def helper():
# Setting initial terms so we can run scans
try:
counter = 0
initial_terms = 0
returning = {}
print('Initiating GPS scan...')
m_gps = gps.GPS()
while counter < int(os.getenv("GPS_SCANS", 3)):
print('Waiting for fix...')
counter += 1
gps_data = m_gps.gather()
if gps_data:
ts = bool(gps_data["time"])
lat = bool(gps_data["lat"])
lon = bool(gps_data["lon"])
alt = bool(gps_data["alt"])
else:
ts = lat = lon = alt = False
time.sleep(1)
count = ts + lat + lon + alt
if count > initial_terms:
returning = gps_data
initial_terms = count
return returning
except Exception as e:
print(e)
return None
def __init__(self):
self.gps = gps.GPS()
self.radio = radio.radio()
#開始時間の記録
self.startTime = time.time()
self.timer = 0
def __init__(self):
#オブジェクトの生成
self.rightmotor = motor.motor(ct.const.RIGHT_MOTOR_IN1_PIN,
ct.const.RIGHT_MOTOR_IN2_PIN,
ct.const.RIGHT_MOTOR_VREF_PIN)
self.leftmotor = motor.motor(ct.const.LEFT_MOTOR_IN1_PIN,
ct.const.LEFT_MOTOR_IN2_PIN,
ct.const.LEFT_MOTOR_VREF_PIN)
self.gps = gps.GPS()
self.bno055 = bno055.BNO055()
self.radio = radio.radio()
self.RED_LED = led.led(ct.const.RED_LED_PIN)
self.BLUE_LED = led.led(ct.const.BLUE_LED_PIN)
self.GREEN_LED = led.led(ct.const.GREEN_LED_PIN)
#開始時間の記録
self.startTime = time.time()
self.timer = 0
self.landstate = 0 #landing stateの中でモータを一定時間回すためにlandのなかでもステート管理するため
self.v_right = 100
self.v_left = 100
#変数
self.state = 0
self.laststate = 0
self.landstate = 0
#stateに入っている時刻の初期化
self.preparingTime = 0
self.flyingTime = 0
self.droppingTime = 0
self.landingTime = 0
self.pre_motorTime = 0
self.waitingTime = 0
self.runningTime = 0
self.goalTime = 0
#state管理用変数初期化
self.countPreLoop = 0
self.countFlyLoop = 0
self.countDropLoop = 0
self.countGoal = 0
self.countAreaLoopEnd = 0 # 終了判定用
self.countAreaLoopStart = 0 # 開始判定用
self.countAreaLoopLose = 0 # 見失い判定用
self.countgrass = 0
#GPIO設定
GPIO.setmode(GPIO.BCM) #GPIOの設定
GPIO.setup(ct.const.FLIGHTPIN_PIN, GPIO.IN) #フライトピン用
date = datetime.datetime.now()
self.filename = '{0:%Y%m%d}'.format(date)
self.filename_hm = '{0:%Y%m%d%H%M}'.format(date)
if not os.path.isdir(
'/home/pi/Desktop/wolvez2021/Testcode/EtoEtest/%s/' %
(self.filename)):
os.mkdir('/home/pi/Desktop/wolvez2021/Testcode/EtoEtest/%s/' %
(self.filename))
def __init__(self, config):
self.config = config
self.use_gps = config["use_gps"]
self.detector_sensibility = config["detector_sensibility"]
self.min_decision_frames = config["min_decision_frames"]
self.DB = db.DB("tst", config["save_dir"])
self.DB.connect()
self.session = self.DB.get_session()
self.person_id = 0
self.frame_id = 0
self.detecting_id_cam1 = 0
self.detecting_id_cam2 = 0
self.identity_dict = {}
self.identity_list = []
self.verify_dict = {}
self.vidsource = videofeed.VideoFeed(config)
self.cam1 = 0
self.cam2 = 1
self.cam1_rotate_deg = config.get('cam1_rotate_deg', 0)
self.cam2_rotate_deg = config.get('cam2_rotate_deg', 0)
self.stats = DetectorStats(
cam_stats=[CameraStats(fps=self.vidsource.fps[0]),
CameraStats(fps=self.vidsource.fps[1])])
if config.get('switch_cameras_on_start', False):
self._switch_cams()
self.GPS = None
if self.use_gps:
self.GPS = gps.GPS()
self.GPS.start()
def __init__(self, gps_rate=None):
# initialize objects
self._gui = gui.GUI()
self._buttons = buttons.Buttons(on_green=self.green_callback,
on_blue=self.blue_callback,
on_red=self.red_callback)
self.rs = RobotState()
print("The first state in the state machine is: %s" % rs.state)
self._gps = gps.GPS()
def __init__(self, mode='real'):
if mode == 'test':
print("Robot is in test mode")
self.ok_status = False
self.logger = logger.Logger()
self.gps = gps.GPS(self.logger, mode=mode)
self.powersteering = powersteering.Powersteering(self.logger,
self.gps,
mode=mode)
if self.gps._running == False or self.powersteering._running == False:
self.logger.write("One or more robot components failed to start")
return
self.ok_status = True
def __init__(self):
#オブジェクトの生成
#self.rightmotor = motor.motor(ct.const.RIGHT_MOTOR_VREF_PIN,ct.const.RIGHT_MOTOR_IN1_PIN,ct.const.RIGHT_MOTOR_IN2_PIN)
#self.leftmotor = motor.motor(ct.const.LEFT_MOTOR_VREF_PIN,ct.const.LEFT_MOTOR_IN1_PIN,ct.const.LEFT_MOTOR_IN2_PIN)
self.gps = gps.GPS()
#self.bno055 = bno055.BNO()
self.radio = radio.radio()
#self.ultrasonic = ultrasonic.Ultrasonic()
#self.RED_LED = led.led(ct.const.RED_LED_PIN)
#self.BLUE_LED = led.led(ct.const.BLUE_LED_PIN)
#self.GREEN_LED = led.led(ct.const.GREEN_LED_PIN)
#開始時間の記録
self.startTime = time.time()
self.timer = 0
"""
def __init__(self):
ADC.setup()
# setup i2c to motorshield
self.pwm = Adafruit_PCA9685.PCA9685(address=0x60, busnum=1)
self.pwm.set_pwm_freq(60)
self.mag = MAG.Magnetometer()
self.gps = GPS.GPS()
self.pot_pid = PID.PID(-1, 0, 0)
# Potentiometer pin:
self.POT_PIN = "AIN2"
self.POT_LEFT = 0.771
self.POT_MIDDLE = 0.553
self.POT_RIGHT = 0.346
self.POT_TOL = 0.01
# autopilot
self.auto = True
# list of GPS coords to travel to
self.destinations = []
def init():
global uart
# Initialising UART6 (Y1, Y2)
uart = UART(6, baudrate=38400, timeout=10, read_buf_len=200)
pyb.repl_uart(uart)
print('RPi UART setup')
global uart_gps
global gps_device
global gps_planner
uart_gps = UART(4, baudrate=9600, timeout=10, read_buf_len=600)
gps_device = gps.GPS(uart_gps)
gps_planner = planner.PLANNER(gps_device)
print("GPS set up")
global pid_test
pid_test = pid.PID(0.3, 0, 0.1, gps_planner.dist_bearing, 1)
# If True, uart messages are sent back normally,
# if false, only log messages are sent back.
global UART_comms_master
UART_comms_master = False
global imu, fuse, i2c
global imu_acc, imu_gyr, imu_mag
i2c = I2C(scl=Pin('Y9'), sda=Pin('Y10'))
try:
imu = MPU9250(i2c, scaling=(-1, -1, -1))
imu._mag.cal = (20.915039062, 11.880468750, 23.293359375)
imu.gyro_filter_range = 4
imu.accel_filter_range = 4
print(imu.mag.cal)
print(imu.accel.cal)
print(imu.gyro.cal)
mpu_addr = "MPU9250 id: {:X}".format(imu.mpu_addr)
cmd.send_uart(mpu_addr, True)
fuse = Fusion()
except:
cmd.send_uart("No imu detected", True)
sensors.ina_init(i2c)
for line in f2:
l = line.split(' ')
rec = record.Record(l[0], l[1], l[2])
oldRecords2.append(rec)
with open(file3) as f3:
for line in f3:
l = line.split(' ')
rec = record.Record(l[0], l[1], l[2])
oldRecords3.append(rec)
with open(file4) as f4:
for line in f4:
l = line.split(' ')
rec = record.Record(l[0], l[1], l[2])
oldRecords4.append(rec)
gps1 = gp.GPS(oldRecords1, inRealTime, "COM9", 115200)
gps2 = gp.GPS(oldRecords2, inRealTime, "COM7", 115200)
gps3 = gp.GPS(oldRecords3, inRealTime, "COM10", 115200)
gps4 = gp.GPS(oldRecords4, inRealTime, "COM8", 115200)
#shouldInterpolate = None
prevheading = 0
recordStorage1, recordStorage2, recordStorage3, recordStorage4 = [], [], [], []
with open(f, 'r') as f1:
with open(file2, 'r') as f2:
with open(file3, 'r') as f3:
with open(file4, 'r') as f4:
ifFirst = True
def __init__(self):
self.gps = gps.GPS()
#!/usr/bin/python
import gps
position = gps.GPS("gps")
position.monitor("/dev/ttyUSB0")
import gps as gp
#we started from the end of teh road to a lamp post
fileName = "DGPSTest7.csv"
ifReal = True
data = []
COM = "COM8"
baud = 115200
gps = gp.GPS(data, ifReal, COM, baud)
print("The file you are writing to is: " + fileName)
input("Press the quit button if this is not correct")
count = 0
with open(fileName, 'w') as f1:
while True:
try:
if (gps.is_fixed()):
gps.refresh()
f1.write("%s,%s,%s\n" %
(gps.get_lat(), gps.get_lon(), gps.get_time()))
print("recording..." + str(count))
count += 1
except KeyboardInterrupt:
print("quit by keyboard")
break
y += acccen
x += acccen
return bestsim
# testCo = Coordinate(41.78770667, -88.35622)
# testCo2 = Coordinate(41.78770667, -88.35624167)
# Vec = Vector(Coordinate(41.78770667, -88.35624167), Coordinate(41.78770667, -88.35622))
# vec2 = Vector(testCo, testCo2)
# poly = Polygon(Coordinate(41.78770667, -88.35624167), .5, 2)
# shifts = [0, 1, 2, 3, 4, 5]
# print(poly.shift(shifts))
# GPS = Polygon()
f = open("Bearing_4GPS_test1", "w")
distanceRadius = 1.25
gps13 = gp.GPS("COM4", 115200)
gps24 = gp.GPS("COM3", 115200)
# f1 = open("GPS1_4GPS_test3.txt", "r+")
# f2 = open("GPS2_4GPS_test3.txt", "r+")
# f3 = open("GPS3_4GPS_test3.txt", "r+")
# f4 = open("GPS4_4GPS_test3.txt", "r+")
#
# thread1 = myThread()
#
# thread1.start()
with open("GPS1_4GPS_test4.txt", "r+") as f1:
with open("GPS2_4GPS_test4.txt", "r+") as f2:
with open("GPS3_4GPS_test4.txt", "r+") as f3:
with open("GPS4_4GPS_test4.txt", "r+") as f4:
while True:
#
# gps_test.py - quick test of the GPS class
#
import logger
import gps
import time
my_log = logger.Logger()
my_gps = gps.GPS(my_log)
my_gps.start()
time.sleep(3)
while True:
print(my_gps.get_values())
time.sleep(1)
def startup(self):
self.session = gps.GPS("localhost", "2947")
self.session.stream(gps.WATCH_ENABLE | gps.WATCH_NEWSTYLE)
return True
from sht31 import sht31
from influxdb import InfluxDBClient
import gps
import socket
import time
import sys
if len(sys.argv) < 3:
print("I2C & Serial devices as argument expected")
sys.exit(1)
# Set the I2C device and device address
mysht31 = sht31.SHT31(sys.argv[1], 0x44)
mygps = gps.GPS(sys.argv[2], 9600, 1)
hostname = socket.gethostname()
client = InfluxDBClient(host='influxdb', port=8086)
client.create_database('sht31')
client.switch_database('sht31')
data = [{
"measurement": "conditions",
"tags": {
"host": "",
},
"fields": {
"cTemp": "",
"fTemp": "",
"humidity": "",
"lat": "",
def connect_to_gps(self):
self.gps = gps.GPS()
print(">>>Connecting to GPS")
gpsRead = threading.Thread(target=self.gps.startRead, args=(0,))
gpsRead.start()
import gps
import time
FPS = 4
last_frame_time = 0
gps = gps.GPS()
init_longitude = None
init_latitude = None
key = input('Do you want to start the episode? (y/n)')
if key == 'y':
while True:
current_time = time.time()
last_frame_time = current_time
sleep_time = 1./FPS - (current_time - last_frame_time)
if sleep_time > 0:
time.sleep(sleep_time)
if gps.is_ready:
if not init_longitude or not init_longitude:
init_longitude = gps.longitude
init_latitude = gps.latitude
else:
print(float(gps.longitude) - float(init_longitude), float(gps.latitude) - float(init_latitude))
else:
print('Episode is not started!')
if gps1.is_fixed():
lat = gps1.get_lat()
lon = gps1.get_lon()
print (lat, lon)
file_.write("%s %s\n" % (lat, lon))
else:
print("Can't get fixed")"""
import time
import math
import gps as gp
def findHeading(lat, lon, lat2, lon2):
y = lon2 - lon
x = lat2 - lat
return 90 - math.degrees(math.atan2(y, x))
g = gp.GPS("COM5", 115200)
f1 = open("GPS1_output", "w+")
f2 = open("GPS2_output", "w+")
f3 = open("Bearing", "w+")
while True:
g.refresh()
checkGPS = str(g.info[len(g.info)-1])
lat = g.get_lat()
lon = g.get_lon()
time = g.get_time()
if checkGPS[0:4] == "GPS1":
f1.write("%s %s %s\n" % (lat, lon, time))
elif checkGPS[0:4] == "GPS2":
f2.write("%s %s %s\n" % (lat, lon, time))
g.refresh()
lat2 = g.get_lat()
#!/usr/bin/python
import sys
from track import Track
import gps,compass
import config
c= config.Config()
track = Track(c.position_log_name)
gps.GPS("gps")
compass.Compass("compass",c.compass_deviation)
track.replay(float(c.position_log_rate))
def gps_loop():
g = gps.GPS('/dev/ttyUSB0', 9600, 10)
while True:
g.parse()
socketio.emit('gps', g.get_json())
