(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. """
import sys
import zmq
from gps_data_pb2 import GpsData
from gpxdata import TrackPoint, TrackSegment, Track, Document
from zmq_ipc import generate_map
socket = generate_map('gpx_logger')['gps']
gps_data = GpsData()
segment = TrackSegment()
try:
while True:
str = socket.recv()
gps_data.ParseFromString(str)
print gps_data
point = TrackPoint(gps_data.lat, gps_data.lon, gps_data.alt)
segment.appendPoint(point)
except:
pass
track = Track(name = "Copter Track", description = "Track recorded using the copter's onboard GPS module")
track.appendSegment(segment)
doc = Document([track], name = "Copter GPX Document")
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. """
import sys
import zmq
from gps_data_pb2 import GpsData
from gpxdata import TrackPoint, TrackSegment, Track, Document
from zmq_ipc import generate_map
socket = generate_map('gpx_logger')['gps']
gps_data = GpsData()
segment = TrackSegment()
try:
while True:
str = socket.recv()
gps_data.ParseFromString(str)
print gps_data
point = TrackPoint(gps_data.lat, gps_data.lon, gps_data.alt)
segment.appendPoint(point)
except:
pass
track = Track(
name="Copter Track",
description="Track recorded using the copter's onboard GPS module")
yield ('takeoff',)
start_time = time.time()
while True:
if time.time() - start_time > self.run_time:
print 'time limit exceeded, stopping experiment'
yield 'moverel', 0, 0
time.sleep(5.0)
yield 'land',
break
i, pos = self.ferry.hop_selector.get_next_hop()
print 'moving to terminal', i, 'at pos', pos
yield 'moverel', pos[0], pos[1]
print 'arrived at terminal', i
print 'exchanging messages with terminal %d' % i
self.ferry.transfer_messages(i)
# write stats:
delays_file = open('delays.txt', 'w')
for delay in self.ferry.delays:
delays_file.write('%d %d %.2f\n' % delay)
delays_file.close()
buf_sizes_file = open('buf_sizes.txt', 'w')
for buf_size in self.ferry.buf_sizes:
buf_sizes_file.write('%d %d\n' % buf_size)
buf_sizes_file.close()
executor = MissionExecutor(generate_map('ferry_ctrl'))
executor.execute(FerryMission().generator())
self.socket = socket
self.event = Event()
def run(self):
while True:
data = GpsData()
data.ParseFromString(self.socket.recv())
self.data = data
self.event.set()
def pos(self):
self.event.wait()
return self.data.lon, self.data.lat
gps_reader = GPSReader(generate_map('dlr_logger')['gps'])
gps_reader.start()
def dlr_mission():
gs_pos = 50.0, 10.0
print 'taking off'
yield 'takeoff', 4.5
own_pos = gps_reader.pos()
bearing = calc_bearing(gs_pos, own_pos)
print 'rotating to', bearing
yield 'rotate', bearing
executor = MissionExecutor(generate_map('ferry_ctrl'))