def printPublishConfigurationResult(self):
"""Prints and potentially publishes the anchor configuration result in a human-readable way."""
list_size = SingleRegister()
self.pozyx.getDeviceListSize(list_size, self.remote_id)
print("List size: {0}".format(list_size[0]))
if list_size[0] != len(self.anchors):
self.printPublishErrorCode("configuration")
return
device_list = DeviceList(list_size=list_size[0])
self.pozyx.getDeviceIds(device_list, self.remote_id)
print("Calibration result:")
print("Anchors found: {0}".format(list_size[0]))
print("Anchor IDs: ", device_list)
for i in range(list_size[0]):
anchor_coordinates = Coordinates()
self.pozyx.getDeviceCoordinates(device_list[i], anchor_coordinates,
self.remote_id)
print("ANCHOR, 0x%0.4x, %s" %
(device_list[i], str(anchor_coordinates)))
if self.osc_udp_client is not None:
self.osc_udp_client.send_message("/anchor", [
device_list[i],
int(anchor_coordinates.x),
int(anchor_coordinates.y),
int(anchor_coordinates.z)
])
sleep(0.025)
def get_device_list(pozyx):
""""""
device_list_size = SingleRegister()
pozyx.getDeviceListSize(device_list_size)
device_list = DeviceList(list_size=device_list_size[0])
pozyx.getDeviceIds(device_list)
return device_list
def printPublishConfigurationResult(self):
list_size = SingleRegister()
status = self.pozyx.getDeviceListSize(list_size, self.remote_id)
rospy.loginfo("List size: {0}".format(list_size[0]))
if list_size[0] != len(self.anchors):
self.printPublishErrorCode("configuration")
return
device_list = DeviceList(list_size=list_size[0])
status = self.pozyx.getDeviceIds(device_list, self.remote_id)
rospy.loginfo("Calibration result: ")
rospy.loginfo("Anchors found: {0}".format(list_size[0]))
def all_device_coordinates_in_device_list(pozyx, remote_id=None):
list_size = SingleRegister()
status = pozyx.getDeviceListSize(list_size, remote_id=remote_id)
if list_size.value == 0:
return
device_list = DeviceList(list_size=list_size.value)
status &= pozyx.getDeviceIds(device_list, remote_id=remote_id)
for device_id in device_list:
coordinates = Coordinates()
pozyx.getDeviceCoordinates(device_id, coordinates, remote_id=remote_id)
yield DeviceCoordinates(device_id, 0, pos=coordinates)
def DiscoverTags(self):
status = self.pozyx.doDiscovery(PozyxConstants.DISCOVERY_TAGS_ONLY)
self.CheckStatus(status)
count = SingleRegister()
status = self.pozyx.getDeviceListSize(count)
self.CheckStatus(status)
allIds = DeviceList(list_size=count.value)
status = self.pozyx.getDeviceIds(allIds)
self.CheckStatus(status)
tagIds = list()
for id in allIds:
any = False
for tagId in self.anchors:
if tagId.network_id == id:
any = True
if not any:
tagIds.append(id)
return tagIds
def printPublishConfigurationResult(self):
list_size = SingleRegister()
self.pozyx.getDeviceListSize(list_size, self.remote_id)
print("List size: {0}".format(list_size[0]))
if list_size[0] != len(self.anchors):
pass
return
device_list = DeviceList(list_size=list_size[0])
self.pozyx.getDeviceIds(device_list, self.remote_id)
print("Calibration result:")
print("Anchors found: {0}".format(list_size[0]))
print("Anchor IDs: ", device_list)
for i in range(list_size[0]):
anchor_coordinates = Coordinates()
self.pozyx.getDeviceCoordinates(device_list[i], anchor_coordinates,
self.remote_id)
print("ANCHOR, 0x%0.4x, %s" %
(device_list[i], str(anchor_coordinates)))
def printPublishConfigurationResultMore(self, remote_id):
if not (remote_id is None):
print("Pozyx ID: 0x%0.4x" % remote_id)
list_size = SingleRegister()
self.pozyx.getDeviceListSize(list_size, remote_id)
print("List size: {0}".format(list_size[0]))
if list_size[0] != len(self.anchors):
self.printPublishErrorCode("configuration")
return
device_list = DeviceList(list_size=list_size[0])
self.pozyx.getDeviceIds(device_list, remote_id)
print("Calibration result:")
print("Anchors found: {0}".format(list_size[0]))
print("Anchor IDs: ", device_list)
for i in range(list_size[0]):
anchor_coordinates = Coordinates()
self.pozyx.getDeviceCoordinates(device_list[i], anchor_coordinates,
self.remote_id)
print("ANCHOR, 0x%0.4x, %s" %
(device_list[i], str(anchor_coordinates)))
def printConfig(self):
# prints the anchor configuration result
list_size = SingleRegister()
# prints the anchors list size
self.serial.getDeviceListSize(list_size, None)
if list_size[0] != len(self.anchors):
self.printError("configuration")
return
# prints the anchors list
device_list = DeviceList(list_size=list_size[0])
self.serial.getDeviceIds(device_list, None)
print("Calibration result:")
print("Anchors found: {0}".format(list_size[0]))
print("Anchor IDs: ", device_list)
for i in range(list_size[0]):
anchor_coordinates = Coordinates()
self.serial.getDeviceCoordinates(device_list[i], anchor_coordinates, None)
print("ANCHOR: 0x%0.4x, %s" % (device_list[i], str(anchor_coordinates)))
sleep(0.025)