id int32 0 252k | repo stringlengths 7 55 | path stringlengths 4 127 | func_name stringlengths 1 88 | original_string stringlengths 75 19.8k | language stringclasses 1 value | code stringlengths 51 19.8k | code_tokens list | docstring stringlengths 3 17.3k | docstring_tokens list | sha stringlengths 40 40 | url stringlengths 87 242 |
|---|---|---|---|---|---|---|---|---|---|---|---|
249,000 | JdeRobot/base | src/libs/comm_py/comm/ice/pose3dIceClient.py | Pose3D.update | def update(self):
'''
Updates Pose3d.
'''
pos = Pose3d()
if self.hasproxy():
pose = self.proxy.getPose3DData()
pos.yaw = self.quat2Yaw(pose.q0, pose.q1, pose.q2, pose.q3)
pos.pitch = self.quat2Pitch(pose.q0, pose.q1, pose.q2, pose.q3)
pos.roll = self.quat2Roll(pose.q0, pose.q1, pose.q2, pose.q3)
pos.x = pose.x
pos.y = pose.y
pos.z = pose.z
pos.h = pose.h
pos.q = [pose.q0, pose.q1, pose.q2, pose.q3]
self.lock.acquire()
self.pose = pos
self.lock.release() | python | def update(self):
'''
Updates Pose3d.
'''
pos = Pose3d()
if self.hasproxy():
pose = self.proxy.getPose3DData()
pos.yaw = self.quat2Yaw(pose.q0, pose.q1, pose.q2, pose.q3)
pos.pitch = self.quat2Pitch(pose.q0, pose.q1, pose.q2, pose.q3)
pos.roll = self.quat2Roll(pose.q0, pose.q1, pose.q2, pose.q3)
pos.x = pose.x
pos.y = pose.y
pos.z = pose.z
pos.h = pose.h
pos.q = [pose.q0, pose.q1, pose.q2, pose.q3]
self.lock.acquire()
self.pose = pos
self.lock.release() | [
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249,001 | JdeRobot/base | src/libs/comm_py/comm/ice/pose3dIceClient.py | Pose3D.getPose3d | def getPose3d(self):
'''
Returns last Pose3d.
@return last JdeRobotTypes Pose3d saved
'''
self.lock.acquire()
pose = self.pose
self.lock.release()
return pose | python | def getPose3d(self):
'''
Returns last Pose3d.
@return last JdeRobotTypes Pose3d saved
'''
self.lock.acquire()
pose = self.pose
self.lock.release()
return pose | [
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249,002 | JdeRobot/base | src/libs/comm_py/comm/ice/pose3dIceClient.py | Pose3D.quat2Roll | def quat2Roll (self, qw, qx, qy, qz):
'''
Translates from Quaternion to Roll.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Roll value translated from Quaternion
'''
rotateXa0=2.0*(qy*qz + qw*qx)
rotateXa1=qw*qw - qx*qx - qy*qy + qz*qz
rotateX=0.0
if(rotateXa0 != 0.0 and rotateXa1 != 0.0):
rotateX=atan2(rotateXa0, rotateXa1)
return rotateX | python | def quat2Roll (self, qw, qx, qy, qz):
'''
Translates from Quaternion to Roll.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Roll value translated from Quaternion
'''
rotateXa0=2.0*(qy*qz + qw*qx)
rotateXa1=qw*qw - qx*qx - qy*qy + qz*qz
rotateX=0.0
if(rotateXa0 != 0.0 and rotateXa1 != 0.0):
rotateX=atan2(rotateXa0, rotateXa1)
return rotateX | [
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@type qw,qx,qy,qz: float
@return Roll value translated from Quaternion | [
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249,003 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_speech.py | SpeechModule.kill_speech_dispatcher | def kill_speech_dispatcher(self):
'''kill speech dispatcher processs'''
if not 'HOME' in os.environ:
return
pidpath = os.path.join(os.environ['HOME'], '.speech-dispatcher',
'pid', 'speech-dispatcher.pid')
if os.path.exists(pidpath):
try:
import signal
pid = int(open(pidpath).read())
if pid > 1 and os.kill(pid, 0) is None:
print("Killing speech dispatcher pid %u" % pid)
os.kill(pid, signal.SIGINT)
time.sleep(1)
except Exception as e:
pass | python | def kill_speech_dispatcher(self):
'''kill speech dispatcher processs'''
if not 'HOME' in os.environ:
return
pidpath = os.path.join(os.environ['HOME'], '.speech-dispatcher',
'pid', 'speech-dispatcher.pid')
if os.path.exists(pidpath):
try:
import signal
pid = int(open(pidpath).read())
if pid > 1 and os.kill(pid, 0) is None:
print("Killing speech dispatcher pid %u" % pid)
os.kill(pid, signal.SIGINT)
time.sleep(1)
except Exception as e:
pass | [
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249,004 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/srtm.py | SRTMDownloader.loadFileList | def loadFileList(self):
"""Load a previously created file list or create a new one if none is
available."""
try:
data = open(self.filelist_file, 'rb')
except IOError:
'''print "No SRTM cached file list. Creating new one!"'''
if self.offline == 0:
self.createFileList()
return
try:
self.filelist = pickle.load(data)
data.close()
if len(self.filelist) < self.min_filelist_len:
self.filelist = {}
if self.offline == 0:
self.createFileList()
except:
'''print "Unknown error loading cached SRTM file list. Creating new one!"'''
if self.offline == 0:
self.createFileList() | python | def loadFileList(self):
try:
data = open(self.filelist_file, 'rb')
except IOError:
'''print "No SRTM cached file list. Creating new one!"'''
if self.offline == 0:
self.createFileList()
return
try:
self.filelist = pickle.load(data)
data.close()
if len(self.filelist) < self.min_filelist_len:
self.filelist = {}
if self.offline == 0:
self.createFileList()
except:
'''print "Unknown error loading cached SRTM file list. Creating new one!"'''
if self.offline == 0:
self.createFileList() | [
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249,005 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/srtm.py | SRTMTile._avg | def _avg(value1, value2, weight):
"""Returns the weighted average of two values and handles the case where
one value is None. If both values are None, None is returned.
"""
if value1 is None:
return value2
if value2 is None:
return value1
return value2 * weight + value1 * (1 - weight) | python | def _avg(value1, value2, weight):
if value1 is None:
return value2
if value2 is None:
return value1
return value2 * weight + value1 * (1 - weight) | [
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249,006 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/srtm.py | SRTMTile.calcOffset | def calcOffset(self, x, y):
"""Calculate offset into data array. Only uses to test correctness
of the formula."""
# Datalayout
# X = longitude
# Y = latitude
# Sample for size 1201x1201
# ( 0/1200) ( 1/1200) ... (1199/1200) (1200/1200)
# ( 0/1199) ( 1/1199) ... (1199/1199) (1200/1199)
# ... ... ... ...
# ( 0/ 1) ( 1/ 1) ... (1199/ 1) (1200/ 1)
# ( 0/ 0) ( 1/ 0) ... (1199/ 0) (1200/ 0)
# Some offsets:
# (0/1200) 0
# (1200/1200) 1200
# (0/1199) 1201
# (1200/1199) 2401
# (0/0) 1201*1200
# (1200/0) 1201*1201-1
return x + self.size * (self.size - y - 1) | python | def calcOffset(self, x, y):
# Datalayout
# X = longitude
# Y = latitude
# Sample for size 1201x1201
# ( 0/1200) ( 1/1200) ... (1199/1200) (1200/1200)
# ( 0/1199) ( 1/1199) ... (1199/1199) (1200/1199)
# ... ... ... ...
# ( 0/ 1) ( 1/ 1) ... (1199/ 1) (1200/ 1)
# ( 0/ 0) ( 1/ 0) ... (1199/ 0) (1200/ 0)
# Some offsets:
# (0/1200) 0
# (1200/1200) 1200
# (0/1199) 1201
# (1200/1199) 2401
# (0/0) 1201*1200
# (1200/0) 1201*1201-1
return x + self.size * (self.size - y - 1) | [
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249,007 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/srtm.py | SRTMTile.getPixelValue | def getPixelValue(self, x, y):
"""Get the value of a pixel from the data, handling voids in the
SRTM data."""
assert x < self.size, "x: %d<%d" % (x, self.size)
assert y < self.size, "y: %d<%d" % (y, self.size)
# Same as calcOffset, inlined for performance reasons
offset = x + self.size * (self.size - y - 1)
#print offset
value = self.data[offset]
if value == -32768:
return -1 # -32768 is a special value for areas with no data
return value | python | def getPixelValue(self, x, y):
assert x < self.size, "x: %d<%d" % (x, self.size)
assert y < self.size, "y: %d<%d" % (y, self.size)
# Same as calcOffset, inlined for performance reasons
offset = x + self.size * (self.size - y - 1)
#print offset
value = self.data[offset]
if value == -32768:
return -1 # -32768 is a special value for areas with no data
return value | [
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249,008 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/srtm.py | SRTMTile.getAltitudeFromLatLon | def getAltitudeFromLatLon(self, lat, lon):
"""Get the altitude of a lat lon pair, using the four neighbouring
pixels for interpolation.
"""
# print "-----\nFromLatLon", lon, lat
lat -= self.lat
lon -= self.lon
# print "lon, lat", lon, lat
if lat < 0.0 or lat >= 1.0 or lon < 0.0 or lon >= 1.0:
raise WrongTileError(self.lat, self.lon, self.lat+lat, self.lon+lon)
x = lon * (self.size - 1)
y = lat * (self.size - 1)
# print "x,y", x, y
x_int = int(x)
x_frac = x - int(x)
y_int = int(y)
y_frac = y - int(y)
# print "frac", x_int, x_frac, y_int, y_frac
value00 = self.getPixelValue(x_int, y_int)
value10 = self.getPixelValue(x_int+1, y_int)
value01 = self.getPixelValue(x_int, y_int+1)
value11 = self.getPixelValue(x_int+1, y_int+1)
value1 = self._avg(value00, value10, x_frac)
value2 = self._avg(value01, value11, x_frac)
value = self._avg(value1, value2, y_frac)
# print "%4d %4d | %4d\n%4d %4d | %4d\n-------------\n%4d" % (
# value00, value10, value1, value01, value11, value2, value)
return value | python | def getAltitudeFromLatLon(self, lat, lon):
# print "-----\nFromLatLon", lon, lat
lat -= self.lat
lon -= self.lon
# print "lon, lat", lon, lat
if lat < 0.0 or lat >= 1.0 or lon < 0.0 or lon >= 1.0:
raise WrongTileError(self.lat, self.lon, self.lat+lat, self.lon+lon)
x = lon * (self.size - 1)
y = lat * (self.size - 1)
# print "x,y", x, y
x_int = int(x)
x_frac = x - int(x)
y_int = int(y)
y_frac = y - int(y)
# print "frac", x_int, x_frac, y_int, y_frac
value00 = self.getPixelValue(x_int, y_int)
value10 = self.getPixelValue(x_int+1, y_int)
value01 = self.getPixelValue(x_int, y_int+1)
value11 = self.getPixelValue(x_int+1, y_int+1)
value1 = self._avg(value00, value10, x_frac)
value2 = self._avg(value01, value11, x_frac)
value = self._avg(value1, value2, y_frac)
# print "%4d %4d | %4d\n%4d %4d | %4d\n-------------\n%4d" % (
# value00, value10, value1, value01, value11, value2, value)
return value | [
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249,009 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/lib/mavmemlog.py | mavmemlog.rewind | def rewind(self):
'''rewind to start'''
self._index = 0
self.percent = 0
self.messages = {}
self._flightmode_index = 0
self._timestamp = None
self.flightmode = None
self.params = {} | python | def rewind(self):
'''rewind to start'''
self._index = 0
self.percent = 0
self.messages = {}
self._flightmode_index = 0
self._timestamp = None
self.flightmode = None
self.params = {} | [
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249,010 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py | MAVParmDict.mavset | def mavset(self, mav, name, value, retries=3):
'''set a parameter on a mavlink connection'''
got_ack = False
while retries > 0 and not got_ack:
retries -= 1
mav.param_set_send(name.upper(), float(value))
tstart = time.time()
while time.time() - tstart < 1:
ack = mav.recv_match(type='PARAM_VALUE', blocking=False)
if ack == None:
time.sleep(0.1)
continue
if str(name).upper() == str(ack.param_id).upper():
got_ack = True
self.__setitem__(name, float(value))
break
if not got_ack:
print("timeout setting %s to %f" % (name, float(value)))
return False
return True | python | def mavset(self, mav, name, value, retries=3):
'''set a parameter on a mavlink connection'''
got_ack = False
while retries > 0 and not got_ack:
retries -= 1
mav.param_set_send(name.upper(), float(value))
tstart = time.time()
while time.time() - tstart < 1:
ack = mav.recv_match(type='PARAM_VALUE', blocking=False)
if ack == None:
time.sleep(0.1)
continue
if str(name).upper() == str(ack.param_id).upper():
got_ack = True
self.__setitem__(name, float(value))
break
if not got_ack:
print("timeout setting %s to %f" % (name, float(value)))
return False
return True | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py#L17-L36 |
249,011 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py | MAVParmDict.save | def save(self, filename, wildcard='*', verbose=False):
'''save parameters to a file'''
f = open(filename, mode='w')
k = list(self.keys())
k.sort()
count = 0
for p in k:
if p and fnmatch.fnmatch(str(p).upper(), wildcard.upper()):
f.write("%-16.16s %f\n" % (p, self.__getitem__(p)))
count += 1
f.close()
if verbose:
print("Saved %u parameters to %s" % (count, filename)) | python | def save(self, filename, wildcard='*', verbose=False):
'''save parameters to a file'''
f = open(filename, mode='w')
k = list(self.keys())
k.sort()
count = 0
for p in k:
if p and fnmatch.fnmatch(str(p).upper(), wildcard.upper()):
f.write("%-16.16s %f\n" % (p, self.__getitem__(p)))
count += 1
f.close()
if verbose:
print("Saved %u parameters to %s" % (count, filename)) | [
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... | save parameters to a file | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py#L39-L51 |
249,012 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py | MAVParmDict.load | def load(self, filename, wildcard='*', mav=None, check=True):
'''load parameters from a file'''
try:
f = open(filename, mode='r')
except:
print("Failed to open file '%s'" % filename)
return False
count = 0
changed = 0
for line in f:
line = line.strip()
if not line or line[0] == "#":
continue
line = line.replace(',',' ')
a = line.split()
if len(a) != 2:
print("Invalid line: %s" % line)
continue
# some parameters should not be loaded from files
if a[0] in self.exclude_load:
continue
if not fnmatch.fnmatch(a[0].upper(), wildcard.upper()):
continue
if mav is not None:
if check:
if a[0] not in self.keys():
print("Unknown parameter %s" % a[0])
continue
old_value = self.__getitem__(a[0])
if math.fabs(old_value - float(a[1])) <= self.mindelta:
count += 1
continue
if self.mavset(mav, a[0], a[1]):
print("changed %s from %f to %f" % (a[0], old_value, float(a[1])))
else:
print("set %s to %f" % (a[0], float(a[1])))
self.mavset(mav, a[0], a[1])
changed += 1
else:
self.__setitem__(a[0], float(a[1]))
count += 1
f.close()
if mav is not None:
print("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
else:
print("Loaded %u parameters from %s" % (count, filename))
return True | python | def load(self, filename, wildcard='*', mav=None, check=True):
'''load parameters from a file'''
try:
f = open(filename, mode='r')
except:
print("Failed to open file '%s'" % filename)
return False
count = 0
changed = 0
for line in f:
line = line.strip()
if not line or line[0] == "#":
continue
line = line.replace(',',' ')
a = line.split()
if len(a) != 2:
print("Invalid line: %s" % line)
continue
# some parameters should not be loaded from files
if a[0] in self.exclude_load:
continue
if not fnmatch.fnmatch(a[0].upper(), wildcard.upper()):
continue
if mav is not None:
if check:
if a[0] not in self.keys():
print("Unknown parameter %s" % a[0])
continue
old_value = self.__getitem__(a[0])
if math.fabs(old_value - float(a[1])) <= self.mindelta:
count += 1
continue
if self.mavset(mav, a[0], a[1]):
print("changed %s from %f to %f" % (a[0], old_value, float(a[1])))
else:
print("set %s to %f" % (a[0], float(a[1])))
self.mavset(mav, a[0], a[1])
changed += 1
else:
self.__setitem__(a[0], float(a[1]))
count += 1
f.close()
if mav is not None:
print("Loaded %u parameters from %s (changed %u)" % (count, filename, changed))
else:
print("Loaded %u parameters from %s" % (count, filename))
return True | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py#L54-L100 |
249,013 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py | MAVParmDict.diff | def diff(self, filename, wildcard='*'):
'''show differences with another parameter file'''
other = MAVParmDict()
if not other.load(filename):
return
keys = sorted(list(set(self.keys()).union(set(other.keys()))))
for k in keys:
if not fnmatch.fnmatch(str(k).upper(), wildcard.upper()):
continue
if not k in other:
print("%-16.16s %12.4f" % (k, self[k]))
elif not k in self:
print("%-16.16s %12.4f" % (k, other[k]))
elif abs(self[k] - other[k]) > self.mindelta:
print("%-16.16s %12.4f %12.4f" % (k, other[k], self[k])) | python | def diff(self, filename, wildcard='*'):
'''show differences with another parameter file'''
other = MAVParmDict()
if not other.load(filename):
return
keys = sorted(list(set(self.keys()).union(set(other.keys()))))
for k in keys:
if not fnmatch.fnmatch(str(k).upper(), wildcard.upper()):
continue
if not k in other:
print("%-16.16s %12.4f" % (k, self[k]))
elif not k in self:
print("%-16.16s %12.4f" % (k, other[k]))
elif abs(self[k] - other[k]) > self.mindelta:
print("%-16.16s %12.4f %12.4f" % (k, other[k], self[k])) | [
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... | show differences with another parameter file | [
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"parameter",
"file"
] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavparm.py#L109-L123 |
249,014 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/generator/mavgen_java.py | generate | def generate(basename, xml_list):
'''generate complete MAVLink Java implemenation'''
for xml in xml_list:
generate_one(basename, xml)
generate_enums(basename, xml)
generate_MAVLinkMessage(basename, xml_list)
copy_fixed_headers(basename, xml_list[0]) | python | def generate(basename, xml_list):
'''generate complete MAVLink Java implemenation'''
for xml in xml_list:
generate_one(basename, xml)
generate_enums(basename, xml)
generate_MAVLinkMessage(basename, xml_list)
copy_fixed_headers(basename, xml_list[0]) | [
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"generate_MAVLinkMessage",
"(",
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",",
"xml_li... | generate complete MAVLink Java implemenation | [
"generate",
"complete",
"MAVLink",
"Java",
"implemenation"
] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/generator/mavgen_java.py#L611-L617 |
249,015 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v10/autoquad.py | MAVLink.aq_telemetry_f_encode | def aq_telemetry_f_encode(self, Index, value1, value2, value3, value4, value5, value6, value7, value8, value9, value10, value11, value12, value13, value14, value15, value16, value17, value18, value19, value20):
'''
Sends up to 20 raw float values.
Index : Index of message (uint16_t)
value1 : value1 (float)
value2 : value2 (float)
value3 : value3 (float)
value4 : value4 (float)
value5 : value5 (float)
value6 : value6 (float)
value7 : value7 (float)
value8 : value8 (float)
value9 : value9 (float)
value10 : value10 (float)
value11 : value11 (float)
value12 : value12 (float)
value13 : value13 (float)
value14 : value14 (float)
value15 : value15 (float)
value16 : value16 (float)
value17 : value17 (float)
value18 : value18 (float)
value19 : value19 (float)
value20 : value20 (float)
'''
return MAVLink_aq_telemetry_f_message(Index, value1, value2, value3, value4, value5, value6, value7, value8, value9, value10, value11, value12, value13, value14, value15, value16, value17, value18, value19, value20) | python | def aq_telemetry_f_encode(self, Index, value1, value2, value3, value4, value5, value6, value7, value8, value9, value10, value11, value12, value13, value14, value15, value16, value17, value18, value19, value20):
'''
Sends up to 20 raw float values.
Index : Index of message (uint16_t)
value1 : value1 (float)
value2 : value2 (float)
value3 : value3 (float)
value4 : value4 (float)
value5 : value5 (float)
value6 : value6 (float)
value7 : value7 (float)
value8 : value8 (float)
value9 : value9 (float)
value10 : value10 (float)
value11 : value11 (float)
value12 : value12 (float)
value13 : value13 (float)
value14 : value14 (float)
value15 : value15 (float)
value16 : value16 (float)
value17 : value17 (float)
value18 : value18 (float)
value19 : value19 (float)
value20 : value20 (float)
'''
return MAVLink_aq_telemetry_f_message(Index, value1, value2, value3, value4, value5, value6, value7, value8, value9, value10, value11, value12, value13, value14, value15, value16, value17, value18, value19, value20) | [
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Index : Index of message (uint16_t)
value1 : value1 (float)
value2 : value2 (float)
value3 : value3 (float)
value4 : value4 (float)
value5 : value5 (float)
value6 : value6 (float)
value7 : value7 (float)
value8 : value8 (float)
value9 : value9 (float)
value10 : value10 (float)
value11 : value11 (float)
value12 : value12 (float)
value13 : value13 (float)
value14 : value14 (float)
value15 : value15 (float)
value16 : value16 (float)
value17 : value17 (float)
value18 : value18 (float)
value19 : value19 (float)
value20 : value20 (float) | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v10/autoquad.py#L7321-L7348 |
249,016 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/lib/wxconsole.py | MessageConsole.close | def close(self):
'''close the console'''
self.close_event.set()
if self.is_alive():
self.child.join(2) | python | def close(self):
'''close the console'''
self.close_event.set()
if self.is_alive():
self.child.join(2) | [
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")"
] | close the console | [
"close",
"the",
"console"
] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/modules/lib/wxconsole.py#L74-L78 |
249,017 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.cmd_rally_add | def cmd_rally_add(self, args):
'''handle rally add'''
if len(args) < 1:
alt = self.settings.rallyalt
else:
alt = float(args[0])
if len(args) < 2:
break_alt = self.settings.rally_breakalt
else:
break_alt = float(args[1])
if len(args) < 3:
flag = self.settings.rally_flags
else:
flag = int(args[2])
#currently only supporting autoland values:
#True (nonzero) and False (zero)
if (flag != 0):
flag = 2
if not self.have_list:
print("Please list rally points first")
return
if (self.rallyloader.rally_count() > 4):
print ("Only 5 rally points possible per flight plan.")
return
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
land_hdg = 0.0
self.rallyloader.create_and_append_rally_point(latlon[0] * 1e7, latlon[1] * 1e7, alt, break_alt, land_hdg, flag)
self.send_rally_points()
print("Added Rally point at %s %f %f, autoland: %s" % (str(latlon), alt, break_alt, bool(flag & 2))) | python | def cmd_rally_add(self, args):
'''handle rally add'''
if len(args) < 1:
alt = self.settings.rallyalt
else:
alt = float(args[0])
if len(args) < 2:
break_alt = self.settings.rally_breakalt
else:
break_alt = float(args[1])
if len(args) < 3:
flag = self.settings.rally_flags
else:
flag = int(args[2])
#currently only supporting autoland values:
#True (nonzero) and False (zero)
if (flag != 0):
flag = 2
if not self.have_list:
print("Please list rally points first")
return
if (self.rallyloader.rally_count() > 4):
print ("Only 5 rally points possible per flight plan.")
return
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
land_hdg = 0.0
self.rallyloader.create_and_append_rally_point(latlon[0] * 1e7, latlon[1] * 1e7, alt, break_alt, land_hdg, flag)
self.send_rally_points()
print("Added Rally point at %s %f %f, autoland: %s" % (str(latlon), alt, break_alt, bool(flag & 2))) | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py#L72-L114 |
249,018 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.cmd_rally_alt | def cmd_rally_alt(self, args):
'''handle rally alt change'''
if (len(args) < 2):
print("Usage: rally alt RALLYNUM newAlt <newBreakAlt>")
return
if not self.have_list:
print("Please list rally points first")
return
idx = int(args[0])
if idx <= 0 or idx > self.rallyloader.rally_count():
print("Invalid rally point number %u" % idx)
return
new_alt = int(args[1])
new_break_alt = None
if (len(args) > 2):
new_break_alt = int(args[2])
self.rallyloader.set_alt(idx, new_alt, new_break_alt)
self.send_rally_point(idx-1)
self.fetch_rally_point(idx-1)
self.rallyloader.reindex() | python | def cmd_rally_alt(self, args):
'''handle rally alt change'''
if (len(args) < 2):
print("Usage: rally alt RALLYNUM newAlt <newBreakAlt>")
return
if not self.have_list:
print("Please list rally points first")
return
idx = int(args[0])
if idx <= 0 or idx > self.rallyloader.rally_count():
print("Invalid rally point number %u" % idx)
return
new_alt = int(args[1])
new_break_alt = None
if (len(args) > 2):
new_break_alt = int(args[2])
self.rallyloader.set_alt(idx, new_alt, new_break_alt)
self.send_rally_point(idx-1)
self.fetch_rally_point(idx-1)
self.rallyloader.reindex() | [
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249,019 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.cmd_rally_move | def cmd_rally_move(self, args):
'''handle rally move'''
if len(args) < 1:
print("Usage: rally move RALLYNUM")
return
if not self.have_list:
print("Please list rally points first")
return
idx = int(args[0])
if idx <= 0 or idx > self.rallyloader.rally_count():
print("Invalid rally point number %u" % idx)
return
rpoint = self.rallyloader.rally_point(idx-1)
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
oldpos = (rpoint.lat*1e-7, rpoint.lng*1e-7)
self.rallyloader.move(idx, latlon[0], latlon[1])
self.send_rally_point(idx-1)
p = self.fetch_rally_point(idx-1)
if p.lat != int(latlon[0]*1e7) or p.lng != int(latlon[1]*1e7):
print("Rally move failed")
return
self.rallyloader.reindex()
print("Moved rally point from %s to %s at %fm" % (str(oldpos), str(latlon), rpoint.alt)) | python | def cmd_rally_move(self, args):
'''handle rally move'''
if len(args) < 1:
print("Usage: rally move RALLYNUM")
return
if not self.have_list:
print("Please list rally points first")
return
idx = int(args[0])
if idx <= 0 or idx > self.rallyloader.rally_count():
print("Invalid rally point number %u" % idx)
return
rpoint = self.rallyloader.rally_point(idx-1)
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
oldpos = (rpoint.lat*1e-7, rpoint.lng*1e-7)
self.rallyloader.move(idx, latlon[0], latlon[1])
self.send_rally_point(idx-1)
p = self.fetch_rally_point(idx-1)
if p.lat != int(latlon[0]*1e7) or p.lng != int(latlon[1]*1e7):
print("Rally move failed")
return
self.rallyloader.reindex()
print("Moved rally point from %s to %s at %fm" % (str(oldpos), str(latlon), rpoint.alt)) | [
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249,020 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.cmd_rally | def cmd_rally(self, args):
'''rally point commands'''
#TODO: add_land arg
if len(args) < 1:
self.print_usage()
return
elif args[0] == "add":
self.cmd_rally_add(args[1:])
elif args[0] == "move":
self.cmd_rally_move(args[1:])
elif args[0] == "clear":
self.rallyloader.clear()
self.mav_param.mavset(self.master,'RALLY_TOTAL',0,3)
elif args[0] == "remove":
if not self.have_list:
print("Please list rally points first")
return
if (len(args) < 2):
print("Usage: rally remove RALLYNUM")
return
self.rallyloader.remove(int(args[1]))
self.send_rally_points()
elif args[0] == "list":
self.list_rally_points()
self.have_list = True
elif args[0] == "load":
if (len(args) < 2):
print("Usage: rally load filename")
return
try:
self.rallyloader.load(args[1])
except Exception as msg:
print("Unable to load %s - %s" % (args[1], msg))
return
self.send_rally_points()
self.have_list = True
print("Loaded %u rally points from %s" % (self.rallyloader.rally_count(), args[1]))
elif args[0] == "save":
if (len(args) < 2):
print("Usage: rally save filename")
return
self.rallyloader.save(args[1])
print("Saved rally file %s" % args[1])
elif args[0] == "alt":
self.cmd_rally_alt(args[1:])
elif args[0] == "land":
if (len(args) >= 2 and args[1] == "abort"):
self.abort_ack_received = False
self.abort_first_send_time = 0
self.abort_alt = self.settings.rally_breakalt
if (len(args) >= 3):
self.abort_alt = int(args[2])
else:
self.master.mav.command_long_send(self.settings.target_system,
self.settings.target_component,
mavutil.mavlink.MAV_CMD_DO_RALLY_LAND,
0, 0, 0, 0, 0, 0, 0, 0)
else:
self.print_usage() | python | def cmd_rally(self, args):
'''rally point commands'''
#TODO: add_land arg
if len(args) < 1:
self.print_usage()
return
elif args[0] == "add":
self.cmd_rally_add(args[1:])
elif args[0] == "move":
self.cmd_rally_move(args[1:])
elif args[0] == "clear":
self.rallyloader.clear()
self.mav_param.mavset(self.master,'RALLY_TOTAL',0,3)
elif args[0] == "remove":
if not self.have_list:
print("Please list rally points first")
return
if (len(args) < 2):
print("Usage: rally remove RALLYNUM")
return
self.rallyloader.remove(int(args[1]))
self.send_rally_points()
elif args[0] == "list":
self.list_rally_points()
self.have_list = True
elif args[0] == "load":
if (len(args) < 2):
print("Usage: rally load filename")
return
try:
self.rallyloader.load(args[1])
except Exception as msg:
print("Unable to load %s - %s" % (args[1], msg))
return
self.send_rally_points()
self.have_list = True
print("Loaded %u rally points from %s" % (self.rallyloader.rally_count(), args[1]))
elif args[0] == "save":
if (len(args) < 2):
print("Usage: rally save filename")
return
self.rallyloader.save(args[1])
print("Saved rally file %s" % args[1])
elif args[0] == "alt":
self.cmd_rally_alt(args[1:])
elif args[0] == "land":
if (len(args) >= 2 and args[1] == "abort"):
self.abort_ack_received = False
self.abort_first_send_time = 0
self.abort_alt = self.settings.rally_breakalt
if (len(args) >= 3):
self.abort_alt = int(args[2])
else:
self.master.mav.command_long_send(self.settings.target_system,
self.settings.target_component,
mavutil.mavlink.MAV_CMD_DO_RALLY_LAND,
0, 0, 0, 0, 0, 0, 0, 0)
else:
self.print_usage() | [
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249,021 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.mavlink_packet | def mavlink_packet(self, m):
'''handle incoming mavlink packet'''
type = m.get_type()
if type in ['COMMAND_ACK']:
if m.command == mavutil.mavlink.MAV_CMD_DO_GO_AROUND:
if (m.result == 0 and self.abort_ack_received == False):
self.say("Landing Abort Command Successfully Sent.")
self.abort_ack_received = True
elif (m.result != 0 and self.abort_ack_received == False):
self.say("Landing Abort Command Unsuccessful.")
elif m.command == mavutil.mavlink.MAV_CMD_DO_RALLY_LAND:
if (m.result == 0):
self.say("Landing.") | python | def mavlink_packet(self, m):
'''handle incoming mavlink packet'''
type = m.get_type()
if type in ['COMMAND_ACK']:
if m.command == mavutil.mavlink.MAV_CMD_DO_GO_AROUND:
if (m.result == 0 and self.abort_ack_received == False):
self.say("Landing Abort Command Successfully Sent.")
self.abort_ack_received = True
elif (m.result != 0 and self.abort_ack_received == False):
self.say("Landing Abort Command Unsuccessful.")
elif m.command == mavutil.mavlink.MAV_CMD_DO_RALLY_LAND:
if (m.result == 0):
self.say("Landing.") | [
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249,022 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.send_rally_point | def send_rally_point(self, i):
'''send rally points from fenceloader'''
p = self.rallyloader.rally_point(i)
p.target_system = self.target_system
p.target_component = self.target_component
self.master.mav.send(p) | python | def send_rally_point(self, i):
'''send rally points from fenceloader'''
p = self.rallyloader.rally_point(i)
p.target_system = self.target_system
p.target_component = self.target_component
self.master.mav.send(p) | [
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249,023 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_rally.py | RallyModule.send_rally_points | def send_rally_points(self):
'''send rally points from rallyloader'''
self.mav_param.mavset(self.master,'RALLY_TOTAL',self.rallyloader.rally_count(),3)
for i in range(self.rallyloader.rally_count()):
self.send_rally_point(i) | python | def send_rally_points(self):
'''send rally points from rallyloader'''
self.mav_param.mavset(self.master,'RALLY_TOTAL',self.rallyloader.rally_count(),3)
for i in range(self.rallyloader.rally_count()):
self.send_rally_point(i) | [
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249,024 | JdeRobot/base | src/libs/comm_py/comm/ice/bumperIceClient.py | Bumper.getBumper | def getBumper(self):
'''
Returns last Bumper.
@return last JdeRobotTypes Bumper saved
'''
if self.hasproxy():
self.lock.acquire()
bumper = self.bumper
self.lock.release()
return bumper
return None | python | def getBumper(self):
'''
Returns last Bumper.
@return last JdeRobotTypes Bumper saved
'''
if self.hasproxy():
self.lock.acquire()
bumper = self.bumper
self.lock.release()
return bumper
return None | [
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249,025 | JdeRobot/base | src/libs/comm_py/comm/ros/listenerRgbd.py | imageMsg2Image | def imageMsg2Image(img, bridge):
'''
Translates from ROS Image to JderobotTypes Image.
@param img: ROS Image to translate
@param bridge: bridge to do translation
@type img: sensor_msgs.msg.Image
@type brige: CvBridge
@return a JderobotTypes.Image translated from img
'''
image = Image()
image.width = img.width
image.height = img.height
image.format = "RGB8"
image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs *1e-9)
cv_image=0
if (img.encoding == "32FC1"):
gray_img_buff = bridge.imgmsg_to_cv2(img, "32FC1")
cv_image = depthToRGB8(gray_img_buff)
else:
cv_image = bridge.imgmsg_to_cv2(img, "rgb8")
image.data = cv_image
return image | python | def imageMsg2Image(img, bridge):
'''
Translates from ROS Image to JderobotTypes Image.
@param img: ROS Image to translate
@param bridge: bridge to do translation
@type img: sensor_msgs.msg.Image
@type brige: CvBridge
@return a JderobotTypes.Image translated from img
'''
image = Image()
image.width = img.width
image.height = img.height
image.format = "RGB8"
image.timeStamp = img.header.stamp.secs + (img.header.stamp.nsecs *1e-9)
cv_image=0
if (img.encoding == "32FC1"):
gray_img_buff = bridge.imgmsg_to_cv2(img, "32FC1")
cv_image = depthToRGB8(gray_img_buff)
else:
cv_image = bridge.imgmsg_to_cv2(img, "rgb8")
image.data = cv_image
return image | [
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249,026 | JdeRobot/base | src/libs/comm_py/comm/ros/listenerRgbd.py | Images2Rgbd | def Images2Rgbd(rgb, d):
'''
Translates from ROS Images to JderobotTypes Rgbd.
@param rgb: ROS color Image to translate
@param d: ROS depth image to translate
@type rgb: ImageROS
@type d: ImageROS
@return a Rgbd translated from Images
'''
data = Rgbd()
data.color=imageMsg2Image(rgb)
data.depth=imageMsg2Image(d)
data.timeStamp = rgb.header.stamp.secs + (rgb.header.stamp.nsecs *1e-9)
return data | python | def Images2Rgbd(rgb, d):
'''
Translates from ROS Images to JderobotTypes Rgbd.
@param rgb: ROS color Image to translate
@param d: ROS depth image to translate
@type rgb: ImageROS
@type d: ImageROS
@return a Rgbd translated from Images
'''
data = Rgbd()
data.color=imageMsg2Image(rgb)
data.depth=imageMsg2Image(d)
data.timeStamp = rgb.header.stamp.secs + (rgb.header.stamp.nsecs *1e-9)
return data | [
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@type d: ImageROS
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249,027 | JdeRobot/base | src/libs/comm_py/comm/ros/listenerRgbd.py | ListenerRgbd.__callback | def __callback (self, rgb, d):
'''
Callback function to receive and save Rgbd Scans.
@param rgb: ROS color Image to translate
@param d: ROS depth image to translate
@type rgb: ImageROS
@type d: ImageROS
'''
data = Images2Rgbd(rgb, d)
self.lock.acquire()
self.data = data
self.lock.release() | python | def __callback (self, rgb, d):
'''
Callback function to receive and save Rgbd Scans.
@param rgb: ROS color Image to translate
@param d: ROS depth image to translate
@type rgb: ImageROS
@type d: ImageROS
'''
data = Images2Rgbd(rgb, d)
self.lock.acquire()
self.data = data
self.lock.release() | [
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@type rgb: ImageROS
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249,028 | JdeRobot/base | src/libs/comm_py/comm/ros/listenerRgbd.py | ListenerRgbd.getRgbdData | def getRgbdData(self):
'''
Returns last RgbdData.
@return last JdeRobotTypes Rgbd saved
'''
self.lock.acquire()
data = self.data
self.lock.release()
return data | python | def getRgbdData(self):
'''
Returns last RgbdData.
@return last JdeRobotTypes Rgbd saved
'''
self.lock.acquire()
data = self.data
self.lock.release()
return data | [
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249,029 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.fence_fetch_point_send | def fence_fetch_point_send(self, target_system, target_component, idx, force_mavlink1=False):
'''
Request a current fence point from MAV
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
idx : point index (first point is 1, 0 is for return point) (uint8_t)
'''
return self.send(self.fence_fetch_point_encode(target_system, target_component, idx), force_mavlink1=force_mavlink1) | python | def fence_fetch_point_send(self, target_system, target_component, idx, force_mavlink1=False):
'''
Request a current fence point from MAV
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
idx : point index (first point is 1, 0 is for return point) (uint8_t)
'''
return self.send(self.fence_fetch_point_encode(target_system, target_component, idx), force_mavlink1=force_mavlink1) | [
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249,030 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.hwstatus_send | def hwstatus_send(self, Vcc, I2Cerr, force_mavlink1=False):
'''
Status of key hardware
Vcc : board voltage (mV) (uint16_t)
I2Cerr : I2C error count (uint8_t)
'''
return self.send(self.hwstatus_encode(Vcc, I2Cerr), force_mavlink1=force_mavlink1) | python | def hwstatus_send(self, Vcc, I2Cerr, force_mavlink1=False):
'''
Status of key hardware
Vcc : board voltage (mV) (uint16_t)
I2Cerr : I2C error count (uint8_t)
'''
return self.send(self.hwstatus_encode(Vcc, I2Cerr), force_mavlink1=force_mavlink1) | [
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249,031 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.data16_send | def data16_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 16
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data16_encode(type, len, data), force_mavlink1=force_mavlink1) | python | def data16_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 16
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data16_encode(type, len, data), force_mavlink1=force_mavlink1) | [
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249,032 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.data32_send | def data32_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 32
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data32_encode(type, len, data), force_mavlink1=force_mavlink1) | python | def data32_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 32
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data32_encode(type, len, data), force_mavlink1=force_mavlink1) | [
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249,033 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.data64_send | def data64_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 64
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data64_encode(type, len, data), force_mavlink1=force_mavlink1) | python | def data64_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 64
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data64_encode(type, len, data), force_mavlink1=force_mavlink1) | [
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249,034 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.data96_send | def data96_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 96
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data96_encode(type, len, data), force_mavlink1=force_mavlink1) | python | def data96_send(self, type, len, data, force_mavlink1=False):
'''
Data packet, size 96
type : data type (uint8_t)
len : data length (uint8_t)
data : raw data (uint8_t)
'''
return self.send(self.data96_encode(type, len, data), force_mavlink1=force_mavlink1) | [
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249,035 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.rally_fetch_point_send | def rally_fetch_point_send(self, target_system, target_component, idx, force_mavlink1=False):
'''
Request a current rally point from MAV. MAV should respond with a
RALLY_POINT message. MAV should not respond if the
request is invalid.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
idx : point index (first point is 0) (uint8_t)
'''
return self.send(self.rally_fetch_point_encode(target_system, target_component, idx), force_mavlink1=force_mavlink1) | python | def rally_fetch_point_send(self, target_system, target_component, idx, force_mavlink1=False):
'''
Request a current rally point from MAV. MAV should respond with a
RALLY_POINT message. MAV should not respond if the
request is invalid.
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
idx : point index (first point is 0) (uint8_t)
'''
return self.send(self.rally_fetch_point_encode(target_system, target_component, idx), force_mavlink1=force_mavlink1) | [
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249,036 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.battery2_send | def battery2_send(self, voltage, current_battery, force_mavlink1=False):
'''
2nd Battery status
voltage : voltage in millivolts (uint16_t)
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
'''
return self.send(self.battery2_encode(voltage, current_battery), force_mavlink1=force_mavlink1) | python | def battery2_send(self, voltage, current_battery, force_mavlink1=False):
'''
2nd Battery status
voltage : voltage in millivolts (uint16_t)
current_battery : Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (int16_t)
'''
return self.send(self.battery2_encode(voltage, current_battery), force_mavlink1=force_mavlink1) | [
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249,037 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.gopro_heartbeat_send | def gopro_heartbeat_send(self, status, capture_mode, flags, force_mavlink1=False):
'''
Heartbeat from a HeroBus attached GoPro
status : Status (uint8_t)
capture_mode : Current capture mode (uint8_t)
flags : additional status bits (uint8_t)
'''
return self.send(self.gopro_heartbeat_encode(status, capture_mode, flags), force_mavlink1=force_mavlink1) | python | def gopro_heartbeat_send(self, status, capture_mode, flags, force_mavlink1=False):
'''
Heartbeat from a HeroBus attached GoPro
status : Status (uint8_t)
capture_mode : Current capture mode (uint8_t)
flags : additional status bits (uint8_t)
'''
return self.send(self.gopro_heartbeat_encode(status, capture_mode, flags), force_mavlink1=force_mavlink1) | [
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249,038 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.gopro_get_request_send | def gopro_get_request_send(self, target_system, target_component, cmd_id, force_mavlink1=False):
'''
Request a GOPRO_COMMAND response from the GoPro
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
cmd_id : Command ID (uint8_t)
'''
return self.send(self.gopro_get_request_encode(target_system, target_component, cmd_id), force_mavlink1=force_mavlink1) | python | def gopro_get_request_send(self, target_system, target_component, cmd_id, force_mavlink1=False):
'''
Request a GOPRO_COMMAND response from the GoPro
target_system : System ID (uint8_t)
target_component : Component ID (uint8_t)
cmd_id : Command ID (uint8_t)
'''
return self.send(self.gopro_get_request_encode(target_system, target_component, cmd_id), force_mavlink1=force_mavlink1) | [
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249,039 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.gopro_get_response_send | def gopro_get_response_send(self, cmd_id, status, value, force_mavlink1=False):
'''
Response from a GOPRO_COMMAND get request
cmd_id : Command ID (uint8_t)
status : Status (uint8_t)
value : Value (uint8_t)
'''
return self.send(self.gopro_get_response_encode(cmd_id, status, value), force_mavlink1=force_mavlink1) | python | def gopro_get_response_send(self, cmd_id, status, value, force_mavlink1=False):
'''
Response from a GOPRO_COMMAND get request
cmd_id : Command ID (uint8_t)
status : Status (uint8_t)
value : Value (uint8_t)
'''
return self.send(self.gopro_get_response_encode(cmd_id, status, value), force_mavlink1=force_mavlink1) | [
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249,040 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.gopro_set_response_send | def gopro_set_response_send(self, cmd_id, status, force_mavlink1=False):
'''
Response from a GOPRO_COMMAND set request
cmd_id : Command ID (uint8_t)
status : Status (uint8_t)
'''
return self.send(self.gopro_set_response_encode(cmd_id, status), force_mavlink1=force_mavlink1) | python | def gopro_set_response_send(self, cmd_id, status, force_mavlink1=False):
'''
Response from a GOPRO_COMMAND set request
cmd_id : Command ID (uint8_t)
status : Status (uint8_t)
'''
return self.send(self.gopro_set_response_encode(cmd_id, status), force_mavlink1=force_mavlink1) | [
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249,041 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/dialects/v20/ardupilotmega.py | MAVLink.rpm_send | def rpm_send(self, rpm1, rpm2, force_mavlink1=False):
'''
RPM sensor output
rpm1 : RPM Sensor1 (float)
rpm2 : RPM Sensor2 (float)
'''
return self.send(self.rpm_encode(rpm1, rpm2), force_mavlink1=force_mavlink1) | python | def rpm_send(self, rpm1, rpm2, force_mavlink1=False):
'''
RPM sensor output
rpm1 : RPM Sensor1 (float)
rpm2 : RPM Sensor2 (float)
'''
return self.send(self.rpm_encode(rpm1, rpm2), force_mavlink1=force_mavlink1) | [
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249,042 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.convert | def convert(self, value, fromunits, tounits):
'''convert a value from one set of units to another'''
if fromunits == tounits:
return value
if (fromunits,tounits) in self.unitmap:
return value * self.unitmap[(fromunits,tounits)]
if (tounits,fromunits) in self.unitmap:
return value / self.unitmap[(tounits,fromunits)]
raise fgFDMError("unknown unit mapping (%s,%s)" % (fromunits, tounits)) | python | def convert(self, value, fromunits, tounits):
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249,043 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.units | def units(self, varname):
'''return the default units of a variable'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
return self.mapping.vars[varname].units | python | def units(self, varname):
'''return the default units of a variable'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
return self.mapping.vars[varname].units | [
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249,044 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.variables | def variables(self):
'''return a list of available variables'''
return sorted(list(self.mapping.vars.keys()),
key = lambda v : self.mapping.vars[v].index) | python | def variables(self):
'''return a list of available variables'''
return sorted(list(self.mapping.vars.keys()),
key = lambda v : self.mapping.vars[v].index) | [
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249,045 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.get | def get(self, varname, idx=0, units=None):
'''get a variable value'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
if idx >= self.mapping.vars[varname].arraylength:
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varname, idx, self.mapping.vars[varname].arraylength))
value = self.values[self.mapping.vars[varname].index + idx]
if units:
value = self.convert(value, self.mapping.vars[varname].units, units)
return value | python | def get(self, varname, idx=0, units=None):
'''get a variable value'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
if idx >= self.mapping.vars[varname].arraylength:
raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
varname, idx, self.mapping.vars[varname].arraylength))
value = self.values[self.mapping.vars[varname].index + idx]
if units:
value = self.convert(value, self.mapping.vars[varname].units, units)
return value | [
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249,046 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.set | def set(self, varname, value, idx=0, units=None):
'''set a variable value'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
if idx >= self.mapping.vars[varname].arraylength:
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if math.isinf(value) or math.isnan(value) or math.fabs(value) > 3.4e38:
value = 0
self.values[self.mapping.vars[varname].index + idx] = value | python | def set(self, varname, value, idx=0, units=None):
'''set a variable value'''
if not varname in self.mapping.vars:
raise fgFDMError('Unknown variable %s' % varname)
if idx >= self.mapping.vars[varname].arraylength:
raise fgFDMError('index of %s beyond end of array idx=%u arraylength=%u' % (
varname, idx, self.mapping.vars[varname].arraylength))
if units:
value = self.convert(value, units, self.mapping.vars[varname].units)
# avoid range errors when packing into 4 byte floats
if math.isinf(value) or math.isnan(value) or math.fabs(value) > 3.4e38:
value = 0
self.values[self.mapping.vars[varname].index + idx] = value | [
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249,047 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.parse | def parse(self, buf):
'''parse a FD FDM buffer'''
try:
t = struct.unpack(self.pack_string, buf)
except struct.error as msg:
raise fgFDMError('unable to parse - %s' % msg)
self.values = list(t) | python | def parse(self, buf):
'''parse a FD FDM buffer'''
try:
t = struct.unpack(self.pack_string, buf)
except struct.error as msg:
raise fgFDMError('unable to parse - %s' % msg)
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249,048 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/fgFDM.py | fgFDM.pack | def pack(self):
'''pack a FD FDM buffer from current values'''
for i in range(len(self.values)):
if math.isnan(self.values[i]):
self.values[i] = 0
return struct.pack(self.pack_string, *self.values) | python | def pack(self):
'''pack a FD FDM buffer from current values'''
for i in range(len(self.values)):
if math.isnan(self.values[i]):
self.values[i] = 0
return struct.pack(self.pack_string, *self.values) | [
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249,049 | JdeRobot/base | src/drivers/drone/pose3d.py | quat2Yaw | def quat2Yaw(qw, qx, qy, qz):
'''
Translates from Quaternion to Yaw.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Yaw value translated from Quaternion
'''
rotateZa0=2.0*(qx*qy + qw*qz)
rotateZa1=qw*qw + qx*qx - qy*qy - qz*qz
rotateZ=0.0
if(rotateZa0 != 0.0 and rotateZa1 != 0.0):
rotateZ=atan2(rotateZa0,rotateZa1)
return rotateZ | python | def quat2Yaw(qw, qx, qy, qz):
'''
Translates from Quaternion to Yaw.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Yaw value translated from Quaternion
'''
rotateZa0=2.0*(qx*qy + qw*qz)
rotateZa1=qw*qw + qx*qx - qy*qy - qz*qz
rotateZ=0.0
if(rotateZa0 != 0.0 and rotateZa1 != 0.0):
rotateZ=atan2(rotateZa0,rotateZa1)
return rotateZ | [
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249,050 | JdeRobot/base | src/drivers/drone/pose3d.py | quat2Pitch | def quat2Pitch(qw, qx, qy, qz):
'''
Translates from Quaternion to Pitch.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Pitch value translated from Quaternion
'''
rotateYa0=-2.0*(qx*qz - qw*qy)
rotateY=0.0
if(rotateYa0 >= 1.0):
rotateY = pi/2.0
elif(rotateYa0 <= -1.0):
rotateY = -pi/2.0
else:
rotateY = asin(rotateYa0)
return rotateY | python | def quat2Pitch(qw, qx, qy, qz):
'''
Translates from Quaternion to Pitch.
@param qw,qx,qy,qz: Quaternion values
@type qw,qx,qy,qz: float
@return Pitch value translated from Quaternion
'''
rotateYa0=-2.0*(qx*qz - qw*qy)
rotateY=0.0
if(rotateYa0 >= 1.0):
rotateY = pi/2.0
elif(rotateYa0 <= -1.0):
rotateY = -pi/2.0
else:
rotateY = asin(rotateYa0)
return rotateY | [
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249,051 | JdeRobot/base | src/drivers/drone/pose3d.py | odometry2Pose3D | def odometry2Pose3D(odom):
'''
Translates from ROS Odometry to JderobotTypes Pose3d.
@param odom: ROS Odometry to translate
@type odom: Odometry
@return a Pose3d translated from odom
'''
pose = Pose3d()
ori = odom.pose.pose.orientation
pose.x = odom.pose.pose.position.x
pose.y = odom.pose.pose.position.y
pose.z = odom.pose.pose.position.z
#pose.h = odom.pose.pose.position.h
pose.yaw = quat2Yaw(ori.w, ori.x, ori.y, ori.z)
pose.pitch = quat2Pitch(ori.w, ori.x, ori.y, ori.z)
pose.roll = quat2Roll(ori.w, ori.x, ori.y, ori.z)
pose.q = [ori.w, ori.x, ori.y, ori.z]
pose.timeStamp = odom.header.stamp.secs + (odom.header.stamp.nsecs *1e-9)
return pose | python | def odometry2Pose3D(odom):
'''
Translates from ROS Odometry to JderobotTypes Pose3d.
@param odom: ROS Odometry to translate
@type odom: Odometry
@return a Pose3d translated from odom
'''
pose = Pose3d()
ori = odom.pose.pose.orientation
pose.x = odom.pose.pose.position.x
pose.y = odom.pose.pose.position.y
pose.z = odom.pose.pose.position.z
#pose.h = odom.pose.pose.position.h
pose.yaw = quat2Yaw(ori.w, ori.x, ori.y, ori.z)
pose.pitch = quat2Pitch(ori.w, ori.x, ori.y, ori.z)
pose.roll = quat2Roll(ori.w, ori.x, ori.y, ori.z)
pose.q = [ori.w, ori.x, ori.y, ori.z]
pose.timeStamp = odom.header.stamp.secs + (odom.header.stamp.nsecs *1e-9)
return pose | [
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249,052 | JdeRobot/base | src/drivers/drone/pose3d.py | ListenerPose3d.__callback | def __callback (self, odom):
'''
Callback function to receive and save Pose3d.
@param odom: ROS Odometry received
@type odom: Odometry
'''
pose = odometry2Pose3D(odom)
self.lock.acquire()
self.data = pose
self.lock.release() | python | def __callback (self, odom):
'''
Callback function to receive and save Pose3d.
@param odom: ROS Odometry received
@type odom: Odometry
'''
pose = odometry2Pose3D(odom)
self.lock.acquire()
self.data = pose
self.lock.release() | [
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249,053 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipObject.clip | def clip(self, px, py, w, h, img):
'''clip an area for display on the map'''
sx = 0
sy = 0
if px < 0:
sx = -px
w += px
px = 0
if py < 0:
sy = -py
h += py
py = 0
if px+w > img.width:
w = img.width - px
if py+h > img.height:
h = img.height - py
return (px, py, sx, sy, w, h) | python | def clip(self, px, py, w, h, img):
'''clip an area for display on the map'''
sx = 0
sy = 0
if px < 0:
sx = -px
w += px
px = 0
if py < 0:
sy = -py
h += py
py = 0
if px+w > img.width:
w = img.width - px
if py+h > img.height:
h = img.height - py
return (px, py, sx, sy, w, h) | [
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249,054 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipObject.update_position | def update_position(self, newpos):
'''update object position'''
if getattr(self, 'trail', None) is not None:
self.trail.update_position(newpos)
self.latlon = newpos.latlon
if hasattr(self, 'rotation'):
self.rotation = newpos.rotation | python | def update_position(self, newpos):
'''update object position'''
if getattr(self, 'trail', None) is not None:
self.trail.update_position(newpos)
self.latlon = newpos.latlon
if hasattr(self, 'rotation'):
self.rotation = newpos.rotation | [
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249,055 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipPolygon.clicked | def clicked(self, px, py):
'''see if the polygon has been clicked on.
Consider it clicked if the pixel is within 6 of the point
'''
if self.hidden:
return None
for i in range(len(self._pix_points)):
if self._pix_points[i] is None:
continue
(pixx,pixy) = self._pix_points[i]
if abs(px - pixx) < 6 and abs(py - pixy) < 6:
self._selected_vertex = i
return math.sqrt((px - pixx)**2 + (py - pixy)**2)
return None | python | def clicked(self, px, py):
'''see if the polygon has been clicked on.
Consider it clicked if the pixel is within 6 of the point
'''
if self.hidden:
return None
for i in range(len(self._pix_points)):
if self._pix_points[i] is None:
continue
(pixx,pixy) = self._pix_points[i]
if abs(px - pixx) < 6 and abs(py - pixy) < 6:
self._selected_vertex = i
return math.sqrt((px - pixx)**2 + (py - pixy)**2)
return None | [
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249,056 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipThumbnail.clicked | def clicked(self, px, py):
'''see if the image has been clicked on'''
if self.hidden:
return None
if (abs(px - self.posx) > self.width/2 or
abs(py - self.posy) > self.height/2):
return None
return math.sqrt((px-self.posx)**2 + (py-self.posy)**2) | python | def clicked(self, px, py):
'''see if the image has been clicked on'''
if self.hidden:
return None
if (abs(px - self.posx) > self.width/2 or
abs(py - self.posy) > self.height/2):
return None
return math.sqrt((px-self.posx)**2 + (py-self.posy)**2) | [
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249,057 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipInfoImage.draw | def draw(self, parent, box):
'''redraw the image'''
import wx
from MAVProxy.modules.lib import mp_widgets
if self.imgpanel is None:
self.imgpanel = mp_widgets.ImagePanel(parent, self.img())
box.Add(self.imgpanel, flag=wx.LEFT, border=0)
box.Layout() | python | def draw(self, parent, box):
'''redraw the image'''
import wx
from MAVProxy.modules.lib import mp_widgets
if self.imgpanel is None:
self.imgpanel = mp_widgets.ImagePanel(parent, self.img())
box.Add(self.imgpanel, flag=wx.LEFT, border=0)
box.Layout() | [
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249,058 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipInfoText._resize | def _resize(self):
'''calculate and set text size, handling multi-line'''
lines = self.text.split('\n')
xsize, ysize = 0, 0
for line in lines:
size = self.textctrl.GetTextExtent(line)
xsize = max(xsize, size[0])
ysize = ysize + size[1]
xsize = int(xsize*1.2)
self.textctrl.SetSize((xsize, ysize))
self.textctrl.SetMinSize((xsize, ysize)) | python | def _resize(self):
'''calculate and set text size, handling multi-line'''
lines = self.text.split('\n')
xsize, ysize = 0, 0
for line in lines:
size = self.textctrl.GetTextExtent(line)
xsize = max(xsize, size[0])
ysize = ysize + size[1]
xsize = int(xsize*1.2)
self.textctrl.SetSize((xsize, ysize))
self.textctrl.SetMinSize((xsize, ysize)) | [
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249,059 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/mavproxy_map/mp_slipmap_util.py | SlipInfoText.draw | def draw(self, parent, box):
'''redraw the text'''
import wx
if self.textctrl is None:
self.textctrl = wx.TextCtrl(parent, style=wx.TE_MULTILINE|wx.TE_READONLY)
self.textctrl.WriteText(self.text)
self._resize()
box.Add(self.textctrl, flag=wx.LEFT, border=0)
box.Layout() | python | def draw(self, parent, box):
'''redraw the text'''
import wx
if self.textctrl is None:
self.textctrl = wx.TextCtrl(parent, style=wx.TE_MULTILINE|wx.TE_READONLY)
self.textctrl.WriteText(self.text)
self._resize()
box.Add(self.textctrl, flag=wx.LEFT, border=0)
box.Layout() | [
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249,060 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/tools/mavplayback.py | App.button | def button(self, name, filename, command):
'''add a button'''
try:
img = LoadImage(filename)
b = Tkinter.Button(self.frame, image=img, command=command)
b.image = img
except Exception:
b = Tkinter.Button(self.frame, text=filename, command=command)
b.pack(side=Tkinter.LEFT)
self.buttons[name] = b | python | def button(self, name, filename, command):
'''add a button'''
try:
img = LoadImage(filename)
b = Tkinter.Button(self.frame, image=img, command=command)
b.image = img
except Exception:
b = Tkinter.Button(self.frame, text=filename, command=command)
b.pack(side=Tkinter.LEFT)
self.buttons[name] = b | [
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249,061 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/tools/mavplayback.py | App.find_message | def find_message(self):
'''find the next valid message'''
while True:
self.msg = self.mlog.recv_match(condition=args.condition)
if self.msg is not None and self.msg.get_type() != 'BAD_DATA':
break
if self.mlog.f.tell() > self.filesize - 10:
self.paused = True
break
self.last_timestamp = getattr(self.msg, '_timestamp') | python | def find_message(self):
'''find the next valid message'''
while True:
self.msg = self.mlog.recv_match(condition=args.condition)
if self.msg is not None and self.msg.get_type() != 'BAD_DATA':
break
if self.mlog.f.tell() > self.filesize - 10:
self.paused = True
break
self.last_timestamp = getattr(self.msg, '_timestamp') | [
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249,062 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/tools/mavplayback.py | App.slew | def slew(self, value):
'''move to a given position in the file'''
if float(value) != self.filepos:
pos = float(value) * self.filesize
self.mlog.f.seek(int(pos))
self.find_message() | python | def slew(self, value):
'''move to a given position in the file'''
if float(value) != self.filepos:
pos = float(value) * self.filesize
self.mlog.f.seek(int(pos))
self.find_message() | [
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249,063 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/modules/lib/live_graph_ui.py | GraphFrame.draw_plot | def draw_plot(self):
""" Redraws the plot
"""
import numpy, pylab
state = self.state
if len(self.data[0]) == 0:
print("no data to plot")
return
vhigh = max(self.data[0])
vlow = min(self.data[0])
for i in range(1,len(self.plot_data)):
vhigh = max(vhigh, max(self.data[i]))
vlow = min(vlow, min(self.data[i]))
ymin = vlow - 0.05*(vhigh-vlow)
ymax = vhigh + 0.05*(vhigh-vlow)
if ymin == ymax:
ymax = ymin + 0.1
ymin = ymin - 0.1
self.axes.set_ybound(lower=ymin, upper=ymax)
self.axes.grid(True, color='gray')
pylab.setp(self.axes.get_xticklabels(), visible=True)
pylab.setp(self.axes.get_legend().get_texts(), fontsize='small')
for i in range(len(self.plot_data)):
ydata = numpy.array(self.data[i])
xdata = self.xdata
if len(ydata) < len(self.xdata):
xdata = xdata[-len(ydata):]
self.plot_data[i].set_xdata(xdata)
self.plot_data[i].set_ydata(ydata)
self.canvas.draw() | python | def draw_plot(self):
import numpy, pylab
state = self.state
if len(self.data[0]) == 0:
print("no data to plot")
return
vhigh = max(self.data[0])
vlow = min(self.data[0])
for i in range(1,len(self.plot_data)):
vhigh = max(vhigh, max(self.data[i]))
vlow = min(vlow, min(self.data[i]))
ymin = vlow - 0.05*(vhigh-vlow)
ymax = vhigh + 0.05*(vhigh-vlow)
if ymin == ymax:
ymax = ymin + 0.1
ymin = ymin - 0.1
self.axes.set_ybound(lower=ymin, upper=ymax)
self.axes.grid(True, color='gray')
pylab.setp(self.axes.get_xticklabels(), visible=True)
pylab.setp(self.axes.get_legend().get_texts(), fontsize='small')
for i in range(len(self.plot_data)):
ydata = numpy.array(self.data[i])
xdata = self.xdata
if len(ydata) < len(self.xdata):
xdata = xdata[-len(ydata):]
self.plot_data[i].set_xdata(xdata)
self.plot_data[i].set_ydata(ydata)
self.canvas.draw() | [
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249,064 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | set_close_on_exec | def set_close_on_exec(fd):
'''set the clone on exec flag on a file descriptor. Ignore exceptions'''
try:
import fcntl
flags = fcntl.fcntl(fd, fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(fd, fcntl.F_SETFD, flags)
except Exception:
pass | python | def set_close_on_exec(fd):
'''set the clone on exec flag on a file descriptor. Ignore exceptions'''
try:
import fcntl
flags = fcntl.fcntl(fd, fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(fd, fcntl.F_SETFD, flags)
except Exception:
pass | [
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249,065 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavlink_connection | def mavlink_connection(device, baud=115200, source_system=255,
planner_format=None, write=False, append=False,
robust_parsing=True, notimestamps=False, input=True,
dialect=None, autoreconnect=False, zero_time_base=False,
retries=3, use_native=default_native):
'''open a serial, UDP, TCP or file mavlink connection'''
global mavfile_global
if dialect is not None:
set_dialect(dialect)
if device.startswith('tcp:'):
return mavtcp(device[4:], source_system=source_system, retries=retries, use_native=use_native)
if device.startswith('tcpin:'):
return mavtcpin(device[6:], source_system=source_system, retries=retries, use_native=use_native)
if device.startswith('udpin:'):
return mavudp(device[6:], input=True, source_system=source_system, use_native=use_native)
if device.startswith('udpout:'):
return mavudp(device[7:], input=False, source_system=source_system, use_native=use_native)
if device.startswith('udpbcast:'):
return mavudp(device[9:], input=False, source_system=source_system, use_native=use_native, broadcast=True)
# For legacy purposes we accept the following syntax and let the caller to specify direction
if device.startswith('udp:'):
return mavudp(device[4:], input=input, source_system=source_system, use_native=use_native)
if device.lower().endswith('.bin') or device.lower().endswith('.px4log'):
# support dataflash logs
from pymavlink import DFReader
m = DFReader.DFReader_binary(device, zero_time_base=zero_time_base)
mavfile_global = m
return m
if device.endswith('.log'):
# support dataflash text logs
from pymavlink import DFReader
if DFReader.DFReader_is_text_log(device):
m = DFReader.DFReader_text(device, zero_time_base=zero_time_base)
mavfile_global = m
return m
# list of suffixes to prevent setting DOS paths as UDP sockets
logsuffixes = ['mavlink', 'log', 'raw', 'tlog' ]
suffix = device.split('.')[-1].lower()
if device.find(':') != -1 and not suffix in logsuffixes:
return mavudp(device, source_system=source_system, input=input, use_native=use_native)
if os.path.isfile(device):
if device.endswith(".elf") or device.find("/bin/") != -1:
print("executing '%s'" % device)
return mavchildexec(device, source_system=source_system, use_native=use_native)
else:
return mavlogfile(device, planner_format=planner_format, write=write,
append=append, robust_parsing=robust_parsing, notimestamps=notimestamps,
source_system=source_system, use_native=use_native)
return mavserial(device, baud=baud, source_system=source_system, autoreconnect=autoreconnect, use_native=use_native) | python | def mavlink_connection(device, baud=115200, source_system=255,
planner_format=None, write=False, append=False,
robust_parsing=True, notimestamps=False, input=True,
dialect=None, autoreconnect=False, zero_time_base=False,
retries=3, use_native=default_native):
'''open a serial, UDP, TCP or file mavlink connection'''
global mavfile_global
if dialect is not None:
set_dialect(dialect)
if device.startswith('tcp:'):
return mavtcp(device[4:], source_system=source_system, retries=retries, use_native=use_native)
if device.startswith('tcpin:'):
return mavtcpin(device[6:], source_system=source_system, retries=retries, use_native=use_native)
if device.startswith('udpin:'):
return mavudp(device[6:], input=True, source_system=source_system, use_native=use_native)
if device.startswith('udpout:'):
return mavudp(device[7:], input=False, source_system=source_system, use_native=use_native)
if device.startswith('udpbcast:'):
return mavudp(device[9:], input=False, source_system=source_system, use_native=use_native, broadcast=True)
# For legacy purposes we accept the following syntax and let the caller to specify direction
if device.startswith('udp:'):
return mavudp(device[4:], input=input, source_system=source_system, use_native=use_native)
if device.lower().endswith('.bin') or device.lower().endswith('.px4log'):
# support dataflash logs
from pymavlink import DFReader
m = DFReader.DFReader_binary(device, zero_time_base=zero_time_base)
mavfile_global = m
return m
if device.endswith('.log'):
# support dataflash text logs
from pymavlink import DFReader
if DFReader.DFReader_is_text_log(device):
m = DFReader.DFReader_text(device, zero_time_base=zero_time_base)
mavfile_global = m
return m
# list of suffixes to prevent setting DOS paths as UDP sockets
logsuffixes = ['mavlink', 'log', 'raw', 'tlog' ]
suffix = device.split('.')[-1].lower()
if device.find(':') != -1 and not suffix in logsuffixes:
return mavudp(device, source_system=source_system, input=input, use_native=use_native)
if os.path.isfile(device):
if device.endswith(".elf") or device.find("/bin/") != -1:
print("executing '%s'" % device)
return mavchildexec(device, source_system=source_system, use_native=use_native)
else:
return mavlogfile(device, planner_format=planner_format, write=write,
append=append, robust_parsing=robust_parsing, notimestamps=notimestamps,
source_system=source_system, use_native=use_native)
return mavserial(device, baud=baud, source_system=source_system, autoreconnect=autoreconnect, use_native=use_native) | [
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249,066 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | is_printable | def is_printable(c):
'''see if a character is printable'''
global have_ascii
if have_ascii:
return ascii.isprint(c)
if isinstance(c, int):
ic = c
else:
ic = ord(c)
return ic >= 32 and ic <= 126 | python | def is_printable(c):
'''see if a character is printable'''
global have_ascii
if have_ascii:
return ascii.isprint(c)
if isinstance(c, int):
ic = c
else:
ic = ord(c)
return ic >= 32 and ic <= 126 | [
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249,067 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | auto_detect_serial_win32 | def auto_detect_serial_win32(preferred_list=['*']):
'''try to auto-detect serial ports on win32'''
try:
from serial.tools.list_ports_windows import comports
list = sorted(comports())
except:
return []
ret = []
others = []
for port, description, hwid in list:
matches = False
p = SerialPort(port, description=description, hwid=hwid)
for preferred in preferred_list:
if fnmatch.fnmatch(description, preferred) or fnmatch.fnmatch(hwid, preferred):
matches = True
if matches:
ret.append(p)
else:
others.append(p)
if len(ret) > 0:
return ret
# now the rest
ret.extend(others)
return ret | python | def auto_detect_serial_win32(preferred_list=['*']):
'''try to auto-detect serial ports on win32'''
try:
from serial.tools.list_ports_windows import comports
list = sorted(comports())
except:
return []
ret = []
others = []
for port, description, hwid in list:
matches = False
p = SerialPort(port, description=description, hwid=hwid)
for preferred in preferred_list:
if fnmatch.fnmatch(description, preferred) or fnmatch.fnmatch(hwid, preferred):
matches = True
if matches:
ret.append(p)
else:
others.append(p)
if len(ret) > 0:
return ret
# now the rest
ret.extend(others)
return ret | [
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249,068 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | auto_detect_serial_unix | def auto_detect_serial_unix(preferred_list=['*']):
'''try to auto-detect serial ports on unix'''
import glob
glist = glob.glob('/dev/ttyS*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob('/dev/serial/by-id/*')
ret = []
others = []
# try preferred ones first
for d in glist:
matches = False
for preferred in preferred_list:
if fnmatch.fnmatch(d, preferred):
matches = True
if matches:
ret.append(SerialPort(d))
else:
others.append(SerialPort(d))
if len(ret) > 0:
return ret
ret.extend(others)
return ret | python | def auto_detect_serial_unix(preferred_list=['*']):
'''try to auto-detect serial ports on unix'''
import glob
glist = glob.glob('/dev/ttyS*') + glob.glob('/dev/ttyUSB*') + glob.glob('/dev/ttyACM*') + glob.glob('/dev/serial/by-id/*')
ret = []
others = []
# try preferred ones first
for d in glist:
matches = False
for preferred in preferred_list:
if fnmatch.fnmatch(d, preferred):
matches = True
if matches:
ret.append(SerialPort(d))
else:
others.append(SerialPort(d))
if len(ret) > 0:
return ret
ret.extend(others)
return ret | [
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249,069 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | auto_detect_serial | def auto_detect_serial(preferred_list=['*']):
'''try to auto-detect serial port'''
# see if
if os.name == 'nt':
return auto_detect_serial_win32(preferred_list=preferred_list)
return auto_detect_serial_unix(preferred_list=preferred_list) | python | def auto_detect_serial(preferred_list=['*']):
'''try to auto-detect serial port'''
# see if
if os.name == 'nt':
return auto_detect_serial_win32(preferred_list=preferred_list)
return auto_detect_serial_unix(preferred_list=preferred_list) | [
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249,070 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mode_string_v09 | def mode_string_v09(msg):
'''mode string for 0.9 protocol'''
mode = msg.mode
nav_mode = msg.nav_mode
MAV_MODE_UNINIT = 0
MAV_MODE_MANUAL = 2
MAV_MODE_GUIDED = 3
MAV_MODE_AUTO = 4
MAV_MODE_TEST1 = 5
MAV_MODE_TEST2 = 6
MAV_MODE_TEST3 = 7
MAV_NAV_GROUNDED = 0
MAV_NAV_LIFTOFF = 1
MAV_NAV_HOLD = 2
MAV_NAV_WAYPOINT = 3
MAV_NAV_VECTOR = 4
MAV_NAV_RETURNING = 5
MAV_NAV_LANDING = 6
MAV_NAV_LOST = 7
MAV_NAV_LOITER = 8
cmode = (mode, nav_mode)
mapping = {
(MAV_MODE_UNINIT, MAV_NAV_GROUNDED) : "INITIALISING",
(MAV_MODE_MANUAL, MAV_NAV_VECTOR) : "MANUAL",
(MAV_MODE_TEST3, MAV_NAV_VECTOR) : "CIRCLE",
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
(MAV_MODE_TEST1, MAV_NAV_VECTOR) : "STABILIZE",
(MAV_MODE_TEST2, MAV_NAV_LIFTOFF) : "FBWA",
(MAV_MODE_AUTO, MAV_NAV_WAYPOINT) : "AUTO",
(MAV_MODE_AUTO, MAV_NAV_RETURNING) : "RTL",
(MAV_MODE_AUTO, MAV_NAV_LOITER) : "LOITER",
(MAV_MODE_AUTO, MAV_NAV_LIFTOFF) : "TAKEOFF",
(MAV_MODE_AUTO, MAV_NAV_LANDING) : "LANDING",
(MAV_MODE_AUTO, MAV_NAV_HOLD) : "LOITER",
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
(MAV_MODE_GUIDED, MAV_NAV_WAYPOINT) : "GUIDED",
(100, MAV_NAV_VECTOR) : "STABILIZE",
(101, MAV_NAV_VECTOR) : "ACRO",
(102, MAV_NAV_VECTOR) : "ALT_HOLD",
(107, MAV_NAV_VECTOR) : "CIRCLE",
(109, MAV_NAV_VECTOR) : "LAND",
}
if cmode in mapping:
return mapping[cmode]
return "Mode(%s,%s)" % cmode | python | def mode_string_v09(msg):
'''mode string for 0.9 protocol'''
mode = msg.mode
nav_mode = msg.nav_mode
MAV_MODE_UNINIT = 0
MAV_MODE_MANUAL = 2
MAV_MODE_GUIDED = 3
MAV_MODE_AUTO = 4
MAV_MODE_TEST1 = 5
MAV_MODE_TEST2 = 6
MAV_MODE_TEST3 = 7
MAV_NAV_GROUNDED = 0
MAV_NAV_LIFTOFF = 1
MAV_NAV_HOLD = 2
MAV_NAV_WAYPOINT = 3
MAV_NAV_VECTOR = 4
MAV_NAV_RETURNING = 5
MAV_NAV_LANDING = 6
MAV_NAV_LOST = 7
MAV_NAV_LOITER = 8
cmode = (mode, nav_mode)
mapping = {
(MAV_MODE_UNINIT, MAV_NAV_GROUNDED) : "INITIALISING",
(MAV_MODE_MANUAL, MAV_NAV_VECTOR) : "MANUAL",
(MAV_MODE_TEST3, MAV_NAV_VECTOR) : "CIRCLE",
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
(MAV_MODE_TEST1, MAV_NAV_VECTOR) : "STABILIZE",
(MAV_MODE_TEST2, MAV_NAV_LIFTOFF) : "FBWA",
(MAV_MODE_AUTO, MAV_NAV_WAYPOINT) : "AUTO",
(MAV_MODE_AUTO, MAV_NAV_RETURNING) : "RTL",
(MAV_MODE_AUTO, MAV_NAV_LOITER) : "LOITER",
(MAV_MODE_AUTO, MAV_NAV_LIFTOFF) : "TAKEOFF",
(MAV_MODE_AUTO, MAV_NAV_LANDING) : "LANDING",
(MAV_MODE_AUTO, MAV_NAV_HOLD) : "LOITER",
(MAV_MODE_GUIDED, MAV_NAV_VECTOR) : "GUIDED",
(MAV_MODE_GUIDED, MAV_NAV_WAYPOINT) : "GUIDED",
(100, MAV_NAV_VECTOR) : "STABILIZE",
(101, MAV_NAV_VECTOR) : "ACRO",
(102, MAV_NAV_VECTOR) : "ALT_HOLD",
(107, MAV_NAV_VECTOR) : "CIRCLE",
(109, MAV_NAV_VECTOR) : "LAND",
}
if cmode in mapping:
return mapping[cmode]
return "Mode(%s,%s)" % cmode | [
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249,071 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mode_mapping_bynumber | def mode_mapping_bynumber(mav_type):
'''return dictionary mapping mode numbers to name, or None if unknown'''
map = None
if mav_type in [mavlink.MAV_TYPE_QUADROTOR,
mavlink.MAV_TYPE_HELICOPTER,
mavlink.MAV_TYPE_HEXAROTOR,
mavlink.MAV_TYPE_OCTOROTOR,
mavlink.MAV_TYPE_COAXIAL,
mavlink.MAV_TYPE_TRICOPTER]:
map = mode_mapping_acm
if mav_type == mavlink.MAV_TYPE_FIXED_WING:
map = mode_mapping_apm
if mav_type == mavlink.MAV_TYPE_GROUND_ROVER:
map = mode_mapping_rover
if mav_type == mavlink.MAV_TYPE_ANTENNA_TRACKER:
map = mode_mapping_tracker
if map is None:
return None
return map | python | def mode_mapping_bynumber(mav_type):
'''return dictionary mapping mode numbers to name, or None if unknown'''
map = None
if mav_type in [mavlink.MAV_TYPE_QUADROTOR,
mavlink.MAV_TYPE_HELICOPTER,
mavlink.MAV_TYPE_HEXAROTOR,
mavlink.MAV_TYPE_OCTOROTOR,
mavlink.MAV_TYPE_COAXIAL,
mavlink.MAV_TYPE_TRICOPTER]:
map = mode_mapping_acm
if mav_type == mavlink.MAV_TYPE_FIXED_WING:
map = mode_mapping_apm
if mav_type == mavlink.MAV_TYPE_GROUND_ROVER:
map = mode_mapping_rover
if mav_type == mavlink.MAV_TYPE_ANTENNA_TRACKER:
map = mode_mapping_tracker
if map is None:
return None
return map | [
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249,072 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mode_string_v10 | def mode_string_v10(msg):
'''mode string for 1.0 protocol, from heartbeat'''
if msg.autopilot == mavlink.MAV_AUTOPILOT_PX4:
return interpret_px4_mode(msg.base_mode, msg.custom_mode)
if not msg.base_mode & mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED:
return "Mode(0x%08x)" % msg.base_mode
if msg.type in [ mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_TYPE_HEXAROTOR,
mavlink.MAV_TYPE_OCTOROTOR, mavlink.MAV_TYPE_TRICOPTER,
mavlink.MAV_TYPE_COAXIAL,
mavlink.MAV_TYPE_HELICOPTER ]:
if msg.custom_mode in mode_mapping_acm:
return mode_mapping_acm[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_FIXED_WING:
if msg.custom_mode in mode_mapping_apm:
return mode_mapping_apm[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_GROUND_ROVER:
if msg.custom_mode in mode_mapping_rover:
return mode_mapping_rover[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_ANTENNA_TRACKER:
if msg.custom_mode in mode_mapping_tracker:
return mode_mapping_tracker[msg.custom_mode]
return "Mode(%u)" % msg.custom_mode | python | def mode_string_v10(msg):
'''mode string for 1.0 protocol, from heartbeat'''
if msg.autopilot == mavlink.MAV_AUTOPILOT_PX4:
return interpret_px4_mode(msg.base_mode, msg.custom_mode)
if not msg.base_mode & mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED:
return "Mode(0x%08x)" % msg.base_mode
if msg.type in [ mavlink.MAV_TYPE_QUADROTOR, mavlink.MAV_TYPE_HEXAROTOR,
mavlink.MAV_TYPE_OCTOROTOR, mavlink.MAV_TYPE_TRICOPTER,
mavlink.MAV_TYPE_COAXIAL,
mavlink.MAV_TYPE_HELICOPTER ]:
if msg.custom_mode in mode_mapping_acm:
return mode_mapping_acm[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_FIXED_WING:
if msg.custom_mode in mode_mapping_apm:
return mode_mapping_apm[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_GROUND_ROVER:
if msg.custom_mode in mode_mapping_rover:
return mode_mapping_rover[msg.custom_mode]
if msg.type == mavlink.MAV_TYPE_ANTENNA_TRACKER:
if msg.custom_mode in mode_mapping_tracker:
return mode_mapping_tracker[msg.custom_mode]
return "Mode(%u)" % msg.custom_mode | [
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249,073 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.auto_mavlink_version | def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink
if len(buf) == 0:
return
try:
magic = ord(buf[0])
except:
magic = buf[0]
if not magic in [ 85, 254, 253 ]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and magic == 254:
self.WIRE_PROTOCOL_VERSION = "1.0"
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION == "1.0" and magic == 85:
self.WIRE_PROTOCOL_VERSION = "0.9"
os.environ['MAVLINK09'] = '1'
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION != "2.0" and magic == 253:
self.WIRE_PROTOCOL_VERSION = "2.0"
os.environ['MAVLINK20'] = '1'
set_dialect(current_dialect)
else:
return
# switch protocol
(callback, callback_args, callback_kwargs) = (self.mav.callback,
self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
callback_args,
callback_kwargs) | python | def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink
if len(buf) == 0:
return
try:
magic = ord(buf[0])
except:
magic = buf[0]
if not magic in [ 85, 254, 253 ]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and magic == 254:
self.WIRE_PROTOCOL_VERSION = "1.0"
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION == "1.0" and magic == 85:
self.WIRE_PROTOCOL_VERSION = "0.9"
os.environ['MAVLINK09'] = '1'
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION != "2.0" and magic == 253:
self.WIRE_PROTOCOL_VERSION = "2.0"
os.environ['MAVLINK20'] = '1'
set_dialect(current_dialect)
else:
return
# switch protocol
(callback, callback_args, callback_kwargs) = (self.mav.callback,
self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
callback_args,
callback_kwargs) | [
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249,074 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.select | def select(self, timeout):
'''wait for up to timeout seconds for more data'''
if self.fd is None:
time.sleep(min(timeout,0.5))
return True
try:
(rin, win, xin) = select.select([self.fd], [], [], timeout)
except select.error:
return False
return len(rin) == 1 | python | def select(self, timeout):
'''wait for up to timeout seconds for more data'''
if self.fd is None:
time.sleep(min(timeout,0.5))
return True
try:
(rin, win, xin) = select.select([self.fd], [], [], timeout)
except select.error:
return False
return len(rin) == 1 | [
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249,075 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.packet_loss | def packet_loss(self):
'''packet loss as a percentage'''
if self.mav_count == 0:
return 0
return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss) | python | def packet_loss(self):
'''packet loss as a percentage'''
if self.mav_count == 0:
return 0
return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss) | [
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249,076 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.recv_match | def recv_match(self, condition=None, type=None, blocking=False, timeout=None):
'''recv the next MAVLink message that matches the given condition
type can be a string or a list of strings'''
if type is not None and not isinstance(type, list):
type = [type]
start_time = time.time()
while True:
if timeout is not None:
now = time.time()
if now < start_time:
start_time = now # If an external process rolls back system time, we should not spin forever.
if start_time + timeout < time.time():
return None
m = self.recv_msg()
if m is None:
if blocking:
for hook in self.idle_hooks:
hook(self)
if timeout is None:
self.select(0.05)
else:
self.select(timeout/2)
continue
return None
if type is not None and not m.get_type() in type:
continue
if not evaluate_condition(condition, self.messages):
continue
return m | python | def recv_match(self, condition=None, type=None, blocking=False, timeout=None):
'''recv the next MAVLink message that matches the given condition
type can be a string or a list of strings'''
if type is not None and not isinstance(type, list):
type = [type]
start_time = time.time()
while True:
if timeout is not None:
now = time.time()
if now < start_time:
start_time = now # If an external process rolls back system time, we should not spin forever.
if start_time + timeout < time.time():
return None
m = self.recv_msg()
if m is None:
if blocking:
for hook in self.idle_hooks:
hook(self)
if timeout is None:
self.select(0.05)
else:
self.select(timeout/2)
continue
return None
if type is not None and not m.get_type() in type:
continue
if not evaluate_condition(condition, self.messages):
continue
return m | [
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249,077 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.setup_logfile | def setup_logfile(self, logfile, mode='w'):
'''start logging to the given logfile, with timestamps'''
self.logfile = open(logfile, mode=mode) | python | def setup_logfile(self, logfile, mode='w'):
'''start logging to the given logfile, with timestamps'''
self.logfile = open(logfile, mode=mode) | [
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249,078 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.setup_logfile_raw | def setup_logfile_raw(self, logfile, mode='w'):
'''start logging raw bytes to the given logfile, without timestamps'''
self.logfile_raw = open(logfile, mode=mode) | python | def setup_logfile_raw(self, logfile, mode='w'):
'''start logging raw bytes to the given logfile, without timestamps'''
self.logfile_raw = open(logfile, mode=mode) | [
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249,079 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.param_fetch_all | def param_fetch_all(self):
'''initiate fetch of all parameters'''
if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
# don't fetch too often
return
self.param_fetch_start = time.time()
self.param_fetch_in_progress = True
self.mav.param_request_list_send(self.target_system, self.target_component) | python | def param_fetch_all(self):
'''initiate fetch of all parameters'''
if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
# don't fetch too often
return
self.param_fetch_start = time.time()
self.param_fetch_in_progress = True
self.mav.param_request_list_send(self.target_system, self.target_component) | [
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249,080 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.param_fetch_one | def param_fetch_one(self, name):
'''initiate fetch of one parameter'''
try:
idx = int(name)
self.mav.param_request_read_send(self.target_system, self.target_component, "", idx)
except Exception:
self.mav.param_request_read_send(self.target_system, self.target_component, name, -1) | python | def param_fetch_one(self, name):
'''initiate fetch of one parameter'''
try:
idx = int(name)
self.mav.param_request_read_send(self.target_system, self.target_component, "", idx)
except Exception:
self.mav.param_request_read_send(self.target_system, self.target_component, name, -1) | [
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249,081 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.time_since | def time_since(self, mtype):
'''return the time since the last message of type mtype was received'''
if not mtype in self.messages:
return time.time() - self.start_time
return time.time() - self.messages[mtype]._timestamp | python | def time_since(self, mtype):
'''return the time since the last message of type mtype was received'''
if not mtype in self.messages:
return time.time() - self.start_time
return time.time() - self.messages[mtype]._timestamp | [
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249,082 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.param_set_send | def param_set_send(self, parm_name, parm_value, parm_type=None):
'''wrapper for parameter set'''
if self.mavlink10():
if parm_type == None:
parm_type = mavlink.MAVLINK_TYPE_FLOAT
self.mav.param_set_send(self.target_system, self.target_component,
parm_name, parm_value, parm_type)
else:
self.mav.param_set_send(self.target_system, self.target_component,
parm_name, parm_value) | python | def param_set_send(self, parm_name, parm_value, parm_type=None):
'''wrapper for parameter set'''
if self.mavlink10():
if parm_type == None:
parm_type = mavlink.MAVLINK_TYPE_FLOAT
self.mav.param_set_send(self.target_system, self.target_component,
parm_name, parm_value, parm_type)
else:
self.mav.param_set_send(self.target_system, self.target_component,
parm_name, parm_value) | [
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249,083 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_request_list_send | def waypoint_request_list_send(self):
'''wrapper for waypoint_request_list_send'''
if self.mavlink10():
self.mav.mission_request_list_send(self.target_system, self.target_component)
else:
self.mav.waypoint_request_list_send(self.target_system, self.target_component) | python | def waypoint_request_list_send(self):
'''wrapper for waypoint_request_list_send'''
if self.mavlink10():
self.mav.mission_request_list_send(self.target_system, self.target_component)
else:
self.mav.waypoint_request_list_send(self.target_system, self.target_component) | [
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249,084 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_clear_all_send | def waypoint_clear_all_send(self):
'''wrapper for waypoint_clear_all_send'''
if self.mavlink10():
self.mav.mission_clear_all_send(self.target_system, self.target_component)
else:
self.mav.waypoint_clear_all_send(self.target_system, self.target_component) | python | def waypoint_clear_all_send(self):
'''wrapper for waypoint_clear_all_send'''
if self.mavlink10():
self.mav.mission_clear_all_send(self.target_system, self.target_component)
else:
self.mav.waypoint_clear_all_send(self.target_system, self.target_component) | [
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249,085 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_request_send | def waypoint_request_send(self, seq):
'''wrapper for waypoint_request_send'''
if self.mavlink10():
self.mav.mission_request_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_request_send(self.target_system, self.target_component, seq) | python | def waypoint_request_send(self, seq):
'''wrapper for waypoint_request_send'''
if self.mavlink10():
self.mav.mission_request_send(self.target_system, self.target_component, seq)
else:
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249,086 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_set_current_send | def waypoint_set_current_send(self, seq):
'''wrapper for waypoint_set_current_send'''
if self.mavlink10():
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq) | python | def waypoint_set_current_send(self, seq):
'''wrapper for waypoint_set_current_send'''
if self.mavlink10():
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq) | [
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249,087 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_current | def waypoint_current(self):
'''return current waypoint'''
if self.mavlink10():
m = self.recv_match(type='MISSION_CURRENT', blocking=True)
else:
m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
return m.seq | python | def waypoint_current(self):
'''return current waypoint'''
if self.mavlink10():
m = self.recv_match(type='MISSION_CURRENT', blocking=True)
else:
m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
return m.seq | [
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249,088 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.waypoint_count_send | def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if self.mavlink10():
self.mav.mission_count_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_count_send(self.target_system, self.target_component, seq) | python | def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if self.mavlink10():
self.mav.mission_count_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_count_send(self.target_system, self.target_component, seq) | [
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249,089 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode_auto | def set_mode_auto(self):
'''enter auto mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_AUTO = 13
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_AUTO) | python | def set_mode_auto(self):
'''enter auto mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_AUTO = 13
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_AUTO) | [
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249,090 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode | def set_mode(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''set arbitrary flight mode'''
mav_autopilot = self.field('HEARTBEAT', 'autopilot', None)
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
self.set_mode_px4(mode, custom_mode, custom_sub_mode)
else:
self.set_mode_apm(mode) | python | def set_mode(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''set arbitrary flight mode'''
mav_autopilot = self.field('HEARTBEAT', 'autopilot', None)
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
self.set_mode_px4(mode, custom_mode, custom_sub_mode)
else:
self.set_mode_apm(mode) | [
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249,091 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode_rtl | def set_mode_rtl(self):
'''enter RTL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_RETURN = 3
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_RETURN) | python | def set_mode_rtl(self):
'''enter RTL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_RETURN = 3
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_RETURN) | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L551-L558 |
249,092 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode_manual | def set_mode_manual(self):
'''enter MANUAL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_MANUAL_ARMED,
0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_MANUAL = 12
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_MANUAL) | python | def set_mode_manual(self):
'''enter MANUAL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_MANUAL_ARMED,
0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_MANUAL = 12
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_MANUAL) | [
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"MAV_CMD_DO_SET_MODE",... | enter MANUAL mode | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L560-L569 |
249,093 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode_fbwa | def set_mode_fbwa(self):
'''enter FBWA mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_STABILIZE_ARMED,
0, 0, 0, 0, 0, 0)
else:
print("Forcing FBWA not supported") | python | def set_mode_fbwa(self):
'''enter FBWA mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_STABILIZE_ARMED,
0, 0, 0, 0, 0, 0)
else:
print("Forcing FBWA not supported") | [
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... | enter FBWA mode | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L571-L579 |
249,094 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_mode_loiter | def set_mode_loiter(self):
'''enter LOITER mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_LOITER = 27
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_LOITER) | python | def set_mode_loiter(self):
'''enter LOITER mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_LOITER = 27
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_LOITER) | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L581-L588 |
249,095 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_servo | def set_servo(self, channel, pwm):
'''set a servo value'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_SERVO, 0,
channel, pwm,
0, 0, 0, 0, 0) | python | def set_servo(self, channel, pwm):
'''set a servo value'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_SERVO, 0,
channel, pwm,
0, 0, 0, 0, 0) | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L590-L595 |
249,096 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.set_relay | def set_relay(self, relay_pin=0, state=True):
'''Set relay_pin to value of state'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component, # target_component
mavlink.MAV_CMD_DO_SET_RELAY, # command
0, # Confirmation
relay_pin, # Relay Number
int(state), # state (1 to indicate arm)
0, # param3 (all other params meaningless)
0, # param4
0, # param5
0, # param6
0) # param7
else:
print("Setting relays not supported.") | python | def set_relay(self, relay_pin=0, state=True):
'''Set relay_pin to value of state'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component, # target_component
mavlink.MAV_CMD_DO_SET_RELAY, # command
0, # Confirmation
relay_pin, # Relay Number
int(state), # state (1 to indicate arm)
0, # param3 (all other params meaningless)
0, # param4
0, # param5
0, # param6
0) # param7
else:
print("Setting relays not supported.") | [
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] | 303b18992785b2fe802212f2d758a60873007f1f | https://github.com/JdeRobot/base/blob/303b18992785b2fe802212f2d758a60873007f1f/src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py#L598-L614 |
249,097 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.reboot_autopilot | def reboot_autopilot(self, hold_in_bootloader=False):
'''reboot the autopilot'''
if self.mavlink10():
if hold_in_bootloader:
param1 = 3
else:
param1 = 1
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
param1, 0, 0, 0, 0, 0, 0)
# send an old style reboot immediately afterwards in case it is an older firmware
# that doesn't understand the new convention
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
1, 0, 0, 0, 0, 0, 0) | python | def reboot_autopilot(self, hold_in_bootloader=False):
'''reboot the autopilot'''
if self.mavlink10():
if hold_in_bootloader:
param1 = 3
else:
param1 = 1
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
param1, 0, 0, 0, 0, 0, 0)
# send an old style reboot immediately afterwards in case it is an older firmware
# that doesn't understand the new convention
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
1, 0, 0, 0, 0, 0, 0) | [
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249,098 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.location | def location(self, relative_alt=False):
'''return current location'''
self.wait_gps_fix()
# wait for another VFR_HUD, to ensure we have correct altitude
self.recv_match(type='VFR_HUD', blocking=True)
self.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if relative_alt:
alt = self.messages['GLOBAL_POSITION_INT'].relative_alt*0.001
else:
alt = self.messages['VFR_HUD'].alt
return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
self.messages['GPS_RAW_INT'].lon*1.0e-7,
alt,
self.messages['VFR_HUD'].heading) | python | def location(self, relative_alt=False):
'''return current location'''
self.wait_gps_fix()
# wait for another VFR_HUD, to ensure we have correct altitude
self.recv_match(type='VFR_HUD', blocking=True)
self.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if relative_alt:
alt = self.messages['GLOBAL_POSITION_INT'].relative_alt*0.001
else:
alt = self.messages['VFR_HUD'].alt
return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
self.messages['GPS_RAW_INT'].lon*1.0e-7,
alt,
self.messages['VFR_HUD'].heading) | [
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249,099 | JdeRobot/base | src/drivers/MAVLinkServer/MAVProxy/pymavlink/mavutil.py | mavfile.motors_armed | def motors_armed(self):
'''return true if motors armed'''
if not 'HEARTBEAT' in self.messages:
return False
m = self.messages['HEARTBEAT']
return (m.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0 | python | def motors_armed(self):
'''return true if motors armed'''
if not 'HEARTBEAT' in self.messages:
return False
m = self.messages['HEARTBEAT']
return (m.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0 | [
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