def load(self, cal_file):
config = PropertyNode()
try:
name, ext = os.path.splitext(cal_file)
if ext == '.json':
props_json.load(cal_file, config)
self.valid = True
elif ext == '.xml':
props_xml.load(cal_file, config)
self.valid = True
else:
return False
except:
print(cal_file + ": load error:\n" + str(sys.exc_info()[1]))
return False
root.pretty_print()
self.min_temp = config.getFloat('min_temp_C')
self.max_temp = config.getFloat('max_temp_C')
node = config.getChild('p')
if node:
p1, p2, p3 = node.getString('bias').split()
self.p_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.p_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('q')
if node:
p1, p2, p3 = node.getString('bias').split()
self.q_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.q_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('r')
if node:
p1, p2, p3 = node.getString('bias').split()
self.r_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.r_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ax')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ax_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ax_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ay')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ay_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ay_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('az')
if node:
p1, p2, p3 = node.getString('bias').split()
self.az_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.az_scale = np.array([p1, p2, p3], dtype=np.float64)
tokens = config.getString('mag_affine').split()
if len(tokens) == 16:
r = 0
c = 0
for i, x in enumerate(tokens):
self.mag_affine[r, c] = float(x)
c += 1
if c > 3:
c = 0
r += 1
self.mag_affine_inv = np.linalg.inv(self.mag_affine)
else:
print("mag_affine requires 16 values")
#print 'mag_affine:\n', self.mag_affine
#print 'mag_affine_inv:\n', self.mag_affine_inv
return True
def load(self, cal_file):
config = PropertyNode()
try:
name, ext = os.path.splitext(cal_file)
if ext == '.json':
props_json.load(cal_file, config)
self.valid = True
elif ext == '.xml':
props_xml.load(cal_file, config)
self.valid = True
else:
return False
except:
print cal_file + ": load error:\n" + str(sys.exc_info()[1])
return False
root.pretty_print()
self.min_temp = config.getFloat('min_temp_C')
self.max_temp = config.getFloat('max_temp_C')
node = config.getChild('p')
if node:
p1, p2, p3 = node.getString('bias').split()
self.p_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.p_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('q')
if node:
p1, p2, p3 = node.getString('bias').split()
self.q_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.q_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('r')
if node:
p1, p2, p3 = node.getString('bias').split()
self.r_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.r_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ax')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ax_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ax_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ay')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ay_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ay_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('az')
if node:
p1, p2, p3 = node.getString('bias').split()
self.az_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.az_scale = np.array([p1, p2, p3], dtype=np.float64)
tokens = config.getString('mag_affine').split()
if len(tokens) == 16:
r = 0
c = 0
for i, x in enumerate(tokens):
self.mag_affine[r,c] = float(x)
c += 1
if c > 3:
c = 0
r += 1
self.mag_affine_inv = np.linalg.inv(self.mag_affine)
else:
print "mag_affine requires 16 values"
#print 'mag_affine:\n', self.mag_affine
#print 'mag_affine_inv:\n', self.mag_affine_inv
return True
from util import myprof, timer
parser = argparse.ArgumentParser(description="Rice Creak UAS flight code")
parser.add_argument("--config", required=True, help="path to config tree")
parser.add_argument("--verbose",
action="store_true",
help="enable additional console verbocity")
args = parser.parse_args()
# load master config file
config_file = os.path.join(args.config, "main.json")
result = props_json.load(config_file, root)
if result:
print("Loaded master configuration file:", config_file)
if args.verbose:
root.pretty_print()
config_node = getNode("/config")
config_node.setString("path", args.config)
else:
print("*** Cannot load master config file:", config_file)
print()
print("Cannot continue without a valid configuration, sorry.")
exit(-1)
# shared property nodes
comms_node = getNode("/comms", True)
imu_node = getNode("/sensors/imu", True)
status_node = getNode("/status", True)
status_node.setFloat("frame_time", 0.0)
# create singleton class instances
# correct way to create a path with a new child node
gps = getNode("/sensors/gps[5]", create=True)
gps.alt_m = 275.3
sensors = getNode("/sensors")
print "gps len = ", sensors.getLen("gps");
# az get's created a parent node
imu = getNode("/sensors/imu[2]", create=True)
# this works, but is bad form because az is originally created as a
# PropertyNode() branch that can't have a value, only childredn
imu.az = -9.80
# this should work
root.sensors.imu[2].az = -9.81
root.pretty_print()
print "alt_m:", root.sensors.gps[5].alt_m
config = getNode('/', create=True)
#file = '/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.xml'
#props_xml.load(file, config)
#props_xml.save("testing.xml", config)
#props_json.save("testing.json", config)
newroot = PropertyNode()
props_json.load("/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.json", newroot)
print "pretty:"
newroot.pretty_print()
quit()
print "sensor children:", sensors.getChildren()