def __init__ (self, param_args):
param = BotParam.BotParam (param_args)
orglatlon = param.get_double_array ("site.orglatlon")
self.llxy = BotCore.BotGPSLinearize (orglatlon[0],orglatlon[1])
self.xy_utime = 0
self.xy = []
self.lc = lcm.LCM ()
acomms_chan = param.get_str ("sensors.modem.gsd.channel")
self.rq_sub = self.lc.subscribe (acomms_chan + "_NAV_REQUEST", self.pose_request_cb)
self.reply_chan = acomms_chan + "_NAV_POSE_REPLY"
gpsd_chan = param.get_str ("sensors.gpsd3-client.gsd.channel")
self.gps_sub = self.lc.subscribe (gpsd_chan, self.gpsd_cb)
self.depth = param.get_int ("owtt-nav.topside.sensors.static_depth")
self.done = False
def param_from_log(lcmlog):
param = None
while True:
e = lcmlog.read_next_event()
if "PARAM_UPDATE" in e.channel:
p = update_t.decode(e.data)
with open("tmp_param.cfg", "w") as f:
lines, save_line = [], False
for line in p.params.splitlines():
if "INCLUDE = [" in line:
continue
else:
lines.append(line)
f.write("\n".join(lines))
param_args = BotParam.bot_param_args_to_pyargv("tmp_param.cfg", "false", "")
param = BotParam.BotParam(param_args)
os.remove("tmp_param.cfg")
break
log.seek(0)
return param
#rc ("font", size=14)
if __name__ == '__main__':
if len(sys.argv) < 4:
print 'usage: %s <iver31.pkl> <iver28.pkl> <iver_topside.pkl>' % sys.argv[
0]
sys.exit(0)
with open(sys.argv[1], 'rb') as f:
iver31 = pickle.load(f)
with open(sys.argv[2], 'rb') as f:
iver28 = pickle.load(f)
with open(sys.argv[3], 'rb') as f:
topside = pickle.load(f)
param_args = BotParam.bot_param_args_to_pyargv(
'/home/jeff/perls/config/iver28.cfg', 'false', '')
param = BotParam.BotParam(param_args)
orglatlon = param.get_double_array('site.orglatlon')
llxy = BotCore.BotGPSLinearize(orglatlon[0], orglatlon[1])
## find lbl beacons
#nbeacons, x_lbl, y_lbl = param.get_num_subkeys ('lbl.network'), [], []
#for ii in range (nbeacons):
# latlon = param.get_double_array ('lbl.network.beacon%d.latlon'%ii)
# y,x = llxy.to_xy (latlon[0], latlon[1])
# x_lbl.append (x)
# y_lbl.append (y)
xy_iver31 = iver31.state.position.xyzrph[:, :2]
xy_iver28 = iver28.state.position.xyzrph[:, :2]
#!/usr/bin/env python
"""
convert xy coordinate to lat/lon
"""
import sys
from perls import BotCore
from perls import BotParam
if __name__ == '__main__':
if len (sys.argv) < 3:
print 'usage: %s <x> <y>' % sys.argv[0]
sys.exit (0)
x = float (sys.argv[1])
y = float (sys.argv[2])
param_args = BotParam.bot_param_args_to_pyargv ('/home/jeff/perls/config/topside.cfg', 'false', '')
param = BotParam.BotParam (param_args)
orglatlon = param.get_double_array ('site.orglatlon')
llxy = BotCore.BotGPSLinearize (orglatlon[0],orglatlon[1])
lat,lon = llxy.to_ll (y,x)
print 'converted xy = %0.3f,%0.3f to ll = %0.8f,%0.8f' % (x,y,lat,lon)
sys.exit (0)
# load iver data
if len(sys.argv) < 2:
print "usage: %s <iver.pkl>" % sys.argv[0]
sys.exit(0)
if len(sys.argv) == 3:
with open(sys.argv[2], "rb") as f:
fix_pkl = pickle.load(f)
else:
fix_pkl = None
with open(sys.argv[1], "rb") as f:
iver = pickle.load(f)
# load params
param_args = BotParam.bot_param_args_to_pyargv("/home/jeff/perls/config/iver28.cfg", "false", "")
param = BotParam.BotParam(param_args)
orglatlon = param.get_double_array("site.orglatlon")
llxy = BotCore.BotGPSLinearize(orglatlon[0], orglatlon[1])
# initialize lbl beacons
nbeacons, beacons = param.get_num_subkeys("lbl.network"), []
for ii in range(nbeacons):
latlon = param.get_double_array("lbl.network.beacon%d.latlon" % ii)
y, x = llxy.to_xy(latlon[0], latlon[1])
z = param.get_double("lbl.network.beacon%d.depth" % ii)
xyz = np.array([x, y, z])
beacons.append(Lbl_beacon(ii, xyz))
ii_lbl = np.where(iver.acomms.type == iver.acomms.NARROWBAND_LBL)[0]
