def __initplugin__(self, mesonhFiles):
if isinstance(mesonhFiles, MesonhDataset):
self.atm = mesonhFiles
else:
self.atm = MesonhDataset(mesonhFiles)
self.windProbes = {}
self.windIvyBind = None
def load(self):
self.config = ensure_dictionary(self.parser.parse())
# Using current time as global mission time
self.missionT0 = time.time()
localFrameConfig = ensure_dictionary(self.config['local_frame'])
ref = Position(self.missionT0, localFrameConfig['east'],
localFrameConfig['north'], localFrameConfig['alt'])
self.localFrame = NavigationRef(ref, localFrameConfig['utm_zone'])
self.flightArea = self.config['flight_area']
self.database = self.configure_database()
if 'data_views' in self.config.keys():
self.dataviews = \
DataViewManager.from_yaml_config(self.config['data_views'],
self.database)
else:
print("Warning : no data_views defined in config file.")
# To be configured in config file
# self.windMap = WindMapConstant('Horizontal Wind', [0.0, 0.0])
# self.windMap = WindObserverMap('Horizontal Wind', sampleName=str(['UT','VT']))
if 'wind_map' in self.config.keys():
self.load_wind_map(self.config['wind_map'])
else:
raise KeyError('No wind map detected ! Wind maps types MUST be' +
'declared using wind_map as yaml keyword.')
if 'mesonh_files' in self.config.keys():
self.mesonhFiles = self.config['mesonh_files']
self.mesonhDataset = MesonhDataset(self.mesonhFiles)
if 'wind_feedback' in self.config.keys():
if self.config['wind_feedback']:
self.load_plugin(WindSimulation, self.mesonhFiles)
if 'maps' in self.config.keys():
self.load_maps(self.config['maps'])
else:
print("Warning : no maps defined in config file")
if 'aircrafts' in self.config.keys():
self.load_aircrafts(self.config['aircrafts'])
else:
print("Warning : no aircrafts defined in config file")
def __initplugin__(self,
mesonhFiles,
mesonhVariables=[],
targetCacheBounds=[[0, 20], [-500, 500], [-500, 500],
[-400, 200]],
updateThreshold=0.25,
rctFeedback=True,
defaultRctBounds=Bounds(0.0, 1.0e-5),
mesonhOrigin=None):
self.mesonhInitialized = False
self.rctFeedback = rctFeedback
self.windFeedback = rctFeedback
self.add_notification_method('add_sample')
# Check if proper variables are fetched to do the feedback
if self.rctFeedback and 'RCT' not in mesonhVariables:
mesonhVariables.append('RCT')
if isinstance(mesonhFiles, MesonhDataset):
self.atm = mesonhFiles
else:
self.atm = MesonhDataset(mesonhFiles)
self.probes = {}
for var in mesonhVariables:
mesonhVar = MesonhVariable(self.atm,
var,
origin=mesonhOrigin,
interpolation='linear')
self.probes[str(var)] = MesonhCachedProbe(mesonhVar,
targetCacheBounds,
updateThreshold)
self.probes[str(var)].start()
b = self.probes['RCT'].var.actual_range[0]
if b.min is None or b.max is None:
self.rctBounds = defaultRctBounds
print(
"Warning. This Mesonh dataset does not seem to define " +
"the range of its RCT variable. Using default value.",
defaultRctBounds)
else:
self.rctBounds = Bounds(b[0], b[-1])
def __init__(self, uavPid, navFrame, mesonhFiles,
targetCacheBounds=[[0,20],[-500,500],[-500,500],[-400,200]],
updateThreshold=0.25):
self.uavPid = uavPid
self.navFrame = navFrame
if isinstance(mesonhFiles, MesonhDataset):
self.atm = mesonhFiles
else:
self.atm = MesonhDataset(mesonhFiles)
self.probes = {}
for var in ['UT','VT','WT']:
mesonhVar = MesonhVariable(self.atm, var, interpolation='linear')
self.probes[var] = MesonhCachedProbe(mesonhVar,
targetCacheBounds,
updateThreshold)
self.probes[var].start()
self.initialized = False
self.stopping = False
self.stopped = False
self.reqBind = messageInterface.bind_raw(
lambda sender, msg: self.wind_request_callback(msg),
'(.*' + str(self.uavPid) + '.*WORLD_ENV_REQ.*)')
#! /usr/bin/python3
import sys
sys.path.append('../../')
import numpy as np
import matplotlib.pyplot as plt
from nephelae.types import Bounds
from nephelae.mapping import MapServer
from nephelae_mesonh import MesonhMap, MesonhDataset
mesonhFiles = "/home/pnarvor/work/nephelae/data/nephelae-remote/MesoNH02/bomex_hf.nc"
dataset = MesonhDataset(mesonhFiles)
maps = {
'lwc': MesonhMap("Liquid Water Content", dataset, 'RCT'),
'wt': MesonhMap("Vertical Wind", dataset, 'WT'),
'hwind': MesonhMap("Horizontal Wind", dataset, ['UT', 'VT'])
}
mapServer0 = MapServer(mapSet=maps,
mapBounds=(None, Bounds(300.0, 800.0), None, None))
mapServer1 = MapServer(mapSet=maps,
mapBounds=(None, Bounds(300.0,
800.0), Bounds(0.0,
500.0), None))
fig, axes = plt.subplots(2, 1, sharex=True)
# axes[0].imshow(mapServer0['lwc'][0.0,:,0.0:12000.0,650.0].data.T, origin='lower')
# axes[1].imshow(mapServer1['lwc'][0.0,:,0.0:12000.0,650.0].data.T, origin='lower')
axes[0].imshow(mapServer0['wt'][0.0, :, :, 650.0].data.T, origin='lower')
from nephelae.types import Bounds
from nephelae.types import Gps
from nephelae.types import SensorSample
from nephelae.mapping import GprPredictor
from nephelae.mapping import WindKernel
from nephelae.mapping import WindMapConstant
from nephelae.database import NephelaeDataServer
mesonhPath = '/home/pnarvor/work/nephelae/data/MesoNH-2019-02/REFHR.1.ARMCu.4D.nc'
# databasePath = '/home/pnarvor/work/nephelae/data/temp/dt5_01.neph'
databasePath = 'output/wind_data04.neph'
database = NephelaeDataServer.load(databasePath)
mesonhDataset = MesonhDataset(mesonhPath)
rct = MesonhMap('Liquid water', mesonhDataset, 'RCT', interpolation='linear')
# Have to define wind by hand for now.
wind = np.array([8.5, 0.9])
windMap = WindMapConstant('Wind', wind)
# Kernel for liquid water content
processVariance = 1.0e-8
noiseStddev = 0.1 * np.sqrt(processVariance)
lengthScales = [70.0, 80.0, 80.0, 60.0]
rctKernel0 = WindKernel(lengthScales, processVariance, noiseStddev**2, windMap)
rctGpr = GprPredictor('RCT', database, ['RCT'], rctKernel0)
# coordinates of the map you want to generate/extract
# var1 = 'UT' # WE wind
# var1 = 'VT' # SN wind
var1 = 'WT' # vertical wind
# var1 = 'TKET' # Turbulent kinetic energy
# var1 = 'PABST' # Absolute pressure
# var1 = 'RVT' # Vapor mixing ratio
# var1 = 'RRT' # Rain mixing ratio
# var1 = 'SVT001' # User data (?)
# var1 = 'SVT002' # User data (?)
# var1 = 'SVT003' # User data (?)
mesonhFiles = '/home/pnarvor/work/nephelae/data/MesoNH-2019-02/REFHR.1.ARMCu.4D.nc'
# mesonhFiles = '/home/pnarvor/work/nephelae/data/nephelae-remote/Nephelae_tmp/download/L12zo.1.BOMEX.OUT.*.nc'
# mesonhFiles = '/home/pnarvor/work/nephelae/data/nephelae-remote/MesoNH02/bomex_hf.nc'
atm = MesonhDataset(mesonhFiles)
# tvar = atm.variables['time'][:]
# tvar = tvar - tvar[0]
# xvar = 1000.0*atm.variables['W_E_direction'][:]
# yvar = 1000.0*atm.variables['S_N_direction'][:]
# zvar = 1000.0*np.squeeze(atm.variables['VLEV'][:,0,0])
tvar = atm.dimensions[0]['data']
xvar = atm.dimensions[3]['data']
yvar = atm.dimensions[2]['data']
zvar = atm.dimensions[1]['data']
atmShape = type('AtmShape', (), {})()
atmShape.t = len(atm.dimensions[0]['data'])
atmShape.z = len(atm.dimensions[1]['data'])