def __init__(self, addr, port, idx): threading.Thread.__init__(self) self.dispatcher = EventDispatcher.EventDispatcher() self.packethandler = packetHandler.packetHandler(self.dispatcher) self._ai = client_AI.AI_Control(self) self._dst = addr self._dst_port = port self.queue = None self._ai.setNick("testUser" + str(idx)) self._ai.setDeviceId("testDeviceId" + str(idx)) self.recvbuf = ''
receivinglog = open("meas/received.txt",'w') acclog = open("meas/acc.txt",'w') gpslog = open("meas/gps.txt",'w') plog = open("meas/plog.txt",'w') inclog = open("meas/inclog.txt",'w') echolog = open("meas/echolog.txt",'w') gps2log = open("meas/gps2log.txt",'wb') qu = Queue.Queue() kalqueue = Queue.Queue() to = 0.1665 #receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART",38400,0.02,qu,inclog) # Using the udev rules file 42-aauship.rules #receiver = packetHandler.packetHandler("/dev/lli",115200,0.02,qu,inclog) # This runs its own thread receiver = packetHandler.packetHandler("/dev/lli",57600,0.02,qu,inclog) # This runs its own thread #echorcv = serial.Serial("/dev/echosounder",4800,timeout=0.04) #gps2rcv = serial.Serial("/dev/gps2",115200,timeout=0.04) receiver.start() measuredstates = numpy.zeros((9,2)) tempm = measuredstates parser = packetparser.packetParser(acclog,gpslog,measuredstates,receivinglog,plog) bla = True timeout = 1000 p = receiver.constructPacket("",0,9) print "Packet:", p count = 0 motor = numpy.matrix([[0],[0]]) motor2 = numpy.matrix([[0],[0]])
'''LOGGING FOR BOTH''' receivinglog = open("meas/received.txt", 'w') acclog = open("meas/acc.txt", 'w') gpslog = open("meas/gps.txt", 'w') plog = open("meas/plog.txt", 'w') inclog = open("meas/inclog.txt", 'w') echolog = open("meas/echolog.txt", 'w') gps2log = open("meas/gps2log.txt", 'wb') qu = Queue.Queue() kalqueue = Queue.Queue() to = 0.1665 #receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART",38400,0.02,qu,inclog) # Using the udev rules file 42-aauship.rules #receiver = packetHandler.packetHandler("/dev/lli",115200,0.02,qu,inclog) # This runs its own thread receiver = packetHandler.packetHandler("/dev/lli", 57600, 0.02, qu, inclog) # This runs its own thread #echorcv = serial.Serial("/dev/echosounder",4800,timeout=0.04) #gps2rcv = serial.Serial("/dev/gps2",115200,timeout=0.04) receiver.start() measuredstates = numpy.zeros((9, 2)) tempm = measuredstates parser = packetparser.packetParser(acclog, gpslog, measuredstates, receivinglog, plog) bla = True timeout = 1000 p = receiver.constructPacket("", 0, 9) print "Packet:", p count = 0 motor = numpy.matrix([[0], [0]])
# motor = AAUSHIP.Control_Step() # AAUSHIP.ReadStates(measurement_matrix, motor) # tosend = AAUSHIP.FtoM(motor) #accf = open("measurements/accdata141212.csv", 'w') #gpsf = open("measurements/gpsdata141212.txt", 'w') #statelog = open("measurements/statelog141212.txt",'w') qu = Queue.Queue() kalqueue = Queue.Queue() to = 0.1665 receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART",38400,0.02,qu,inclog) receiver.start() measuredstates = numpy.zeros((9,2)) tempm = measuredstates parser = packetparser.packetParser(acclog,gpslog,measuredstates,receivinglog,plog) bla = True timeout = 1000 p = receiver.constructPacket("",0,9) print "Packet:" , print p #receiver.sendPacket(p) #time.sleep(2) stopping = False count = 0 print "message sent"
import packetHandler import packetparser import Queue import time import csv accf = open("accdata00204.csv", 'w') gpsf = open("gpsdata00204.txt", 'a') qu = Queue.Queue() receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART", 38400, qu) receiver.start() parser = packetparser.packetParser(accf, gpsf) bla = True timeout = 0 p = receiver.constructPacket(0, 0, 9) print "Packet:" print p receiver.sendPacket(p) #time.sleep(2) stopping = False print "message sent" while bla == True: try: if (receiver.isOpen()): #time.sleep(0.1) packet = qu.get(False) try: pass # print packet except: print "Oh well" parser.parse(packet)
import packetHandler import packetparser import Queue import time import csv accf = open("accdata00204.csv", 'w') gpsf = open("gpsdata00204.txt", 'a') qu = Queue.Queue() receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART",38400,qu) receiver.start() parser = packetparser.packetParser(accf,gpsf) bla = True timeout = 0 p = receiver.constructPacket(0,0,9) print "Packet:" print p receiver.sendPacket(p) #time.sleep(2) stopping = False print "message sent" while bla == True: try: if(receiver.isOpen()): #time.sleep(0.1) packet = qu.get(False) try: pass # print packet except: print "Oh well" parser.parse(packet)
plog = open("meas/plog.txt",'w') inclog = open("meas/inclog.txt",'w') echolog = open("meas/echolog.txt",'w') gps2log = open("meas/gps2log.txt",'wb') Y = numpy.array([0,2.5574,0.5683,-16.3120,-40.7704]) #Easting X = numpy.array([0,-18.3388,-36.7722,-53.9444,-54.2330]) #Northing WPC = numpy.array([X,Y]) qu = Queue.Queue() kalqueue = Queue.Queue() to = 0.1665 #receiver = packetHandler.packetHandler("/dev/tty.SLAB_USBtoUART",38400,0.02,qu,inclog) # Using the udev rules file 42-aauship.rules receiver = packetHandler.packetHandler("/dev/lli",115200,0.02,qu,inclog) echorcv = serial.Serial("/dev/echosounder",4800,timeout=0.04) gps2rcv = serial.Serial("/dev/gps2",115200,timeout=0.04) receiver.start() measuredstates = numpy.zeros((9,2)) tempm = measuredstates parser = packetparser.packetParser(acclog,gpslog,measuredstates,receivinglog,plog) bla = True timeout = 1000 p = receiver.constructPacket("",0,9) print "Packet:" , print p #time.sleep(2) stopping = False