if not 'v' in nextp or not 'distance' in nextp or not 'hz' in nextp:
ts.MoveRel(stepinterval, Angle(0))
continue
height = math.cos(nextp['v'].GetAngle()) * nextp['distance']
index = 0
while abs(height - height0) > tol: # looking for right elevation
w = True
zenith = nextp['v'].GetAngle()
zenith1 = math.acos(height0 / nextp['distance'])
ts.MoveRel(Angle(0), Angle(zenith1 - zenith))
ts.Measure()
index += 1
if index > maxiter or ts.measureIface.state != ts.measureIface.IF_OK:
w = False
ts.measureIface.state = ts.measureIface.IF_OK
logging.warning('Missing measurement')
break
nextp = ts.GetMeasure()
if not 'v' in nextp or not 'distance' in nextp:
break
height = math.cos(nextp['v'].GetAngle()) * nextp['distance']
if 'distance' in nextp and w:
coord = ts.Coords()
res = dict(nextp.items() + coord.items())
wrt.WriteData(res)
ts.MoveRel(stepinterval, Angle(0))
act += stepinterval
# rotate back to start
ts.Move(startp['hz'], startp['v'])
logging.error("BMP180 sensor not found")
sys.exit(-1)
pres = float(bmp.GetPressure()['pressure'])
temp = float(bmp.GetTemp()['temp'])
wet = None # wet temperature unknown
else:
# met data from the net
from webmetmeasureunit import WebMetMeasureUnit
from webmet import WebMet
from webiface import WebIface
wi = WebIface("demo",
"http://api.openweathermap.org/data/2.5/weather",
"json")
web_mu = WebMetMeasureUnit(
msg="q=budapest&appid=13152b0308b85a39cc9a161e241ec2cf")
web = WebMet('WebMet', web_mu, wi)
data = web.GetPressure()
pres = data['pressure']
temp = data['temp']
humi = data['humidity']
wet = web.GetWetTemp(temp, humi)
ts.SetAtmCorr(float(atm['lambda']), pres, temp, wet)
logging.info(" temperature: %f air pressure: %f wet termperature: %f" %
(temp, pres, wet))
r = Robot(directions, coordinates, ts, maxtry, delaytry)
obs_out, coo_out = r.run()
for obs in obs_out:
dmp_wrt.WriteData(obs)
for coo in coo_out:
coo_wrt.WriteData(coo)
prev_hz = measurement['hz']
prev_v = measurement['v']
continue
else:
if abs(last_hz.GetAngle() - measurement['hz'].GetAngle()) >= limit.GetAngle() or \
abs(last_v.GetAngle() - measurement['v'].GetAngle()) >= limit.GetAngle():
moving = True # still moving
continue
# Get each measurement data
if 'distance' in measurement: # Check existance of 'distance' key
slopeDist = measurement['distance']
if 'hz' in measurement: # Check existence of 'hz' key
hz = measurement['hz']
if 'v' in measurement: # Check existence of 'v' key
v = measurement['v']
# Compute relative coordinates according to the instrument origin
if 'hz' in measurement and 'v' in measurement:
measurement['east'] = slopeDist * math.sin(v.GetAngle()) * \
math.sin(hz.GetAngle())
measurement['north'] = slopeDist * math.sin(v.GetAngle()) * \
math.cos(hz.GetAngle())
measurement['elev'] = slopeDist * math.cos(v.GetAngle())
# Store in file the measurements
wrt.WriteData(measurement)
#print(measurement)
else:
print("Some measurement data(s) are missing...")
points = []
for i in range(numberOfPoints):
raw_input("Target on %d point and press enter" % (i + 1))
ts.Measure()
obs = ts.GetMeasure()
if ts.measureIface.state != ts.measureIface.IF_OK or \
'errorCode' in obs:
print('Start again!')
exit(1)
# Calculation of the directed coordinates according to the instrument's origin
obs['east'] = obs['distance'] * math.sin(obs['v'].GetAngle()) * \
math.sin(obs['hz'].GetAngle())
obs['north'] = obs['distance'] * math.sin(obs['v'].GetAngle()) * \
math.cos(obs['hz'].GetAngle())
obs['elev'] = obs['distance'] * math.cos(obs['v'].GetAngle())
wrt.WriteData(obs)
points.append(
obs) # Appending the observations to the list of measured points
#print(points[i])
# Definition of the different planes
if numberOfPoints == 1: # in case of horizontal section
plane = [0.0, 0.0, 1.0, -1 * points[0]['elev']]
elif numberOfPoints == 2: # in case of vertical section
plane = [points[0]['north'] - points[1]['north'],
points[1]['east'] - points[0]['east'], 0,
points[0]['east'] * points[1]['north'] - \
points[1]['east'] * points[0]['north']]
else: # in case of arbitrary section
plane = []
plane.append((points[0]['north'] - points[1]['north']) * \
