def handle_vectorXf_t(self, channel, data):
self.plotterMutex.acquire()
try:
msg = vectorXf_t.decode(data)
if (self.ptr > 0 and self.timeDataHist[self.ptr - 1] >
float(msg.utime) / 1000000):
self.resetDataBuf()
self.timeDataHist[self.ptr] = float(msg.utime) / 1000000
for i in range(11):
if (i < msg.rows):
if self.ptr == self.histLength - 1 and self.good_ptr == self.histLength - 1:
# todo: this is horrendously inefficient
self.podDataHist[i] = np.roll(self.podDataHist[i], -1)
self.podDataHist[i][self.ptr] = msg.data[i]
if self.ptr == self.histLength - 1 and self.good_ptr == self.histLength - 1:
self.timeDataHist = np.roll(self.timeDataHist, -1)
self.good_ptr = max(self.ptr, self.good_ptr)
self.ptr = min(self.ptr + 1, self.histLength - 1)
except Exception as e:
print e
self.plotterMutex.release()
def handle_sim_imu_t(self, channel, data):
msg = vectorXf_t.decode(data)
offset = [
None, None,
self.glWidget.global_offset[3] * 0.9 + msg.data[0] * 0.1, None,
None, None
]
self.glWidget.set_offset(None, offset)
self.glWidget.update()
def handle_auto_braking_t(self, channel, data):
msg = vectorXf_t.decode(data)
brake_default_color = self.glWidget.get_default_color("Brakes")
braking_color = [1.0, 0.0, 0.0, 0.5]
des_color = [
msg.data[0] / 8000. * braking_color[i] +
(1.0 - msg.data[0] / 8000) * brake_default_color[i]
for i in range(3)
]
self.glWidget.set_color("Brakes", des_color)
self.glWidget.update()
def handle_vectorXf_t(self, channel, data):
msg = vectorXf_t.decode(data)
self.timeDataHist[self.ptr] = float(msg.utime) / 1000000
for i, ind in enumerate(self.indices):
if (ind < msg.rows):
if self.ptr == self.histLength - 1 and self.good_ptr == self.histLength - 1:
# todo: this is horrendously inefficient
self.analogDataHist[i] = np.roll(self.analogDataHist[i],
-1)
self.analogDataHist[i][self.ptr] = msg.data[ind]
if self.ptr == self.histLength - 1 and self.good_ptr == self.histLength - 1:
self.timeDataHist = np.roll(self.timeDataHist, -1)
self.good_ptr = max(self.ptr, self.good_ptr)
self.ptr = min(self.ptr + 1, self.histLength - 1)
def handle_vectorXf_t(self, channel, data):
msg = vectorXf_t.decode(data)
if (msg.rows > 0):
if (msg.data[0] > 900
and abs(msg.data[1]) < 0.1) or (msg.data[0] > 995):
self.sim_not_done = False
def new_arm_timeout_handler(self, channel, data):
msg = vectorXf_t.decode(data)
if (msg.rows > 0):
self.latest_bac_countdown = msg.data[0]
self.last_heard_arm_countdown = time.time()
def handle_imu_t(self, channel, data):
msg = vectorXf_t.decode(data)
offset = [None, None, None, msg.data[1], -msg.data[0],-msg.data[2]]
self.glWidget.set_offset(None, offset)
self.glWidget.update()
def handle_vectorXf_t(self, channel, data):
msg = vectorXf_t.decode(data)
for i, ind in enumerate(self.indices):
if (ind < msg.rows):
self.analogLabels[i].setText("A" + str(ind) + ": " +
str(msg.data[ind]))