def main():
inputs = ds.data_store()
num_pins = 9 # number of assemblies (with single pin conc)
filename = sys.argv[1]
inputs.enrichments = []
try:
file = open("./super_cell", 'r')
except in_file_error:
usage_error("input file error: (check path and that it exists!)")
quit()
else:
filedata = file.read()
for pn in range(1, num_pins + 1):
enrichment = aw_round(random.uniform(0.8, 5.0))
print("pin number " + str(pn))
filedata = filedata.replace(
'%pin' + str(pn) + '%',
"UO2_{:02d}".format(int(enrichment * 10)))
inputs.enrichments.append(enrichment)
# Write the file out again
try:
file = open(filename, 'w')
except out_file_error:
usage_error("file output error")
quit()
else:
file.write(filedata)
try:
f = open(filename + ".pickle",
"wb+") # you should be creating state.pickle here...
except:
print("Error opening output file")
exit()
else:
f.write(pickle.dumps(inputs))
f.close()
def run_filter(filter, imu_data, gps_data, filter_data, config=None):
data_dict = data_store.data_store()
errors = []
# Using while loop starting at k (set to kstart) and going to end
# of .mat file
gps_index = 0
filter_index = 0
new_gps = 0
if config and config['call_init']:
filter_init = False
else:
filter_init = True
if config and 'start_time' in config:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= config['start_time']:
k_start = k
break
else:
k_start = 0
if config and 'end_time' in config:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= config['end_time']:
k_end = k
break
else:
k_end = len(imu_data)
#print k_start, k_end
for k in range(k_start, k_end):
imupt = imu_data[k]
if gps_index < len(gps_data) - 1:
# walk the gps counter forward as needed
newData = 0
while gps_data[gps_index+1].time - gps_latency <= imupt.time:
gps_index += 1
newData = 1
gpspt = gps_data[gps_index]
gpspt.newData = newData
else:
# no more gps data, stay on the last record
gpspt = gps_data[gps_index]
gpspt.newData = 0
#print gpspt.time`
# walk the filter counter forward as needed
if len(filter_data):
if imupt.time > filter_data[filter_index].time:
filter_index += 1
if filter_index >= len(filter_data):
# no more filter data, stay on the last record
filter_index = len(filter_data)-1
filterpt = filter_data[filter_index]
else:
filterpt = None
#print "t(imu) = " + str(imupt.time) + " t(gps) = " + str(gpspt.time)
# If k is at the initialization time init_nav else get_nav
if not filter_init and gps_index > 0:
print "init:", imupt.time, gpspt.time
navpt = filter.init(imupt, gpspt, filterpt)
filter_init = True
elif filter_init:
navpt = filter.update(imupt, gpspt, filterpt)
# Store the desired results obtained from the compiled test
# navigation filter and the baseline filter
if filter_init:
data_dict.append(navpt)
if gpspt.newData:
# compute error metric with each new gps report
# full 3d distance error (in ecef)
p1 = navpy.lla2ecef(gpspt.lat, gpspt.lon, gpspt.alt,
latlon_unit='deg')
p2 = navpy.lla2ecef(navpt.lat, navpt.lon, navpt.alt,
latlon_unit='rad')
pe = np.linalg.norm(p1 - p2)
# weight horizontal error more highly than vertical error
ref = gps_data[0]
n1 = navpy.lla2ned(gpspt.lat, gpspt.lon, gpspt.alt,
ref.lat, ref.lon, 0.0,
latlon_unit='deg')
n2 = navpy.lla2ned(navpt.lat*r2d, navpt.lon*r2d, navpt.alt,
ref.lat, ref.lon, 0.0,
latlon_unit='deg')
dn = n2 - n1
ne = math.sqrt(dn[0]*dn[0] + dn[1]*dn[1] + dn[2]*dn[2]*0.5)
# it is always tempting to fit to the velocity vector
# (especially when seeing some of the weird velocity fits
# that the optimizer spews out), but it never helps
# ... seems to make the solution convergence much more
# shallow, ultimately never seems to produce a better fit
# than using position directly. Weird fits happen when
# the inertial errors just don't fit the gps errors.
# Fitting to velocity doesn't seem to improve that
# problem.
v1 = np.array( [gpspt.vn, gpspt.ve, gpspt.vd] )
v2 = np.array( [navpt.vn, navpt.ve, navpt.vd] )
ve = np.linalg.norm(v1 - v2)
errors.append(ne) # ned error weighted towards horizontal
# Increment time up one step for the next iteration of the
# while loop.
k += 1
# proper cleanup
filter.close()
return errors, data_dict
if args.flight:
plotname = os.path.basename(args.flight)
elif args.aura_flight:
plotname = os.path.basename(args.aura_flight)
elif args.sentera_flight:
plotname = os.path.basename(args.sentera_flight)
elif args.sentera2_flight:
plotname = os.path.basename(args.sentera2_flight)
elif args.umn_flight:
plotname = os.path.basename(args.umn_flight)
# plots
plt = plots.Plots(plotname)
# plot onboard filter
data_ob = data_store.data_store()
for filterpt in filter_data:
data_ob.append_from_filter(filterpt)
plt.update(data_ob, 'On Board', c='g', alpha=0.5)
# plot gps
data_gps = data_store.data_store()
for gpspt in gps_data:
data_gps.append_from_gps(gpspt)
plt.update(data_gps, 'GPS', marker='*', c='g', alpha=0.5)
# find the range of gps time stamps that represent some significant
# amount of velocity
k_start = 0
for k, gpspt in enumerate(gps_data):
gps_vel = math.sqrt(gpspt.vn*gpspt.vn + gpspt.ve*gpspt.ve)
import unittest
import data_store
ds = data_store.data_store()
class TestCalc(unittest.TestCase):
def test_Key_type(self):
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckKey(None)
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckKey(3)
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckKey(1.2)
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckKey(True)
def test_Value_type(self):
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckValue(None)
with self.assertRaises(Exception):
ds.ClearAll()
ds.CheckValue(3)
with self.assertRaises(Exception):
ds.ClearAll()
def run_filter(filter, data, call_init=True, start_time=None, end_time=None):
# for convenience ...
imu_data = data['imu']
gps_data = data['gps']
if 'air' in data:
air_data = data['air']
else:
air_data = []
filter_data = data['filter']
if 'pilot' in data:
pilot_data = data['pilot']
else:
pilot_data = []
if 'act' in data:
act_data = data['act']
else:
act_data = []
data_dict = data_store.data_store()
# t_store = []
# Using while loop starting at k (set to kstart) and going to end
# of .mat file
run_start = time.time()
gps_index = 0
air_index = 0
airpt = nav.structs.Airdata()
filter_index = 0
pilot_index = 0
pilotpt = None
act_index = 0
actpt = None
new_gps = 0
if call_init:
filter_init = False
else:
filter_init = True
k_start = 0
if start_time != None:
for k, imu_pt in enumerate(imu_data):
#print k_start, imu_pt.time, start_time
if imu_pt.time >= start_time:
k_start = k
break
k_end = len(imu_data)
if end_time != None:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= end_time:
k_end = k
break
print k_start, k_end
for k in range(k_start, k_end):
imupt = imu_data[k]
if gps_index < len(gps_data) - 1:
# walk the gps counter forward as needed
newData = 0
while gps_index < len(gps_data) - 1 and gps_data[gps_index+1].time <= imupt.time:
gps_index += 1
newData = 1
gpspt = gps_data[gps_index]
gpspt.newData = newData
else:
# no more gps data, stay on the last record
gpspt = gps_data[gps_index]
gpspt.newData = 0
#print gpspt.time
if air_index < len(air_data) - 1:
# walk the airdata counter forward as needed
while air_index < len(air_data) - 1 and air_data[air_index+1].time <= imupt.time:
air_index += 1
airpt = air_data[air_index]
elif len(air_data):
# no more air data, stay on the last record
airpt = air_data[air_index]
# print airpt.time
# walk the filter counter forward as needed
if len(filter_data):
while filter_index < len(filter_data) - 1 and filter_data[filter_index].time <= imupt.time:
filter_index += 1
filterpt = filter_data[filter_index]
else:
filterpt = filter_data[filter_index]
#print "t(imu) = " + str(imupt.time) + " t(gps) = " + str(gpspt.time)
if 'pilot' in data:
while pilot_index < len(pilot_data) - 1 and pilot_data[pilot_index].time <= imupt.time:
pilot_index += 1
pilotpt = pilot_data[pilot_index]
elif 'pilot' in data:
pilotpt = pilot_data[pilot_index]
if 'act' in data:
while act_index < len(act_data) - 1 and act_data[act_index].time <= imupt.time:
act_index += 1
actpt = act_data[act_index]
#print act_index, imupt.time, actpt.time, actpt.throttle, actpt.elevator
elif 'act' in data:
actpt = act_data[act_index]
# If k is at the initialization time init_nav else get_nav
if not filter_init and gps_index > 0:
print "init:", imupt.time, gpspt.time
navpt = filter.init(imupt, gpspt, filterpt)
filter_init = True
elif filter_init:
navpt = filter.update(imupt, gpspt, filterpt)
if filter_init:
# experimental: run wind estimator
# print airpt.airspeed
(wn, we, ps) = wind.update_wind(imupt.time, airpt.airspeed,
navpt.psi, navpt.vn, navpt.ve)
#print wn, we, math.atan2(wn, we), math.atan2(wn, we)*r2d
wind_deg = 90 - math.atan2(wn, we) * r2d
if wind_deg < 0: wind_deg += 360.0
wind_kt = math.sqrt( we*we + wn*wn ) * mps2kt
#print wn, we, ps, wind_deg, wind_kt
# experimental: synthetic airspeed estimator
if 'act' in data and synth_asi.rbfi == None:
#print airpt.airspeed, actpt.throttle, actpt.elevator
synth_asi.append(navpt.phi, actpt.throttle, actpt.elevator,
imupt.q, airpt.airspeed)
elif 'act' in data:
asi_kt = synth_asi.est_airspeed(navpt.phi, actpt.throttle,
actpt.elevator, imupt.q)
data_dict.add_asi(airpt.airspeed, asi_kt)
# Store the desired results obtained from the compiled test
# navigation filter and the baseline filter
if filter_init:
data_dict.append(navpt, imupt)
data_dict.add_wind(wind_deg, wind_kt, ps)
# Increment time up one step for the next iteration of the
# while loop.
k += 1
# proper cleanup
filter.close()
run_end = time.time()
elapsed_sec = run_end - run_start
return data_dict, elapsed_sec
def run_filter(filter, data, call_init=True, start_time=None, end_time=None):
# for convenience ...
imu_data = data['imu']
gps_data = data['gps']
if 'air' in data:
air_data = data['air']
else:
air_data = []
filter_data = data['filter']
if 'pilot' in data:
pilot_data = data['pilot']
else:
pilot_data = []
if 'act' in data:
act_data = data['act']
else:
act_data = []
data_dict = data_store.data_store()
# t_store = []
# Using while loop starting at k (set to kstart) and going to end
# of .mat file
run_start = time.time()
gps_index = 0
air_index = 0
airpt = nav.structs.Airdata()
filter_index = 0
pilot_index = 0
pilotpt = None
act_index = 0
actpt = None
new_gps = 0
synth_filt_asi = 0
if call_init:
filter_init = False
else:
filter_init = True
k_start = 0
if start_time != None:
for k, imu_pt in enumerate(imu_data):
#print k_start, imu_pt.time, start_time
if imu_pt.time >= start_time:
k_start = k
break
k_end = len(imu_data)
if end_time != None:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= end_time:
k_end = k
break
print k_start, k_end
for k in range(k_start, k_end):
imupt = imu_data[k]
if gps_index < len(gps_data) - 1:
# walk the gps counter forward as needed
newData = 0
while gps_index < len(gps_data) - 1 and gps_data[gps_index+1].time - args.gps_lag <= imupt.time:
gps_index += 1
newData = 1
gpspt = gps_data[gps_index]
gpspt.newData = newData
else:
# no more gps data, stay on the last record
gpspt = gps_data[gps_index]
gpspt.newData = 0
#print gpspt.time
if air_index < len(air_data) - 1:
# walk the airdata counter forward as needed
while air_index < len(air_data) - 1 and air_data[air_index+1].time <= imupt.time:
air_index += 1
airpt = air_data[air_index]
elif len(air_data):
# no more air data, stay on the last record
airpt = air_data[air_index]
# print airpt.time
# walk the filter counter forward as needed
if len(filter_data):
while filter_index < len(filter_data) - 1 and filter_data[filter_index].time <= imupt.time:
filter_index += 1
filterpt = filter_data[filter_index]
else:
filterpt = filter_data[filter_index]
#print "t(imu) = " + str(imupt.time) + " t(gps) = " + str(gpspt.time)
if 'pilot' in data:
while pilot_index < len(pilot_data) - 1 and pilot_data[pilot_index].time <= imupt.time:
pilot_index += 1
pilotpt = pilot_data[pilot_index]
elif 'pilot' in data:
pilotpt = pilot_data[pilot_index]
if 'act' in data:
while act_index < len(act_data) - 1 and act_data[act_index].time <= imupt.time:
act_index += 1
actpt = act_data[act_index]
#print act_index, imupt.time, actpt.time, actpt.throttle, actpt.elevator
elif 'act' in data:
actpt = act_data[act_index]
# If k is at the initialization time init_nav else get_nav
if not filter_init and gps_index > 0:
print "init:", imupt.time, gpspt.time
navpt = filter.init(imupt, gpspt, filterpt)
filter_init = True
elif filter_init:
navpt = filter.update(imupt, gpspt, filterpt)
if filter_init:
# experimental: run wind estimator
# print airpt.airspeed
(wn, we, ps) = wind.update_wind(imupt.time, airpt.airspeed,
navpt.psi, navpt.vn, navpt.ve)
#print wn, we, math.atan2(wn, we), math.atan2(wn, we)*r2d
wind_deg = 90 - math.atan2(wn, we) * r2d
if wind_deg < 0: wind_deg += 360.0
wind_kt = math.sqrt( we*we + wn*wn ) * mps2kt
#print wn, we, ps, wind_deg, wind_kt
# experimental: synthetic airspeed estimator
if 'act' in data and synth_asi.rbfi == None:
#print airpt.airspeed, actpt.throttle, actpt.elevator
synth_asi.append(navpt.phi, actpt.throttle, actpt.elevator,
imupt.q, airpt.airspeed)
elif 'act' in data:
asi_kt = synth_asi.est_airspeed(navpt.phi, actpt.throttle,
actpt.elevator, imupt.q)
synth_filt_asi = 0.9 * synth_filt_asi + 0.1 * asi_kt
data_dict.add_asi(airpt.airspeed, synth_filt_asi)
# Store the desired results obtained from the compiled test
# navigation filter and the baseline filter
if filter_init:
data_dict.append(navpt, imupt)
data_dict.add_wind(wind_deg, wind_kt, ps)
# Increment time up one step for the next iteration of the
# while loop.
k += 1
# proper cleanup
filter.close()
run_end = time.time()
elapsed_sec = run_end - run_start
return data_dict, elapsed_sec
def run_filter(filter, imu_data, gps_data, filter_data, config=None):
data_dict = data_store.data_store()
errors = []
# Using while loop starting at k (set to kstart) and going to end
# of .mat file
gps_index = 0
filter_index = 0
new_gps = 0
if config and config['call_init']:
filter_init = False
else:
filter_init = True
if config and 'start_time' in config:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= config['start_time']:
k_start = k
break
else:
k_start = 0
if config and 'end_time' in config:
for k, imu_pt in enumerate(imu_data):
if imu_pt.time >= config['end_time']:
k_end = k
break
else:
k_end = len(imu_data)
#print k_start, k_end
for k in range(k_start, k_end):
imupt = imu_data[k]
if gps_index < len(gps_data) - 1:
# walk the gps counter forward as needed
newData = 0
while gps_data[gps_index+1].time - gps_latency <= imupt.time:
gps_index += 1
newData = 1
gpspt = gps_data[gps_index]
gpspt.newData = newData
else:
# no more gps data, stay on the last record
gpspt = gps_data[gps_index]
gpspt.newData = 0
#print gpspt.time`
# walk the filter counter forward as needed
if len(filter_data):
if imupt.time > filter_data[filter_index].time:
filter_index += 1
if filter_index >= len(filter_data):
# no more filter data, stay on the last record
filter_index = len(filter_data)-1
filterpt = filter_data[filter_index]
else:
filterpt = None
#print "t(imu) = " + str(imupt.time) + " t(gps) = " + str(gpspt.time)
# If k is at the initialization time init_nav else get_nav
if not filter_init and gps_index > 0:
print "init:", imupt.time, gpspt.time
navpt = filter.init(imupt, gpspt, filterpt)
filter_init = True
elif filter_init:
navpt = filter.update(imupt, gpspt, filterpt)
# Store the desired results obtained from the compiled test
# navigation filter and the baseline filter
if filter_init:
data_dict.append(navpt, imupt)
if gpspt.newData:
# compute error metric with each new gps report
# full 3d distance error (in ecef)
p1 = navpy.lla2ecef(gpspt.lat, gpspt.lon, gpspt.alt,
latlon_unit='deg')
p2 = navpy.lla2ecef(navpt.lat, navpt.lon, navpt.alt,
latlon_unit='rad')
pe = np.linalg.norm(p1 - p2)
# weight horizontal error more highly than vertical error
ref = gps_data[0]
n1 = navpy.lla2ned(gpspt.lat, gpspt.lon, gpspt.alt,
ref.lat, ref.lon, 0.0,
latlon_unit='deg')
n2 = navpy.lla2ned(navpt.lat*r2d, navpt.lon*r2d, navpt.alt,
ref.lat, ref.lon, 0.0,
latlon_unit='deg')
dn = n2 - n1
ne = math.sqrt(dn[0]*dn[0] + dn[1]*dn[1] + dn[2]*dn[2]*0.5)
# it is always tempting to fit to the velocity vector
# (especially when seeing some of the weird velocity fits
# that the optimizer spews out), but it never helps
# ... seems to make the solution convergence much more
# shallow, ultimately never seems to produce a better fit
# than using position directly. Weird fits happen when
# the inertial errors just don't fit the gps errors.
# Fitting to velocity doesn't seem to improve that
# problem.
v1 = np.array( [gpspt.vn, gpspt.ve, gpspt.vd] )
v2 = np.array( [navpt.vn, navpt.ve, navpt.vd] )
ve = np.linalg.norm(v1 - v2)
errors.append(ne) # ned error weighted towards horizontal
# Increment time up one step for the next iteration of the
# while loop.
k += 1
# proper cleanup
filter.close()
return errors, data_dict
elif args.px4_sdlog2:
plotname = os.path.basename(args.px4_sdlog2)
elif args.sentera_flight:
plotname = os.path.basename(args.sentera_flight)
elif args.sentera2_flight:
plotname = os.path.basename(args.sentera2_flight)
elif args.umn_flight:
plotname = os.path.basename(args.umn_flight)
else:
plotname = "plotname not set correctly"
# plots
plt = plots.Plots(plotname)
# plot onboard filter
data_ob = data_store.data_store()
for filterpt in data['filter']:
data_ob.append_from_filter(filterpt)
plt.update(data_ob, 'On Board', c='g', alpha=0.5)
# plot gps
data_gps = data_store.data_store()
for gpspt in data['gps']:
data_gps.append_from_gps(gpspt)
plt.update(data_gps, 'GPS', marker='*', c='g', alpha=0.5)
# find the range of gps time stamps that represent some significant
# amount of velocity
k_start = 0
for k, gpspt in enumerate(data['gps']):
gps_vel = math.sqrt(gpspt.vn*gpspt.vn + gpspt.ve*gpspt.ve)
from data_init import data_init
from data_store import data_store
from data_sort import data_sort
data = {}
data_init(data)
# print(data)
data_store(data, "关键字 参数")
data_store(data, "J RT")
data_store(data, "J AA")
data_store(data, "B RT")
full_name = input("输入全名，注意空格分隔开姓和名\n")
data_store(data, full_name)
label = input("输入要first_name 或者 last_name来指定查找的字段\n")
name = input("输入要查找字段:%s的值？\n" % label)
result = data_sort(data, label, name)
print(result)
# test load of tri-grid
if False:
tg = tri_grid()
fh = open(EU("../grids/eu_mesh_1_7_meta"), 'rb')
tg.load(fh)
print tg.get_meta_data()
y = tg.get_triangles_at_level(3)
for z in y:
print z.get_data().get_label()
fh.close()
# test load of data-store (regridded data)
file_stub = "../test_data/hadam3p_eu_2kci_1962_1_007425047_1/2kciga.pdg2dec"
if False:
ds = data_store()
fh = open(EU(file_stub + "_l7.rgd"), 'rb')
ds.load(fh)
print ds.get_meta_data()
print ds.get_n_idxs(), ds.get_n_t_steps()
print ds[0,1], ds[29,345]
fh.close()
# test load of extrema-list (identified extrema)
if False:
ex = extrema_list()
fh = open(EU(file_stub + "_l7.ex"), 'rb')
ex.load(fh)
print ex.get_meta_data()
print ex.get_n_t_steps()
print ex.get_n_extrema(0)
