def baseline_callback(self, sbp_msg, **metadata):
soln = MsgBaselineNEDDepA(sbp_msg)
table = []
soln.n = soln.n * 1e-3
soln.e = soln.e * 1e-3
soln.d = soln.d * 1e-3
soln.h_accuracy = soln.h_accuracy * 1e-3
soln.v_accuracy = soln.v_accuracy * 1e-3
dist = np.sqrt(soln.n**2 + soln.e**2 + soln.d**2)
tow = soln.tow * 1e-3
if self.nsec is not None:
tow += self.nsec * 1e-9
((tloc, secloc), (tgps, secgps)) = log_time_strings(self.week, tow)
if self.utc_time is not None:
((tutc, secutc)) = datetime_2_str(self.utc_time)
if self.directory_name_b == '':
filepath = time.strftime("baseline_log_%Y%m%d-%H%M%S.csv")
else:
filepath = os.path.join(
self.directory_name_b,
time.strftime("baseline_log_%Y%m%d-%H%M%S.csv"))
if not self.logging_b:
self.log_file = None
if self.logging_b:
if self.log_file is None:
self.log_file = sopen(filepath, 'w')
self.log_file.write(
'pc_time,gps_time,tow(sec),north(meters),east(meters),down(meters),h_accuracy(meters),v_accuracy(meters),'
'distance(meters),num_sats,flags,num_hypothesis\n')
log_str_gps = ''
if tgps != '' and secgps != 0:
log_str_gps = "{0}:{1:06.6f}".format(tgps, float(secgps))
self.log_file.write(
'%s,%s,%.3f,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d,%d,%d\n' %
("{0}:{1:06.6f}".format(tloc, float(secloc)), log_str_gps, tow,
soln.n, soln.e, soln.d, soln.h_accuracy, soln.v_accuracy,
dist, soln.n_sats, soln.flags, self.num_hyps))
self.log_file.flush()
self.last_mode = get_mode(soln)
if self.last_mode < 1:
table.append(('GPS Week', EMPTY_STR))
table.append(('GPS TOW', EMPTY_STR))
table.append(('GPS Time', EMPTY_STR))
table.append(('UTC Time', EMPTY_STR))
table.append(('UTC Src', EMPTY_STR))
table.append(('N', EMPTY_STR))
table.append(('E', EMPTY_STR))
table.append(('D', EMPTY_STR))
table.append(('Horiz Acc', EMPTY_STR))
table.append(('Vert Acc', EMPTY_STR))
table.append(('Dist.', EMPTY_STR))
table.append(('Sats Used', EMPTY_STR))
table.append(('Flags', EMPTY_STR))
table.append(('Mode', EMPTY_STR))
table.append(('Heading', EMPTY_STR))
table.append(('Corr. Age [s]', EMPTY_STR))
else:
self.last_btime_update = monotonic()
if self.week is not None:
table.append(('GPS Week', str(self.week)))
table.append(('GPS TOW', "{:.3f}".format(tow)))
if self.week is not None:
table.append(('GPS Time', "{0}:{1:06.3f}".format(
tgps, float(secgps))))
if self.utc_time is not None:
table.append(('UTC Time', "{0}:{1:06.3f}".format(
tutc, float(secutc))))
table.append(('UTC Src', self.utc_source))
table.append(('N', "{:.12g}".format(soln.n)))
table.append(('E', "{:.12g}".format(soln.e)))
table.append(('D', "{:.12g}".format(soln.d)))
table.append(('Horiz Acc', "{:.12g}".format(soln.h_accuracy)))
table.append(('Vert Acc', "{:.12g}".format(soln.v_accuracy)))
table.append(('Dist.', "{0:.3f}".format(dist)))
table.append(('Sats Used', soln.n_sats))
table.append(('Flags', '0x%02x' % soln.flags))
table.append(('Mode', mode_dict[self.last_mode]))
if self.heading is not None:
table.append(('Heading', self.heading))
if self.age_corrections is not None:
table.append(('Corr. Age [s]', self.age_corrections))
else:
table.append(('Corr. Age [s]', EMPTY_STR))
self.table = table
if self.last_mode != 0:
self.last_soln = soln
mode_string = mode_string_dict[self.last_mode]
if mode_string not in self.pending_draw_modes:
# if we don't already have a pending upate for that mode
self.pending_draw_modes.append(mode_string)
self.list_lock.acquire()
self._update_sln_data_by_mode(soln, mode_string)
self.list_lock.release()
else:
self.list_lock.acquire()
self._append_empty_sln_data(soln)
self.list_lock.release()
if monotonic() - self.last_plot_update_time > GUI_UPDATE_PERIOD:
self.update_scheduler.schedule_update('_solution_draw', self._solution_draw)
def baseline_callback(self, sbp_msg, **metadata):
soln = MsgBaselineNEDDepA(sbp_msg)
table = []
soln.n = soln.n * 1e-3
soln.e = soln.e * 1e-3
soln.d = soln.d * 1e-3
soln.h_accuracy = soln.h_accuracy * 1e-3
soln.v_accuracy = soln.v_accuracy * 1e-3
dist = np.sqrt(soln.n**2 + soln.e**2 + soln.d**2)
tow = soln.tow * 1e-3
if self.nsec is not None:
tow += self.nsec * 1e-9
((tloc, secloc), (tgps, secgps)) = log_time_strings(self.week, tow)
if self.utc_time is not None:
((tutc, secutc)) = datetime_2_str(self.utc_time)
if self.directory_name_b == '':
filepath = time.strftime("baseline_log_%Y%m%d-%H%M%S.csv")
else:
filepath = os.path.join(
self.directory_name_b,
time.strftime("baseline_log_%Y%m%d-%H%M%S.csv"))
if not self.logging_b:
self.log_file = None
if self.logging_b:
if self.log_file is None:
self.log_file = sopen(filepath, 'w')
self.log_file.write(
'pc_time,gps_time,tow(sec),north(meters),east(meters),down(meters),h_accuracy(meters),v_accuracy(meters),'
'distance(meters),num_sats,flags,num_hypothesis\n')
log_str_gps = ''
if tgps != '' and secgps != 0:
log_str_gps = "{0}:{1:06.6f}".format(tgps, float(secgps))
self.log_file.write(
'%s,%s,%.3f,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d,%d,%d\n' %
("{0}:{1:06.6f}".format(tloc, float(secloc)), log_str_gps, tow,
soln.n, soln.e, soln.d, soln.h_accuracy, soln.v_accuracy,
dist, soln.n_sats, soln.flags, self.num_hyps))
self.log_file.flush()
self.last_mode = get_mode(soln)
if self.last_mode < 1:
table.append(('GPS Week', EMPTY_STR))
table.append(('GPS TOW', EMPTY_STR))
table.append(('GPS Time', EMPTY_STR))
table.append(('UTC Time', EMPTY_STR))
table.append(('UTC Src', EMPTY_STR))
table.append(('N', EMPTY_STR))
table.append(('E', EMPTY_STR))
table.append(('D', EMPTY_STR))
table.append(('Horiz Acc', EMPTY_STR))
table.append(('Vert Acc', EMPTY_STR))
table.append(('Dist.', EMPTY_STR))
table.append(('Sats Used', EMPTY_STR))
table.append(('Flags', EMPTY_STR))
table.append(('Mode', EMPTY_STR))
table.append(('Heading', EMPTY_STR))
table.append(('Corr. Age [s]', EMPTY_STR))
else:
self.last_btime_update = time.time()
if self.week is not None:
table.append(('GPS Week', str(self.week)))
table.append(('GPS TOW', "{:.3f}".format(tow)))
if self.week is not None:
table.append(('GPS Time', "{0}:{1:06.3f}".format(
tgps, float(secgps))))
if self.utc_time is not None:
table.append(('UTC Time', "{0}:{1:06.3f}".format(
tutc, float(secutc))))
table.append(('UTC Src', self.utc_source))
table.append(('N', soln.n))
table.append(('E', soln.e))
table.append(('D', soln.d))
table.append(('Horiz Acc', soln.h_accuracy))
table.append(('Vert Acc', soln.v_accuracy))
table.append(('Dist.', "{0:.3f}".format(dist)))
table.append(('Sats Used', soln.n_sats))
table.append(('Flags', '0x%02x' % soln.flags))
table.append(('Mode', mode_dict[self.last_mode]))
if self.heading is not None:
table.append(('Heading', self.heading))
if self.age_corrections is not None:
table.append(('Corr. Age [s]', self.age_corrections))
else:
table.append(('Corr. Age [s]', EMPTY_STR))
self.table = table
if self.last_mode != 0:
self.last_soln = soln
mode_string = mode_string_dict[self.last_mode]
if mode_string not in self.pending_draw_modes:
# if we don't already have a pending upate for that mode
self.pending_draw_modes.append(mode_string)
self.list_lock.acquire()
self._update_sln_data_by_mode(soln, mode_string)
self.list_lock.release()
else:
self.list_lock.acquire()
self._append_empty_sln_data(soln)
self.list_lock.release()
if time.time() - self.last_plot_update_time > GUI_UPDATE_PERIOD:
GUI.invoke_later(self._solution_draw)
def baseline_callback(self, sbp_msg, **metadata):
soln = MsgBaselineNEDDepA(sbp_msg)
self.last_soln = soln
table = []
soln.n = soln.n * 1e-3
soln.e = soln.e * 1e-3
soln.d = soln.d * 1e-3
soln.h_accuracy = soln.h_accuracy * 1e-3
soln.v_accuracy = soln.v_accuracy * 1e-3
dist = np.sqrt(soln.n**2 + soln.e**2 + soln.d**2)
tow = soln.tow * 1e-3
if self.nsec is not None:
tow += self.nsec * 1e-9
((tloc, secloc), (tgps, secgps)) = log_time_strings(self.week, tow)
if self.utc_time is not None:
((tutc, secutc)) = datetime_2_str(self.utc_time)
if self.directory_name_b == '':
filepath = time.strftime("baseline_log_%Y%m%d-%H%M%S.csv")
else:
filepath = os.path.join(
self.directory_name_b,
time.strftime("baseline_log_%Y%m%d-%H%M%S.csv"))
if not self.logging_b:
self.log_file = None
if self.logging_b:
if self.log_file is None:
self.log_file = sopen(filepath, 'w')
self.log_file.write(
'pc_time,gps_time,tow(sec),north(meters),east(meters),down(meters),h_accuracy(meters),v_accuracy(meters),'
'distance(meters),num_sats,flags,num_hypothesis\n')
log_str_gps = ''
if tgps != '' and secgps != 0:
log_str_gps = "{0}:{1:06.6f}".format(tgps, float(secgps))
self.log_file.write(
'%s,%s,%.3f,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d,%d,%d\n' %
("{0}:{1:06.6f}".format(tloc, float(secloc)), log_str_gps, tow,
soln.n, soln.e, soln.d, soln.h_accuracy, soln.v_accuracy,
dist, soln.n_sats, soln.flags, self.num_hyps))
self.log_file.flush()
self.last_mode = get_mode(soln)
if self.last_mode < 1:
table.append(('GPS Week', EMPTY_STR))
table.append(('GPS TOW', EMPTY_STR))
table.append(('GPS Time', EMPTY_STR))
table.append(('UTC Time', EMPTY_STR))
table.append(('UTC Src', EMPTY_STR))
table.append(('N', EMPTY_STR))
table.append(('E', EMPTY_STR))
table.append(('D', EMPTY_STR))
table.append(('Horiz Acc', EMPTY_STR))
table.append(('Vert Acc', EMPTY_STR))
table.append(('Dist.', EMPTY_STR))
table.append(('Sats Used', EMPTY_STR))
table.append(('Flags', EMPTY_STR))
table.append(('Mode', EMPTY_STR))
else:
self.last_btime_update = time.time()
if self.week is not None:
table.append(('GPS Week', str(self.week)))
table.append(('GPS TOW', "{:.3f}".format(tow)))
if self.week is not None:
table.append(('GPS Time', "{0}:{1:06.3f}".format(
tgps, float(secgps))))
if self.utc_time is not None:
table.append(('UTC Time', "{0}:{1:06.3f}".format(
tutc, float(secutc))))
table.append(('UTC Src', self.utc_source))
table.append(('N', soln.n))
table.append(('E', soln.e))
table.append(('D', soln.d))
table.append(('Horiz Acc', soln.h_accuracy))
table.append(('Vert Acc', soln.v_accuracy))
table.append(('Dist.', "{0:.3f}".format(dist)))
table.append(('Sats Used', soln.n_sats))
table.append(('Flags', '0x%02x' % soln.flags))
table.append(('Mode', mode_dict[self.last_mode]))
if self.heading is not None:
table.append(('Heading', self.heading))
if self.age_corrections is not None:
table.append(('Corr. Age [s]', self.age_corrections))
self.table = table
# Rotate array, deleting oldest entries to maintain
# no more than N in plot
self.n[1:] = self.n[:-1]
self.e[1:] = self.e[:-1]
self.d[1:] = self.d[:-1]
self.mode[1:] = self.mode[:-1]
# Insert latest position
if self.last_mode > 1:
self.n[0], self.e[0], self.d[0] = soln.n, soln.e, soln.d
else:
self.n[0], self.e[0], self.d[0] = [np.NAN, np.NAN, np.NAN]
self.mode[0] = self.last_mode
def baseline_callback(self, sbp_msg, **metadata):
soln = MsgBaselineNEDDepA(sbp_msg)
self.last_soln = soln
table = []
soln.n = soln.n * 1e-3
soln.e = soln.e * 1e-3
soln.d = soln.d * 1e-3
soln.h_accuracy = soln.h_accuracy * 1e-3
soln.v_accuracy = soln.v_accuracy * 1e-3
dist = np.sqrt(soln.n**2 + soln.e**2 + soln.d**2)
tow = soln.tow * 1e-3
if self.nsec is not None:
tow += self.nsec * 1e-9
((tloc, secloc), (tgps, secgps)) = log_time_strings(self.week, tow)
if self.utc_time is not None:
((tutc, secutc)) = datetime_2_str(self.utc_time)
if self.directory_name_b == '':
filepath = time.strftime("baseline_log_%Y%m%d-%H%M%S.csv")
else:
filepath = os.path.join(
self.directory_name_b,
time.strftime("baseline_log_%Y%m%d-%H%M%S.csv"))
if not self.logging_b:
self.log_file = None
if self.logging_b:
if self.log_file is None:
self.log_file = sopen(filepath, 'w')
self.log_file.write(
'pc_time,gps_time,tow(sec),north(meters),east(meters),down(meters),h_accuracy(meters),v_accuracy(meters),'
'distance(meters),num_sats,flags,num_hypothesis\n')
log_str_gps = ''
if tgps != '' and secgps != 0:
log_str_gps = "{0}:{1:06.6f}".format(tgps, float(secgps))
self.log_file.write(
'%s,%s,%.3f,%.4f,%.4f,%.4f,%.4f,%.4f,%.4f,%d,%d,%d\n' %
("{0}:{1:06.6f}".format(tloc, float(secloc)), log_str_gps, tow,
soln.n, soln.e, soln.d, soln.h_accuracy, soln.v_accuracy,
dist, soln.n_sats, soln.flags, self.num_hyps))
self.log_file.flush()
self.last_mode = get_mode(soln)
if self.last_mode < 1:
table.append(('GPS Week', EMPTY_STR))
table.append(('GPS TOW', EMPTY_STR))
table.append(('GPS Time', EMPTY_STR))
table.append(('UTC Time', EMPTY_STR))
table.append(('UTC Src', EMPTY_STR))
table.append(('N', EMPTY_STR))
table.append(('E', EMPTY_STR))
table.append(('D', EMPTY_STR))
table.append(('Horiz Acc', EMPTY_STR))
table.append(('Vert Acc', EMPTY_STR))
table.append(('Dist.', EMPTY_STR))
table.append(('Sats Used', EMPTY_STR))
table.append(('Flags', EMPTY_STR))
table.append(('Mode', EMPTY_STR))
else:
self.last_btime_update = time.time()
if self.week is not None:
table.append(('GPS Week', str(self.week)))
table.append(('GPS TOW', "{:.3f}".format(tow)))
if self.week is not None:
table.append(('GPS Time', "{0}:{1:06.3f}".format(
tgps, float(secgps))))
if self.utc_time is not None:
table.append(('UTC Time', "{0}:{1:06.3f}".format(
tutc, float(secutc))))
table.append(('UTC Src', self.utc_source))
table.append(('N', soln.n))
table.append(('E', soln.e))
table.append(('D', soln.d))
table.append(('Horiz Acc', soln.h_accuracy))
table.append(('Vert Acc', soln.v_accuracy))
table.append(('Dist.', "{0:.3f}".format(dist)))
table.append(('Sats Used', soln.n_sats))
table.append(('Flags', '0x%02x' % soln.flags))
table.append(('Mode', mode_dict[self.last_mode]))
if self.heading is not None:
table.append(('Heading', self.heading))
if self.age_corrections is not None:
table.append(('Corr. Age [s]', self.age_corrections))
self.table = table
# Rotate array, deleting oldest entries to maintain
# no more than N in plot
self.n[1:] = self.n[:-1]
self.e[1:] = self.e[:-1]
self.d[1:] = self.d[:-1]
self.mode[1:] = self.mode[:-1]
# Insert latest position
if self.last_mode > 1:
self.n[0], self.e[0], self.d[0] = soln.n, soln.e, soln.d
else:
self.n[0], self.e[0], self.d[0] = [np.NAN, np.NAN, np.NAN]
self.mode[0] = self.last_mode