noise = noiseStddev * np.random.randn(p.shape[0])
dtfile = 'output/wind_data03.neph'
print("Getting mesonh values... ", end='')
# dtbase = NephelaeDataServer()
# sys.stdout.flush()
# for pos,n in zip(p,noise):
# dtbase.add_gps(Gps("100", Position(pos[0],pos[1],pos[2],pos[3])))
# dtbase.add_sample(SensorSample('RCT', '100', pos[0],
# Position(pos[0],pos[1],pos[2],pos[3]),
# [rct[pos[0],pos[1],pos[2],pos[3] + n]]))
# dtbase.add_sample(SensorSample('Wind', '100', pos[0],
# Position(pos[0],pos[1],pos[2],pos[3]),
# [ut[pos[0],pos[1],pos[2],pos[3]], vt[pos[0],pos[1],pos[2],pos[3]]]))
# dtbase.save(dtfile, force=True)
dtbase = NephelaeDataServer.load(dtfile)
print("Done !")
sys.stdout.flush()
gprMap = GprPredictor('RCT', dtbase, ['RCT'], kernel0)
profiling = False
# profiling = True
if not profiling:
fig, axes = plt.subplots(3, 1, sharex=True, sharey=True)
simTime = p0.t
lastTime = time.time()
simSpeed = 50.0
# interp='nearest'
interp = 'bicubic'
#! /usr/bin/python3
import sys
sys.path.append('../../')
import os
import signal
import time
from nephelae.database import NephelaeDataServer
database = NephelaeDataServer.load('/home/pnarvor/work/nephelae/data/temp/default.neph')
parser = argparse.ArgumentParser(
description='Converts a NephelaeDataServer binary file to ASCII')
parser.add_argument('inputpath',
type=str,
help="Path to database to be converted.")
parser.add_argument('-o',
'--outputpath',
dest='outputpath',
type=str,
default=None,
help="File to write the output to (default is stdout)")
args = parser.parse_args()
# database = NephelaeDataServer.load('/home/pnarvor/work/nephelae/data/barbados/logs/flight_01_28_02/database/database01.neph')
database = NephelaeDataServer.load(args.inputpath)
data = [entry.data for entry in database['STATUS'][:]]
data = data + [entry.data for entry in database['SAMPLE'][:]]
data.sort(key=lambda x: x.position.t)
if args.outputpath is None:
print(database.navFrame.one_line_str())
for datum in data:
print(datum.one_line_str())
else:
with open(args.outputpath, 'w') as f:
f.write(database.navFrame.one_line_str() + '\n')
for datum in data:
f.write(datum.one_line_str() + '\n')
print(datum.one_line_str())
from nephelae_mesonh import MesonhDataset, MesonhMap
from nephelae.types import Position
from nephelae.types import Bounds
from nephelae.types import Gps
from nephelae.types import SensorSample
from nephelae.mapping import GprPredictor
from nephelae.mapping import WindKernel
from nephelae.mapping import WindMapConstant
from nephelae.database import NephelaeDataServer
mesonhPath = '/home/pnarvor/work/nephelae/data/MesoNH-2019-02/REFHR.1.ARMCu.4D.nc'
# databasePath = '/home/pnarvor/work/nephelae/data/temp/dt5_01.neph'
databasePath = 'output/wind_data04.neph'
database = NephelaeDataServer.load(databasePath)
mesonhDataset = MesonhDataset(mesonhPath)
rct = MesonhMap('Liquid water', mesonhDataset, 'RCT', interpolation='linear')
# Have to define wind by hand for now.
wind = np.array([8.5, 0.9])
windMap = WindMapConstant('Wind', wind)
# Kernel for liquid water content
processVariance = 1.0e-8
noiseStddev = 0.1 * np.sqrt(processVariance)
lengthScales = [70.0, 80.0, 80.0, 60.0]
rctKernel0 = WindKernel(lengthScales, processVariance, noiseStddev**2, windMap)
rctGpr = GprPredictor('RCT', database, ['RCT'], rctKernel0)
import sys
sys.path.append('../../')
import os
import signal
import time
from ivy.std_api import *
import logging
from nephelae_paparazzi import PprzMesonhUav, PprzSimulation
from nephelae.database import NephelaeDataServer
# mesonhFiles = '/home/pnarvor/work/nephelae/data/MesoNH-2019-02/REFHR.1.ARMCu.4D.nc'
mesonhFiles = '/local/fseguin/nephelae_data/MesoNH02/bomex_hf.nc'
dtbase = NephelaeDataServer()
# dtbase.enable_periodic_save('output/database01.neph', timerTick=10.0)
def build_uav(uavId, navRef):
uav = PprzMesonhUav(uavId, navRef, mesonhFiles, ['RCT', 'WT'])
uav.add_sensor_observer(dtbase)
uav.add_gps_observer(dtbase)
return uav
interface = PprzSimulation(mesonhFiles, ['RCT', 'WT'],
build_uav_callback=build_uav)
interface.start()
# Has to be called after interface.start()
dtbase.set_navigation_frame(interface.navFrame)
#! /usr/bin/python3
import time
from nephelae.database import NephelaeDataServer
import numpy as np
import matplotlib.pyplot as plt
from scipy.signal import medfilt
t0 = time.time()
database = NephelaeDataServer.load(
'/home/pnarvor/work/nephelae/data/barbados/logs/flight_01_28_01/database/database01.neph'
)
print("Loading time : ", time.time() - t0)
t0 = time.time()
channel0_10 = [
entry.data for entry in database['10', 'cloud_channel_0'](
sortCriteria=lambda x: x.position.t)[:]
]
channel1_10 = [
entry.data for entry in database['10', 'cloud_channel_1'](
sortCriteria=lambda x: x.position.t)[:]
]
channel0_12 = [
entry.data for entry in database['12', 'cloud_channel_0'](
sortCriteria=lambda x: x.position.t)[:]
]
channel1_12 = [
entry.data for entry in database['12', 'cloud_channel_1'](
sortCriteria=lambda x: x.position.t)[:]
def configure_database(self):
"""TODO implement the replay"""
database = None
try:
self.warmStart = self.config['allow_warm_start']
except KeyError as e:
warn("No warm start configuration specified. No warm start " +
"allowed byt default. Exception feedback : " + str(e))
self.warmStart = False
try:
config = self.config['database']
except KeyError:
# No specific options were given to the database.
# Leaving default behavior.
if self.warmStart:
raise RuntimeError("Warm start enable but no database " +
"configuration was given. Aborting.")
else:
database = NephelaeDataServer()
database.set_navigation_frame(self.localFrame)
return database
try:
enableSave = config['enable_save']
except KeyError:
# No saving configuration
enableSave = False
try:
filePath = config['filepath']
except KeyError:
filePath = None
# This is safe (in python spec, x and y returns false if x is false
# without trying to evaluate y)
if self.warmStart and filePath is not None and os.path.exists(
filePath):
database = NephelaeDataServer.load(filePath)
self.missionT0 = database.navFrame.position.t
self.localFrame.position.t = self.missionT0
else:
database = NephelaeDataServer()
database.set_navigation_frame(self.localFrame)
if enableSave:
if filePath is None:
raise ValueError("Configuration file "+self.mainConfigPath+\
" asked for database saving but did not set a 'filepath' field.")
try:
timerTick = config['timer_tick']
except KeyError:
# Save database every 60.0 seconds if no tick given
timerTick = 60.0
try:
force = config['overwrite_existing']
except KeyError:
# Don;t overwrite existing database by default
force = False
database.enable_periodic_save(filePath, timerTick, force)
return database