def attachRemoteCamera(self, address=('localhost', 8431)):
if self.replyLog is None:
self.camera = RemoteCamera(address, verbose=0)
self.registerDataSource(
'camera',
SourceLogger(self.camera.lastResultEx,
timeName("logs/src_camera_", "log")).get)
else:
self.camera = DummyGPS(
) # TODO some dummy device with start(), requestStop() functions
cameraSrcLog = self.replyLog[:-18] + "src_camera_" + self.replyLog[
-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource('camera',
SourceLogger(None, cameraSrcLog).get)
self.cameraData = None
self.addExtension(cameraDataExtension)
def attachGPS(self):
if self.replyLog is None:
self.gps = GPS(verbose=0)
name = timeName("logs/src_gps_", "log")
if self.metaLog:
self.metaLog.write("GPSLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('gps',
SourceLogger(self.gps.coord, name).get)
else:
self.gps = DummyGPS()
if self.metaLog:
gpsSrcLog = self.metaLogName("GPSLOG:")
else:
gpsSrcLog = self.replyLog[:-18] + "src_gps_" + self.replyLog[
-17:]
print "GPSLOG:", gpsSrcLog
self.registerDataSource('gps', SourceLogger(None, gpsSrcLog).get)
self.gpsData = None
self.addExtension(gpsDataExtension)
def attachProcessingNode(self):
if self.replyLog is None:
self.node = SocketExtension()
name = timeName("logs/src_node_", "log")
if self.metaLog:
self.metaLog.write("NODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('node',
SourceLogger(self.node.data, name).get)
else:
self.node = DummyGPS() # just start
if self.metaLog:
nodeSrcLog = self.metaLogName("NODELOG:")
else:
nodeSrcLog = self.replyLog[:-18] + "src_node_" + self.replyLog[
-17:]
print "NODELOG:", nodeSrcLog
self.registerDataSource('node', SourceLogger(None, nodeSrcLog).get)
self.nodeData = None
self.addExtension(nodeDataExtension)
def attachRasPi(self):
if self.replyLog is None:
self.raspi = RasPi()
name = timeName("logs/src_raspi_", "log")
if self.metaLog:
self.metaLog.write("RASPILOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('raspi',
SourceLogger(self.raspi.getData, name).get)
else:
self.raspi = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName("RASPILOG:")
else:
barSrcLog = self.replyLog[:-18] + "src_raspi_" + self.replyLog[
-17:]
print "RASPILOG:", barSrcLog
self.registerDataSource('raspi', SourceLogger(None, barSrcLog).get)
self.raspiData = None
self.addExtension(raspiDataExtension)
def attachRFID(self):
if self.replyLog is None:
self.rfid = RFID()
name = timeName("logs/src_rfid_", "log")
if self.metaLog:
self.metaLog.write("RFIDLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('rfid',
SourceLogger(self.rfid.data, name).get)
else:
self.rfid = DummyGPS() # just start
if self.metaLog:
rfidSrcLog = self.metaLogName("RFIDLOG:")
else:
rfidSrcLog = self.replyLog[:-18] + "src_rfid_" + self.replyLog[
-17:]
print "RFIDLOG:", rfidSrcLog
self.registerDataSource('rfid', SourceLogger(None, rfidSrcLog).get)
self.rfidData = None
self.rfidDataRaw = None
self.addExtension(rfidDataExtension)
def attachBarcodeReader(self):
if self.replyLog is None:
self.barcode = BarcodeReader()
name = timeName("logs/src_barcode_", "log")
if self.metaLog:
self.metaLog.write("BARCODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource(
'barcode',
SourceLogger(self.barcode.getCode, name).get)
else:
self.barcode = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName("BARCODELOG:")
else:
barSrcLog = self.replyLog[:
-18] + "src_barcode_" + self.replyLog[
-17:]
print "BARCODELOG:", barSrcLog
self.registerDataSource('barcode',
SourceLogger(None, barSrcLog).get)
self.barcodeData = None
self.addExtension(barcodeDataExtension)
def attachLaser(self,
remission=False,
usb=False,
pose=None,
index=None,
errLog=None):
if index == None:
strIndex = ''
else:
strIndex = str(index)
if self.replyLog is None:
if usb:
laser = LaserUSB(remission=remission, errLog=errLog)
else:
laser = LaserIP(remission=remission)
name = timeName("logs/src_laser" + strIndex + "_", "log")
if self.metaLog:
self.metaLog.write("LASERLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('laser' + strIndex,
SourceLogger(laser.scan, name).get)
if remission:
name = timeName("logs/src_remission" + strIndex + "_", "log")
if self.metaLog:
self.metaLog.write("REMISSIONLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource(
'remission' + strIndex,
SourceLogger(laser.remission, name).get)
else:
laser = DummyGPS() # just start
if self.metaLog:
laserSrcLog = self.metaLogName("LASERLOG:")
else:
laserSrcLog = self.replyLog[:
-18] + "src_laser" + strIndex + "_" + self.replyLog[
-17:]
print "LASERLOG:", laserSrcLog
self.registerDataSource('laser' + strIndex,
SourceLogger(None, laserSrcLog).get)
if remission:
if self.metaLog:
remissionSrcLog = self.metaLogName("REMISSIONLOG:")
else:
remissionSrcLog = self.replyLog[:
-18] + "src_remission" + strIndex + "_" + self.replyLog[
-17:]
print "REMISSIONLOG:", remissionSrcLog
self.registerDataSource(
'remission' + strIndex,
SourceLogger(None, remissionSrcLog).get)
if index == None:
self.laser = laser
self.laserData = None
self.laserDataTimestamp = None
self.remissionData = None
self.laser.pose = pose
self.addExtension(laserDataExtension)
else:
assert (index == 2)
self.laser2 = laser
self.laserData2 = None
self.laserData2Timestamp = None
self.remissionData2 = None
self.laser2.pose = pose
self.addExtension(laserDataExtension2)