def SonarDataLine(self):
dl = msg.byteVec()
for b in self.data:
dl.append(b)
# default value for new field!
if not hasattr(self, 'scanWidth'):
self.scanWidth = 6400
return msg.SonarDataLine(dl, self.bearing, self.bearingRange, self.range, self.scanWidth)
def sendSonarTest(off, on, sleeptime=0.05):
print("Sending sonar test data")
for b in range(0, 64):
line = msg.SonarDataLine()
line.data.clear()
for i in range(0, 6):
line.data.append(bitVal(b, 1 << i, off, on))
line.bearing = b * 100
line.bearingRange = 100
node.send(msg.SonarDataMessage(line))
time.sleep(sleeptime)
+ p_str \
+ r)
p_NodeOutputArc.setParseAction(lambda x: messaging.NodeOutputArc(*x[0]))
p_TimeStamp << pp.Group(l \
+ p_int + c \
+ p_int \
+ r)
p_TimeStamp.setParseAction(lambda x: messaging.TimeStamp(*x[0]))
p_SonarDataLine << pp.Group(l \
+ p_byteVec + c \
+ p_int + c \
+ p_int + c \
+ p_int + c \
+ p_int \
+ r)
p_SonarDataLine.setParseAction(lambda x: messaging.SonarDataLine(*x[0]))
p_PolarImage << pp.Group(l \
+ p_byteVec + c \
+ p_ImageEncodingType + c \
+ p_int32Vec + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_TimeStamp \
+ r)
p_PolarImage.setParseAction(lambda x: messaging.PolarImage(*x[0]))
p_GeminiTemperatures << pp.Group(l \
+ p_float + c \
+ p_float + c \
+ p_float + c \
+ p_float + c \
def __init__(self, sdl = msg.SonarDataLine()):
self.data = tuple(sdl.data)
self.bearing = sdl.bearing
self.bearingRange = sdl.bearingRange
self.range = sdl.range
self.scanWidth = sdl.scanWidth
#
# See license.txt for details.
#
import cauv
import cauv.node as node
import cauv.messaging as msg
from cauv.debug import debug, warning, error, info
import time
import random
import sys
n = node.Node("sonar-t",sys.argv[1:])
data_line = msg.SonarDataLine()
data_line.bearing = 0
data_line.bearingRange = 6400/32
data_line.range = 10
while True:
data_line.data = msg.byteVec()
for i in xrange(0, 50):
data_line.data.append(i + random.randrange(0, 50) % 0xff)
data_line.bearing += data_line.bearingRange
if(data_line.bearing > 6400):
data_line.bearing -= 6400
info('%s' % data_line.bearing)
n.send(msg.SonarDataMessage(data_line), "sonarout")