class LinkedDataModel(LinkedDataModelBase):
press = linked_loggable(Bme280.DataModel.press, NAME_BME280)
temp = linked_loggable(Bme280.DataModel.temp, NAME_BME280)
acc = linked_loggable(Bno055.DataModel.acc, NAME_BNO055)
@cached_loggable
def altitude(self):
return press2alti(self.press, self.temp)
class ChildLoggingModel(LinkedDataModelBase):
press = linked_loggable(Bme280.DataModel.press, child_setting.NAME_BME280)
temp = linked_loggable(Bme280.DataModel.temp, child_setting.NAME_BME280)
irradiance = linked_loggable(Opt3002.DataModel.irradiance,
child_setting.NAME_OPT3002)
longitude = linked_loggable(SamM8Q.DataModel.longitude,
child_setting.NAME_GPS)
latitude = linked_loggable(SamM8Q.DataModel.latitude,
child_setting.NAME_GPS)
@cached_loggable
def altitude(self):
return press2alti(self.press,
self.temp) - whole_setting.ALTITUDE_GROUND
class LoggingModel(LinkedDataModelBase):
press = linked_loggable(Bme280.DataModel.press, setting.NAME_BME280)
temp = linked_loggable(Bme280.DataModel.temp, setting.NAME_BME280)
acc = linked_loggable(Bno055.DataModel.acc_lin,
setting.NAME_BNO055,
logging=False)
gravity = linked_loggable(Bno055.DataModel.acc_gra,
setting.NAME_BNO055,
logging=False)
euler = linked_loggable(Bno055.DataModel.euler,
setting.NAME_BNO055,
logging=False)
altitude_gps = linked_loggable(SamM8Q.DataModel.altitude, setting.NAME_GPS)
longitude = linked_loggable(SamM8Q.DataModel.longitude, setting.NAME_GPS)
latitude = linked_loggable(SamM8Q.DataModel.latitude, setting.NAME_GPS)
@cached_loggable
def altitude(self):
return press2alti(self.press, self.temp)
@cached_loggable
def altitude_relative(self):
return self.altitude - whole_setting.ALTITUDE_GROUND
@loggable
def acc_x(self):
return self.acc[0]
@loggable
def acc_y(self):
return self.acc[1]
@loggable
def acc_z(self):
return self.acc[2]
@loggable
def gra_x(self):
return self.gravity[0]
@loggable
def gra_y(self):
return self.gravity[1]
@loggable
def gra_z(self):
return self.gravity[2]
@loggable
def heading(self):
return self.euler[0]
@loggable
def pitch(self):
return self.euler[1]
@loggable
def roll(self):
return self.euler[2]
class RunningModel(LinkedDataModelBase):
longitude = linked_loggable(SamM8Q.DataModel.longitude, setting.NAME_GPS)
latitude = linked_loggable(SamM8Q.DataModel.latitude, setting.NAME_GPS)
mag = linked_loggable(Bno055.DataModel.mag, setting.NAME_BNO055)
euler = linked_loggable(Bno055.DataModel.euler, setting.NAME_BNO055)
def setup(self):
self._navi_goal = Navigator(Position(*setting.POSITION_GOAL))
self._navi_child = Navigator(Position(*setting.POSITION_CHILD))
@loggable
def heading(self):
return self.euler[0]
@cached_property
def position(self):
if self.latitude is None or self.longitude is None:
return None
return Position(self.longitude, self.latitude, degree=True)
@cached_loggable
def distance2goal(self):
if self.latitude is None or self.longitude is None:
return None
return self._navi_goal.delta_distance(self.postition)
@cached_loggable
def offset_angle2goal(self):
if self.latitude is None or self.longitude is None:
return None
return self._navi_goal.delta_angle(self.position, self.heading)
@cached_loggable
def distance2child(self):
if self.latitude is None or self.longitude is None:
return None
postition = Position(self.longitude, self.latitude, degree=True)
return self._navi_child.delta_distance(postition)
@cached_loggable
def offset_angle2child(self):
if self.latitude is None or self.longitude is None:
return None
return self._navi_child.delta_angle(self.position, self.heading)
class RunningModel(LinkedDataModelBase):
TEMP_GOAL = [0., 0.]
longitude = linked_loggable(SamM8Q.DataModel.longitude, setting.NAME_GPS)
latitude = linked_loggable(SamM8Q.DataModel.latitude, setting.NAME_GPS)
euler = linked_loggable(Bno055.DataModel.euler,
setting.NAME_BNO055,
logging=False)
def setup(self) -> None:
self._navi_goal_temp = Navigator(Position(*self.TEMP_GOAL))
@cached_property
def position(self):
return Position(self.longitude, self.latitude, degree=True)
@loggable
def heading(self):
return self.euler[0]
@cached_loggable
def offset_angle2goal(self):
return self._navi_goal.delta_angle(self.position, self.heading)
class LinkedDataModel(LinkedDataModelBase):
num = linked_loggable(NumberGenerator.DataModel.num, NAME_NUMBERGENERATOR)
@cached_loggable
def num_sqrt(self):
return self.num**2