def get_data(self, bodies, body_id, time):
data = QuadPosition()
data.found_body = False
if bodies == []:
utils.loginfo("Gazebo not started")
else:
if hasattr(bodies, 'name'):
if body_id < len(bodies.name):
data.found_body = True
data.x = bodies.pose[body_id].position.x
data.y = bodies.pose[body_id].position.y
data.z = bodies.pose[body_id].position.z
x = bodies.pose[body_id].orientation.x
y = bodies.pose[body_id].orientation.y
z = bodies.pose[body_id].orientation.z
w = bodies.pose[body_id].orientation.w
dcm = quat_to_dcm(w, x, y, z)
(roll, pitch, yaw) = dcm.to_euler()
data.pitch = degrees(pitch)
data.roll = degrees(roll)
data.yaw = degrees(yaw)
else:
print 'Body not found'
return copy.deepcopy(data)
def Set_Flight_Mode(MODE):
"""This function sets the flight mode of the drone to MODE."""
return_value=True
#Change the flight mode on the Pixhawk flight controller
try:
rospy.wait_for_service('mavros/set_mode',10)
except:
utils.logerr('Mavros is not available')
return_value=False
utils.loginfo('Changing flight mode to '+MODE+' ...')
rospy.sleep(2)
try:
change_param=rospy.ServiceProxy('mavros/set_mode',SetMode)
param=change_param(0,MODE)
while param.success==False:
param=change_param(0,MODE)
if param.success==False:
utils.logerr('Cannot change flight mode')
if param.success:
utils.loginfo('Flight mode changed to '+MODE)
else:
utils.logerr('Cannot change flight mode')
return_value=False
except:
utils.logerr('Cannot change flight mode')
return_value=False
return return_value
def get_data(self,bodies,body_id,time):
data = QuadPosition()
data.found_body = False
if bodies==[]:
utils.loginfo("Gazebo not started")
else:
if hasattr(bodies,'name'):
if body_id<len(bodies.name):
data.found_body=True
data.x=bodies.pose[body_id].position.x
data.y=bodies.pose[body_id].position.y
data.z=bodies.pose[body_id].position.z
x = bodies.pose[body_id].orientation.x
y = bodies.pose[body_id].orientation.y
z = bodies.pose[body_id].orientation.z
w = bodies.pose[body_id].orientation.w
dcm = quat_to_dcm(w,x,y,z)
(roll,pitch,yaw) = dcm.to_euler()
data.pitch=degrees(pitch)
data.roll=degrees(roll)
data.yaw=degrees(yaw)
else:
print 'Body not found'
return copy.deepcopy(data)
def get_data(self,body):
data = QuadPosition()
body_id = body
data.found_body = False
if self.bodies==[]:
utils.loginfo("Gazebo not started")
else:
if hasattr(self.bodies,'name'):
if body_id<len(self.bodies.name):
data.found_body=True
data.x=self.bodies.pose[body_id].position.x
data.y=self.bodies.pose[body_id].position.y
data.z=self.bodies.pose[body_id].position.z
x = self.bodies.pose[body_id].orientation.x
y = self.bodies.pose[body_id].orientation.y
z = self.bodies.pose[body_id].orientation.z
w = self.bodies.pose[body_id].orientation.w
dcm = quat_to_dcm(w,x,y,z)
(roll,pitch,yaw) = dcm.to_euler()
data.pitch=degrees(pitch)
data.roll=degrees(roll)
data.yaw=degrees(yaw)
print "Sending data for the body with id: "+str(body_id)
else:
print 'Body not found'
return(data)
def tool(request, appname):
# if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
context = {'applayout': appLayout[appname]}
if request.method == 'POST':
form = forms.Form(request.POST)
elif request.method == 'GET':
form = forms.Form(request.GET)
else:
form = forms.Form()
if form.is_valid():
loginfo(appname, context, request)
context = dispatch(context, request, appname)
#context['form'] = form
context = setconstants(request, context, appname)
loginfo(appname, context, request)
# special case: the data endpoint returns JSON
if appname == 'data':
return HttpResponse(json.dumps(context['data']))
else:
return render(request, 'toolbox.html', context)
def Set_Flight_Mode(NODE_NAME,MODE):
return_value=True
#Change the flight mode on the Pixhawk flight controller
try:
rospy.wait_for_service('/mavros/set_mode',10)
except:
utils.logerr('Mavros is not available')
return_value=False
utils.loginfo('Changing flight mode to '+MODE+' ...')
rospy.sleep(2)
try:
change_param=rospy.ServiceProxy('/mavros/set_mode',SetMode)
param=change_param(0,MODE)
except:
utils.logerr('Cannot change flight mode')
return_value=False
if param.success:
utils.loginfo('Flight mode changed to '+MODE)
else:
utils.logerr('Cannot change flight mode')
return_value=False
return return_value
def check_upgrade():
fix_custom_dir()
fix_ccent_conf()
fix_seafevents_conf()
last_version = read_version_stamp()
current_version = os.environ['SEAFILE_VERSION']
if last_version == current_version:
fix_media_symlinks(current_version)
return
elif is_minor_upgrade(last_version, current_version):
run_minor_upgrade(current_version)
return
# Now we do the major upgrade
scripts_to_run = collect_upgrade_scripts(from_version=last_version,
to_version=current_version)
for script in scripts_to_run:
loginfo('Running scripts {}'.format(script))
# Here we use a trick: use a version stamp like 6.1.0 to prevent running
# all upgrade scripts before 6.1 again (because 6.1 < 6.1.0 in python)
new_version = parse_upgrade_script_version(script)[1] + '.0'
run_script_and_update_version_stamp(script, new_version)
update_version_stamp(current_version)
def get_data(self, body):
data = QuadPosition()
body_id = body
data.found_body = False
if self.bodies == []:
utils.loginfo("Gazebo not started")
else:
if hasattr(self.bodies, 'name'):
if body_id < len(self.bodies.name):
data.found_body = True
data.x = self.bodies.pose[body_id].position.x
data.y = self.bodies.pose[body_id].position.y
data.z = self.bodies.pose[body_id].position.z
x = self.bodies.pose[body_id].orientation.x
y = self.bodies.pose[body_id].orientation.y
z = self.bodies.pose[body_id].orientation.z
w = self.bodies.pose[body_id].orientation.w
dcm = quat_to_dcm(w, x, y, z)
(roll, pitch, yaw) = dcm.to_euler()
data.pitch = degrees(pitch)
data.roll = degrees(roll)
data.yaw = degrees(yaw)
print "Sending data for the body with id: " + str(body_id)
else:
print 'Body not found'
return (data)
def csv(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
try:
context = {'searchValues': requestObject}
csvformat, fieldset, csvitems = setupCSV(
requestObject, context)
loginfo('csv', context, request)
# create the HttpResponse object with the appropriate CSV header.
response = HttpResponse(content_type='text/csv')
response[
'Content-Disposition'] = 'attachment; filename="%s-%s.%s"' % (
CSVPREFIX,
datetime.datetime.utcnow().strftime("%Y%m%d%H%M%S"),
CSVEXTENSION)
return writeCsv(response,
fieldset,
csvitems,
writeheader=True,
csvFormat=csvformat)
except:
messages.error(request, 'Problem creating .csv file. Sorry!')
context['messages'] = messages
return search(request)
def jsonrequest(request):
if request.method == 'GET':
form = forms.Form(request.GET)
requestObject = request.GET
if request.method == 'POST':
form = forms.Form(request.POST)
requestObject = request.POST
if form.is_valid():
context = setconstants({}, 'json')
del context['additionalInfo']
del context['extra_nav']
del context['searchrows']
del context['searchcolumns']
context = handleJSONrequest(context, requestObject)
loginfo(context['appname'], context, request)
#if check_json(context):
# context['items'] = []
return HttpResponse(json.dumps(context, default=json_util.default))
#else:
# return HttpResponse(json.dumps(dump_errors(context))
else:
return HttpResponse(json.dumps({'error': 'form is not valid'}))
def Set_Flight_Mode(MODE):
"""This function sets the flight mode of the drone to MODE."""
return_value = True
#Change the flight mode on the Pixhawk flight controller
try:
rospy.wait_for_service('mavros/set_mode', 10)
except:
utils.logerr('Mavros is not available')
return_value = False
utils.loginfo('Changing flight mode to ' + MODE + ' ...')
rospy.sleep(2)
try:
change_param = rospy.ServiceProxy('mavros/set_mode', SetMode)
param = change_param(0, MODE)
while param.success == False:
param = change_param(0, MODE)
if param.success == False:
utils.logerr('Cannot change flight mode')
if param.success:
utils.loginfo('Flight mode changed to ' + MODE)
else:
utils.logerr('Cannot change flight mode')
return_value = False
except:
utils.logerr('Cannot change flight mode')
return_value = False
return return_value
def prepareFiles(request, validateonly):
tricoder_fileinfo = {}
tricoder_files = []
numProblems = 0
for lineno, afile in enumerate(request.FILES.getlist('tricoderfiles')):
# print afile
# we gotta do this for now!
if 'barcode.' not in afile.name: afile.name = 'barcode.' + afile.name
fileinfo = {'id': lineno, 'name': afile.name, 'status': '', 'date': time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())}
# always use the current date as the date for the filename checking
today = time.strftime("%Y-%m-%d", time.localtime())
filenamepattern = r'^barcode.TRIDATA_' + re.escape(today) + r'_[\w_\.]+\.DAT$'
if not re.match(filenamepattern, afile.name):
fileinfo['status'] = 'filename is not valid'
numProblems += 1
else:
try:
print "%s %s: %s %s (%s %s)" % ('id', lineno, 'name', afile.name, 'size', afile.size)
if not validateonly:
handle_uploaded_file(afile)
fileinfo['status'] = 'OK'
except:
if validateonly:
fileinfo['status'] = 'validation failed'
else:
fileinfo['status'] = 'file handling problem, not uploaded'
numProblems += 1
tricoder_files.append(fileinfo)
if numProblems > 0:
errormsg = 'Errors found, abandoning upload. Please fix and try again.'
else:
tricoder_filenumber = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())
tricoder_fileinfo['tricoder_filenumber'] = tricoder_filenumber
tricoder_fileinfo['estimatedtime'] = '%8.1f' % (len(tricoder_files) * 10 / 60.0)
if 'createtricoder' in request.POST:
tricoder_fileinfo['status'] = 'createtricoder'
if not validateonly:
loginfo('start', get_tricoder_file('input',tricoder_filenumber), request)
try:
retcode = subprocess.call(
[POSTBLOBPATH, get_tricoder_file('input',tricoder_filenumber)])
if retcode < 0:
loginfo('process', tricoder_filenumber + " Child was terminated by signal %s" % -retcode,
request)
else:
loginfo('process', tricoder_filenumber + ": Child returned %s" % retcode, request)
except OSError as e:
loginfo('error', "Execution failed: %s" % e, request)
loginfo('finish', get_tricoder_file('input',tricoder_filenumber), request)
elif 'uploadtricoder' in request.POST:
tricoder_fileinfo['status'] = 'uploadtricoder'
else:
tricoder_fileinfo['status'] = 'No status possible'
return tricoder_fileinfo, tricoder_files, numProblems
def Get_Parameter(NODE_NAME,PARAMETER_NAME,DEFAULT_VALUE):
param=rospy.get_param(PARAMETER_NAME,DEFAULT_VALUE)
if rospy.has_param(PARAMETER_NAME):
utils.loginfo(''+PARAMETER_NAME+' found: '+str(param))
else:
utils.logwarn(''+PARAMETER_NAME+' not found. Default: '+str(DEFAULT_VALUE))
return param
def generate_local_dockerfile():
loginfo('Generating local Dockerfile ...')
context = {
'seafile_version': seafile_version,
'https': is_https(),
'domain': get_conf('server.domain'),
}
render_template('/templates/Dockerfile.template', join(generated_dir, 'Dockerfile'), context)
def Terminate(self):
inputstring = 'rosnode kill `rosnode list | grep ' + self.name + '`'
self.execute(inputstring)
try:
delete_model = rospy.ServiceProxy("gazebo/delete_model", DeleteModel)
delete_model(self.name)
except rospy.ServiceException as exc:
utils.loginfo('Failed to delete model ' + str(exc))
def adjust_gravity_cancel(self):
self.name = self._widget.IrisInputBox.currentText()
rospy.set_param("/" + self.name + "/CONTROL_CANCEL_GRAVITY", int(self._widget.GravitySpinBox.value()))
try:
params_load = rospy.ServiceProxy("/%s/blender/update_parameters" % (self.name), Empty)
params_load_PID = rospy.ServiceProxy("/%s/PID_controller/update_parameters" % (self.name), Empty)
params_load()
params_load_PID()
except rospy.ServiceException as exc:
utils.loginfo("PID not reachable " + str(exc))
def Terminate(self):
inputstring = 'rosnode kill `rosnode list | grep ' + self.name + '`'
self.execute(inputstring)
try:
delete_model = rospy.ServiceProxy("gazebo/delete_model",
DeleteModel)
delete_model(self.name)
except rospy.ServiceException as exc:
utils.loginfo('Failed to delete model ' + str(exc))
def init_selfsigned():
loginfo('Preparing for self signed ssl ...')
wait_for_nginx()
if not exists(ssl_dir):
os.mkdir(ssl_dir)
domain = get_conf('SEAFILE_SERVER_HOSTNAME', 'seafile.example.com')
call('/scripts/ssl.selfsigned.sh {0} {1}'.format(ssl_dir, domain))
def bmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = SEARCHRESULTS
context = setupBMapper(requestObject, context)
loginfo('bmapper', context, request)
return HttpResponse(context['bmapperurl'])
def gmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = SEARCHRESULTS
context = setupGoogleMap(requestObject, context)
loginfo('gmapper', context, request)
return render(request, 'public_maps.html', context)
def search(request):
if request.method == 'GET' and request.GET != {}:
context = {'searchValues': dict(request.GET.iteritems())}
context = doSearch(context)
else:
context = setConstants({})
loginfo('start search', context, request)
context['additionalInfo'] = AdditionalInfo.objects.filter(live=True)
return render(request, 'search.html', context)
def retrieveResults(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = doSearch(context)
loginfo('results.%s' % context['displayType'], context, request)
return render(request, 'searchResults.html', context)
def bmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = setupBMapper(requestObject, context)
loginfo('bmapper', context, request)
return HttpResponse(context['bmapperurl'])
def gmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = setupGoogleMap(requestObject, context)
loginfo('gmapper', context, request)
return render(request, 'maps.html', context)
def gmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = SEARCHRESULTS
context = setupGoogleMap(requestObject, context)
loginfo('gmapper', context, request)
return render(request, 'maps.html', context)
def search(request):
if request.method == 'GET' and request.GET != {}:
context = {'searchValues': dict(request.GET.iteritems())}
context = doSearch(context)
else:
context = setConstants({})
loginfo('start search', context, request)
context['additionalInfo'] = AdditionalInfo.objects.filter(live=True)
return render(request, 'search.html', context)
def bmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = setupBMapper(requestObject, context)
loginfo('bmapper', context, request)
return HttpResponse(context['bmapperurl'])
def retrieveResults(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = doSearch(context)
loginfo('results.%s' % context['displayType'], context, request)
return render(request, 'searchResults.html', context)
def gmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = dict(request.POST.iteritems())
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = setupGoogleMap(requestObject, context)
loginfo('gmapper', context, request)
return render(request, 'maps.html', context)
def bmapper(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = SEARCHRESULTS
context = setupBMapper(requestObject, context)
loginfo('bmapper', context, request)
return HttpResponse(context['bmapperurl'])
def Connect_To_Mocap(NODE_NAME):
#Connect to the Motion Capture System, flag an error if it is unavailable
try:
utils.loginfo('Connecting to the mocap system...')
rospy.wait_for_service('mocap_get_data',10)
except:
utils.logerr('No connection to the mocap system')
sys.exit()
utils.loginfo('Connected to Mocap')
return rospy.ServiceProxy('mocap_get_data',BodyData)
def publicsearch(request):
if request.method == 'GET' and request.GET != {}:
context = {'searchValues': request.GET}
context = doSearch(SOLRSERVER, SOLRCORE, context)
global SEARCHRESULTS
SEARCHRESULTS = context
else:
context = {}
context = setConstants(context)
loginfo('start search', context, request)
return render(request, 'publicsearch.html', context)
def watch_controller():
maxretry = 4
retry = 0
while retry < maxretry:
controller_pid = get_command_output('ps aux | grep seafile-controller | grep -v grep || true').strip()
garbage_collector_pid = get_command_output('ps aux | grep /scripts/gc.sh | grep -v grep || true').strip()
if not controller_pid and not garbage_collector_pid:
retry += 1
else:
retry = 0
time.sleep(5)
loginfo("seafile controller exited unexpectedly.")
sys.exit(1)
def adjust_gravity_cancel(self):
self.name = self._widget.IrisInputBox.currentText()
rospy.set_param('/' + self.name + '/CONTROL_CANCEL_GRAVITY',
int(self._widget.GravitySpinBox.value()))
try:
params_load = rospy.ServiceProxy(
"/%s/blender/update_parameters" % (self.name), Empty)
params_load_PID = rospy.ServiceProxy(
"/%s/PID_controller/update_parameters" % (self.name), Empty)
params_load()
params_load_PID()
except rospy.ServiceException as exc:
utils.loginfo("PID not reachable " + str(exc))
def search(request):
if request.method == 'GET' and request.GET != {}:
context = {'searchValues': request.GET}
context = doSearch(context)
#global SEARCHRESULTS
#SEARCHRESULTS = context
else:
context = {}
context = setConstants(context)
loginfo('start search', context, request)
return render(request, 'search.html', context)
def embeddedsearch(request):
if request.method == 'GET' and request.GET != {}:
context = {'searchValues': request.GET}
context = doSearch(SOLRSERVER, SOLRCORE, context)
global SEARCHRESULTS
SEARCHRESULTS = context
else:
context = {}
context = setConstants(context)
loginfo('start search', context, request)
return render(request, 'public_embeddedsearch.html', context)
def Wait_For_ID(id_int):
return_value = False
# Wait for Mavros connection and wait until the parameter SYSID_MYGCS is available
utils.loginfo('Connecting to Mavros ...')
try:
rospy.wait_for_service('mavros/param/set', 10)
except:
utils.logerr(
'Mavros is not available (fail to contact service mavros/param/set).'
)
return_value = False
utils.loginfo('Connected to Mavros')
set_param = rospy.ServiceProxy('mavros/param/set', ParamSet)
while return_value == False:
try:
param = set_param('SYSID_MYGCS', id_int, 0.0)
if param.success:
utils.loginfo('System ID changed')
return_value = True
else:
utils.logerr('Cannot change system ID')
return_value = False
except:
utils.logerr(
'Cannot connect to the service "mavros/param/set" to change system ID'
)
return_value = False
rospy.sleep(5)
utils.loginfo('Iris initialised...')
return return_value
def Wait_For_ID(id_int):
return_value=False
# Wait for Mavros connection and wait until the parameter SYSID_MYGCS is available
utils.loginfo('Connecting to Mavros ...')
try:
rospy.wait_for_service('mavros/param/set',10)
except:
utils.logerr('Mavros is not available (fail to contact service mavros/param/set).')
return_value=False
utils.loginfo('Connected to Mavros')
set_param=rospy.ServiceProxy('mavros/param/set',ParamSet)
while return_value==False:
try:
param=set_param('SYSID_MYGCS',id_int,0.0)
if param.success:
utils.loginfo('System ID changed')
return_value=True
else:
utils.logerr('Cannot change system ID')
return_value=False
except:
utils.logerr('Cannot change system ID')
return_value=False
rospy.sleep(5)
utils.loginfo('Iris initialised...')
return return_value
def tool(request, appname):
if appname == 'json':
return jsonrequest(request)
# if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
context = setconstants({}, appname)
if request.method == 'GET':
form = forms.Form(request.GET)
else:
form = forms.Form()
if form.is_valid():
# context = dispatch(context, request.GET, appname)
loginfo(appname, context, request)
return render(request, 'toolbox.html', context)
def Set_System_ID(id_int):
return_value=True
"""This function sets the system ID and checks if it is possible to connect to mavros. The system ID
should be 1 to be able to use the rc/override topic."""
utils.loginfo('Connecting to Mavros ...')
try:
rospy.wait_for_service('mavros/param/set',10)
except:
utils.logerr('Mavros is not available (fail to contact service mavros/param/set).')
return_value=False
utils.loginfo('Connected to Mavros')
utils.loginfo('Changing system ID ...')
rospy.sleep(2)
try:
change_param=rospy.ServiceProxy('mavros/param/set',ParamSet)
param=change_param('SYSID_MYGCS',id_int,0.0)
if param.success:
utils.loginfo('System ID changed')
else:
utils.logerr('Cannot change system ID')
return_value=False
except:
utils.logerr('Cannot change system ID')
return_value=False
return return_value
def tool(request, appname):
if appname == 'json':
return jsonrequest(request)
# if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
context = setconstants({}, appname)
if request.method == 'GET':
form = forms.Form(request.GET)
else:
form = forms.Form()
if form.is_valid():
# context = dispatch(context, request.GET, appname)
loginfo(appname, context, request)
return render(request, 'toolbox.html', context)
def Set_System_ID(id_int):
return_value = True
"""This function sets the system ID and checks if it is possible to connect to mavros. The system ID
should be 1 to be able to use the rc/override topic."""
utils.loginfo('Connecting to Mavros ...')
try:
rospy.wait_for_service('mavros/param/set', 10)
except:
utils.logerr(
'Mavros is not available (fail to contact service mavros/param/set).'
)
return_value = False
utils.loginfo('Connected to Mavros')
utils.loginfo('Changing system ID ...')
rospy.sleep(2)
try:
change_param = rospy.ServiceProxy('mavros/param/set', ParamSet)
param = change_param('SYSID_MYGCS', id_int, 0.0)
if param.success:
utils.loginfo('System ID changed')
else:
utils.logerr('Cannot change system ID')
return_value = False
except:
utils.logerr('Cannot change system ID')
return_value = False
return return_value
def Set_System_ID(NODE_NAME,id_int):
return_value=True
#Necesary to allow RCOverride
#Also checks if there is a connection to Mavros, and shuts down if there isn't
utils.loginfo('Connecting to Mavros ...')
try:
rospy.wait_for_service('mavros/param/set',10)
except:
utils.logerr('Mavros is not available')
return_value=False
utils.loginfo('Connected to Mavros')
utils.loginfo('Changing system ID ...')
rospy.sleep(2)
try:
change_param=rospy.ServiceProxy('mavros/param/set',ParamSet)
param=change_param('SYSID_MYGCS',id_int,0.0)
except:
utils.logerr('Cannot change system ID')
return_value=False
if param.success:
utils.loginfo('System ID changed')
else:
utils.logerr('Cannot change system ID')
return_value=False
return return_value
def clean(self):
if 'password1' in self.cleaned_data and 'password2' in self.cleaned_data:
if self.cleaned_data['password1'] != self.cleaned_data['password2']:
raise forms.ValidationError(
_(u'You must type the same password each time!'))
try:
user = User.objects.get(username=self.cleaned_data['username'])
loginfo(p=user, label="user")
loginfo(p=self.cleaned_data["username"], label="text")
except User.DoesNotExist:
return self.cleaned_data
raise forms.ValidationError(
_(u'This username is already taken. Please choose another.'))
def clean(self):
if 'password1' in self.cleaned_data and 'password2' in self.cleaned_data:
if self.cleaned_data['password1'] != self.cleaned_data['password2']:
raise forms.ValidationError(
_(u'You must type the same password each time!'))
try:
user = User.objects.get(username=self.cleaned_data['username'])
loginfo(p=user, label="user")
loginfo(p=self.cleaned_data["username"], label="text")
except User.DoesNotExist:
return self.cleaned_data
raise forms.ValidationError(
_(u'This username is already taken. Please choose another.'))
def start_publishing(self):
utils.loginfo('start publishing')
rate = rospy.Rate(30)
timer = Time()
#Get parameters (all the body ID's that are requested)
self.body_names = sml_setup.Get_Parameter(NODE_NAME, 'body_names',
['iris1', 'iris2'])
self.body_array = sml_setup.Get_Parameter(NODE_NAME, 'body_array',
[1, 2])
if type(self.body_array) is str:
self.body_array = ast.literal_eval(self.body_array)
#Get topic names for each requested body
body_topic_array = self.Get_Topic_Names(self.body_array)
#Establish one publisher topic for each requested body
topics_publisher = self.Get_Publishers(body_topic_array)
#Initialize empty past data list
mocap_past_data = []
empty_data = QuadPositionDerived()
for i in range(0, len(self.body_array)):
mocap_past_data.append(empty_data)
while not rospy.is_shutdown():
delta_time = timer.get_time_diff()
if self.bodies:
for i in range(0, len(self.body_array)):
utils.loginfo('body ' + str(i))
if self.body_names[i] in self.bodies.name:
indice = self.bodies.name.index(self.body_names[i])
mocap_data = self.get_data(indice)
mocap_data_derived = self.Get_Derived_Data(
mocap_data, mocap_past_data[i], delta_time)
#update past mocap data
mocap_past_data[i] = mocap_data_derived
#Publish data on topic
topics_publisher[i].publish(mocap_data_derived)
rate.sleep()
utils.logwarn('Mocap stop publishing')
def Param(self):
self.name = self._widget.IrisInputBox.currentText()
inputstring = "roslaunch scenarios %s.launch simulation:=%s" % (self.name,self.simulation)
self.executeBlocking(inputstring)
#A sleep for 0.2 seconds that allows the file to be properly launched before you try to load it.
rospy.sleep(2.)
try:
params_load = rospy.ServiceProxy("/%s/blender/update_parameters"%(self.name), Empty)
params_load_PID = rospy.ServiceProxy("/%s/PID_controller/update_parameters"%(self.name), Empty)
obstacle_params_load = rospy.ServiceProxy("/%s/obstacle_avoidance/update_parameters"%(self.name), Empty)
params_load()
params_load_PID()
except rospy.ServiceException as exc:
utils.loginfo("PID not reachable " + str(exc))
def retrieveResults(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = doSearch(SOLRSERVER, SOLRCORE, context)
global SEARCHRESULTS
SEARCHRESULTS = context
context = setConstants(context)
loginfo('results.%s' % context['displayType'], context, request)
return render(request, 'searchResults.html', context)
def retrieveResults(request):
if request.method == 'POST' and request.POST != {}:
requestObject = request.POST
form = forms.Form(requestObject)
if form.is_valid():
context = {'searchValues': requestObject}
context = doSearch(SOLRSERVER, SOLRCORE, context)
global SEARCHRESULTS
SEARCHRESULTS = context
context = setConstants(context)
loginfo('results.%s' % context['displayType'], context, request)
return render(request, 'public_searchResults.html', context)
def prepareFiles(request, validateonly):
tricoder_fileinfo = {}
tricoder_files = []
for lineno, afile in enumerate(request.FILES.getlist("tricoderfiles")):
# print afile
try:
print "%s %s: %s %s (%s %s)" % ("id", lineno, "name", afile.name, "size", afile.size)
fileinfo = {"id": lineno, "name": afile.name, "size": afile.size, "date": ""}
if not validateonly:
handle_uploaded_file(afile)
tricoder_files.append(fileinfo)
except:
if not validateonly:
# we still upload the file, anyway...
handle_uploaded_file(afile)
tricoder_files.append(
{"name": afile.name, "size": afile.size, "error": "problem extracting image metadata, not processed"}
)
if len(tricoder_files) > 0:
tricoder_filenumber = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())
tricoder_fileinfo["tricoder_filenumber"] = tricoder_filenumber
tricoder_fileinfo["estimatedtime"] = "%8.1f" % (len(tricoder_files) * 10 / 60.0)
if "createtricoder" in request.POST:
tricoder_fileinfo["status"] = "createtricoder"
if not validateonly:
loginfo("start", get_tricoder_file(tricoder_filenumber), request)
try:
retcode = subprocess.call([POSTBLOBPATH, get_tricoder_file(tricoder_filenumber)])
if retcode < 0:
loginfo(
"process", tricoder_filenumber + " Child was terminated by signal %s" % -retcode, request
)
else:
loginfo("process", tricoder_filenumber + ": Child returned %s" % retcode, request)
except OSError as e:
loginfo("error", "Execution failed: %s" % e, request)
loginfo("finish", get_tricoder_file(tricoder_filenumber), request)
elif "uploadtricoder" in request.POST:
tricoder_fileinfo["status"] = "uploadtricoder"
else:
tricoder_fileinfo["status"] = "No status possible"
return tricoder_fileinfo, tricoder_files
def start_publishing(self):
utils.loginfo('start publishing')
rate=rospy.Rate(30)
timer=Time()
#Get parameters (all the body ID's that are requested)
self.body_names=sml_setup.Get_Parameter(NODE_NAME,'body_names',['iris1','iris2'])
self.body_array=sml_setup.Get_Parameter(NODE_NAME,'body_array',[1,2])
if type(self.body_array) is str:
self.body_array=ast.literal_eval(self.body_array)
#Get topic names for each requested body
body_topic_array=self.Get_Topic_Names(self.body_array)
#Establish one publisher topic for each requested body
topics_publisher=self.Get_Publishers(body_topic_array)
#Initialize empty past data list
mocap_past_data=[]
empty_data=QuadPositionDerived()
for i in range(0,len(self.body_array)):
mocap_past_data.append(empty_data)
while not rospy.is_shutdown():
delta_time=timer.get_time_diff()
if self.bodies:
for i in range(0,len(self.body_array)):
utils.loginfo('body ' + str(i))
if self.body_names[i] in self.bodies.name:
indice = self.bodies.name.index(self.body_names[i])
mocap_data=self.get_data(indice)
mocap_data_derived=self.Get_Derived_Data(mocap_data,mocap_past_data[i],delta_time)
#update past mocap data
mocap_past_data[i]=mocap_data_derived
#Publish data on topic
topics_publisher[i].publish(mocap_data_derived)
rate.sleep()
utils.logwarn('Mocap stop publishing')
def tool(request, appname):
# if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
context = {'applayout': appLayout[appname]}
if request.method == 'POST':
form = forms.Form(request.POST)
if form.is_valid():
loginfo(appname, context, request)
context = Dispatch(context, request)
else:
form = forms.Form()
context['form'] = form
context = setConstants(context, appname)
loginfo(appname, context, request)
context['additionalInfo'] = AdditionalInfo.objects.filter(live=True)
return render(request, 'toolbox.html', context)
def check_upgrade():
last_version = read_version_stamp()
current_version = os.environ['SEAFILE_VERSION']
if last_version == current_version:
return
scripts_to_run = collect_upgrade_scripts(from_version=last_version, to_version=current_version)
for script in scripts_to_run:
loginfo('Running scripts {}'.format(script))
new_version = parse_upgrade_script_version(script)[1] + '.0'
replace_file_pattern(script, 'read dummy', '')
call(script)
update_version_stamp(new_version)
update_version_stamp(current_version)
def tool(request, appname):
# if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
context = {'applayout': appLayout[appname]}
if request.method == 'POST':
form = forms.Form(request.POST)
if form.is_valid():
loginfo(appname, context, request)
context = Dispatch(context, request)
else:
form = forms.Form()
context['form'] = form
context = setConstants(context, appname)
loginfo(appname, context, request)
context['additionalInfo'] = AdditionalInfo.objects.filter(live=True)
return render(request, 'toolbox.html', context)
def __init__(self):
utils.loginfo('Mocap starting')
utils.loginfo('start publishing')
rate=rospy.Rate(30)
self.all_bodies = dict()
#Get parameters (all the body ID's that are requested)
self.body_names=utils.Get_Parameter('body_names',['iris1','iris2'])
self.body_array=utils.Get_Parameter('body_array',[1,2])
if type(self.body_array) is str:
self.body_array=ast.literal_eval(self.body_array)
#Get topic names for each requested body
body_topic_array=self.Get_Topic_Names(self.body_array)
#Establish one publisher topic for each requested body
topics_publisher=self.Get_Publishers(body_topic_array)
# Create the different body objects
self.body_state = []
for i in range(0,len(self.body_array)):
self.body_state.append(State())
# Suscrib to Gazebo
self.start_subscribes()
while not rospy.is_shutdown():
for i in range(0,len(self.body_array)):
if self.body_state[i].data:
data = self.all_bodies[self.body_names[i]]
self.body_state[i].update(data,self.body_state[i].time)
topics_publisher[i].publish(self.body_state[i].get_message())
self.body_state[i].data = False
# for i in range(0,len(self.body_array)):
# if self.body_state[i].data:
# topics_publisher[i].publish(self.body_state[i].get_message())
# self.body_state[i].data = False
rate.sleep()
utils.logwarn('Mocap stop publishing')
def edit(request, entity, csid):
context = {}
if request.method == 'GET':
requestObject = request.GET
form = forms.Form(requestObject)
if form.is_valid():
context['entity'] = entity
context['csid'] = csid
loginfo(entity, context, request)
context = doEdit(request,context)
else:
pass
context = setConstants(context)
loginfo(entity, context, request)
return render(request, 'edit.html', context)
