def handle(self):
#mu = LeicaTPS1200()
mu = CameraStationUnit()
iface = SerialIface('test', '/dev/ttyUSB0')
ts = CameraStation('test', mu, iface)
#ts = TotalStation('test', mu, iface)
while True:
print('--------------')
msg = self.request.recv(1024)
print(msg)
ans, file = RemoteMeasureUnit.execCmd(ts, msg)
print(ans, '///')
self.wfile.write(ans + b'\n')
if file != None:
print('???????')
file.seek(0)
l = 0
aaa = file.read(1024)
l += self.request.send(aaa)
while aaa:
aaa = file.read(1024)
l += self.request.send(aaa)
print('binary is sent')
fn = sys.argv[1]
else:
fn = 'test.log'
if len(sys.argv) > 2:
web = sys.argv[2]
else:
web = 'http://enfo.hu/gnss_demo/get.php'
# file or on-line?
if os.path.exists(fn) and os.path.isfile(fn):
# input from file
from localiface import LocalIface
li = LocalIface('test', fn)
else:
# input from gnss receiver
from serialiface import SerialIface
li = SerialIface('test', fn)
from nmeagnssunit import NmeaGnssUnit
from httpwriter import HttpWriter
from gnss import Gnss
# nmea data OK?
if li.state != li.IF_OK:
print("input file/device?")
exit(1)
# nmea processing unit
mu = NmeaGnssUnit()
# processed data to web
#wrt = HttpWriter(angle='DEG', url='http://localhost/gnss/get.php',
# filt=['longitude', 'latitude', 'altitude', 'datetime'])
else:
print("Missing parameter")
print("Usage: robotplus.py config_file")
sys.exit(-1)
# logging
logging.basicConfig(format=cr.json['log_format'], filename=cr.json['log_file'], \
filemode='a', level=cr.json['log_level'])
# create totalstation
mu = get_mu(cr.json['station_type'])
if not mu:
logging.fatal('Invalid instrument type')
sys.exit(-1)
if cr.json['station_type'] == 'local':
iface = LocalIface('test', 'test_iface.txt', 'rand')
else:
iface = SerialIface("rs-232", cr.json['port'])
if iface.GetState():
logging.fatal("Serial interface error")
sys.exit(-1)
ts = TotalStation(cr.json['station_type'], mu, iface)
for i in range(10):
w = ts.GetATR() # wake up instrument
if 'errorCode' in w or ts.measureIface.GetState():
ts.measureIface.ClearState()
time.sleep(10)
else:
break
if 'errorCode' in w or ts.measureIface.GetState():
logging.fatal("Instrument wake up failed")
sys.exit(-1)
# get meteorology data
help='output, default stdout')
parser.add_argument('-d',
'--debug',
action="store_true",
help='detailed log output to stdout')
# get file from command line params
args = parser.parse_args()
if args.debug:
logging.basicConfig(level=logging.DEBUG)
# NMEA input interface
if re.search('^COM[0-9][0-9]?$', args.interface) or \
re.search('^/dev/ttyUSB[0-9]$', args.interface) or \
re.search('^/dev/ttyS[0-9]*', args.interface):
# serial
li = SerialIface('test', args.interface, args.speed)
elif re.search('^([0-9a-fA-F]{2}:){5}[0-9A-f-F]{2}$', args.interface):
# bluetooth
li = BluetoothIface('test', args.interface, 1)
elif os.path.exists(args.interface) and os.path.isfile(args.interface):
# input from file
li = LocalIface('test', args.interface)
else:
print('invalid interface given')
sys.exit(1)
# output
if args.output is None:
wrt = EchoWriter(
'', 'DEG', '.3f', '%Y-%m-%d %H:%M:%S',
['id', 'latitude', 'longitude', 'altitude', 'datetime'])
def GetAutoOff(self):
""" Query auto off state
:returns: auto off state
"""
msg = self.measureUnit.GetAutoOffMsg()
return self._process(msg)
def Temperature(self):
""" Get temperature
:returns: internal temperature
"""
msg = self.measureUnit.TemperatureMsg()
return self._process(msg)
if __name__ == "__main__":
from leicadnaunit import LeicaDnaUnit
from digitallevel import DigitalLevel
from serialiface import SerialIface
mu = LeicaDnaUnit()
iface = SerialIface('x', '/dev/ttyS0')
dna = DigitalLevel('DNA03', mu, iface)
dna.SetAutoOff(0)
#print (dna.GetAutoOff())
print(dna.Temperature())
print(dna.Measure())
mu = LeicaTCRA1100()
elif re.search('180[0-9]$', stationtype):
from leicatca1800 import LeicaTCA1800
mu = LeicaTCA1800()
elif re.search('550[0-9]$', stationtype):
from trimble5500 import Trimble5500
mu = Trimble5500()
else:
print("unsupported instrument type")
exit(1)
if len(sys.argv) > 3:
port = sys.argv[3]
else:
port = 'COM1'
iface = SerialIface("rs-232", port)
if otype == 'geo':
geo_wrt = GeoWriter(dist='.4f', angle='RAD', fname=ofname+'.geo', mode='w')
coo_wrt = GeoWriter(dist='.4f', angle='RAD', fname=ofname + '.coo', mode='w')
else:
geo_wrt = CsvWriter(dist='.4f', fname=ofname+'.dmp', \
header=True, filt=['station', 'id', 'hz', 'v', 'faces'])
coo_wrt = CsvWriter(dist='.4f', fname=ofname+'.csv', \
header=True, filt=['id', 'east', 'north', 'elev'])
ts = TotalStation(stationtype, mu, iface)
# get station data
coo = {}
coo['id'] = raw_input("Station id: ")
coo['east'] = float(raw_input("Station east: "))
coo['north'] = float(raw_input("Station north: "))
return self._process(msg)
def Temperature(self):
""" Get temperature
:returns: internal temperature
"""
msg = self.measureUnit.TemperatureMsg()
return self._process(msg)
if __name__ == "__main__":
from leicadnaunit import LeicaDnaUnit
from serialiface import SerialIface
from csvwriter import CsvWriter
mu = LeicaDnaUnit()
iface = SerialIface('x', '/dev/ttyUSB0')
wrt = CsvWriter(angle='DMS',
dist='.5f',
filt=['id', 'distance', 'staff', 'datetime'],
fname='stdout',
mode='a',
sep=';')
dna = DigitalLevel('DNA03', mu, iface, wrt)
dna.SetAutoOff(0)
#print (dna.GetAutoOff())
print(dna.Temperature())
for i in range(10):
dna.Measure()
from leicatps1200 import LeicaTPS1200
mu = LeicaTPS1200()
elif re.search('110[0-9]$', stationtype):
from leicatcra1100 import LeicaTCRA1100
mu = LeicaTCRA1100()
elif re.search('550[0-9]$', stationtype):
from trimble5500 import Trimble5500
mu = Trimble5500()
else:
print "unsupported instrument type"
#sys.exit(1)
# set port
port = 'COM5'
if len(sys.argv) > 4:
port = sys.argv[4]
iface = SerialIface("test", port)
# set output file name
fn = 'measmtrx.txt'
if len(sys.argv) > 5:
fn = sys.argv[5]
# write out measurements
wrt = FileWriter(angle='DEG', dist='.3f', fname=fn)
if wrt.GetState() != wrt.WR_OK:
sys.exit(-1) # open error
ts = TotalStation(stationtype, mu, iface, wrt)
ts.SetATR(0) # turn ATR off
ts.SetEDMMode('RLSTANDARD') # reflectorless distance measurement
ts.SetRedLaser(1) # turn red laser on
w = raw_input("Target on lower left corner and press Enter")
w1 = ts.GetAngles()
mode = 4 # lock with distance measurement
if len(sys.argv) > 2:
try:
mode = int(sys.argv[2])
except ValueError:
mode = 4
# EDM mode
edm = 'FAST'
if len(sys.argv) > 3:
edm = sys.argv[3]
# Serial port
com = '/dev/ttyUSB0'
if len(sys.argv) > 4:
com = sys.argv[4]
if re.search('^COM[0-9]+', com) or re.search('^/dev/.*tty', com):
iface = SerialIface("rs-232", com)
else:
iface = LocalIface("testIface",
com) # Local iface for testing the module
# Writer
if len(sys.argv) > 5:
wrt = CsvWriter(
angle='GON',
dist='.3f',
dt='%Y-%m-%d %H:%M:%S',
filt=['id', 'hz', 'v', 'distance', 'east', 'north', 'elev'],
fname=sys.argv[5],
mode='a',
sep=';')
else:
logging.error(" Getangles failed")
return None
def MoveRel(self, hz_rel, v_rel, atr=0):
""" Rotate the instrument relative to actual direction
:param hz_rel: relative horizontal rotation (Angle)
:param v_rel: relative zenith rotation (Angle)
:param atr: 0/1 atr on/off
"""
#get the actual direction
msg = self.measureUnit.GetAnglesMsg()
res = self._process(msg)
if 'hz' in res and 'v' in res:
return self.Move(res['hz'] + hz_rel, res['v'] + v_rel, atr)
return None
if __name__ == "__main__":
from leicatps1200 import LeicaTPS1200
from serialiface import SerialIface
from echowriter import EchoWriter
logging.getLogger().setLevel(logging.DEBUG)
mu = LeicaTPS1200()
iface = SerialIface("rs-232", "/dev/ttyS0")
wrt = EchoWriter()
ts = TotalStation("Leica", mu, iface, wrt)
ts.SetEDMMode(5)
ts.Move(Angle(90, 'DEG'), Angle(85, 'DEG'))
ts.Measure()
print (ts.GetMeasure())
"""
import re
import sys
sys.path.append('../pyapi')
if __name__ == '__main__':
# Choose between serial or bluetooth communication
if len(sys.argv) > 1:
cm = sys.argv[1]
else:
cm = '/dev/ttyUSB0'
if re.search('COM[0-9]$', cm) or '/dev/ttyUSB0' == cm:
from serialiface import SerialIface
iface = SerialIface('test', cm)
else:
from bluetoothiface import BluetoothIface
iface = BluetoothIface('test', cm, 1)
#from localiface import LocalIface
#iface = LocalIface('test', 'output.nmea')
from nmeagnssunit import NmeaGnssUnit
from filewriter import FileWriter
from gnss import Gnss
#Making measurement unit
mu = NmeaGnssUnit()
#Writer unit creating
if len(sys.argv) > 2:
tol = float(sys.argv[5])
maxiter = 10 # number of iterations to find point on horizontal plan
if len(sys.argv) > 6:
maxiter = int(sys.argv[6])
wrt = CsvWriter(
angle='DMS',
dist='.3f',
filt=['id', 'east', 'north', 'elev', 'hz', 'v', 'distance'],
fname='stdout',
mode='a',
sep=';')
if len(sys.argv) > 7:
levels = [float(a) for a in sys.argv[7:]]
else:
levels = None
iface = SerialIface("rs-232", port)
if iface.state != iface.IF_OK:
print("serial error")
exit(1)
if re.search('120[0-9]$', stationtype):
mu = LeicaTPS1200()
elif re.search('110[0-9]$', stationtype):
mu = LeicaTCRA1100()
elif re.search('550[0-9]$', stationtype):
mu = Trimble5500()
iface.eomRead = b'>'
else:
print("unsupported instrument type")
exit(1)
ts = TotalStation(stationtype, mu, iface)
Sample application to nod by the totalstation
"""
from sys import argv, path
path.append('../pyapi/')
from angle import Angle
from leicatca1800 import LeicaTCA1800
from serialiface import SerialIface
from totalstation import TotalStation
mu = LeicaTCA1800()
si = SerialIface("si", "/dev/ttyUSB0")
ts = TotalStation("yes", mu, si)
if len(argv) < 2:
yes = 1
else:
yes = int(argv[1])
if yes:
dhz = Angle(0)
dv = Angle(30, "DEG")
else:
dhz = Angle(30, "DEG")
dv = Angle(0)
shz = Angle(0)
if len(sys.argv) > 4:
numberOfPoints = int(sys.argv[4])
else:
numberOfPoints = 2
tol = 0.01
if len(sys.argv) > 5:
tol = float(sys.argv[5])
# Number of iterations to find point on the chosen plane
maxiter = 10
if len(sys.argv) > 6:
maxiter = int(sys.argv[6])
arange = PI2
if len(sys.argv) > 7:
arange = float(sys.argv[7]) / 360.0 * PI2
iface = SerialIface("rs-232", port) ## eomRead='\n'
wrt = CsvWriter(angle='DMS',
dist='.3f',
filt=['id', 'east', 'north', 'elev'],
fname='section.txt',
mode='w',
sep=';')
ts = TotalStation(stationtype, mu, iface)
if isinstance(mu, Trimble5500):
print("Set Trimble 550x to direct reflex (MNU 722)")
raw_input()
else:
ts.SetATR(0) # ATR mode off
ts.SetLock(0) # Lock mode off
ts.SetEDMMode("RLSTANDARD") # Reflectorless distance measurement
ts.SetRedLaser(1)
else:
maxa = PI2
tol = 0.01
if len(sys.argv) > 5:
tol = float(sys.argv[5])
maxiter = 10 # number of iterations to find point on horizontal plan
if len(sys.argv) > 6:
maxiter = int(sys.argv[6])
wrt = CsvWriter(angle='DMS', dist='.3f',
filt=['id', 'east', 'north', 'elev', 'hz', 'v', 'distance'],
fname='stdout', mode='a', sep=';')
if len(sys.argv) > 7:
levels = [float(a) for a in sys.argv[7:]]
else:
levels = None
iface = SerialIface("rs-232", port)
if iface.state != iface.IF_OK:
print("serial error")
exit(1)
if re.search('120[0-9]$', stationtype):
mu = LeicaTPS1200()
elif re.search('110[0-9]$', stationtype):
mu = LeicaTCRA1100()
elif re.search('550[0-9]$', stationtype):
mu = Trimble5500()
iface.eomRead = b'>'
else:
print("unsupported instrument type")
exit(1)
ts = TotalStation(stationtype, mu, iface)