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)
+ r).streamline()
p_GPSLocationMessage.setParseAction(lambda x: messaging.GPSLocationMessage(*x[0]))
p_SonarLocationMessage = pp.Group(l \
+ p_floatXY \
+ r).streamline()
p_SonarLocationMessage.setParseAction(lambda x: messaging.SonarLocationMessage(*x[0]))
p_ImageMessage = pp.Group(l \
+ p_CameraID + c \
+ p_Image + c \
+ p_TimeStamp \
+ r).streamline()
p_ImageMessage.setParseAction(lambda x: messaging.ImageMessage(*x[0]))
p_SonarDataMessage = pp.Group(l \
+ p_SonarDataLine \
+ r).streamline()
p_SonarDataMessage.setParseAction(lambda x: messaging.SonarDataMessage(*x[0]))
p_SonarImageMessage = pp.Group(l \
+ p_SonarID + c \
+ p_PolarImage \
+ r).streamline()
p_SonarImageMessage.setParseAction(lambda x: messaging.SonarImageMessage(*x[0]))
p_SpeedOfSoundMessage = pp.Group(l \
+ p_float \
+ r).streamline()
p_SpeedOfSoundMessage.setParseAction(lambda x: messaging.SpeedOfSoundMessage(*x[0]))
p_GeminiStatusMessage = pp.Group(l \
+ p_int + c \
+ p_int + c \
+ p_int + c \
+ p_int + c \
+ p_GeminiTemperatures + c \
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")
time.sleep(0.05)
