def range_handler(self, channel, data):
msg = acomms_range_t.decode(data)
if msg.type != acomms_range_t.ONE_WAY_SYNCHRONOUS:
return
self.osps[:] = [o for o in self.osps if o.utime == msg.utime]
if not self.osps: return
ospid = len(self.osps) - 1
while self.osps:
osp = self.osps.pop()
org_no, new_no = osp.org_tol_no, osp.new_tol_no
if new_no <= self.tol_no or org_no < self.org_no:
#print ospid, 'already have this info'
pass
elif org_no > self.tol_no and self.tol_no != 0:
print 'uh oh!'
elif org_no == self.org_no or org_no == self.tol_no or self.tol_no == 0:
print ospid, 'adding new osp'
self.org_no = org_no
self.tol_no = new_no
self.osp_dict[ospid] += 1
ospid -= 1
del self.osps[:]
import lcm
from perls.lcmtypes.senlcm import acomms_data_type_t
from perls.lcmtypes.senlcm import acomms_tdma_sync_t
from perls.lcmtypes.senlcm import acomms_range_t
if __name__ == '__main__':
logs = lcm.EventLog(sys.argv[1])
logc = lcm.EventLog(sys.argv[2])
sync = [
acomms_tdma_sync_t.decode(e.data) for e in logs
if e.channel == 'IVER31_ACOMMS_SYNC'
]
owtts = [
acomms_range_t.decode(e.data) for e in logs
if e.channel == 'IVER31_ACOMMS_RANGE'
]
owttc = [
acomms_range_t.decode(e.data) for e in logc
if e.channel == 'IVER28_ACOMMS_RANGE'
]
tos = np.asarray([
o.utime for o in owtts if o.type == acomms_range_t.ONE_WAY_SYNCHRONOUS
])
cms = np.asarray([
o.receiver_clk_mode for o in owtts
if o.type == acomms_range_t.ONE_WAY_SYNCHRONOUS
])
import sys
import numpy as np
import matplotlib.pyplot as plt
import lcm
from perls.lcmtypes.senlcm import acomms_data_type_t
from perls.lcmtypes.senlcm import acomms_tdma_sync_t
from perls.lcmtypes.senlcm import acomms_range_t
if __name__ == '__main__':
logs = lcm.EventLog (sys.argv[1])
logc = lcm.EventLog (sys.argv[2])
sync = [acomms_tdma_sync_t.decode (e.data) for e in logs if e.channel=='IVER31_ACOMMS_SYNC']
owtts = [acomms_range_t.decode (e.data) for e in logs if e.channel=='IVER31_ACOMMS_RANGE']
owttc = [acomms_range_t.decode (e.data) for e in logc if e.channel=='IVER28_ACOMMS_RANGE']
tos = np.asarray ([o.utime for o in owtts if o.type==acomms_range_t.ONE_WAY_SYNCHRONOUS])
cms = np.asarray ([o.receiver_clk_mode for o in owtts if o.type==acomms_range_t.ONE_WAY_SYNCHRONOUS])
toc = np.asarray ([o.utime for o in owttc if o.type==acomms_range_t.ONE_WAY_SYNCHRONOUS])
cmc = np.asarray ([o.receiver_clk_mode for o in owttc if o.type==acomms_range_t.ONE_WAY_SYNCHRONOUS])
ts = np.asarray ([s.utime for s in sync if s.dt.type==acomms_data_type_t.DATA])
to = np.asarray ([o.utime for o in owttc if o.src==3])
plt.figure ()
plt.plot ((ts-ts[0])*1e-6, np.ones (len (ts)), 'bo')
plt.plot ((to-ts[0])*1e-6, np.ones (len (to)), 'r.')
try:
log = lcm.EventLog(sys.argv[1])
except Exception as err:
print "error opening lcmlog: %s" % err
param = param_from_log(log)
if not param:
print "Could not find param file"
sys.exit(0)
# data channels
vehicle = param.get_str("vehicle.name")
gpsd_chan = param.get_str("sensors.gpsd3-client.gsd.channel")
range_chan = param.get_str("sensors.modem.range_channel")
sync_chan = param.get_str("sensors.modem.sync_channel")
if vehicle != "topside":
state_chan = param.get_str("vehicle.state_channel")
state = plot_state(state_chan, log)
acomms_ranges = [acomms_range_t.decode(e.data) for e in log if e.channel == range_chan]
nlbl = param.get_num_subkeys("lbl.network")
plot_lbl_ranges(nlbl, acomms_ranges)
plot_owtt_ranges(acomms_ranges)
plt.show()
sys.exit(0)
