gps.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() print("Press Enter to quit....") try: print("GPS Current Time: %s" % (gps.getTime().toString())) print("GPS Current Date: %s" % (gps.getDate().toString())) print("GPS Current Latitude: %F" % (gps.getLatitude())) print("GPS Current Longitude: %F" % (gps.getLongitude())) print("GPS Current Altitude: %F" % (gps.getAltitude())) print("GPS Current Heading: %F" % (gps.getHeading())) print("GPS Current Velocity: %F" % (gps.getVelocity())) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) chr = sys.stdin.read(1) print("Closing...") try: gps.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details))
### COMPASS SETUP compass = CMPS03(port="COM8") ### Variable Init latitude = 0.0 longitude = 0.0 heading = 0.0 headings_gps = [] headings_compass = [] bearings = [] ### MAIN LOOP while True: try: latitude = float(gps.getLatitude()) longitude = float(gps.getLongitude()) heading = float(gps.getHeading()) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) curr_location_tuple = (latitude, longitude) curr_location_point = point.Point(latitude, longitude) curr_waypoint_point = point.Point(WAYPOINTS[curr_waypoint][0],WAYPOINTS[curr_waypoint][1]) feet_to_waypoint = distance.distance(curr_location_tuple, WAYPOINTS[curr_waypoint]).feet bearing_to_waypoint = curr_location_point.bearing(curr_waypoint_point) headings_gps.append(heading) if len(headings_gps) > 6: headings_gps.pop(0)
atexit.register(clean_up) gps = None try: gps = GPS() gps.openPhidget() gps.waitForAttach(10000) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) exit(1) print("Date,Time,Lat,Long,Altitude,Velocity,Heading") while True: try: print("{0},{1},{2},{3},{4},{5},{6}".format( gps.getDate().toString(), gps.getTime().toString(), gps.getLatitude(), gps.getLongitude(), gps.getAltitude(), gps.getVelocity(), gps.getHeading(), )) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) time.sleep(.02)
header = 'imgName,curTime,elpTime,gps_time,gps_vel, gps_heading, gps_lon,gps_lat,gps_alt\n' logFile.write(header) for i in range(2000): #print 1 curTime = str(datetime.datetime.now()) imgName = 'testImg' + str(i).zfill(5) + '.jpg' img = cv.QueryFrame(capture) #print 2 #cv.ShowImage("camera", img) cv.SaveImage(saveDir + '/' + imgName, img) #print 3 #gps stuff... gps_time = gps.getTime().toString() gps_lat = gps.getLatitude() gps_lon = gps.getLongitude() gps_alt = gps.getAltitude() gps_heading = gps.getHeading() gps_vel = gps.getVelocity() elpTime = str(datetime.datetime.now()) outList = [ imgName, curTime, elpTime, gps_time, gps_vel, gps_heading, gps_lon, gps_lat, gps_alt ] outList = [str(x) for x in outList] outStr = ','.join(outList) + '\n' print 'Iteration:', i, str(curTime), gps_lon, gps_lat, gps_alt logFile.write(outStr) #time.sleep(0.1)
curTime = str(datetime.datetime.now()) imgName = 'TestImg'+str(i).zfill(6)+'.jpg' if i%2==0: imgA = cv.QueryFrame(captureA) cv.SaveImage(saveDir+'/'+imgName, imgA) else: imgB = cv.QueryFrame(captureB) cv.SaveImage(saveDir+'/'+imgName, imgB) #print 2 #cv.ShowImage("camera", img) #print 3 #gps stuff... gps_time = gps.getTime().toString() gps_lat = gps.getLatitude() gps_lon = gps.getLongitude() gps_alt = gps.getAltitude() gps_heading = gps.getHeading() gps_vel = gps.getVelocity() elpTime = str(datetime.datetime.now()) outList = [imgName,curTime,elpTime,gps_time,gps_vel, gps_heading, gps_lon,gps_lat,gps_alt] outList = [str(x) for x in outList] outStr = ','.join(outList)+'\n' logFile.write(outStr) curFrame = curFrame + 1 if curFrame %10 ==0: logFile.flush() print 'Iteration:', i, str(curTime), gps_lon,gps_lat,gps_alt
gps.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() print("Press Enter to quit....") try: print("GPS Current Time: %s" % (gps.getTime().toString())) print("GPS Current Date: %s" % (gps.getDate().toString())) print("GPS Current Latitude: %F" % (gps.getLatitude())) print("GPS Current Longitude: %F" % (gps.getLongitude())) print("GPS Current Altitude: %F" % (gps.getAltitude())) print("GPS Current Heading: %F" % (gps.getHeading())) print("GPS Current Velocity: %F" % (gps.getVelocity())) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Press Enter to quit....") # DO SOMETHING HERE # # Set digital output port 0 to be on #interfaceKit.setOutputState(0, 1) #import time #time.sleep(3)
gps.closePhidget() except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Exiting....") exit(1) print("Exiting....") exit(1) else: displayDeviceInfo() print("Press Enter to quit....") try: print("GPS Current Time: %s" %(gps.getTime().toString())) print("GPS Current Date: %s" %(gps.getDate().toString())) print("GPS Current Latitude: %F" %(gps.getLatitude())) print("GPS Current Longitude: %F" %(gps.getLongitude())) print("GPS Current Altitude: %F" %(gps.getAltitude())) print("GPS Current Heading: %F" %(gps.getHeading())) print("GPS Current Velocity: %F" % (gps.getVelocity())) except PhidgetException as e: print("Phidget Exception %i: %s" % (e.code, e.details)) print("Press Enter to quit....") # DO SOMETHING HERE # # Set digital output port 0 to be on #interfaceKit.setOutputState(0, 1)