def __init__ (self, log, osp_chan, rec_chan):
print '{Acoustic_node} parsing OSP events...'
#self.osps = [acomms_osp_t.decode (e.data) for e in log if osp_chan in e.channel]
osps = [acomms_osp_t.decode (e.data) for e in log if osp_chan in e.channel]
print '{Acoustic_node} found %d OSPs' % (len (osps))
print '{Acoustic_node} parsing OSP recovery events...'
#self.recs = [acomms_osp_recovery_t.decode (e.data) for e in log if rec_chan in e.channel]
recs = [acomms_osp_recovery_t.decode (e.data) for e in log if rec_chan in e.channel]
print '{Acoustic_node} found %d recoveries' % (len (recs))
t_osp = [o.utime for o in osps]
t_rec = [o.utime for o in recs]
self.t_osp = np.asarray (t_osp)
self.t_rec = np.asarray (t_rec)
utime = t_osp+t_rec
utime.sort ()
self.utime = np.asarray (utime)
def __init__(self, log, osp_chan, rec_chan):
print '{Acoustic_node} parsing OSP events...'
#self.osps = [acomms_osp_t.decode (e.data) for e in log if osp_chan in e.channel]
osps = [
acomms_osp_t.decode(e.data) for e in log if osp_chan in e.channel
]
print '{Acoustic_node} found %d OSPs' % (len(osps))
print '{Acoustic_node} parsing OSP recovery events...'
#self.recs = [acomms_osp_recovery_t.decode (e.data) for e in log if rec_chan in e.channel]
recs = [
acomms_osp_recovery_t.decode(e.data) for e in log
if rec_chan in e.channel
]
print '{Acoustic_node} found %d recoveries' % (len(recs))
t_osp = [o.utime for o in osps]
t_rec = [o.utime for o in recs]
self.t_osp = np.asarray(t_osp)
self.t_rec = np.asarray(t_rec)
utime = t_osp + t_rec
utime.sort()
self.utime = np.asarray(utime)
import lcm
from perls.lcmtypes.perllcm import iver_osm_state_t
from perls.lcmtypes.perllcm import iver_osm_vis_t
from perls.lcmtypes.senlcm import acomms_osp_t
if __name__ == '__main__':
if len (sys.argv) < 2:
print 'usage: %s <lcmlog-server>' % sys.argv[0]
sys.exit (0)
ilog = lcm.EventLog (sys.argv[1])
olog = lcm.EventLog ('lcmlog-server-cooked', 'w', overwrite=True)
DTOL = 2
for e in ilog:
if e.channel=='IVER31_SERVER_OSP':
m = acomms_osp_t.decode (e.data)
m.org_tol_no += DTOL
m.new_tol_no += DTOL
olog.write_event (e.timestamp, e.channel, m.encode ())
continue
elif e.channel=='SERVER_OSM_VIS':
m = iver_osm_vis_t.decode (e.data)
for p in m.poses: p.index += DTOL
olog.write_event (e.timestamp, e.channel, m.encode ())
continue
olog.write_event (e.timestamp, e.channel, e.data)
sys.exit (0)
import lcm
from perls.lcmtypes.senlcm import acomms_data_t
from perls.lcmtypes.senlcm import acomms_osp_t
from perls.lcmtypes.senlcm import acomms_range_t
if __name__ == '__main__':
if len(sys.argv) < 3:
print 'usage: %s <lcmlog-orig> <lcmlog-server>' % sys.argv[0]
sys.exit(0)
logc = lcm.EventLog(sys.argv[1])
logs = lcm.EventLog(sys.argv[2])
osp_events = [e for e in logs if e.channel == 'IVER28_SERVER_OSP']
osp = [acomms_osp_t.decode(e.data) for e in osp_events]
osp_utime = np.asarray([o.utime for o in osp])
print 'found %d osps' % len(osp_utime)
olog = lcm.EventLog('lcmlog-multiple-server', 'w', overwrite=True)
for e in logc:
if e.channel == 'TOPSIDE_ACOMMS_DATA':
m = acomms_data_t.decode(e.data)
print 'data', m.utime, m.src, m.frame_size
if m.src == 2 and m.frame_size == 3:
ii = np.where((m.utime - osp_utime > 0)
& (m.utime - osp_utime < 5e6))[0]
#print (m.utime-osp_utime[ii])*1e-6
#print [osp[i].new_tol_no for i in ii]
import numpy as np
import lcm
from perls.lcmtypes.senlcm import acomms_osp_t
if __name__ == '__main__':
if len (sys.argv) < 3:
print 'usage: %s <lcmlog-orig> <lcmlog-server>' % sys.argv[0]
sys.exit (0)
logc = lcm.EventLog (sys.argv[1])
logs = lcm.EventLog (sys.argv[2])
osp_events = [e for e in logs if e.channel=='IVER31_SERVER_OSP']
osp = [acomms_osp_t.decode (e.data) for e in osp_events]
osp_utime = np.asarray ([o.utime for o in osp])
print 'found %d osps' % len (osp_utime)
olog = lcm.EventLog ('lcmlog-replaced-osp', 'w', overwrite=True)
for e in logc:
if e.channel=='IVER28_CLIENT_OSP':
m = acomms_osp_t.decode (e.data)
ii = np.where ((m.utime-osp_utime>0) & (m.utime-osp_utime < 5e6))[0]
#ii = np.where ((m.utime-osp_utime>-12e6) & (m.utime-osp_utime < 12e6))[0]
#print (m.utime-osp_utime[ii])*1e-6
#print [osp[i].new_tol_no for i in ii]
for i in ii:
if m.new_tol_no==osp[i].new_tol_no:
print 'replacing osp event (%d,%d) (%d,%d)' % (m.org_tol_no, m.new_tol_no, osp[i].org_tol_no, osp[i].new_tol_no)
def osp_handler(self, channel, data):
osp = acomms_osp_t.decode(data)
self.osps.append(osp)
import lcm
from perls.lcmtypes.perllcm import iver_osm_state_t
from perls.lcmtypes.perllcm import iver_osm_vis_t
from perls.lcmtypes.senlcm import acomms_osp_t
if __name__ == '__main__':
if len(sys.argv) < 2:
print 'usage: %s <lcmlog-server>' % sys.argv[0]
sys.exit(0)
ilog = lcm.EventLog(sys.argv[1])
olog = lcm.EventLog('lcmlog-server-cooked', 'w', overwrite=True)
DTOL = 2
for e in ilog:
if e.channel == 'IVER31_SERVER_OSP':
m = acomms_osp_t.decode(e.data)
m.org_tol_no += DTOL
m.new_tol_no += DTOL
olog.write_event(e.timestamp, e.channel, m.encode())
continue
elif e.channel == 'SERVER_OSM_VIS':
m = iver_osm_vis_t.decode(e.data)
for p in m.poses:
p.index += DTOL
olog.write_event(e.timestamp, e.channel, m.encode())
continue
olog.write_event(e.timestamp, e.channel, e.data)
sys.exit(0)
