderThread(threading.Thread):
+	''' Thread-class for holding speed and distance data of all encoders'''
+
+	# current speed.
+	speed = 0
+
+	# currently traversed distance.
+	distance = 0
+
+	# Aufgabe 4
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self, encoder):
+		return 0
+
+	def run(self):
+		while not self.stopped:
+			get_values()
+
+	# Aufgabe 4
+	#
+	# Diese Methode soll die aktuelle Geschwindigkeit sowie die zurueckgelegte Distanz aktuell halten.
+	def get_values(self):
+		return 0
+
+
+	def stop(self):
+		self.stopped = True
+
+#################################################################################
+# Main Thread
+#################################################################################	
+
+if __name__ == "__main__":
+
+	# The GPIO pin to which the encoder is connected
+	encoder_pin = 23
+
+	# Aufgabe 1
+	#
+	# Tragen Sie die i2c Adressen der Sensoren hier ein
+
+	# The i2c addresses of front and rear ultrasound sensors
+	ultrasonic_front_i2c_address = 0x00;
+	ultrasonic_rear_i2c_address = 0x00;
+
+	# The i2c address of the compass sensor
+	compass_i2c_address = 0x00 
+
+	# The i2c address of the infrared sensor
+	infrared_i2c_address = 0x00
+
+	# Aufgabe 6
+	#
+	# Hier sollen saemtlichen Messwerte periodisch auf der Konsole ausgegeben werden.

Versuchstag-4/ikt_car_webserver.py

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+#!/usr/bin/python
+import tornado.httpserver
+import tornado.ioloop
+import tornado.options
+import tornado.web
+import tornado.websocket
+import io
+import json
+
+import threading
+from ikt_car_sensorik import *
+import _servo_ctrl
+from math import acos, sqrt, degrees
+
+
+
+# Aufgabe 4
+#
+# Der Tornado Webserver soll die Datei index.html am Port 8081 zur Verfügung stellen
+
+# Aufgabe 3
+#
+# Der Tornado Webserver muss eine Liste der clients verwalten.  
+class WebSocketHandler(tornado.websocket.WebSocketHandler):
+	'''Definition der Operationen des WebSocket Servers'''
+
+	print "hello WebSocketHandler"
+
+	def open(self):
+		return 0
+
+	def on_message(self, message):
+		return 0
+
+	def on_close(self):
+		return 0
+
+
+class DataThread(threading.Thread):
+	'''Thread zum Senden der Zustandsdaten an alle Clients aus der Client-Liste'''
+
+	# Aufgabe 3
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self):
+		return 0
+	
+	# Aufgabe 3
+	#
+	# Erstellen Sie hier Instanzen von Klassen aus dem ersten Teilversuch		
+	def set_sensorik(self, address_ultrasonic_front, address_ultrasonic_back, address_compass, address_infrared, encoder_pin):
+		return 0
+
+	# Aufgabe 3
+	#
+	# Hier muessen die Sensorwerte ausgelesen und an alle Clients des Webservers verschickt werden.
+	def run(self):
+		while not self.stopped:
+			continue
+
+	def stop(self):
+		self.stopped = True
+
+class DrivingThread(threading.Thread):
+	'''Thread zum Fahren des Autos'''
+
+	# Einparken
+	#
+	# Hier muss der Thread initialisiert werden.
+	def __init__(self):
+		return 0
+		
+	# Einparken
+	#
+	# Definieren Sie einen Thread, der auf die ueber den Webserver erhaltenen Befehle reagiert und den Einparkprozess durchfuehrt
+	def run(self):
+		while not self.stopped:
+			continue
+
+	def stop(self):
+		self.stopped = True
+		
+
+if __name__ == "__main__":
+	print "Main Thread started"
+	# Aufgabe 3
+	#
+	# Erstellen und starten Sie hier eine Instanz des DataThread und starten Sie den Webserver .
+
+
+	# Einparken
+	#
+	# Erstellen und starten Sie hier eine Instanz des DrivingThread, um das Einparken zu ermoeglichen.
+

Versuchstag-4/index.html

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+<!--HTML Seite, die das Video und saemtliche Zustandsdaten des Raspberry Pi anzeigt-->
+
+<!DOCTYPE HTML>
+<html>
+  <head>
+	<title>IKT CAR MONITORING</title>
+	<style>
+		body {
+			background: #555;
+			text-align: left;
+			margin-top: 1%;
+			zoom: 100%;
+			
+		}
+		p    {color:white;max-width: 50%;}
+		th    {color:white;}
+		#column {
+		
+		width: 50%;  
+		float: left;
+
+		position: relative;
+	}
+	</style>	
+	
+  </head>
+
+
+  <body>
+	
+	<script type="text/javascript" src="smoothie.js"></script>
+
+	<!--Aufgabe 4-->
+	<!--Für jeden Datensatz muss eine Zeichenfläche 'canvas' definiert werden-->
+
+
+	<!--Einparken -->
+	<!--Es müssen Knöpfe zum Starten und Stoppen des Parkvorgangs definiert werden-->
+	
+	<script type="text/javascript">
+		// Aufgabe 4
+		//
+		// Damit die Daten dargestellt werden können muss ein Websocket geöffnet werden, der bei jeder neuen Nachricht die Daten aus dieser Nachricht rausholt und visualisiert.
+		var dataSocket = ;
+
+
+		dataSocket.onopen = function(){  
+        		console.log("connected"); 
+      		}; 
+
+		dataSocket.onmessage = function(evt) {
+			// Aufgabe 4
+			// Die empfangenen Daten müssen an die Charts weitergegeben werden.
+		};
+
+		dataSocket.onclose = function(evt) {
+			console.log("disconnected"); 
+		};
+		
+
+		// Aufgabe 4
+		//
+		// Für jeden Datensatz muss ein eine SmoothieChart in einem vorher definierten canvas-Element erstellt werden.
+	</script>
+
+  </body>
+</html>

Versuchstag-4/smoothie.js

@@ -0,0 +1,712 @@
+// MIT License:
+//
+// Copyright (c) 2010-2013, Joe Walnes
+//
+// 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.
+
+/**
+ * Smoothie Charts - http://smoothiecharts.org/
+ * (c) 2010-2013, Joe Walnes
+ *     2013-2014, Drew Noakes
+ *
+ * v1.0: Main charting library, by Joe Walnes
+ * v1.1: Auto scaling of axis, by Neil Dunn
+ * v1.2: fps (frames per second) option, by Mathias Petterson
+ * v1.3: Fix for divide by zero, by Paul Nikitochkin
+ * v1.4: Set minimum, top-scale padding, remove timeseries, add optional timer to reset bounds, by Kelley Reynolds
+ * v1.5: Set default frames per second to 50... smoother.
+ *       .start(), .stop() methods for conserving CPU, by Dmitry Vyal
+ *       options.interpolation = 'bezier' or 'line', by Dmitry Vyal
+ *       options.maxValue to fix scale, by Dmitry Vyal
+ * v1.6: minValue/maxValue will always get converted to floats, by Przemek Matylla
+ * v1.7: options.grid.fillStyle may be a transparent color, by Dmitry A. Shashkin
+ *       Smooth rescaling, by Kostas Michalopoulos
+ * v1.8: Set max length to customize number of live points in the dataset with options.maxDataSetLength, by Krishna Narni
+ * v1.9: Display timestamps along the bottom, by Nick and Stev-io
+ *       (https://groups.google.com/forum/?fromgroups#!topic/smoothie-charts/-Ywse8FCpKI%5B1-25%5D)
+ *       Refactored by Krishna Narni, to support timestamp formatting function
+ * v1.10: Switch to requestAnimationFrame, removed the now obsoleted options.fps, by Gergely Imreh
+ * v1.11: options.grid.sharpLines option added, by @drewnoakes
+ *        Addressed warning seen in Firefox when seriesOption.fillStyle undefined, by @drewnoakes
+ * v1.12: Support for horizontalLines added, by @drewnoakes
+ *        Support for yRangeFunction callback added, by @drewnoakes
+ * v1.13: Fixed typo (#32), by @alnikitich
+ * v1.14: Timer cleared when last TimeSeries removed (#23), by @davidgaleano
+ *        Fixed diagonal line on chart at start/end of data stream, by @drewnoakes
+ * v1.15: Support for npm package (#18), by @dominictarr
+ *        Fixed broken removeTimeSeries function (#24) by @davidgaleano
+ *        Minor performance and tidying, by @drewnoakes
+ * v1.16: Bug fix introduced in v1.14 relating to timer creation/clearance (#23), by @drewnoakes
+ *        TimeSeries.append now deals with out-of-order timestamps, and can merge duplicates, by @zacwitte (#12)
+ *        Documentation and some local variable renaming for clarity, by @drewnoakes
+ * v1.17: Allow control over font size (#10), by @drewnoakes
+ *        Timestamp text won't overlap, by @drewnoakes
+ * v1.18: Allow control of max/min label precision, by @drewnoakes
+ *        Added 'borderVisible' chart option, by @drewnoakes
+ *        Allow drawing series with fill but no stroke (line), by @drewnoakes
+ * v1.19: Avoid unnecessary repaints, and fixed flicker in old browsers having multiple charts in document (#40), by @asbai
+ * v1.20: Add SmoothieChart.getTimeSeriesOptions and SmoothieChart.bringToFront functions, by @drewnoakes
+ * v1.21: Add 'step' interpolation mode, by @drewnoakes
+ */
+
+;(function(exports) {
+
+  var Util = {
+    extend: function() {
+      arguments[0] = arguments[0] || {};
+      for (var i = 1; i < arguments.length; i++)
+      {
+        for (var key in arguments[i])
+        {
+          if (arguments[i].hasOwnProperty(key))
+          {
+            if (typeof(arguments[i][key]) === 'object') {
+              if (arguments[i][key] instanceof Array) {
+                arguments[0][key] = arguments[i][key];
+              } else {
+                arguments[0][key] = Util.extend(arguments[0][key], arguments[i][key]);
+              }
+            } else {
+              arguments[0][key] = arguments[i][key];
+            }
+          }
+        }
+      }
+      return arguments[0];
+    }
+  };
+
+  /**
+   * Initialises a new <code>TimeSeries</code> with optional data options.
+   *
+   * Options are of the form (defaults shown):
+   *
+   * <pre>
+   * {
+   *   resetBounds: true,        // enables/disables automatic scaling of the y-axis
+   *   resetBoundsInterval: 3000 // the period between scaling calculations, in millis
+   * }
+   * </pre>
+   *
+   * Presentation options for TimeSeries are specified as an argument to <code>SmoothieChart.addTimeSeries</code>.
+   *
+   * @constructor
+   */
+  function TimeSeries(options) {
+    this.options = Util.extend({}, TimeSeries.defaultOptions, options);
+    this.data = [];
+    this.maxValue = Number.NaN; // The maximum value ever seen in this TimeSeries.
+    this.minValue = Number.NaN; // The minimum value ever seen in this TimeSeries.
+  }
+
+  TimeSeries.defaultOptions = {
+    resetBoundsInterval: 3000,
+    resetBounds: true
+  };
+
+  /**
+   * Recalculate the min/max values for this <code>TimeSeries</code> object.
+   *
+   * This causes the graph to scale itself in the y-axis.
+   */
+  TimeSeries.prototype.resetBounds = function() {
+    if (this.data.length) {
+      // Walk through all data points, finding the min/max value
+      this.maxValue = this.data[0][1];
+      this.minValue = this.data[0][1];
+      for (var i = 1; i < this.data.length; i++) {
+        var value = this.data[i][1];
+        if (value > this.maxValue) {
+          this.maxValue = value;
+        }
+        if (value < this.minValue) {
+          this.minValue = value;
+        }
+      }
+    } else {
+      // No data exists, so set min/max to NaN
+      this.maxValue = Number.NaN;
+      this.minValue = Number.NaN;
+    }
+  };
+
+  /**
+   * Adds a new data point to the <code>TimeSeries</code>, preserving chronological order.
+   *
+   * @param timestamp the position, in time, of this data point
+   * @param value the value of this data point
+   * @param sumRepeatedTimeStampValues if <code>timestamp</code> has an exact match in the series, this flag controls
+   * whether it is replaced, or the values summed (defaults to false.)
+   */
+  TimeSeries.prototype.append = function(timestamp, value, sumRepeatedTimeStampValues) {
+    // Rewind until we hit an older timestamp
+    var i = this.data.length - 1;
+    while (i > 0 && this.data[i][0] > timestamp) {
+      i--;
+    }
+
+    if (this.data.length > 0 && this.data[i][0] === timestamp) {
+      // Update existing values in the array
+      if (sumRepeatedTimeStampValues) {
+        // Sum this value into the existing 'bucket'
+        this.data[i][1] += value;
+        value = this.data[i][1];
+      } else {
+        // Replace the previous value
+        this.data[i][1] = value;
+      }
+    } else if (i < this.data.length - 1) {
+      // Splice into the correct position to keep timestamps in order
+      this.data.splice(i + 1, 0, [timestamp, value]);
+    } else {
+      // Add to the end of the array
+      this.data.push([timestamp, value]);
+    }
+
+    this.maxValue = isNaN(this.maxValue) ? value : Math.max(this.maxValue, value);
+    this.minValue = isNaN(this.minValue) ? value : Math.min(this.minValue, value);
+  };
+
+  TimeSeries.prototype.dropOldData = function(oldestValidTime, maxDataSetLength) {
+    // We must always keep one expired data point as we need this to draw the
+    // line that comes into the chart from the left, but any points prior to that can be removed.
+    var removeCount = 0;
+    while (this.data.length - removeCount >= maxDataSetLength && this.data[removeCount + 1][0] < oldestValidTime) {
+      removeCount++;
+    }
+    if (removeCount !== 0) {
+      this.data.splice(0, removeCount);
+    }
+  };
+
+  /**
+   * Initialises a new <code>SmoothieChart</code>.
+   *
+   * Options are optional, and should be of the form below. Just specify the values you
+   * need and the rest will be given sensible defaults as shown:
+   *
+   * <pre>
+   * {
+   *   minValue: undefined,        // specify to clamp the lower y-axis to a given value
+   *   maxValue: undefined,        // specify to clamp the upper y-axis to a given value
+   *   maxValueScale: 1,           // allows proportional padding to be added above the chart. for 10% padding, specify 1.1.
+   *   yRangeFunction: undefined,  // function({min: , max: }) { return {min: , max: }; }
+   *   scaleSmoothing: 0.125,      // controls the rate at which y-value zoom animation occurs
+   *   millisPerPixel: 20,         // sets the speed at which the chart pans by
+   *   maxDataSetLength: 2,
+   *   interpolation: 'bezier'     // or 'linear'
+   *   timestampFormatter: null,   // Optional function to format time stamps for bottom of chart. You may use SmoothieChart.timeFormatter, or your own: function(date) { return ''; }
+   *   horizontalLines: [],        // [ { value: 0, color: '#ffffff', lineWidth: 1 } ],
+   *   grid:
+   *   {
+   *     fillStyle: '#000000',     // the background colour of the chart
+   *     lineWidth: 1,             // the pixel width of grid lines
+   *     strokeStyle: '#777777',   // colour of grid lines
+   *     millisPerLine: 1000,      // distance between vertical grid lines
+   *     sharpLines: false,        // controls whether grid lines are 1px sharp, or softened
+   *     verticalSections: 2,      // number of vertical sections marked out by horizontal grid lines
+   *     borderVisible: true       // whether the grid lines trace the border of the chart or not
+   *   },
+   *   labels
+   *   {
+   *     disabled: false,          // enables/disables labels showing the min/max values
+   *     fillStyle: '#ffffff',     // colour for text of labels,
+   *     fontSize: 15,
+   *     fontFamily: 'sans-serif',
+   *     precision: 2
+   *   },
+   * }
+   * </pre>
+   *
+   * @constructor
+   */
+  function SmoothieChart(options) {
+    this.options = Util.extend({}, SmoothieChart.defaultChartOptions, options);
+    this.seriesSet = [];
+    this.currentValueRange = 1;
+    this.currentVisMinValue = 0;
+    this.lastRenderTimeMillis = 0;
+  }
+
+  SmoothieChart.defaultChartOptions = {
+    millisPerPixel: 20,
+    maxValueScale: 1,
+    interpolation: 'bezier',
+    scaleSmoothing: 0.125,
+    maxDataSetLength: 2,
+    grid: {
+      fillStyle: '#000000',
+      strokeStyle: '#777777',
+      lineWidth: 1,
+      sharpLines: false,
+      millisPerLine: 1000,
+      verticalSections: 2,
+      borderVisible: true
+    },
+    labels: {
+      fillStyle: '#ffffff',
+      disabled: false,
+      fontSize: 10,
+      fontFamily: 'monospace',
+      precision: 2
+    },
+    horizontalLines: []
+  };
+
+  // Based on http://inspirit.github.com/jsfeat/js/compatibility.js
+  SmoothieChart.AnimateCompatibility = (function() {
+    var requestAnimationFrame = function(callback, element) {
+          var requestAnimationFrame =
+            window.requestAnimationFrame        ||
+            window.webkitRequestAnimationFrame  ||
+            window.mozRequestAnimationFrame     ||
+            window.oRequestAnimationFrame       ||
+            window.msRequestAnimationFrame      ||
+            function(callback) {
+              return window.setTimeout(function() {
+                callback(new Date().getTime());
+              }, 16);
+            };
+          return requestAnimationFrame.call(window, callback, element);
+        },
+        cancelAnimationFrame = function(id) {
+          var cancelAnimationFrame =
+            window.cancelAnimationFrame ||
+            function(id) {
+              clearTimeout(id);
+            };
+          return cancelAnimationFrame.call(window, id);
+        };
+
+    return {
+      requestAnimationFrame: requestAnimationFrame,
+      cancelAnimationFrame: cancelAnimationFrame
+    };
+  })();
+
+  SmoothieChart.defaultSeriesPresentationOptions = {
+    lineWidth: 1,
+    strokeStyle: '#ffffff'
+  };
+
+  /**
+   * Adds a <code>TimeSeries</code> to this chart, with optional presentation options.
+   *
+   * Presentation options should be of the form (defaults shown):
+   *
+   * <pre>
+   * {
+   *   lineWidth: 1,
+   *   strokeStyle: '#ffffff',
+   *   fillStyle: undefined
+   * }
+   * </pre>
+   */
+  SmoothieChart.prototype.addTimeSeries = function(timeSeries, options) {
+    this.seriesSet.push({timeSeries: timeSeries, options: Util.extend({}, SmoothieChart.defaultSeriesPresentationOptions, options)});
+    if (timeSeries.options.resetBounds && timeSeries.options.resetBoundsInterval > 0) {
+      timeSeries.resetBoundsTimerId = setInterval(
+        function() {
+          timeSeries.resetBounds();
+        },
+        timeSeries.options.resetBoundsInterval
+      );
+    }
+  };
+
+  /**
+   * Removes the specified <code>TimeSeries</code> from the chart.
+   */
+  SmoothieChart.prototype.removeTimeSeries = function(timeSeries) {
+    // Find the correct timeseries to remove, and remove it
+    var numSeries = this.seriesSet.length;
+    for (var i = 0; i < numSeries; i++) {
+      if (this.seriesSet[i].timeSeries === timeSeries) {
+        this.seriesSet.splice(i, 1);
+        break;
+      }
+    }
+    // If a timer was operating for that timeseries, remove it
+    if (timeSeries.resetBoundsTimerId) {
+      // Stop resetting the bounds, if we were
+      clearInterval(timeSeries.resetBoundsTimerId);
+    }
+  };
+
+  /**
+   * Gets render options for the specified <code>TimeSeries</code>.
+   *
+   * As you may use a single <code>TimeSeries</code> in multiple charts with different formatting in each usage,
+   * these settings are stored in the chart.
+   */
+  SmoothieChart.prototype.getTimeSeriesOptions = function(timeSeries) {
+    // Find the correct timeseries to remove, and remove it
+    var numSeries = this.seriesSet.length;
+    for (var i = 0; i < numSeries; i++) {
+      if (this.seriesSet[i].timeSeries === timeSeries) {
+        return this.seriesSet[i].options;
+      }
+    }
+  };
+
+  /**
+   * Brings the specified <code>TimeSeries</code> to the top of the chart. It will be rendered last.
+   */
+  SmoothieChart.prototype.bringToFront = function(timeSeries) {
+    // Find the correct timeseries to remove, and remove it
+    var numSeries = this.seriesSet.length;
+    for (var i = 0; i < numSeries; i++) {
+      if (this.seriesSet[i].timeSeries === timeSeries) {
+        var set = this.seriesSet.splice(i, 1);
+        this.seriesSet.push(set[0]);
+        break;
+      }
+    }
+  };
+
+  /**
+   * Instructs the <code>SmoothieChart</code> to start rendering to the provided canvas, with specified delay.
+   *
+   * @param canvas the target canvas element
+   * @param delayMillis an amount of time to wait before a data point is shown. This can prevent the end of the series
+   * from appearing on screen, with new values flashing into view, at the expense of some latency.
+   */
+  SmoothieChart.prototype.streamTo = function(canvas, delayMillis) {
+    this.canvas = canvas;
+    this.delay = delayMillis;
+    this.start();
+  };
+
+  /**
+   * Starts the animation of this chart.
+   */
+  SmoothieChart.prototype.start = function() {
+    if (this.frame) {
+      // We're already running, so just return
+      return;
+    }
+
+    // Renders a frame, and queues the next frame for later rendering
+    var animate = function() {
+      this.frame = SmoothieChart.AnimateCompatibility.requestAnimationFrame(function() {
+        this.render();
+        animate();
+      }.bind(this));
+    }.bind(this);
+
+    animate();
+  };
+
+  /**
+   * Stops the animation of this chart.
+   */
+  SmoothieChart.prototype.stop = function() {
+    if (this.frame) {
+      SmoothieChart.AnimateCompatibility.cancelAnimationFrame(this.frame);
+      delete this.frame;
+    }
+  };
+
+  SmoothieChart.prototype.updateValueRange = function() {
+    // Calculate the current scale of the chart, from all time series.
+    var chartOptions = this.options,
+        chartMaxValue = Number.NaN,
+        chartMinValue = Number.NaN;
+
+    for (var d = 0; d < this.seriesSet.length; d++) {
+      // TODO(ndunn): We could calculate / track these values as they stream in.
+      var timeSeries = this.seriesSet[d].timeSeries;
+      if (!isNaN(timeSeries.maxValue)) {
+        chartMaxValue = !isNaN(chartMaxValue) ? Math.max(chartMaxValue, timeSeries.maxValue) : timeSeries.maxValue;
+      }
+
+      if (!isNaN(timeSeries.minValue)) {
+        chartMinValue = !isNaN(chartMinValue) ? Math.min(chartMinValue, timeSeries.minValue) : timeSeries.minValue;
+      }
+    }
+
+    // Scale the chartMaxValue to add padding at the top if required
+    if (chartOptions.maxValue != null) {
+      chartMaxValue = chartOptions.maxValue;
+    } else {
+      chartMaxValue *= chartOptions.maxValueScale;
+    }
+
+    // Set the minimum if we've specified one
+    if (chartOptions.minValue != null) {
+      chartMinValue = chartOptions.minValue;
+    }
+
+    // If a custom range function is set, call it
+    if (this.options.yRangeFunction) {
+      var range = this.options.yRangeFunction({min: chartMinValue, max: chartMaxValue});
+      chartMinValue = range.min;
+      chartMaxValue = range.max;
+    }
+
+    if (!isNaN(chartMaxValue) && !isNaN(chartMinValue)) {
+      var targetValueRange = chartMaxValue - chartMinValue;
+      var valueRangeDiff = (targetValueRange - this.currentValueRange);
+      var minValueDiff = (chartMinValue - this.currentVisMinValue);
+      this.isAnimatingScale = Math.abs(valueRangeDiff) > 0.1 || Math.abs(minValueDiff) > 0.1;
+      this.currentValueRange += chartOptions.scaleSmoothing * valueRangeDiff;
+      this.currentVisMinValue += chartOptions.scaleSmoothing * minValueDiff;
+    }
+
+    this.valueRange = { min: chartMinValue, max: chartMaxValue };
+  };
+
+  SmoothieChart.prototype.render = function(canvas, time) {
+    var nowMillis = new Date().getTime();
+
+    if (!this.isAnimatingScale) {
+      // We're not animating. We can use the last render time and the scroll speed to work out whether
+      // we actually need to paint anything yet. If not, we can return immediately.
+
+      // Render at least every 1/6th of a second. The canvas may be resized, which there is
+      // no reliable way to detect.
+      var maxIdleMillis = Math.min(1000/6, this.options.millisPerPixel);
+
+      if (nowMillis - this.lastRenderTimeMillis < maxIdleMillis) {
+        return;
+      }
+    }
+    this.lastRenderTimeMillis = nowMillis;
+    
+    canvas = canvas || this.canvas;
+    time = time || nowMillis - (this.delay || 0);
+
+    // Round time down to pixel granularity, so motion appears smoother.
+    time -= time % this.options.millisPerPixel;
+
+    var context = canvas.getContext('2d'),
+        chartOptions = this.options,
+        dimensions = { top: 0, left: 0, width: canvas.clientWidth, height: canvas.clientHeight },
+        // Calculate the threshold time for the oldest data points.
+        oldestValidTime = time - (dimensions.width * chartOptions.millisPerPixel),
+        valueToYPixel = function(value) {
+          var offset = value - this.currentVisMinValue;
+          return this.currentValueRange === 0
+            ? dimensions.height
+            : dimensions.height - (Math.round((offset / this.currentValueRange) * dimensions.height));
+        }.bind(this),
+        timeToXPixel = function(t) {
+          return Math.round(dimensions.width - ((time - t) / chartOptions.millisPerPixel));
+        };
+
+    this.updateValueRange();
+
+    context.font = chartOptions.labels.fontSize + 'px ' + chartOptions.labels.fontFamily;
+
+    // Save the state of the canvas context, any transformations applied in this method
+    // will get removed from the stack at the end of this method when .restore() is called.
+    context.save();
+
+    // Move the origin.
+    context.translate(dimensions.left, dimensions.top);
+
+    // Create a clipped rectangle - anything we draw will be constrained to this rectangle.
+    // This prevents the occasional pixels from curves near the edges overrunning and creating
+    // screen cheese (that phrase should need no explanation).
+    context.beginPath();
+    context.rect(0, 0, dimensions.width, dimensions.height);
+    context.clip();
+
+    // Clear the working area.
+    context.save();
+    context.fillStyle = chartOptions.grid.fillStyle;
+    context.clearRect(0, 0, dimensions.width, dimensions.height);
+    context.fillRect(0, 0, dimensions.width, dimensions.height);
+    context.restore();
+
+    // Grid lines...
+    context.save();
+    context.lineWidth = chartOptions.grid.lineWidth;
+    context.strokeStyle = chartOptions.grid.strokeStyle;
+    // Vertical (time) dividers.
+    if (chartOptions.grid.millisPerLine > 0) {
+      var textUntilX = dimensions.width - context.measureText(minValueString).width + 4;
+      for (var t = time - (time % chartOptions.grid.millisPerLine);
+           t >= oldestValidTime;
+           t -= chartOptions.grid.millisPerLine) {
+        var gx = timeToXPixel(t);
+        if (chartOptions.grid.sharpLines) {
+          gx -= 0.5;
+        }
+        context.beginPath();
+        context.moveTo(gx, 0);
+        context.lineTo(gx, dimensions.height);
+        context.stroke();
+        context.closePath();
+
+        // Display timestamp at bottom of this line if requested, and it won't overlap
+        if (chartOptions.timestampFormatter && gx < textUntilX) {
+          // Formats the timestamp based on user specified formatting function
+          // SmoothieChart.timeFormatter function above is one such formatting option
+          var tx = new Date(t),
+            ts = chartOptions.timestampFormatter(tx),
+            tsWidth = context.measureText(ts).width;
+          textUntilX = gx - tsWidth - 2;
+          context.fillStyle = chartOptions.labels.fillStyle;
+          context.fillText(ts, gx - tsWidth, dimensions.height - 2);
+        }
+      }
+    }
+
+    // Horizontal (value) dividers.
+    for (var v = 1; v < chartOptions.grid.verticalSections; v++) {
+      var gy = Math.round(v * dimensions.height / chartOptions.grid.verticalSections);
+      if (chartOptions.grid.sharpLines) {
+        gy -= 0.5;
+      }
+      context.beginPath();
+      context.moveTo(0, gy);
+      context.lineTo(dimensions.width, gy);
+      context.stroke();
+      context.closePath();
+    }
+    // Bounding rectangle.
+    if (chartOptions.grid.borderVisible) {
+      context.beginPath();
+      context.strokeRect(0, 0, dimensions.width, dimensions.height);
+      context.closePath();
+    }
+    context.restore();
+
+    // Draw any horizontal lines...
+    if (chartOptions.horizontalLines && chartOptions.horizontalLines.length) {
+      for (var hl = 0; hl < chartOptions.horizontalLines.length; hl++) {
+        var line = chartOptions.horizontalLines[hl],
+            hly = Math.round(valueToYPixel(line.value)) - 0.5;
+        context.strokeStyle = line.color || '#ffffff';
+        context.lineWidth = line.lineWidth || 1;
+        context.beginPath();
+        context.moveTo(0, hly);
+        context.lineTo(dimensions.width, hly);
+        context.stroke();
+        context.closePath();
+      }
+    }
+
+    // For each data set...
+    for (var d = 0; d < this.seriesSet.length; d++) {
+      context.save();
+      var timeSeries = this.seriesSet[d].timeSeries,
+          dataSet = timeSeries.data,
+          seriesOptions = this.seriesSet[d].options;
+
+      // Delete old data that's moved off the left of the chart.
+      timeSeries.dropOldData(oldestValidTime, chartOptions.maxDataSetLength);
+
+      // Set style for this dataSet.
+      context.lineWidth = seriesOptions.lineWidth;
+      context.strokeStyle = seriesOptions.strokeStyle;
+      // Draw the line...
+      context.beginPath();
+      // Retain lastX, lastY for calculating the control points of bezier curves.
+      var firstX = 0, lastX = 0, lastY = 0;
+      for (var i = 0; i < dataSet.length && dataSet.length !== 1; i++) {
+        var x = timeToXPixel(dataSet[i][0]),
+            y = valueToYPixel(dataSet[i][1]);
+
+        if (i === 0) {
+          firstX = x;
+          context.moveTo(x, y);
+        } else {
+          switch (chartOptions.interpolation) {
+            case "linear":
+            case "line": {
+              context.lineTo(x,y);
+              break;
+            }
+            case "bezier":
+            default: {
+              // Great explanation of Bezier curves: http://en.wikipedia.org/wiki/Bezier_curve#Quadratic_curves
+              //
+              // Assuming A was the last point in the line plotted and B is the new point,
+              // we draw a curve with control points P and Q as below.
+              //
+              // A---P
+              //     |
+              //     |
+              //     |
+              //     Q---B
+              //
+              // Importantly, A and P are at the same y coordinate, as are B and Q. This is
+              // so adjacent curves appear to flow as one.
+              //
+              context.bezierCurveTo( // startPoint (A) is implicit from last iteration of loop
+                Math.round((lastX + x) / 2), lastY, // controlPoint1 (P)
+                Math.round((lastX + x)) / 2, y, // controlPoint2 (Q)
+                x, y); // endPoint (B)
+              break;
+            }
+            case "step": {
+              context.lineTo(x,lastY);
+              context.lineTo(x,y);
+              break;
+            }
+          }
+        }
+
+        lastX = x; lastY = y;
+      }
+
+      if (dataSet.length > 1) {
+        if (seriesOptions.fillStyle) {
+          // Close up the fill region.
+          context.lineTo(dimensions.width + seriesOptions.lineWidth + 1, lastY);
+          context.lineTo(dimensions.width + seriesOptions.lineWidth + 1, dimensions.height + seriesOptions.lineWidth + 1);
+          context.lineTo(firstX, dimensions.height + seriesOptions.lineWidth);
+          context.fillStyle = seriesOptions.fillStyle;
+          context.fill();
+        }
+
+        if (seriesOptions.strokeStyle && seriesOptions.strokeStyle !== 'none') {
+          context.stroke();
+        }
+        context.closePath();
+      }
+      context.restore();
+    }
+
+    // Draw the axis values on the chart.
+    if (!chartOptions.labels.disabled && !isNaN(this.valueRange.min) && !isNaN(this.valueRange.max)) {
+      var maxValueString = parseFloat(this.valueRange.max).toFixed(chartOptions.labels.precision),
+          minValueString = parseFloat(this.valueRange.min).toFixed(chartOptions.labels.precision);
+      context.fillStyle = chartOptions.labels.fillStyle;
+      context.fillText(maxValueString, dimensions.width - context.measureText(maxValueString).width - 2, chartOptions.labels.fontSize);
+      context.fillText(minValueString, dimensions.width - context.measureText(minValueString).width - 2, dimensions.height - 2);
+    }
+
+    context.restore(); // See .save() above.
+  };
+
+  // Sample timestamp formatting function
+  SmoothieChart.timeFormatter = function(date) {
+    function pad2(number) { return (number < 10 ? '0' : '') + number }
+    return pad2(date.getHours()) + ':' + pad2(date.getMinutes()) + ':' + pad2(date.getSeconds());
+  };
+
+  exports.TimeSeries = TimeSeries;
+  exports.SmoothieChart = SmoothieChart;
+
+})(typeof exports === 'undefined' ? this : exports);
+
+