def test_LTC(t, fps=30):
l1 = KBB_util.LTC(t)
l2 = KBB_util.LTC(t)
l1.drop_frame_flag = True
l2.drop_frame_flag = False
print t
print l1, l1.frame_number(fps), l1.drop_frame_flag
print l2, l2.frame_number(fps), l2.drop_frame_flag
print
def __init__(self,msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[62:126])
self.calc_cs = KBB_util.calc_checksum_16(msg[68:124])
self.calculatedLLA = False
def __init__(self,msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[KBB_V12_MSG_nav_sol.START_BYTE:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH])
self.calc_cs = KBB_util.calc_checksum_16(msg[KBB_V12_MSG_nav_sol.START_BYTE+6:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH-2])
self.calculatedLLA = False
def __init__(self,msg): self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \ self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \ self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \ struct.unpack(ubx_nav_sol_t._unpack_str,msg[0:ubx_nav_sol_t._unpack_size]) self.calc_cs = KBB_util.calc_checksum_16(msg[2:ubx_nav_sol_t._unpack_size-2]) self.calculatedLLA = False
def __init__(self, msg):
self.pps,self.header,self.msg_id,self.msg_len,self.itow,self.ftow,self.week,self.gpsfix,self.flags, \
self.ecefX,self.ecefY,self.ecefZ,self.pAcc,self.ecefVX,self.ecefVY,self.ecefVZ, \
self.sAcc,self.pdop,self.reserved1,self.numSV,self.reserved2,self.cs = \
struct.unpack("<IHHHIihBBiiiIiiiIHBBIH", msg[KBB_V12_MSG_nav_sol.START_BYTE:KBB_V12_MSG_nav_sol.START_BYTE+KBB_V12_MSG_nav_sol.LENGTH])
self.calc_cs = KBB_util.calc_checksum_16(
msg[KBB_V12_MSG_nav_sol.START_BYTE +
6:KBB_V12_MSG_nav_sol.START_BYTE + KBB_V12_MSG_nav_sol.LENGTH -
2])
self.calculatedLLA = False
def check_header(self):
# check to see if we are missing packets
if DBG>3:print self.header.msg_num
if self.msg_num_prev is None:
self.msg_num_prev = self.header.msg_num
else:
if self.msg_num_prev + 1 != self.header.msg_num:
if DBG>2:print "Skipped a beat:", self.msg_num_prev, "->", self.header.msg_num, "@", self.msg_count, self.get_err("msg_skipped"), self.header.msg_num-self.msg_num_prev
self.inc_err("msg_skipped", self.header.msg_num-self.msg_num_prev)
self.msg_num_prev = self.header.msg_num
self.msg_count+=1
# check the checksum
self.header.calculated_checksum = KBB_util.calc_checksum_8(self.msg[5:])
if self.header.calculated_checksum != self.header.checksum:
self.valid_packet = False
self.inc_err("checksum mismatch",1)
else:
self.valid_packet = True
def animateCam(kb_node,
kbb_file,
frame_rate=30,
start_from=None,
total_frames=None):
if frame_rate == 24:
mc.currentUnit(time="film")
elif frame_rate == 25:
mc.currentUnit(time="pal")
elif frame_rate == 30:
mc.currentUnit(time="ntsc")
else:
print "Warning, unsupported frame_rate", frame_rate
if total_frames == -1:
total_frames = None
start_ltc = KBB_util.LTC()
if start_from is not None:
start_ltc = KBB_util.LTC(start_from)
print "STARTING FROM:", start_ltc, start_from
if ROOT_DIR is not None:
kbb_file = os.path.join(ROOT_DIR, kbb_file)
try:
kbb = KBB.KBB_factory(kbb_file)
except IOError:
print "ERROR, couldn't open file '%s'" % kbb_file
return
print kbb
##############kbb.set_index(0)
first_tc_idx = 0
while kbb.read_next():
if kbb.packet.header.msg_class == KBB_types.CLASS_DATA:
if kbb.packet.ltc_frame.hours != 0 or kbb.packet.ltc_frame.minutes != 0 or kbb.packet.ltc_frame.seconds != 0 or kbb.packet.ltc_frame.frames != 0:
break
first_tc_idx += 1
print "First TC index:", first_tc_idx, kbb.packet.ltc_frame
skip_item = None
ypr = []
skipping = True
start_frame = kbb.packet.ltc_frame.frame_number(frame_rate)
frame_count = 0
first_frame = None
while kbb.read_next():
if KBB_util.LTC_LT(kbb.packet.ltc_frame, start_ltc):
continue
if first_frame is None:
first_frame = kbb.packet.ltc_frame.frame_number(frame_rate)
skipping = False
#print kbb.header.msg_num, kbb.ltc_frame, frame, frames
if kbb.packet.ltc_frame.frames != skip_item:
if frame_count % 100 == 0:
print kbb.packet.msg_num, kbb.packet.ltc_frame, frame_count
skip_item = kbb.packet.ltc_frame.frames
frame = kbb.packet.ltc_frame.frame_number(
frame_rate) - first_frame + 1
mc.setKeyframe(kb_node,
attribute="tc_h",
time=frame,
value=kbb.packet.ltc_frame.hours)
mc.setKeyframe(kb_node,
attribute="tc_m",
time=frame,
value=kbb.packet.ltc_frame.minutes)
mc.setKeyframe(kb_node,
attribute="tc_s",
time=frame,
value=kbb.packet.ltc_frame.seconds)
mc.setKeyframe(kb_node,
attribute="tc_f",
time=frame,
value=kbb.packet.ltc_frame.frames)
mc.setKeyframe(kb_node,
attribute="msg_num",
time=frame,
value=kbb.packet.msg_num)
for i in range(len(ypr)):
sub_frame = float(i + 1) / (float(len(ypr))) + (frame - 1)
#print "\t", kbb.header.msg_num, kbb.ltc_frame, frame, sub_frame
if is_sane(ypr[i].yaw):
mc.setKeyframe(kb_node,
attribute="ry",
time=sub_frame,
value=-ypr[i].yaw)
if is_sane(ypr[i].pitch):
mc.setKeyframe(kb_node,
attribute="rx",
time=sub_frame,
value=ypr[i].pitch)
if is_sane(ypr[i].roll):
mc.setKeyframe(kb_node,
attribute="rz",
time=sub_frame,
value=180.0 - ypr[i].roll)
ypr = []
frame_count += 1
if total_frames is not None:
if frame_count > total_frames:
break
else:
ypr.append(kbb.packet.vnav)
end_frame = kbb.packet.ltc_frame.frame_number(frame_rate)
# get rid of the full-path using mc.ls()
mc.filterCurve("%s_rotateY" % mc.ls(kb_node)[0])
mc.filterCurve("%s_rotateX" % mc.ls(kb_node)[0])
mc.filterCurve("%s_rotateZ" % mc.ls(kb_node)[0])
mc.keyTangent("%s_rotateY" % mc.ls(kb_node)[0], outTangentType="linear")
mc.keyTangent("%s_rotateX" % mc.ls(kb_node)[0], outTangentType="linear")
mc.keyTangent("%s_rotateZ" % mc.ls(kb_node)[0], outTangentType="linear")
mc.playbackOptions(minTime=0, maxTime=(end_frame - first_frame + 1))
