if len(cr.json['mon_list']) != len(mon_coords):
logging.error("Not all mon points found in database")
else:
mon_coords = []
# check orientation including FIX and MON points
# generate observations for all target points, first point is the station
print("Generating observations for targets...")
og = ObsGen(st_coord + fix_coords + mon_coords, cr.json['station_id'], \
cr.json['station_height'], cr.json['faces'], cr.json['directfaces'])
observations = og.run()
# change to face left
if ts.GetFace()['face'] == ts.FACE_RIGHT:
a = ts.GetAngles()
a['hz'] = (a['hz'] + Angle(180, 'DEG')).Normalize()
a['v'] = (Angle(360, 'DEG') - a['v']).Normalize()
ans = ts.Move(a['hz'], a['v'], 0) # no ATR
if 'errCode' in ans:
logging.fatal("Rotation to face left failed %d", ans['errCode'])
sys.exit(-1)
# check/find orientation
print("Orientation...")
o = Orientation(observations, ts, cr.json['orientation_limit'])
ans = o.Search()
if 'errCode' in ans and cr.json['station_type'] != 'local':
logging.fatal("Orientation failed %d", ans['errCode'])
sys.exit(-1)
if 'fix_list' in cr.json and cr.json['fix_list'] is not None and \
len(fix_coords) < 2:
logging.warning('No enough fix points for freestation')
elif 'fix_list' in cr.json and cr.json['fix_list'] is not None and \
fn = sys.argv[5]
# write out measurements
wrt = FileWriter(angle='DEG', dist='.3f', fname=fn)
if wrt.GetState() != wrt.WR_OK:
sys.exit(-1) # open error
ts = TotalStation(stationtype, mu, iface, wrt)
ts.SetATR(0) # turn ATR off
ts.SetEDMMode('RLSTANDARD') # reflectorless distance measurement
ts.SetRedLaser(1) # turn red laser on
w = raw_input("Target on lower left corner and press Enter")
w1 = ts.GetAngles()
w = raw_input("Target on upper right corner and press Enter")
w2 = ts.GetAngles()
dh = (w2['hz'].GetAngle() - w1['hz'].GetAngle()) / dh_nr
dv = (w2['v'].GetAngle() - w1['v'].GetAngle()) / dv_nr
# measurement loops
for i in range(dh_nr + 1): # horizontal loop
measdir = i % 2 # check modulo
hz = Angle(w1['hz'].GetAngle() + i * dh, 'RAD')
for j in range(dv_nr + 1): # vertical loop
if measdir == 0:
# move downward at odd steps to right
ts.Move(hz, Angle(w1['v'].GetAngle() + j * dv, 'RAD'))
else:
# move upward at event steps to right
ts.Move(hz, Angle(w2['v'].GetAngle() - j * dv, 'RAD'))
ts.Measure()
ts.GetMeasure()
from leicatca1800 import LeicaTCA1800
from serialiface import SerialIface
from totalstation import TotalStation
mu = LeicaTCA1800()
si = SerialIface("si", "/dev/ttyUSB0")
ts = TotalStation("yes", mu, si)
if len(argv) < 2:
yes = 1
else:
yes = int(argv[1])
if yes:
dhz = Angle(0)
dv = Angle(30, "DEG")
else:
dhz = Angle(30, "DEG")
dv = Angle(0)
shz = Angle(0)
sv = Angle(90, "DEG")
n = 3
for i in range(n):
ts.Move(shz - dhz, sv - dv)
ts.Move(shz + dhz, sv + dv)
ts.Move(shz,sv)
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'])
# Normalization of the plane coefficients
norm = math.sqrt(plane[0]**2 + plane[1]**2 + plane[2]**2)
plane = [i / norm for i in plane]
# Checking the plane result with the observed points
for i in range(numberOfPoints):
planeRes = plane[0] * points[i]['east'] + \
plane[1] * points[i]['north'] + \
plane[2] * points[i]['elev'] + plane[3]
logging.debug("Checking the distance for the first points: %d - %.3f",
i, planeRes)
# Moving back to the first point
if numberOfPoints > 1:
ts.Move(points[0]['hz'], points[0]['v'])
act = Angle(0) # Actual angle from start point set to zero
w = True
while act.GetAngle() < arange: # Going around a whole circle
ts.Measure() # Measuring distance
if ts.measureIface.state != ts.measureIface.IF_OK:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0)) # TODO
continue
nextp = ts.GetMeasure() # Get observation data
if ts.measureIface.state != ts.measureIface.IF_OK or \
'hz' not in nextp or 'v' not in nextp or \
'distance' not in nextp:
ts.measureIface.state = ts.measureIface.IF_OK
ts.MoveRel(stepinterval, Angle(0)) # TODO
continue
