def attachLaser( self, remission=False, usb=False, pose=None, index=None, errLog=None ):
if index == None:
strIndex = ''
else:
strIndex = str(index)
if self.replyLog is None:
if usb:
laser = LaserUSB( remission=remission, errLog=errLog )
else:
laser = LaserIP( remission=remission )
name = timeName( "logs/src_laser"+strIndex+"_", "log" )
if self.metaLog:
self.metaLog.write("LASERLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'laser'+strIndex, SourceLogger( laser.scan, name ).get )
if remission:
name = timeName( "logs/src_remission"+strIndex+"_", "log" )
if self.metaLog:
self.metaLog.write("REMISSIONLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'remission'+strIndex, SourceLogger( laser.remission, name ).get )
else:
laser = DummyGPS() # just start
if self.metaLog:
laserSrcLog = self.metaLogName( "LASERLOG:" )
else:
laserSrcLog = self.replyLog[:-18]+"src_laser"+strIndex+"_"+self.replyLog[-17:]
print "LASERLOG:", laserSrcLog
self.registerDataSource( 'laser'+strIndex, SourceLogger( None, laserSrcLog ).get )
if remission:
if self.metaLog:
remissionSrcLog = self.metaLogName( "REMISSIONLOG:" )
else:
remissionSrcLog = self.replyLog[:-18]+"src_remission"+strIndex+"_"+self.replyLog[-17:]
print "REMISSIONLOG:", remissionSrcLog
self.registerDataSource( 'remission'+strIndex, SourceLogger( None, remissionSrcLog ).get )
if index == None:
self.laser = laser
self.laserData = None
self.laserDataTimestamp = None
self.remissionData = None
self.laser.pose = pose
self.addExtension( laserDataExtension )
else:
assert( index == 2 )
self.laser2 = laser
self.laserData2 = None
self.laserData2Timestamp = None
self.remissionData2 = None
self.laser2.pose = pose
self.addExtension( laserDataExtension2 )
def attachCamera(self, cameraExe=None, url="http://192.168.0.99/img.jpg", sleep=None):
if self.replyLog is None:
if cameraExe:
proc = ImageProc(exe=cameraExe, verbose=0, priority=10)
else:
proc = DummyProc( sleep=sleep )
self.camera = Camera( proc,
verbose=0,
url=url,
sleep=sleep )
name = timeName( "logs/src_camera_", "log" )
if self.metaLog:
self.metaLog.write("CAMERALOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'camera', SourceLogger( self.camera.lastResultEx, name ).get )
else:
self.camera = DummyCamera()
if self.metaLog:
cameraSrcLog = self.metaLogName( "CAMERALOG:" )
else:
cameraSrcLog = self.replyLog[:-18]+"src_camera_"+self.replyLog[-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource( 'camera', SourceLogger( None, cameraSrcLog ).get )
self.cameraData = None
self.addExtension( cameraDataExtension )
def attachCamera(self,
cameraExe=None,
url="http://192.168.0.99/img.jpg",
sleep=None):
if self.replyLog is None:
if cameraExe:
proc = ImageProc(exe=cameraExe, verbose=0, priority=10)
else:
proc = DummyProc(sleep=sleep)
self.camera = Camera(proc, verbose=0, url=url, sleep=sleep)
name = timeName("logs/src_camera_", "log")
if self.metaLog:
self.metaLog.write("CAMERALOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource(
'camera',
SourceLogger(self.camera.lastResultEx, name).get)
else:
self.camera = DummyCamera()
if self.metaLog:
cameraSrcLog = self.metaLogName("CAMERALOG:")
else:
cameraSrcLog = self.replyLog[:
-18] + "src_camera_" + self.replyLog[
-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource('camera',
SourceLogger(None, cameraSrcLog).get)
self.cameraData = None
self.addExtension(cameraDataExtension)
def attachRemoteCamera(self, address=('localhost', 8431)):
if self.replyLog is None:
self.camera = RemoteCamera( address, verbose=0 )
self.registerDataSource( 'camera', SourceLogger( self.camera.lastResultEx, timeName( "logs/src_camera_", "log" ) ).get )
else:
self.camera = DummyGPS() # TODO some dummy device with start(), requestStop() functions
cameraSrcLog = self.replyLog[:-18]+"src_camera_"+self.replyLog[-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource( 'camera', SourceLogger( None, cameraSrcLog ).get )
self.cameraData = None
self.addExtension( cameraDataExtension )
def attachRFU620(self):
if self.replyLog is None:
self.rfu620 = RFU620Reader()
name = timeName( "logs/src_rfu620_", "log" )
if self.metaLog:
self.metaLog.write("RFU620LOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'rfu620', SourceLogger( self.rfu620.getScanData, name ).get )
else:
self.rfu620 = DummyGPS()
assert self.metaLog
srcLog = self.metaLogName( "RFU620LOG:" )
print "RFU620LOG:", srcLog
self.registerDataSource( 'rfu620', SourceLogger( None, srcLog ).get )
self.rfu620Data = None
self.addExtension( rfu620DataExtension )
def attachRemoteCamera(self, address=('localhost', 8431)):
if self.replyLog is None:
self.camera = RemoteCamera(address, verbose=0)
self.registerDataSource(
'camera',
SourceLogger(self.camera.lastResultEx,
timeName("logs/src_camera_", "log")).get)
else:
self.camera = DummyGPS(
) # TODO some dummy device with start(), requestStop() functions
cameraSrcLog = self.replyLog[:-18] + "src_camera_" + self.replyLog[
-17:]
print "CAMERALOG:", cameraSrcLog
self.registerDataSource('camera',
SourceLogger(None, cameraSrcLog).get)
self.cameraData = None
self.addExtension(cameraDataExtension)
def attachBarcodeReader(self):
if self.replyLog is None:
self.barcode = BarcodeReader()
name = timeName( "logs/src_barcode_", "log" )
if self.metaLog:
self.metaLog.write("BARCODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'barcode', SourceLogger( self.barcode.getCode, name ).get )
else:
self.barcode = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName( "BARCODELOG:" )
else:
barSrcLog = self.replyLog[:-18]+"src_barcode_"+self.replyLog[-17:]
print "BARCODELOG:", barSrcLog
self.registerDataSource( 'barcode', SourceLogger( None, barSrcLog ).get )
self.barcodeData = None
self.addExtension( barcodeDataExtension )
def attachGPS(self):
if self.replyLog is None:
self.gps = GPS( verbose=0 )
name = timeName( "logs/src_gps_", "log" )
if self.metaLog:
self.metaLog.write("GPSLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'gps', SourceLogger( self.gps.coord, name ).get )
else:
self.gps = DummyGPS()
if self.metaLog:
gpsSrcLog = self.metaLogName( "GPSLOG:" )
else:
gpsSrcLog = self.replyLog[:-18]+"src_gps_"+self.replyLog[-17:]
print "GPSLOG:", gpsSrcLog
self.registerDataSource( 'gps', SourceLogger( None, gpsSrcLog ).get )
self.gpsData = None
self.addExtension( gpsDataExtension )
def attachProcessingNode( self ):
if self.replyLog is None:
self.node = SocketExtension()
name = timeName( "logs/src_node_", "log" )
if self.metaLog:
self.metaLog.write("NODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'node', SourceLogger( self.node.data, name ).get )
else:
self.node = DummyGPS() # just start
if self.metaLog:
nodeSrcLog = self.metaLogName( "NODELOG:" )
else:
nodeSrcLog = self.replyLog[:-18]+"src_node_"+self.replyLog[-17:]
print "NODELOG:", nodeSrcLog
self.registerDataSource( 'node', SourceLogger( None, nodeSrcLog ).get )
self.nodeData = None
self.addExtension( nodeDataExtension )
def attachRasPi(self):
if self.replyLog is None:
self.raspi = RasPi()
name = timeName( "logs/src_raspi_", "log" )
if self.metaLog:
self.metaLog.write("RASPILOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'raspi', SourceLogger( self.raspi.getData, name ).get )
else:
self.raspi = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName( "RASPILOG:" )
else:
barSrcLog = self.replyLog[:-18]+"src_raspi_"+self.replyLog[-17:]
print "RASPILOG:", barSrcLog
self.registerDataSource( 'raspi', SourceLogger( None, barSrcLog ).get )
self.raspiData = None
self.addExtension( raspiDataExtension )
def attachRFID(self):
if self.replyLog is None:
self.rfid = RFID()
name = timeName( "logs/src_rfid_", "log" )
if self.metaLog:
self.metaLog.write("RFIDLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource( 'rfid', SourceLogger( self.rfid.data, name ).get )
else:
self.rfid = DummyGPS() # just start
if self.metaLog:
rfidSrcLog = self.metaLogName( "RFIDLOG:" )
else:
rfidSrcLog = self.replyLog[:-18]+"src_rfid_"+self.replyLog[-17:]
print "RFIDLOG:", rfidSrcLog
self.registerDataSource( 'rfid', SourceLogger( None, rfidSrcLog ).get )
self.rfidData = None
self.rfidDataRaw = None
self.addExtension( rfidDataExtension )
def attachGPS(self):
if self.replyLog is None:
self.gps = GPS(verbose=0)
name = timeName("logs/src_gps_", "log")
if self.metaLog:
self.metaLog.write("GPSLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('gps',
SourceLogger(self.gps.coord, name).get)
else:
self.gps = DummyGPS()
if self.metaLog:
gpsSrcLog = self.metaLogName("GPSLOG:")
else:
gpsSrcLog = self.replyLog[:-18] + "src_gps_" + self.replyLog[
-17:]
print "GPSLOG:", gpsSrcLog
self.registerDataSource('gps', SourceLogger(None, gpsSrcLog).get)
self.gpsData = None
self.addExtension(gpsDataExtension)
def attachProcessingNode(self):
if self.replyLog is None:
self.node = SocketExtension()
name = timeName("logs/src_node_", "log")
if self.metaLog:
self.metaLog.write("NODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('node',
SourceLogger(self.node.data, name).get)
else:
self.node = DummyGPS() # just start
if self.metaLog:
nodeSrcLog = self.metaLogName("NODELOG:")
else:
nodeSrcLog = self.replyLog[:-18] + "src_node_" + self.replyLog[
-17:]
print "NODELOG:", nodeSrcLog
self.registerDataSource('node', SourceLogger(None, nodeSrcLog).get)
self.nodeData = None
self.addExtension(nodeDataExtension)
def attachRasPi(self):
if self.replyLog is None:
self.raspi = RasPi()
name = timeName("logs/src_raspi_", "log")
if self.metaLog:
self.metaLog.write("RASPILOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('raspi',
SourceLogger(self.raspi.getData, name).get)
else:
self.raspi = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName("RASPILOG:")
else:
barSrcLog = self.replyLog[:-18] + "src_raspi_" + self.replyLog[
-17:]
print "RASPILOG:", barSrcLog
self.registerDataSource('raspi', SourceLogger(None, barSrcLog).get)
self.raspiData = None
self.addExtension(raspiDataExtension)
def attachRFID(self):
if self.replyLog is None:
self.rfid = RFID()
name = timeName("logs/src_rfid_", "log")
if self.metaLog:
self.metaLog.write("RFIDLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('rfid',
SourceLogger(self.rfid.data, name).get)
else:
self.rfid = DummyGPS() # just start
if self.metaLog:
rfidSrcLog = self.metaLogName("RFIDLOG:")
else:
rfidSrcLog = self.replyLog[:-18] + "src_rfid_" + self.replyLog[
-17:]
print "RFIDLOG:", rfidSrcLog
self.registerDataSource('rfid', SourceLogger(None, rfidSrcLog).get)
self.rfidData = None
self.rfidDataRaw = None
self.addExtension(rfidDataExtension)
def attachBarcodeReader(self):
if self.replyLog is None:
self.barcode = BarcodeReader()
name = timeName("logs/src_barcode_", "log")
if self.metaLog:
self.metaLog.write("BARCODELOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource(
'barcode',
SourceLogger(self.barcode.getCode, name).get)
else:
self.barcode = DummyGPS()
if self.metaLog:
barSrcLog = self.metaLogName("BARCODELOG:")
else:
barSrcLog = self.replyLog[:
-18] + "src_barcode_" + self.replyLog[
-17:]
print "BARCODELOG:", barSrcLog
self.registerDataSource('barcode',
SourceLogger(None, barSrcLog).get)
self.barcodeData = None
self.addExtension(barcodeDataExtension)
def attachLaser(self,
remission=False,
usb=False,
pose=None,
index=None,
errLog=None):
if index == None:
strIndex = ''
else:
strIndex = str(index)
if self.replyLog is None:
if usb:
laser = LaserUSB(remission=remission, errLog=errLog)
else:
laser = LaserIP(remission=remission)
name = timeName("logs/src_laser" + strIndex + "_", "log")
if self.metaLog:
self.metaLog.write("LASERLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource('laser' + strIndex,
SourceLogger(laser.scan, name).get)
if remission:
name = timeName("logs/src_remission" + strIndex + "_", "log")
if self.metaLog:
self.metaLog.write("REMISSIONLOG:\t" + name + "\n")
self.metaLog.flush()
self.registerDataSource(
'remission' + strIndex,
SourceLogger(laser.remission, name).get)
else:
laser = DummyGPS() # just start
if self.metaLog:
laserSrcLog = self.metaLogName("LASERLOG:")
else:
laserSrcLog = self.replyLog[:
-18] + "src_laser" + strIndex + "_" + self.replyLog[
-17:]
print "LASERLOG:", laserSrcLog
self.registerDataSource('laser' + strIndex,
SourceLogger(None, laserSrcLog).get)
if remission:
if self.metaLog:
remissionSrcLog = self.metaLogName("REMISSIONLOG:")
else:
remissionSrcLog = self.replyLog[:
-18] + "src_remission" + strIndex + "_" + self.replyLog[
-17:]
print "REMISSIONLOG:", remissionSrcLog
self.registerDataSource(
'remission' + strIndex,
SourceLogger(None, remissionSrcLog).get)
if index == None:
self.laser = laser
self.laserData = None
self.laserDataTimestamp = None
self.remissionData = None
self.laser.pose = pose
self.addExtension(laserDataExtension)
else:
assert (index == 2)
self.laser2 = laser
self.laserData2 = None
self.laserData2Timestamp = None
self.remissionData2 = None
self.laser2.pose = pose
self.addExtension(laserDataExtension2)