def __init__(self, starting_port, config_file=None):
if config_file is not None:
with open(config_file, 'r') as yml:
cfg = yaml.load(yml, Loader=yaml.SafeLoader)
yml.close()
assign_all_ports(cfg, starting_port)
else:
cfg = None
self.pubsub_config = cfg
MicroServerComs.__init__(self, "Display", config=cfg, timeout=0)
self._system_command = SystemCommand(cfg)
self.altitude = None
self.airspeed = None
self.tas = None
self.heading = None
self.roll = None
self.pitch = None
self.yaw = None
self.climb_rate = None
self.turn_rate = None
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.ground_vector_confidence = None
self.magnetic_declination = None
self.update_period = 1.0 / 30.0
self.callback = None
def __init__(self, pubsub_cfg, starting_port):
if isinstance(pubsub_cfg, str):
with open(pubsub_cfg, 'r') as yml:
cfg = yaml.load(yml, Loader=yaml.SafeLoader)
yml.close()
else:
cfg = pubsub_cfg
assign_all_ports(cfg, starting_port)
MicroServerComs.__init__(self, "Autopilot", config=cfg)
self.magnetic_declination = None
self._system_command = SystemCommand(cfg)
self.altitude = None
self.altitude_confidence = 0
self.airspeed = None
self.airspeed_confidence = 0
self.heading = None
self.heading_confidence = 0
self.roll = None
self.roll_confidence = 0
self.roll_rate = None
self.roll_rate_confidence = 0
self.pitch = None
self.pitch_confidence = 0
self.pitch_rate = None
self.pitch_rate_confidence = 0
self.yaw = None
self.yaw_confidence = 0
self.climb_rate = None
self.climb_rate_confidence = 0
self.turn_rate = None
self.turn_rate_confidence = 0
self.gps_utc = None
self.gps_lat = None
self.gps_lng = None
self.gps_ground_speed = None
self.gps_ground_track = None
self.gps_signal_quality = 0
self.last_update_time = 0
)
opt.add_argument(
'--roll-conf-mult',
type=float,
default=1.0,
help='roll confidence = degrees variation * roll_conf_mult')
opt.add_argument(
'--pitch-conf-mult',
type=float,
default=1.0,
help='pitch confidence = degrees variation * pitch_conf_mult')
args = opt.parse_args()
with open(args.pubsub_config, 'r') as yml:
MicroServerComs._pubsub_config = yaml.load(yml)
assign_all_ports(MicroServerComs._pubsub_config, args.starting_port)
yml.close()
InternalPublisher.TheInternalPublisher = InternalPublisher.InternalPublisher(
MicroServerComs._pubsub_config)
if os.path.exists(args.airspeed_config):
with open(args.airspeed_config, 'r') as yml:
airspeed_config = yaml.load(yml)
yml.close()
else:
airspeed_config = dict()
airspeed_config['rais_id'] = args.starting_port
heading_calibration = None
if os.path.exists(args.heading_calibration):
with open(args.heading_calibration, 'r') as yml:
heading_calibration = yaml.load(yml)
else:
datestamp = Globals.datestamp()
log_prefix = os.path.join('Logs', 'Sensors', datestamp)
log_start = "Sensors beginning with logging prefix %s" % log_prefix
try:
os.makedirs(log_prefix)
except:
pass
rootlogger.addHandler(
logging.FileHandler(os.path.join(log_prefix, 'info.log')))
console_handler = logging.StreamHandler(sys.stdout)
console_handler.setLevel(logging.INFO)
rootlogger.addHandler(console_handler)
rootlogger.log(99, log_start)
with open(args.config_file, 'r') as yml:
config = yaml.load(yml)
yml.close()
with open(args.pubsub_config, 'r') as yml:
pubsub_config = yaml.load(yml)
assign_all_ports(pubsub_config, args.starting_port)
yml.close()
slave = SenseControlSlave(config, pubsub_config)
command = hmi(slave)
cmd_thread = threading.Thread(target=command.cmdloop)
cmd_thread.start()
while not command.stop:
slave.ReadSensors()
slave.listen(timeout=0.01, loop=False)
class AirspeedCalData(MicroServerComs):
def __init__(self, cfg):
MicroServerComs.__init__(self,
"AdminCommand",
channel='admincommand',
config=cfg)
def send(self, a):
self.command = b'airspeed'
self.args = bytes(a, 'utf-8')
print("Airspeed %s published %s" %
(a, str(self.pubchannel.getpeername())))
self.publish()
if __name__ == "__main__":
if len(sys.argv) != 4:
print(
"Usage: AirspeedCalData.py <starting_port> <pubsub.yaml> <current_ias>"
)
sys.exit(-1)
with open(sys.argv[2], 'r') as yml:
config = yaml.load(yml)
yml.close()
starting_port = int(sys.argv[1])
ias = float(sys.argv[3])
assign_all_ports(config, starting_port)
aspd = AirspeedCalData(config)
aspd.send(sys.argv[3])
if __name__ == "__main__":
if len(sys.argv) < 6:
print ("Usage: RAISDiscriminator <starting_port_number1> <input_config1> [starting_port_numbern input_confign...] <starting_output_port> <output_config>")
sys.exit(-1)
input_config = list()
get_port = True
for i in range(1,len(sys.argv)-2):
if get_port:
starting_port = int(sys.argv[i])
get_port = False
else:
with open(sys.argv[i], "r") as inp:
cfg = yaml.load(inp)
assign_all_ports(cfg, starting_port)
input_config.append(cfg)
get_port = True
rootlogger = logging.getLogger()
rootlogger.setLevel(1)
datestamp = Globals.datestamp()
log_prefix = os.path.join('Logs', 'RAIS', datestamp)
log_start = "RAIS Discriminator beginning with logging prefix %s"%log_prefix
try:
os.makedirs(log_prefix)
except:
pass
file_handler = logging.FileHandler(os.path.join(log_prefix, 'info.log'))
file_handler.setLevel(logging.DEBUG)