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 analyseLaser(filename):
all = []
scan = []
for i in range(541):
angle = (i - 270) / 2.0
if math.fabs(angle) < 80:
s = 2226.0 / math.cos(math.radians(angle))
else:
s = 0
scan.append(s)
all.append(scan)
start = 1136 / 2
i = 0
for scan in SourceLogger(None, filename).generator():
if i >= start:
all.append([s + (i - start) * 1000 for s in scan])
# all.append( [s+(i-start)*1000 for s in roughness(scan)] )
if i == start:
all.append(median(scan))
# all.append( roughness(scan) )
i += 1
if i >= start + 5:
break
for i in range(len(all[0]) - 1, -1,
-1): # revert so Excel view is left to right
s = ""
for a in all:
s += "%d\t" % a[i]
print s
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 analyseLaser0(filename):
prev = None
for scan in SourceLogger(None, filename).generator():
patch = scan[265:275]
if prev:
diff = [x - y for (x, y) in zip(prev, patch)]
print diff
prev = patch
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 testMaxMatchingLine(filename):
"find longest line in the scan --- brute force for PC, if it has any sense"
for scan in SourceLogger(None, filename).generator():
assert (len(scan) == 541) # TODO failures or different counts
arr = [
(d * math.cos(math.radians(a / 2.0)) / 1000.0,
d * math.sin(math.radians(a / 2.0)) / 1000.0)
for d, a in zip(scan, range(-270, 270 + 1, 1)) if d > 0
] # ignore timeouts, so note that number of points does not have to be 541 any more
break
line = findBestLine(arr)
for c in arr:
if math.fabs(line.signedDistance(c)) < 0.05:
print "%f\t%f" % c
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)