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
