class DataRecorder():
def __init__(self, drone, lock):
self.lock = lock
self.drone = drone
self.dm = DataManager(self.drone)
self.done = False
t = Thread(target = self.record)
t.start()
def record(self):
t = 0
prev = time.time()
now = 0
while(not self.done):
prevT = t
with self.lock:
t, vel, pos, quat = self.drone.getState()
self.dm.saveImg(t)
self.dm.writeToFile(t, vel, pos, quat) # this also saves img
now = time.time()
elapsed = now - prev
while (elapsed < 0.09):
now = time.time()
elapsed = now - prev
dt = (t - prevT) / 10 ** 9
print(1 / dt)
prev = now
self.dm.closeFile()
def main():
vehicle = MyVehicle()
dm = DataManager(vehicle)
t = 0
prev = time.time()
now = 0
for i in range(0, 10):
prevT = t
t, vel, pos, quat = vehicle.getState()
dm.saveImg(t)
dm.writeToFile(t, vel, pos, quat) # this also saves img
now = time.time()
elapsed = now - prev
while (elapsed < 0.09):
now = time.time()
elapsed = now - prev
dt = (t - prevT) / 10**9
print(1 / dt)
prev = now
dm.closeFile()
# print(t)
# print(vel)
# print(pos)
# print(quat)
vehicle.reset()
