def __init__(self, app):
super().__init__()
self.app = app
self.setupUi(self)
self.show()
self.current_dir = os.path.dirname(__file__)
self.current_mode = "Merge"
self.event_handler = EventHandler(self)
self.current_tool = Merger(self)
self.current_files = []
self.setupProgramm()
def change_setup(self, setup):
# Reset run configuration to its default values
self.set_default_config()
# Read new setup
self.setup = setup
if (self.read_setup() == "error"): return "error"
# Create new set of ADC board processes (DAQ and ZSUP) handlers
self.daq_nodes_id_list = []
for b in self.boardid_list:
print "Run - Configuring ADC board %d" % b
adcboard = ADCBoard(b)
self.configure_adcboard(adcboard)
self.adcboard_list.append(adcboard)
self.daq_nodes_id_list.append(adcboard.node_id)
# Get unique list of DAQ nodes (needed to create start/stop files)
self.daq_nodes_id_list = list(set(self.daq_nodes_id_list))
# Store ip addresses of DAQ nodes in a dictionary
self.daq_nodes_ip_list = {}
for node_id in self.daq_nodes_id_list:
self.daq_nodes_ip_list[node_id] = self.db.get_node_daq_ip(node_id)
# Create new Trigger process handler
self.trigger = Trigger()
self.configure_trigger(self.trigger)
# Create new Merger process handler
self.merger = Merger()
self.configure_merger(self.merger)
# Create new set of Level1 process handlers
for l in range(self.level1_nproc):
print "Run - Configuring Level1 process %d" % l
lvl1_proc = Level1(l)
self.configure_level1(lvl1_proc)
self.level1_list.append(lvl1_proc)
return setup
def gff_conversie(gff_name, fasta_name, annot_file, gbk_name):
#Functie hernoemd van main naar gff_conversie
"""
De functie roept de andere functies aan:
het openen van de file, het maken van een multidimensionale lijst,
het filteren van de attributen, het maken van de genbank file en
het schrijven van de afsluitende tag //
"""
print "Merger maken"
merger = Merger(fasta_name)
refference(annot_file)
print "Merger klaar"
stopwatch = Statistiek()
make_gbk_file(gbk_name)
write_file('LOCUS PLACEHOLDER\n', gbk_name)
write_file('FEATURES\t\tLocation/Qualifiers\n', gbk_name)
write_file("PLACEHOLDER\n", gbk_name)
print "GFF bestand openen"
contigdict = merger.getdict()
dataBalancer(contigdict, gff_name, gbk_name)
print "Na verdeel"
print "Bestand genereren"
print "DO FASTA"
# print merger.get_fasta()
print "DONE FASTA"
highest_stop = 10
lowest_start = 1
insert_values(highest_stop, lowest_start, 2, gbk_name)
insert_values(highest_stop, "unspecified", 0, gbk_name)
print "Sequentie schrijven"
generate_fasta(fasta_name, gbk_name)
##write_file()
sluiter = "//"
write_file(sluiter, gbk_name)
print "Klaar!"
stopwatch.stop()
def merge_test(fileName1, fileName2):
merger = Merger()
file1 = open(fileName1, "r")
file2 = open(fileName2, "r")
merger.parseFirst(file1.read())
merger.parserSecond(file2.read())
file1.close()
file2.close()
conflictCounter = 0
while merger.hasBothNextBlock():
if merger.isBlockConflict():
print(r'Conflict=#%s#%s#' %
(merger.getBlockOfFirst(), merger.getBlockOfSecond()))
conflictCounter += 1
else:
print('Merged =#%s#' % merger.getBlockOfThird())
print('First rest=' + merger.getRestOfFirstBlock())
print('Second rest=' + merger.getRestOfSecondBlock())
print('Num of conflicts:' + str(conflictCounter))
def __init__(self, initialPos, simtype="UAS_ROTOR", vehicleID = 0,
fasttime = True, verbose=0,callsign = "SPEEDBIRD",
monitor="DAIDALUS",
daaConfig="data/DaidalusQuadConfig.txt"):
self.fasttime = fasttime
self.callsign = callsign
self.verbose = verbose
self.home_pos = [initialPos[0], initialPos[1], initialPos[2]]
self.traffic = []
if simtype == "UAM_VTOL":
self.ownship = VehicleSim(vehicleID,0.0,0.0,0.0,0.0,0.0,0.0)
else:
from quadsim import QuadSim
self.ownship = QuadSim()
self.vehicleID = vehicleID
self.Cog = Cognition(callsign)
self.Guidance = Guidance(GuidanceParam())
self.Geofence = GeofenceMonitor([3,2,2,20,20])
self.Trajectory = Trajectory(callsign)
self.tfMonitor = TrafficMonitor(callsign,daaConfig,False,monitor)
self.Merger = Merger(callsign,vehicleID)
# Aircraft data
self.flightplan1 = []
self.etaFP1 = False
self.etaFP2 = False
self.flightplan2 = []
self.controlInput = [0.0,0.0,0.0]
self.fenceList = []
self.guidanceMode = GuidanceMode.NOOP
# Merger
self.arrTime = None
self.logLatency = 0
self.prevLogUpdate = 0
self.mergerLog = LogData()
self.position = self.home_pos
self.velocity = [0.0,0.0,0.0]
self.trkgsvs = [0.0,0.0,0.0]
self.localPos = []
self.ownshipLog = {"t": [], "position": [], "velocityNED": [], "positionNED": [],
"trkbands": [], "gsbands": [], "altbands": [], "vsbands": [],
"localPlans": [], "localFences": [], "commandedVelocityNED": []}
self.trafficLog = {}
self.emergbreak = False
if self.fasttime:
self.currTime = 0
else:
self.currTime = time.time()
self.numSecPlan = 0
self.plans = []
self.fences = []
self.mergeFixes = []
self.localPlans = []
self.localFences= []
self.localMergeFixes = []
self.daa_radius = 0
self.startSent = False
self.nextWP1 = 1
self.nextWP2 = 1
self.numFences = 0
self.resSpeed = 0
self.defaultWPSpeed = 1
self.missionComplete = False
self.fphases = -1
self.land = False
self.activePlan = "Plan0"
self.windFrom = 0
self.windSpeed = 0
def __init__(self, home_pos, callsign="SPEEDBIRD", vehicleID=0, verbose=1,
logRateHz=5, fasttime=True, simtype="UAS_ROTOR",
monitor="DAIDALUS", daaConfig="data/DaidalusQuadConfig.txt"):
"""
Initialize pycarous
:param fasttime: when fasttime is True, simulation will run in fasttime
:param simtype: string defining vehicle model: UAS_ROTOR, UAM_VTOL, ...
:param monitor: string defining DAA module: DAIDALUS, ACAS, ...
:param daaConfig: DAA module configuration file
Other parameters are defined in parent class, see IcarousInterface.py
"""
super().__init__(home_pos, callsign, vehicleID, verbose)
self.simType = "pycarous"
self.fasttime = fasttime
if self.fasttime:
self.currTime = 0
else:
self.currTime = time.time()
# Initialize vehicle sim
if simtype == "UAM_VTOL":
from vehiclesim import UamVtolSim
self.ownship = UamVtolSim(self.vehicleID, home_pos)
elif simtype == "UAS_ROTOR":
from vehiclesim import QuadSim
self.ownship = QuadSim(self.vehicleID, home_pos)
elif simtype == "UAM_SPQ":
from vehiclesim import SixPassengerQuadSim
self.ownship = SixPassengerQuadSim(self.vehicleID, home_pos)
# Initialize ICAROUS apps
self.Cog = Cognition(self.callsign)
self.Guidance = Guidance(GuidanceParam())
self.Geofence = GeofenceMonitor([3, 2, 2, 20, 20])
self.Trajectory = Trajectory(self.callsign)
self.tfMonitor = TrafficMonitor(self.callsign, daaConfig, False, monitor)
self.Merger = Merger(self.callsign, self.vehicleID)
# Merger data
self.arrTime = None
self.logLatency = 0
self.prevLogUpdate = 0
self.mergerLog = LogData()
self.localMergeFixes = []
# Fligh plan data
self.flightplan1 = []
self.flightplan2 = []
self.etaFP1 = False
self.etaFP2 = False
self.nextWP1 = 1
self.nextWP2 = 1
self.plans = []
self.localPlans = []
self.activePlan = "Plan0"
self.numSecPlan = 0
# Geofence data
self.fences = []
self.localFences= []
self.numFences = 0
# Other aircraft data
self.guidanceMode = GuidanceMode.NOOP
self.emergbreak = False
self.daa_radius = 0
self.turnRate = 0
self.fphases = -1
self.land = False
self.ditch = False
self.loopcount = 0
#teste
self.fp = []
def setMergeMode(self):
self._setupModeChange()
self.radioButton_merge.setChecked(True)
self.save_button.setDisabled(False)
self.current_tool = Merger(self)
