def run(modules, args):
#set up nodes
node = cauv.node.Node('pybatmon', args)
try:
#set up loggers
slow_logger = slowLogger(filename=log_file,
frequency=2,
node=node,
modules=modules)
slow_logger.load_from_file()
slow_logger.run()
finally:
node.stop()
-self.location.depth)
r.speed = messaging.floatXYZ(self.speed.x, self.speed.y, self.speed.z)
return r
if __name__ == '__main__':
parser = argparse.ArgumentParser(
usage='usage: %prog -m simple|exponential')
parser.add_argument(
"-m",
"--mode",
dest="mode",
default="simple",
help="integration mode: 'simple' or 'exponential' see" +
"displacement_integrator.py for exponential integrator constants")
opts, args = parser.parse_known_args()
node = cauv.node.Node('py-dspl', args)
try:
auv = control.AUV(node)
d = Location(node, opts.mode)
while True:
time.sleep(3)
ll = d.getLocation()
info('%s : %s' % (d.location, ll))
node.send(
messaging.LocationMessage(ll.location,
messaging.floatXYZ(0, 0, 0)))
finally:
node.stop()