def cmd_start(self):
'''start vicon'''
vicon = pyvicon.PyVicon()
print("Opening Vicon connection to %s" % self.vicon_settings.host)
vicon.connect(self.vicon_settings.host)
print("Configuring vicon")
vicon.set_stream_mode(pyvicon.StreamMode.ClientPull)
vicon.enable_marker_data()
vicon.enable_segment_data()
vicon.enable_unlabeled_marker_data()
vicon.enable_device_data()
print("vicon ready")
self.vicon = vicon
def cmd_start(self):
"""start vicon"""
vicon = pyvicon.PyVicon()
print("Opening Vicon connection to %s" % self.vicon_settings.host)
vicon.connect(self.vicon_settings.host)
print("Configuring vicon")
vicon.set_stream_mode(pyvicon.StreamMode.ClientPull)
vicon.enable_marker_data()
vicon.enable_segment_data()
vicon.enable_unlabeled_marker_data()
vicon.enable_device_data()
# Set the axis mapping to the ardupilot convention (North, East, Down)
vicon.set_axis_mapping(pyvicon.Direction.Forward,
pyvicon.Direction.Right, pyvicon.Direction.Down)
print(vicon.get_axis_mapping())
print("vicon ready")
self.vicon = vicon
import time
import socket
import pickle
import numpy as np
from pyvicon import pyvicon as pv
IP = "199.98.21.246"
STREAM_MODE = pv.StreamMode.ClientPull #ServerPush is an alternative (lower latency)
# instantiate client
client = pv.PyVicon()
# try to connect to Vicon running on IP
print("Connecting to DataStream",end="")
while not client.is_connected():
client.connect(IP)
print(".")
time.sleep(.25)
print("Connected to DataStream on IP:",IP)
# enable data types
client.enable_segment_data()
client.enable_marker_data()
client.enable_unlabeled_marker_data()
client.enable_device_data()
# set stream mode
print("Setting StreamMode to",str(STREAM_MODE))
client.set_stream_mode(STREAM_MODE)
default=False,
help="only send GPS data")
parser.add_argument("--send-zero",
action='store_true',
default=False,
help="send zero data")
args = parser.parse_args()
# create a mavlink serial instance
mav = mavutil.mavlink_connection(args.mavlink_dest,
source_system=args.source_sysid,
source_component=args.source_component)
# create vicon connection
vicon = pyvicon.PyVicon()
origin_parts = args.origin.split(',')
if len(origin_parts) != 4:
print("Origin should be lat,lon,alt,yaw")
sys.exit(1)
origin = (float(origin_parts[0]), float(origin_parts[1]),
float(origin_parts[2]))
last_origin_send = 0
def connect_to_vicon(ip):
'''connect to a vicon with given ip or hostname'''
global vicon
print("Opening connection to %s" % ip)