import os
try:
from nephelae_scenario import Scenario
# Find a way to give this as an argument to the server !
scenario = Scenario(os.environ['NEPHELAE_CONFIG'])
scenario.load()
scenario.start()
websockets_cloudData_ids = {}
refreshers = {}
# Legacy variables. To remove when conversion to scenario is completed
db = scenario.database
# Defines displayable samples, to keep for now. Find an alternative to put in scenario
# db_data_tags = ['RCT', 'WT', 'THT']
# db_data_tags = ['RCT', 'WT', 'THT', 'temperature', 'pressure', 'cloud_channel_0', 'cloud_channel_1']
# db_data_tags = [ 'pressure', 'humidity', 'temperature', 'cloud_channel_0', 'cloud_channel_1', 'RCT', 'WT', 'THT']
db_data_tags = [
'pressure', 'humidity', 'temperature', 'cloud_channel_0',
'cloud_channel_1'
]
# db_data_tags = ['temperature', 'pressure', 'cloud_channel_0', 'cloud_channel_1']
# TODO fix this
def on_exit():
print("Shutting down paparazzi interface... ", end='', flush=True)
scenario.stop()
# READ THIS FIRST ! ############################
# to make a test run the following commands:
# create_mission() -> will create a mission instance
# scenario.aircrafts['200'].execute_mission() -> will send the MISSION_CUSTOM message to update the uav
# update_mission(hdrift=[7.5, 0.5]) -> will send the MISSION_UPDATE update the [vx, vx] on current mission.
# update_mission(zdrift=2.0) -> will send the MISSION_UPDATE update vz on current mission.
################################################
import signal
from nephelae_scenario import Scenario
from nephelae_paparazzi.common import IvyStop, messageInterface
from nephelae_paparazzi.utils import send_lwc
scenario = Scenario('config_examples/full_200.yaml')
scenario.load()
scenario.start()
def create_mission(aircraft='200',
missionType='Lace',
duration=-1.0,
start=[-1500.0, 900.0, 700.0],
first_turn_direction=1.0,
circle_radius=80.0,
drift=[-7.5, -0.5, 0.0]):
scenario.aircrafts[aircraft].create_mission(
missionType=missionType,
duration=duration,
start=start,
#! /usr/bin/python3
import signal
from nephelae_scenario import Scenario
from nephelae_paparazzi.common import IvyStop, messageInterface
from nephelae_paparazzi.utils import send_lwc
scenario = Scenario('../config-files/mapping_200.yaml')
scenario.load()
scenario.start()
flightAreaKeys = [
slice(scenario.flightArea[0][0], scenario.flightArea[1][0]),
slice(scenario.flightArea[0][1], scenario.flightArea[1][1]),
slice(scenario.flightArea[0][2], scenario.flightArea[1][2])
]
def compute_map():
t0 = scenario.database.last_entry('RCT').position.t
print("Current time :", t0)
keys = [t0 - 150] + flightAreaKeys
return scenario.maps['LWC'][keys]
def stop():
if scenario.running:
print("Shutting down... ", end='', flush=True)
scenario.stop()
print("Complete.", flush=True)
#! /usr/bin/python3
import sys
sys.path.append('../../')
from nephelae_scenario import Scenario
scenario = Scenario('config_examples/main01.yaml')
scenario.load()
print(scenario.parser.yamlStream)
print(scenario.config)
def stop():
if scenario.running:
print("Shutting down... ", end='', flush=True)
scenario.stop()
print("Complete.", flush=True)
IvyStop()
try:
get_ipython().ask_exit()
except NameError:
sys.exit()
signal.signal(signal.SIGINT, lambda sig, fr: stop())
configFilename = '../../examples/config/demo_database_only.yaml'
scenario = Scenario(configFilename)
scenario.load()
scenario.start()
class Logger:
def add_sample(self, sample):
print(sample)
logger = Logger()
gpr = scenario.maps['LWC']
timeview = scenario.dataviews['LWC_time']
# timeview.attach_observer(logger)
# to make a test run the following commands:
# create_mission() -> will create a mission instance
# scenario.aircrafts['200'].execute_mission() -> will send the MISSION_CUSTOM message to update the uav
# update_mission(hdrift=[7.5, 0.5]) -> will send the MISSION_UPDATE update the [vx, vx] on current mission.
# update_mission(zdrift=2.0) -> will send the MISSION_UPDATE update vz on current mission.
################################################
import signal
from nephelae_scenario import Scenario
from nephelae_paparazzi.common import IvyStop, messageInterface
from nephelae_paparazzi.utils import send_lwc
scenario = Scenario('config/full_200.yaml')
scenario.load()
scenario.start()
def create_mission(aircraft='200', missionType='Lace', duration=-1.0,
start=[-1500.0, 900.0, 700.0], first_turn_direction=1.0,
circle_radius=80.0, drift=[-7.5,-0.5,0.0]):
scenario.aircrafts[aircraft].create_mission(
missionType=missionType,
duration=duration,
start=start,
first_turn_direction=first_turn_direction,
circle_radius=circle_radius,
drift=drift)
# Do a scenario.aircrafts['200'].execute_mission() to send mission to aircraft
# (no mission list managed for now)
# to make a test run the following commands:
# create_mission() -> will create a mission instance
# scenario.aircrafts['200'].execute_mission() -> will send the MISSION_CUSTOM message to update the uav
# update_mission(hdrift=[7.5, 0.5]) -> will send the MISSION_UPDATE update the [vx, vx] on current mission.
# update_mission(zdrift=2.0) -> will send the MISSION_UPDATE update vz on current mission.
################################################
import signal
from nephelae_scenario import Scenario
from nephelae_paparazzi.common import IvyStop, messageInterface
from nephelae_paparazzi.utils import send_lwc
scenario = Scenario('config/missions_only_200.yaml')
scenario.load()
scenario.start()
def create_mission(aircraft='200', missionType='Lace', duration=-1.0,
start=[-1500.0, 900.0, 700.0], first_turn_direction=1.0,
circle_radius=80.0, drift=[-7.5,-0.5,0.0]):
scenario.aircrafts[aircraft].create_mission(
missionType=missionType,
duration=duration,
start=start,
first_turn_direction=first_turn_direction,
circle_radius=circle_radius,
drift=drift)
# Do a scenario.aircrafts['200'].execute_mission() to send mission to aircraft
# (no mission list managed for now)