def main():
import sys
n = node.Node("py-wasd", sys.argv[1:])
try:
r = WASDRemote(n)
r.run()
finally:
n.stop()
def main():
import sys
n = node.Node("pyscript", sys.argv[1:])
try:
so = ScriptObserver(n)
while True:
time.sleep(0.2)
finally:
n.stop()
def __init__(self, node_name):
msg.MessageObserver.__init__(self)
self.node = node.Node(node_name)
self.auv = control.AUV_readonly(self.node)
if hasattr(self, "report"):
self._die_flag = threading.Event()
self._report_frequency = 0.5
self._reporting_thread = threading.Thread(target=self._report_loop)
self._reporting_thread.start()
def randomTest():
import sys
n = node.Node("pycauv",sys.argv[1:])
print "created node.Node"
n.join("test")
print "joined test group"
n.join("pipeline")
print "joined pipeline group"
n.join("invalid group")
print "attempted to join an invalid group"
o = node.Observer()
print o, "created node.Observer"
dmo = messaging.DebugMessageObserver()
print dmo, "created DebugMessageObserver"
class MMO(node.Observer):
def onDebugMessage(self, msg):
print "mesage received:", msg
def onImageMessageBuffered(self, msg):
print "image received:", msg
def onNodeAddedMessage(self, msg):
print "node added:", msg.nodeId, msg.nodeType
def onStatusMessageBuffered(self, msg):
print "node status:", msg.nodeId, msg.status
m = MMO()
m.setDoubleBuffered(messaging.MessageType.Status, True) #pylint: disable=E1101
m.setDoubleBuffered(messaging.MessageType.Image, True) #pylint: disable=E1101
print m, "created Observer with overload"
n.addObserver(m)
print "added observer with overload"
n.addObserver(o)
print "added empty observer"
n.addObserver(dmo)
print "added debug observer"
msg = messaging.DebugMessage(messaging.DebugType.Debug, "test message string!")
print "created debug message:", msg
for i in xrange(1, 11):
try:
print "setting message string"
msg.msg = "msg string %d" % i
print "Sending message", i, msg
n.send(msg, "test")
#print n.mailbox.receive(1000)
except Exception, e:
print e
def __enter__(self):
self.dirname = tempfile.mkdtemp()
self.processes = set()
log_dir = os.path.join(self.dirname, "log")
os.mkdir(log_dir)
os.mkdir(os.path.join(self.dirname, "test"))
#bleh, this is a bit ugly, but can't really modify these options easily
#otherwise....
os.environ.update({
"CAUV_IPC_DIR": self.dirname,
"CAUV_VEHICLE_NAME": "test",
"CAUV_LOG_DIR": log_dir,
})
if self.create_node:
self.node = node.Node("test")
return self
def pipelineTest():
import sys
n = node.Node("pycauv-pl",sys.argv[1:])
model = pipeline.Model(n)
print 'Setting debug level to -3'
n.send(messaging.DebugLevelMessage(-3), "debug")
print 'Adding stuff to the pipeline...'
n.send(messaging.ClearPipelineMessage(), "pipeline")
n.send(messaging.AddNodeMessage(messaging.NodeType.FileInput,
messaging.NodeInputArcVec(),
messaging.NodeOutputArcVec()), "pipeline")
n.send(messaging.AddNodeMessage(messaging.NodeType.GuiOutput,
messaging.NodeInputArcVec(),
messaging.NodeOutputArcVec()), "pipeline")
print 'Getting pipeline state...'
saved = model.get()
print 'before:', saved
print 'Clearing pipeline state...'
model.clear()
print 'Setting pipeline state...'
model.set(saved)
print 'after:', model.get()
speed = report.speed
else:
speed = 0
if hasattr(report, "climb"):
climb = report.climb
else:
climb = 0
info("Location: [lat %f, lon %f, alt %f]" %
(report.lat, report.lon, report.alt))
self.__node.send(
msg.GPSLocationMessage(
msg.WGS84Coord(report.lat, report.lon, report.alt),
track, speed, climb))
if __name__ == '__main__':
try:
import sys
n = node.Node("py-gps", sys.argv[1:])
while True:
try:
GPSNode(n).run()
except StopIteration:
info("GPS stopped, trying to restart")
except KeyError:
warning("Invalid key lookup, restarting")
except socket.error:
error("GPSD not running")
default=0.0,
help='x-origin of environment (px offset from top left)')
p.add_argument('-y',
dest='env_y',
type=float,
default=0.0,
help='y-origin of environment (px offset from top left)')
p.add_argument('-p',
'--profile',
dest='profile',
default=False,
action='store_true')
# add a command line argument for this later...
datum = Default_Coordinates_Datum
opts, args = p.parse_known_args()
cauv_node = node.Node("py-gem", args)
try:
e = Environment(opts.env_file, (opts.env_x, opts.env_y),
opts.env_scale, datum)
f = FakeGemini(cauv_node, e)
if opts.profile:
import cProfile as profile
profile.run('f.mainLoop()', 'fakegemini.profile')
else:
f.mainLoop()
finally:
cauv_node.stop()
#!/usr/bin/env python2.7
#
# Copyright 2013 Cambridge Hydronautics Ltd.
#
# See license.txt for details.
#
import cauv
import cauv.node as node
import cauv.messaging as msg
import time
import sys
class ScriptResponseObs(msg.BufferedMessageObserver):
def onScriptResponseMessage(self, m):
print '>>>', m.response
n = node.Node("pyscript2", sys.argv[1:])
n.join("gui")
n.addObserver(ScriptResponseObs())
n.send(msg.ScriptMessage("hello, python", 10.0), "control")
n.send(msg.ScriptMessage("response('hello, python')", 10.0), "control")
n.send(msg.ScriptMessage("import cauv.messaging as msg", 10.0), "control")
n.send(msg.ScriptMessage("response(str(dir(msg)))", 10.0), "control")
time.sleep(5)
# self.writeLine()
def onAIlogMessage(self, m):
self.comment = str(m.msg)
self.writeLine()
def onTelemetryMessage(self, m):
self.bearing = m.orientation.yaw
self.depth = m.depth
self.writeLine()
def onLocationMessage(self, m):
self.latitude = m.location.latitude
self.longitude = m.location.longitude
self.altitude = m.location.altitude
self.speed = m.speed
self.writeLine()
if __name__ == '__main__':
import sys
n = node.Node("py-log", sys.argv[1:])
logger = LoggingObserver(n)
try:
while True:
time.sleep(1.0)
except Exception, e:
error(str(traceback.format_exc()))
finally:
logger.close()
action='store',
help='directory to load/store messages from')
p.add_argument('-r',
'--restore',
dest='restore',
default=False,
action='store_true',
help='immediately broadcast messages for saved settings')
p.add_argument('-n', '--no-auto', dest='auto', default=True,
action='store_false', help="don't automatically set parameters" +\
"when CAUV Nodes connect to the messaging system")
p.add_argument('-s',
'--silent',
action='store_true',
help="don\'t prompt for commands")
p.add_argument('-o',
'--read-only',
help="don't save broadcasted messages",
action='store_true')
p.add_argument('-e', '--every', help='broadcast every n seconds', type=int)
opts, args = p.parse_known_args()
cauv_node = node.Node("persist", args)
shelf = utils.jsonshelf.JSONShelf(opts.fname)
if opts.restore:
sendSavedMessages(cauv_node, shelf)
persistMainLoop(cauv_node, shelf, opts.auto, opts.silent, opts.read_only,
opts.every)
#
# Copyright 2013 Cambridge Hydronautics Ltd.
#
# See license.txt for details.
#
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)
cli = TelemetryLoggerCmdPrompt(tl)
playback_is_active = False
try:
cli.cmdloop()
except KeyboardInterrupt:
pass
finally:
# this gets run even if we were killed (software-killed that is,
# nothing can save us from the kill-switch...)
tl.close()
info('closed down properly')
info('exiting...')
if __name__ == '__main__':
p = argparse.ArgumentParser()
p.add_argument('-f', '--log-fname', dest='fname',
default='./default.chil',
action='store', help='file to load/save telemetry data from')
p.add_argument('-n', '--no-record', dest='no_record', default=False,
action='store_true', help="Don't start in recording mode")
opts, args = p.parse_known_args()
cauv_node = node.Node("py-tlog",args)
try:
telemetryLoggerMainLoop(cauv_node, opts)
finally:
cauv_node.stop()
#
# See license.txt for details.
#
#pylint: disable=E1101
import cauv
import cauv.node as node
import cauv.messaging as msg
import cauv.pipeline as pipeline
import time
import sys
n = node.Node("py-camtest",sys.argv[1:])
pl = pipeline.Model(n)
pl.clear()
cam_forward_n = pl.addSynchronous(msg.NodeType.CameraInput)
pl.setParameterSynchronous(cam_forward_n, "device id", pipeline.intParam(1))
cam_down_n = pl.addSynchronous(msg.NodeType.CameraInput)
pl.setParameterSynchronous(cam_down_n, "device id", pipeline.intParam(0))
fo_forward_n = pl.addSynchronous(msg.NodeType.FileOutput)
pl.setParameterSynchronous(fo_forward_n, "filename", pipeline.stringParam("out.%d.%t.%c-forward.jpg"))
fo_down_n = pl.addSynchronous(msg.NodeType.FileOutput)
pl.setParameterSynchronous(fo_forward_n, "filename", pipeline.stringParam("out.%d.%t.%c-down.jpg"))
