idx int64 0 251k | question stringlengths 53 3.53k | target stringlengths 5 1.23k | len_question int64 20 893 | len_target int64 3 238 |
|---|---|---|---|---|
229,300 | def watch_thread ( self ) : from mp_settings import MPSetting while True : setting = self . child_pipe . recv ( ) if not isinstance ( setting , MPSetting ) : break try : self . settings . set ( setting . name , setting . value ) except Exception : print ( "Unable to set %s to %s" % ( setting . name , setting . value ) ) | watch for settings changes from child | 87 | 6 |
229,301 | def report ( self , name , ok , msg = None , deltat = 20 ) : r = self . reports [ name ] if time . time ( ) < r . last_report + deltat : r . ok = ok return r . last_report = time . time ( ) if ok and not r . ok : self . say ( "%s OK" % name ) r . ok = ok if not r . ok : self . say ( msg ) | report a sensor error | 98 | 4 |
229,302 | def report_change ( self , name , value , maxdiff = 1 , deltat = 10 ) : r = self . reports [ name ] if time . time ( ) < r . last_report + deltat : return r . last_report = time . time ( ) if math . fabs ( r . value - value ) < maxdiff : return r . value = value self . say ( "%s %u" % ( name , value ) ) | report a sensor change | 98 | 4 |
229,303 | def close ( self ) : self . close_window . release ( ) count = 0 while self . child . is_alive ( ) and count < 30 : # 3 seconds to die... time . sleep ( 0.1 ) #? count += 1 if self . child . is_alive ( ) : self . child . terminate ( ) self . child . join ( ) | close the window | 79 | 3 |
229,304 | def hide_object ( self , key , hide = True ) : self . object_queue . put ( SlipHideObject ( key , hide ) ) | hide an object on the map by key | 31 | 8 |
229,305 | def set_position ( self , key , latlon , layer = None , rotation = 0 ) : self . object_queue . put ( SlipPosition ( key , latlon , layer , rotation ) ) | move an object on the map | 42 | 6 |
229,306 | def check_events ( self ) : while self . event_count ( ) > 0 : event = self . get_event ( ) for callback in self . _callbacks : callback ( event ) | check for events calling registered callbacks as needed | 41 | 9 |
229,307 | def radius_cmp ( a , b , offsets ) : diff = radius ( a , offsets ) - radius ( b , offsets ) if diff > 0 : return 1 if diff < 0 : return - 1 return 0 | return + 1 or - 1 for for sorting | 44 | 9 |
229,308 | def plot_data ( orig_data , data ) : import numpy as np from mpl_toolkits . mplot3d import Axes3D import matplotlib . pyplot as plt for dd , c in [ ( orig_data , 'r' ) , ( data , 'b' ) ] : fig = plt . figure ( ) ax = fig . add_subplot ( 111 , projection = '3d' ) xs = [ d . x for d in dd ] ys = [ d . y for d in dd ] zs = [ d . z for d in dd ] ax . scatter ( xs , ys , zs , c = c , marker = 'o' ) ax . set_xlabel ( 'X Label' ) ax . set_ylabel ( 'Y Label' ) ax . set_zlabel ( 'Z Label' ) plt . show ( ) | plot data in 3D | 196 | 5 |
229,309 | def find_end ( self , text , start_token , end_token , ignore_end_token = None ) : if not text . startswith ( start_token ) : raise MAVParseError ( "invalid token start" ) offset = len ( start_token ) nesting = 1 while nesting > 0 : idx1 = text [ offset : ] . find ( start_token ) idx2 = text [ offset : ] . find ( end_token ) # Check for false positives due to another similar token # For example, make sure idx2 points to the second '}' in ${{field: ${name}}} if ignore_end_token : combined_token = ignore_end_token + end_token if text [ offset + idx2 : offset + idx2 + len ( combined_token ) ] == combined_token : idx2 += len ( ignore_end_token ) if idx1 == - 1 and idx2 == - 1 : raise MAVParseError ( "token nesting error" ) if idx1 == - 1 or idx1 > idx2 : offset += idx2 + len ( end_token ) nesting -= 1 else : offset += idx1 + len ( start_token ) nesting += 1 return offset | find the of a token . Returns the offset in the string immediately after the matching end_token | 270 | 19 |
229,310 | def find_var_end ( self , text ) : return self . find_end ( text , self . start_var_token , self . end_var_token ) | find the of a variable | 37 | 5 |
229,311 | def find_rep_end ( self , text ) : return self . find_end ( text , self . start_rep_token , self . end_rep_token , ignore_end_token = self . end_var_token ) | find the of a repitition | 51 | 7 |
229,312 | def write ( self , file , text , subvars = { } , trim_leading_lf = True ) : file . write ( self . substitute ( text , subvars = subvars , trim_leading_lf = trim_leading_lf ) ) | write to a file with variable substitution | 56 | 7 |
229,313 | def flight_time ( logfile ) : print ( "Processing log %s" % filename ) mlog = mavutil . mavlink_connection ( filename ) in_air = False start_time = 0.0 total_time = 0.0 total_dist = 0.0 t = None last_msg = None last_time_usec = None while True : m = mlog . recv_match ( type = [ 'GPS' , 'GPS_RAW_INT' ] , condition = args . condition ) if m is None : if in_air : total_time += time . mktime ( t ) - start_time if total_time > 0 : print ( "Flight time : %u:%02u" % ( int ( total_time ) / 60 , int ( total_time ) % 60 ) ) return ( total_time , total_dist ) if m . get_type ( ) == 'GPS_RAW_INT' : groundspeed = m . vel * 0.01 status = m . fix_type time_usec = m . time_usec else : groundspeed = m . Spd status = m . Status time_usec = m . TimeUS if status < 3 : continue t = time . localtime ( m . _timestamp ) if groundspeed > args . groundspeed and not in_air : print ( "In air at %s (percent %.0f%% groundspeed %.1f)" % ( time . asctime ( t ) , mlog . percent , groundspeed ) ) in_air = True start_time = time . mktime ( t ) elif groundspeed < args . groundspeed and in_air : print ( "On ground at %s (percent %.1f%% groundspeed %.1f time=%.1f seconds)" % ( time . asctime ( t ) , mlog . percent , groundspeed , time . mktime ( t ) - start_time ) ) in_air = False total_time += time . mktime ( t ) - start_time if last_msg is None or time_usec > last_time_usec or time_usec + 30e6 < last_time_usec : if last_msg is not None : total_dist += distance_two ( last_msg , m ) last_msg = m last_time_usec = time_usec return ( total_time , total_dist ) | work out flight time for a log file | 528 | 8 |
229,314 | def match_type ( mtype , patterns ) : for p in patterns : if fnmatch . fnmatch ( mtype , p ) : return True return False | return True if mtype matches pattern | 33 | 7 |
229,315 | def apply ( self , img ) : yup , uup , vup = self . getUpLimit ( ) ydwn , udwn , vdwn = self . getDownLimit ( ) yuv = cv2 . cvtColor ( img , cv2 . COLOR_BGR2YUV ) minValues = np . array ( [ ydwn , udwn , vdwn ] , dtype = np . uint8 ) maxValues = np . array ( [ yup , uup , vup ] , dtype = np . uint8 ) mask = cv2 . inRange ( yuv , minValues , maxValues ) res = cv2 . bitwise_and ( img , img , mask = mask ) return res | We convert RGB as BGR because OpenCV with RGB pass to YVU instead of YUV | 163 | 20 |
229,316 | def on_menu ( self , event ) : state = self . state ret = self . menu . find_selected ( event ) if ret is None : return ret . call_handler ( ) state . child_pipe_send . send ( ret ) | handle menu selections | 52 | 3 |
229,317 | def aslctrl_data_encode ( self , timestamp , aslctrl_mode , h , hRef , hRef_t , PitchAngle , PitchAngleRef , q , qRef , uElev , uThrot , uThrot2 , nZ , AirspeedRef , SpoilersEngaged , YawAngle , YawAngleRef , RollAngle , RollAngleRef , p , pRef , r , rRef , uAil , uRud ) : return MAVLink_aslctrl_data_message ( timestamp , aslctrl_mode , h , hRef , hRef_t , PitchAngle , PitchAngleRef , q , qRef , uElev , uThrot , uThrot2 , nZ , AirspeedRef , SpoilersEngaged , YawAngle , YawAngleRef , RollAngle , RollAngleRef , p , pRef , r , rRef , uAil , uRud ) | ASL - fixed - wing controller data | 218 | 8 |
229,318 | def average ( var , key , N ) : global average_data if not key in average_data : average_data [ key ] = [ var ] * N return var average_data [ key ] . pop ( 0 ) average_data [ key ] . append ( var ) return sum ( average_data [ key ] ) / N | average over N points | 70 | 4 |
229,319 | def second_derivative_5 ( var , key ) : global derivative_data import mavutil tnow = mavutil . mavfile_global . timestamp if not key in derivative_data : derivative_data [ key ] = ( tnow , [ var ] * 5 ) return 0 ( last_time , data ) = derivative_data [ key ] data . pop ( 0 ) data . append ( var ) derivative_data [ key ] = ( tnow , data ) h = ( tnow - last_time ) # N=5 2nd derivative from # http://www.holoborodko.com/pavel/numerical-methods/numerical-derivative/smooth-low-noise-differentiators/ ret = ( ( data [ 4 ] + data [ 0 ] ) - 2 * data [ 2 ] ) / ( 4 * h ** 2 ) return ret | 5 point 2nd derivative | 195 | 5 |
229,320 | def lowpass ( var , key , factor ) : global lowpass_data if not key in lowpass_data : lowpass_data [ key ] = var else : lowpass_data [ key ] = factor * lowpass_data [ key ] + ( 1.0 - factor ) * var return lowpass_data [ key ] | a simple lowpass filter | 71 | 5 |
229,321 | def diff ( var , key ) : global last_diff ret = 0 if not key in last_diff : last_diff [ key ] = var return 0 ret = var - last_diff [ key ] last_diff [ key ] = var return ret | calculate differences between values | 53 | 6 |
229,322 | def roll_estimate ( RAW_IMU , GPS_RAW_INT = None , ATTITUDE = None , SENSOR_OFFSETS = None , ofs = None , mul = None , smooth = 0.7 ) : rx = RAW_IMU . xacc * 9.81 / 1000.0 ry = RAW_IMU . yacc * 9.81 / 1000.0 rz = RAW_IMU . zacc * 9.81 / 1000.0 if ATTITUDE is not None and GPS_RAW_INT is not None : ry -= ATTITUDE . yawspeed * GPS_RAW_INT . vel * 0.01 rz += ATTITUDE . pitchspeed * GPS_RAW_INT . vel * 0.01 if SENSOR_OFFSETS is not None and ofs is not None : rx += SENSOR_OFFSETS . accel_cal_x ry += SENSOR_OFFSETS . accel_cal_y rz += SENSOR_OFFSETS . accel_cal_z rx -= ofs [ 0 ] ry -= ofs [ 1 ] rz -= ofs [ 2 ] if mul is not None : rx *= mul [ 0 ] ry *= mul [ 1 ] rz *= mul [ 2 ] return lowpass ( degrees ( - asin ( ry / sqrt ( rx ** 2 + ry ** 2 + rz ** 2 ) ) ) , '_roll' , smooth ) | estimate roll from accelerometer | 333 | 6 |
229,323 | def mag_rotation ( RAW_IMU , inclination , declination ) : m_body = Vector3 ( RAW_IMU . xmag , RAW_IMU . ymag , RAW_IMU . zmag ) m_earth = Vector3 ( m_body . length ( ) , 0 , 0 ) r = Matrix3 ( ) r . from_euler ( 0 , - radians ( inclination ) , radians ( declination ) ) m_earth = r * m_earth r . from_two_vectors ( m_earth , m_body ) return r | return an attitude rotation matrix that is consistent with the current mag vector | 124 | 13 |
229,324 | def mag_yaw ( RAW_IMU , inclination , declination ) : m = mag_rotation ( RAW_IMU , inclination , declination ) ( r , p , y ) = m . to_euler ( ) y = degrees ( y ) if y < 0 : y += 360 return y | estimate yaw from mag | 66 | 6 |
229,325 | def mag_roll ( RAW_IMU , inclination , declination ) : m = mag_rotation ( RAW_IMU , inclination , declination ) ( r , p , y ) = m . to_euler ( ) return degrees ( r ) | estimate roll from mag | 54 | 5 |
229,326 | def expected_mag ( RAW_IMU , ATTITUDE , inclination , declination ) : m_body = Vector3 ( RAW_IMU . xmag , RAW_IMU . ymag , RAW_IMU . zmag ) field_strength = m_body . length ( ) m = rotation ( ATTITUDE ) r = Matrix3 ( ) r . from_euler ( 0 , - radians ( inclination ) , radians ( declination ) ) m_earth = r * Vector3 ( field_strength , 0 , 0 ) return m . transposed ( ) * m_earth | return expected mag vector | 129 | 4 |
229,327 | def gravity ( RAW_IMU , SENSOR_OFFSETS = None , ofs = None , mul = None , smooth = 0.7 ) : if hasattr ( RAW_IMU , 'xacc' ) : rx = RAW_IMU . xacc * 9.81 / 1000.0 ry = RAW_IMU . yacc * 9.81 / 1000.0 rz = RAW_IMU . zacc * 9.81 / 1000.0 else : rx = RAW_IMU . AccX ry = RAW_IMU . AccY rz = RAW_IMU . AccZ if SENSOR_OFFSETS is not None and ofs is not None : rx += SENSOR_OFFSETS . accel_cal_x ry += SENSOR_OFFSETS . accel_cal_y rz += SENSOR_OFFSETS . accel_cal_z rx -= ofs [ 0 ] ry -= ofs [ 1 ] rz -= ofs [ 2 ] if mul is not None : rx *= mul [ 0 ] ry *= mul [ 1 ] rz *= mul [ 2 ] return sqrt ( rx ** 2 + ry ** 2 + rz ** 2 ) | estimate pitch from accelerometer | 277 | 6 |
229,328 | def pitch_sim ( SIMSTATE , GPS_RAW ) : xacc = SIMSTATE . xacc - lowpass ( delta ( GPS_RAW . v , "v" ) * 6.6 , "v" , 0.9 ) zacc = SIMSTATE . zacc zacc += SIMSTATE . ygyro * GPS_RAW . v if xacc / zacc >= 1 : return 0 if xacc / zacc <= - 1 : return - 0 return degrees ( - asin ( xacc / zacc ) ) | estimate pitch from SIMSTATE accels | 111 | 9 |
229,329 | def distance_home ( GPS_RAW ) : global first_fix if ( hasattr ( GPS_RAW , 'fix_type' ) and GPS_RAW . fix_type < 2 ) or ( hasattr ( GPS_RAW , 'Status' ) and GPS_RAW . Status < 2 ) : return 0 if first_fix == None : first_fix = GPS_RAW return 0 return distance_two ( GPS_RAW , first_fix ) | distance from first fix point | 94 | 5 |
229,330 | def sawtooth ( ATTITUDE , amplitude = 2.0 , period = 5.0 ) : mins = ( ATTITUDE . usec * 1.0e-6 ) / 60 p = fmod ( mins , period * 2 ) if p < period : return amplitude * ( p / period ) return amplitude * ( period - ( p - period ) ) / period | sawtooth pattern based on uptime | 81 | 8 |
229,331 | def EAS2TAS ( ARSP , GPS , BARO , ground_temp = 25 ) : tempK = ground_temp + 273.15 - 0.0065 * GPS . Alt return sqrt ( 1.225 / ( BARO . Press / ( 287.26 * tempK ) ) ) | EAS2TAS from ARSP . Temp | 65 | 10 |
229,332 | def airspeed_voltage ( VFR_HUD , ratio = None ) : import mavutil mav = mavutil . mavfile_global if ratio is None : ratio = 1.9936 # APM default if 'ARSPD_RATIO' in mav . params : used_ratio = mav . params [ 'ARSPD_RATIO' ] else : used_ratio = ratio if 'ARSPD_OFFSET' in mav . params : offset = mav . params [ 'ARSPD_OFFSET' ] else : return - 1 airspeed_pressure = ( pow ( VFR_HUD . airspeed , 2 ) ) / used_ratio raw = airspeed_pressure + offset SCALING_OLD_CALIBRATION = 204.8 voltage = 5.0 * raw / 4096 return voltage | back - calculate the voltage the airspeed sensor must have seen | 186 | 12 |
229,333 | def earth_rates ( ATTITUDE ) : from math import sin , cos , tan , fabs p = ATTITUDE . rollspeed q = ATTITUDE . pitchspeed r = ATTITUDE . yawspeed phi = ATTITUDE . roll theta = ATTITUDE . pitch psi = ATTITUDE . yaw phiDot = p + tan ( theta ) * ( q * sin ( phi ) + r * cos ( phi ) ) thetaDot = q * cos ( phi ) - r * sin ( phi ) if fabs ( cos ( theta ) ) < 1.0e-20 : theta += 1.0e-10 psiDot = ( q * sin ( phi ) + r * cos ( phi ) ) / cos ( theta ) return ( phiDot , thetaDot , psiDot ) | return angular velocities in earth frame | 197 | 8 |
229,334 | def gps_velocity_body ( GPS_RAW_INT , ATTITUDE ) : r = rotation ( ATTITUDE ) return r . transposed ( ) * Vector3 ( GPS_RAW_INT . vel * 0.01 * cos ( radians ( GPS_RAW_INT . cog * 0.01 ) ) , GPS_RAW_INT . vel * 0.01 * sin ( radians ( GPS_RAW_INT . cog * 0.01 ) ) , - tan ( ATTITUDE . pitch ) * GPS_RAW_INT . vel * 0.01 ) | return GPS velocity vector in body frame | 126 | 7 |
229,335 | def earth_accel ( RAW_IMU , ATTITUDE ) : r = rotation ( ATTITUDE ) accel = Vector3 ( RAW_IMU . xacc , RAW_IMU . yacc , RAW_IMU . zacc ) * 9.81 * 0.001 return r * accel | return earth frame acceleration vector | 69 | 5 |
229,336 | def earth_gyro ( RAW_IMU , ATTITUDE ) : r = rotation ( ATTITUDE ) accel = Vector3 ( degrees ( RAW_IMU . xgyro ) , degrees ( RAW_IMU . ygyro ) , degrees ( RAW_IMU . zgyro ) ) * 0.001 return r * accel | return earth frame gyro vector | 77 | 6 |
229,337 | def airspeed_energy_error ( NAV_CONTROLLER_OUTPUT , VFR_HUD ) : aspeed_cm = VFR_HUD . airspeed * 100 target_airspeed = NAV_CONTROLLER_OUTPUT . aspd_error + aspeed_cm airspeed_energy_error = ( ( target_airspeed * target_airspeed ) - ( aspeed_cm * aspeed_cm ) ) * 0.00005 return airspeed_energy_error | return airspeed energy error matching APM internals This is positive when we are going too slow | 110 | 19 |
229,338 | def energy_error ( NAV_CONTROLLER_OUTPUT , VFR_HUD ) : aspeed_energy_error = airspeed_energy_error ( NAV_CONTROLLER_OUTPUT , VFR_HUD ) alt_error = NAV_CONTROLLER_OUTPUT . alt_error * 100 energy_error = aspeed_energy_error + alt_error * 0.098 return energy_error | return energy error matching APM internals This is positive when we are too low or going too slow | 98 | 20 |
229,339 | def mixer ( servo1 , servo2 , mixtype = 1 , gain = 0.5 ) : s1 = servo1 - 1500 s2 = servo2 - 1500 v1 = ( s1 - s2 ) * gain v2 = ( s1 + s2 ) * gain if mixtype == 2 : v2 = - v2 elif mixtype == 3 : v1 = - v1 elif mixtype == 4 : v1 = - v1 v2 = - v2 if v1 > 600 : v1 = 600 elif v1 < - 600 : v1 = - 600 if v2 > 600 : v2 = 600 elif v2 < - 600 : v2 = - 600 return ( 1500 + v1 , 1500 + v2 ) | mix two servos | 169 | 4 |
229,340 | def DCM_update ( IMU , ATT , MAG , GPS ) : global dcm_state if dcm_state is None : dcm_state = DCM_State ( ATT . Roll , ATT . Pitch , ATT . Yaw ) mag = Vector3 ( MAG . MagX , MAG . MagY , MAG . MagZ ) gyro = Vector3 ( IMU . GyrX , IMU . GyrY , IMU . GyrZ ) accel = Vector3 ( IMU . AccX , IMU . AccY , IMU . AccZ ) accel2 = Vector3 ( IMU . AccX , IMU . AccY , IMU . AccZ ) dcm_state . update ( gyro , accel , mag , GPS ) return dcm_state | implement full DCM system | 170 | 6 |
229,341 | def PX4_update ( IMU , ATT ) : global px4_state if px4_state is None : px4_state = PX4_State ( degrees ( ATT . Roll ) , degrees ( ATT . Pitch ) , degrees ( ATT . Yaw ) , IMU . _timestamp ) gyro = Vector3 ( IMU . GyroX , IMU . GyroY , IMU . GyroZ ) accel = Vector3 ( IMU . AccX , IMU . AccY , IMU . AccZ ) px4_state . update ( gyro , accel , IMU . _timestamp ) return px4_state | implement full DCM using PX4 native SD log data | 147 | 13 |
229,342 | def armed ( HEARTBEAT ) : from . import mavutil if HEARTBEAT . type == mavutil . mavlink . MAV_TYPE_GCS : self = mavutil . mavfile_global if self . motors_armed ( ) : return 1 return 0 if HEARTBEAT . base_mode & mavutil . mavlink . MAV_MODE_FLAG_SAFETY_ARMED : return 1 return 0 | return 1 if armed 0 if not | 100 | 7 |
229,343 | def earth_accel2 ( RAW_IMU , ATTITUDE ) : r = rotation2 ( ATTITUDE ) accel = Vector3 ( RAW_IMU . xacc , RAW_IMU . yacc , RAW_IMU . zacc ) * 9.81 * 0.001 return r * accel | return earth frame acceleration vector from AHRS2 | 71 | 9 |
229,344 | def ekf1_pos ( EKF1 ) : global ekf_home from . import mavutil self = mavutil . mavfile_global if ekf_home is None : if not 'GPS' in self . messages or self . messages [ 'GPS' ] . Status != 3 : return None ekf_home = self . messages [ 'GPS' ] ( ekf_home . Lat , ekf_home . Lng ) = gps_offset ( ekf_home . Lat , ekf_home . Lng , - EKF1 . PE , - EKF1 . PN ) ( lat , lon ) = gps_offset ( ekf_home . Lat , ekf_home . Lng , EKF1 . PE , EKF1 . PN ) return ( lat , lon ) | calculate EKF position when EKF disabled | 197 | 12 |
229,345 | def cmd_condition_yaw ( self , args ) : if ( len ( args ) != 3 ) : print ( "Usage: yaw ANGLE ANGULAR_SPEED MODE:[0 absolute / 1 relative]" ) return if ( len ( args ) == 3 ) : angle = float ( args [ 0 ] ) angular_speed = float ( args [ 1 ] ) angle_mode = float ( args [ 2 ] ) print ( "ANGLE %s" % ( str ( angle ) ) ) self . master . mav . command_long_send ( self . settings . target_system , # target_system mavutil . mavlink . MAV_COMP_ID_SYSTEM_CONTROL , # target_component mavutil . mavlink . MAV_CMD_CONDITION_YAW , # command 0 , # confirmation angle , # param1 (angle value) angular_speed , # param2 (angular speed value) 0 , # param3 angle_mode , # param4 (mode: 0->absolute / 1->relative) 0 , # param5 0 , # param6 0 ) | yaw angle angular_speed angle_mode | 240 | 9 |
229,346 | def cmd_velocity ( self , args ) : if ( len ( args ) != 3 ) : print ( "Usage: velocity x y z (m/s)" ) return if ( len ( args ) == 3 ) : x_mps = float ( args [ 0 ] ) y_mps = float ( args [ 1 ] ) z_mps = float ( args [ 2 ] ) #print("x:%f, y:%f, z:%f" % (x_mps, y_mps, z_mps)) self . master . mav . set_position_target_local_ned_send ( 0 , # time_boot_ms (not used) 0 , 0 , # target system, target component mavutil . mavlink . MAV_FRAME_LOCAL_NED , # frame 0b0000111111000111 , # type_mask (only speeds enabled) 0 , 0 , 0 , # x, y, z positions (not used) x_mps , y_mps , - z_mps , # x, y, z velocity in m/s 0 , 0 , 0 , # x, y, z acceleration (not supported yet, ignored in GCS_Mavlink) 0 , 0 ) | velocity x - ms y - ms z - ms | 273 | 11 |
229,347 | def cmd_position ( self , args ) : if ( len ( args ) != 3 ) : print ( "Usage: position x y z (meters)" ) return if ( len ( args ) == 3 ) : x_m = float ( args [ 0 ] ) y_m = float ( args [ 1 ] ) z_m = float ( args [ 2 ] ) print ( "x:%f, y:%f, z:%f" % ( x_m , y_m , z_m ) ) self . master . mav . set_position_target_local_ned_send ( 0 , # system time in milliseconds 1 , # target system 0 , # target component 8 , # coordinate frame MAV_FRAME_BODY_NED 3576 , # type mask (pos only) x_m , y_m , z_m , # position x,y,z 0 , 0 , 0 , # velocity x,y,z 0 , 0 , 0 , # accel x,y,z 0 , 0 ) | position x - m y - m z - m | 223 | 10 |
229,348 | def cmd_attitude ( self , args ) : if len ( args ) != 5 : print ( "Usage: attitude q0 q1 q2 q3 thrust (0~1)" ) return if len ( args ) == 5 : q0 = float ( args [ 0 ] ) q1 = float ( args [ 1 ] ) q2 = float ( args [ 2 ] ) q3 = float ( args [ 3 ] ) thrust = float ( args [ 4 ] ) att_target = [ q0 , q1 , q2 , q3 ] print ( "q0:%.3f, q1:%.3f, q2:%.3f q3:%.3f thrust:%.2f" % ( q0 , q1 , q2 , q3 , thrust ) ) self . master . mav . set_attitude_target_send ( 0 , # system time in milliseconds 1 , # target system 0 , # target component 63 , # type mask (ignore all except attitude + thrust) att_target , # quaternion attitude 0 , # body roll rate 0 , # body pich rate 0 , # body yaw rate thrust ) | attitude q0 q1 q2 q3 thrust | 244 | 11 |
229,349 | def cmd_posvel ( self , args ) : ignoremask = 511 latlon = None try : latlon = self . module ( 'map' ) . click_position except Exception : pass if latlon is None : print ( "set latlon to zeros" ) latlon = [ 0 , 0 ] else : ignoremask = ignoremask & 504 print ( "found latlon" , ignoremask ) vN = 0 vE = 0 vD = 0 if ( len ( args ) == 3 ) : vN = float ( args [ 0 ] ) vE = float ( args [ 1 ] ) vD = float ( args [ 2 ] ) ignoremask = ignoremask & 455 print ( "ignoremask" , ignoremask ) print ( latlon ) self . master . mav . set_position_target_global_int_send ( 0 , # system time in ms 1 , # target system 0 , # target component mavutil . mavlink . MAV_FRAME_GLOBAL_RELATIVE_ALT_INT , ignoremask , # ignore int ( latlon [ 0 ] * 1e7 ) , int ( latlon [ 1 ] * 1e7 ) , 10 , vN , vE , vD , # velocity 0 , 0 , 0 , # accel x,y,z 0 , 0 ) | posvel mapclick vN vE vD | 283 | 10 |
229,350 | def on_paint ( self , event ) : dc = wx . AutoBufferedPaintDC ( self ) dc . DrawBitmap ( self . _bmp , 0 , 0 ) | repaint the image | 41 | 4 |
229,351 | def mavgen_python_dialect ( dialect , wire_protocol ) : dialects = os . path . join ( os . path . dirname ( os . path . realpath ( __file__ ) ) , '..' , 'dialects' ) mdef = os . path . join ( os . path . dirname ( os . path . realpath ( __file__ ) ) , '..' , '..' , 'message_definitions' ) if wire_protocol == mavparse . PROTOCOL_0_9 : py = os . path . join ( dialects , 'v09' , dialect + '.py' ) xml = os . path . join ( dialects , 'v09' , dialect + '.xml' ) if not os . path . exists ( xml ) : xml = os . path . join ( mdef , 'v0.9' , dialect + '.xml' ) elif wire_protocol == mavparse . PROTOCOL_1_0 : py = os . path . join ( dialects , 'v10' , dialect + '.py' ) xml = os . path . join ( dialects , 'v10' , dialect + '.xml' ) if not os . path . exists ( xml ) : xml = os . path . join ( mdef , 'v1.0' , dialect + '.xml' ) else : py = os . path . join ( dialects , 'v20' , dialect + '.py' ) xml = os . path . join ( dialects , 'v20' , dialect + '.xml' ) if not os . path . exists ( xml ) : xml = os . path . join ( mdef , 'v1.0' , dialect + '.xml' ) opts = Opts ( py , wire_protocol ) # Python 2 to 3 compatibility try : import StringIO as io except ImportError : import io # throw away stdout while generating stdout_saved = sys . stdout sys . stdout = io . StringIO ( ) try : xml = os . path . relpath ( xml ) if not mavgen ( opts , [ xml ] ) : sys . stdout = stdout_saved return False except Exception : sys . stdout = stdout_saved raise sys . stdout = stdout_saved return True | generate the python code on the fly for a MAVLink dialect | 502 | 14 |
229,352 | def process_tlog ( filename ) : print ( "Processing %s" % filename ) mlog = mavutil . mavlink_connection ( filename , dialect = args . dialect , zero_time_base = True ) # first walk the entire file, grabbing all messages into a hash of lists, #and the first message of each type into a hash msg_types = { } msg_lists = { } types = args . types if types is not None : types = types . split ( ',' ) # note that Octave doesn't like any extra '.', '*', '-', characters in the filename ( head , tail ) = os . path . split ( filename ) basename = '.' . join ( tail . split ( '.' ) [ : - 1 ] ) mfilename = re . sub ( '[\.\-\+\*]' , '_' , basename ) + '.m' # Octave also doesn't like files that don't start with a letter if ( re . match ( '^[a-zA-z]' , mfilename ) == None ) : mfilename = 'm_' + mfilename if head is not None : mfilename = os . path . join ( head , mfilename ) print ( "Creating %s" % mfilename ) f = open ( mfilename , "w" ) type_counters = { } while True : m = mlog . recv_match ( condition = args . condition ) if m is None : break if types is not None and m . get_type ( ) not in types : continue if m . get_type ( ) == 'BAD_DATA' : continue fieldnames = m . _fieldnames mtype = m . get_type ( ) if mtype in [ 'FMT' , 'PARM' ] : continue if mtype not in type_counters : type_counters [ mtype ] = 0 f . write ( "%s.columns = {'timestamp'" % mtype ) for field in fieldnames : val = getattr ( m , field ) if not isinstance ( val , str ) : if type ( val ) is not list : f . write ( ",'%s'" % field ) else : for i in range ( 0 , len ( val ) ) : f . write ( ",'%s%d'" % ( field , i + 1 ) ) f . write ( "};\n" ) type_counters [ mtype ] += 1 f . write ( "%s.data(%u,:) = [%f" % ( mtype , type_counters [ mtype ] , m . _timestamp ) ) for field in m . _fieldnames : val = getattr ( m , field ) if not isinstance ( val , str ) : if type ( val ) is not list : f . write ( ",%.20g" % val ) else : for i in range ( 0 , len ( val ) ) : f . write ( ",%.20g" % val [ i ] ) f . write ( "];\n" ) f . close ( ) | convert a tlog to a . m file | 660 | 10 |
229,353 | def radius ( d , offsets , motor_ofs ) : ( mag , motor ) = d return ( mag + offsets + motor * motor_ofs ) . length ( ) | return radius give data point and offsets | 37 | 7 |
229,354 | def camel_case_from_underscores ( string ) : components = string . split ( '_' ) string = '' for component in components : string += component [ 0 ] . upper ( ) + component [ 1 : ] return string | generate a CamelCase string from an underscore_string . | 50 | 12 |
229,355 | def generate ( basename , xml_list ) : generate_shared ( basename , xml_list ) for xml in xml_list : generate_message_definitions ( basename , xml ) | generate complete MAVLink Objective - C implemenation | 41 | 13 |
229,356 | def add_values ( self , values ) : if self . child . is_alive ( ) : self . parent_pipe . send ( values ) | add some data to the graph | 32 | 6 |
229,357 | def close ( self ) : self . close_graph . set ( ) if self . is_alive ( ) : self . child . join ( 2 ) | close the graph | 33 | 3 |
229,358 | def get_enum_raw_type ( enum , msgs ) : for msg in msgs : for field in msg . fields : if field . enum == enum . name : return swift_types [ field . type ] [ 0 ] return "Int" | Search appropirate raw type for enums in messages fields | 53 | 12 |
229,359 | def append_static_code ( filename , outf ) : basepath = os . path . dirname ( os . path . realpath ( __file__ ) ) filepath = os . path . join ( basepath , 'swift/%s' % filename ) print ( "Appending content of %s" % filename ) with open ( filepath ) as inf : for line in inf : outf . write ( line ) | Open and copy static code from specified file | 93 | 8 |
229,360 | def camel_case_from_underscores ( string ) : components = string . split ( '_' ) string = '' for component in components : if component in abbreviations : string += component else : string += component [ 0 ] . upper ( ) + component [ 1 : ] . lower ( ) return string | Generate a CamelCase string from an underscore_string | 65 | 11 |
229,361 | def generate_enums_info ( enums , msgs ) : for enum in enums : enum . swift_name = camel_case_from_underscores ( enum . name ) enum . raw_value_type = get_enum_raw_type ( enum , msgs ) enum . formatted_description = "" if enum . description : enum . description = " " . join ( enum . description . split ( ) ) enum . formatted_description = "\n/**\n %s\n*/\n" % enum . description all_entities = [ ] entities_info = [ ] for entry in enum . entry : name = entry . name . replace ( enum . name + '_' , '' ) """Ensure that enums entry name does not start from digit""" if name [ 0 ] . isdigit ( ) : name = "MAV_" + name entry . swift_name = camel_case_from_underscores ( name ) entry . formatted_description = "" if entry . description : entry . description = " " . join ( entry . description . split ( ) ) entry . formatted_description = "\n\t/// " + entry . description + "\n" all_entities . append ( entry . swift_name ) entities_info . append ( '("%s", "%s")' % ( entry . name , entry . description . replace ( '"' , '\\"' ) ) ) enum . all_entities = ", " . join ( all_entities ) enum . entities_info = ", " . join ( entities_info ) enum . entity_description = enum . description . replace ( '"' , '\\"' ) enums . sort ( key = lambda enum : enum . swift_name ) | Add camel case swift names for enums an entries descriptions and sort enums alphabetically | 369 | 17 |
229,362 | def generate_messages_info ( msgs ) : for msg in msgs : msg . swift_name = camel_case_from_underscores ( msg . name ) msg . formatted_description = "" if msg . description : msg . description = " " . join ( msg . description . split ( ) ) msg . formatted_description = "\n/**\n %s\n*/\n" % " " . join ( msg . description . split ( ) ) msg . message_description = msg . description . replace ( '"' , '\\"' ) for field in msg . ordered_fields : field . swift_name = lower_camel_case_from_underscores ( field . name ) field . return_type = swift_types [ field . type ] [ 0 ] # configure fields initializers if field . enum : # handle enums field . return_type = camel_case_from_underscores ( field . enum ) field . initial_value = "try data.mavEnumeration(offset: %u)" % field . wire_offset elif field . array_length > 0 : if field . return_type == "String" : # handle strings field . initial_value = "data." + swift_types [ field . type ] [ 2 ] % ( field . wire_offset , field . array_length ) else : # other array types field . return_type = "[%s]" % field . return_type field . initial_value = "try data.mavArray(offset: %u, count: %u)" % ( field . wire_offset , field . array_length ) else : # simple type field field . initial_value = "try data." + swift_types [ field . type ] [ 2 ] % field . wire_offset field . formatted_description = "" if field . description : field . description = " " . join ( field . description . split ( ) ) field . formatted_description = "\n\t/// " + field . description + "\n" fields_info = map ( lambda field : '("%s", %u, "%s", "%s")' % ( field . swift_name , field . wire_offset , field . return_type , field . description . replace ( '"' , '\\"' ) ) , msg . fields ) msg . fields_info = ", " . join ( fields_info ) msgs . sort ( key = lambda msg : msg . id ) | Add proper formated variable names initializers and type names to use in templates | 523 | 15 |
229,363 | def generate ( basename , xml_list ) : if os . path . isdir ( basename ) : filename = os . path . join ( basename , 'MAVLink.swift' ) else : filename = basename msgs = [ ] enums = [ ] filelist = [ ] for xml in xml_list : msgs . extend ( xml . message ) enums . extend ( xml . enum ) filelist . append ( os . path . basename ( xml . filename ) ) outf = open ( filename , "w" ) generate_header ( outf , filelist , xml_list ) generate_enums_info ( enums , msgs ) generate_enums ( outf , enums , msgs ) generate_messages_info ( msgs ) generate_messages ( outf , msgs ) append_static_code ( 'Parser.swift' , outf ) generate_message_mappings_array ( outf , msgs ) generate_message_lengths_array ( outf , msgs ) generate_message_crc_extra_array ( outf , msgs ) outf . close ( ) | Generate complete MAVLink Swift implemenation | 248 | 11 |
229,364 | def wp_is_loiter ( self , i ) : loiter_cmds = [ mavutil . mavlink . MAV_CMD_NAV_LOITER_UNLIM , mavutil . mavlink . MAV_CMD_NAV_LOITER_TURNS , mavutil . mavlink . MAV_CMD_NAV_LOITER_TIME , mavutil . mavlink . MAV_CMD_NAV_LOITER_TO_ALT ] if ( self . wpoints [ i ] . command in loiter_cmds ) : return True return False | return true if waypoint is a loiter waypoint | 142 | 11 |
229,365 | def add ( self , w , comment = '' ) : w = copy . copy ( w ) if comment : w . comment = comment w . seq = self . count ( ) self . wpoints . append ( w ) self . last_change = time . time ( ) | add a waypoint | 57 | 4 |
229,366 | def insert ( self , idx , w , comment = '' ) : if idx >= self . count ( ) : self . add ( w , comment ) return if idx < 0 : return w = copy . copy ( w ) if comment : w . comment = comment w . seq = idx self . wpoints . insert ( idx , w ) self . last_change = time . time ( ) self . reindex ( ) | insert a waypoint | 92 | 4 |
229,367 | def set ( self , w , idx ) : w . seq = idx if w . seq == self . count ( ) : return self . add ( w ) if self . count ( ) <= idx : raise MAVWPError ( 'adding waypoint at idx=%u past end of list (count=%u)' % ( idx , self . count ( ) ) ) self . wpoints [ idx ] = w self . last_change = time . time ( ) | set a waypoint | 104 | 4 |
229,368 | def remove ( self , w ) : self . wpoints . remove ( w ) self . last_change = time . time ( ) self . reindex ( ) | remove a waypoint | 34 | 4 |
229,369 | def _read_waypoints_v100 ( self , file ) : cmdmap = { 2 : mavutil . mavlink . MAV_CMD_NAV_TAKEOFF , 3 : mavutil . mavlink . MAV_CMD_NAV_RETURN_TO_LAUNCH , 4 : mavutil . mavlink . MAV_CMD_NAV_LAND , 24 : mavutil . mavlink . MAV_CMD_NAV_TAKEOFF , 26 : mavutil . mavlink . MAV_CMD_NAV_LAND , 25 : mavutil . mavlink . MAV_CMD_NAV_WAYPOINT , 27 : mavutil . mavlink . MAV_CMD_NAV_LOITER_UNLIM } comment = '' for line in file : if line . startswith ( '#' ) : comment = line [ 1 : ] . lstrip ( ) continue line = line . strip ( ) if not line : continue a = line . split ( ) if len ( a ) != 13 : raise MAVWPError ( "invalid waypoint line with %u values" % len ( a ) ) if mavutil . mavlink10 ( ) : fn = mavutil . mavlink . MAVLink_mission_item_message else : fn = mavutil . mavlink . MAVLink_waypoint_message w = fn ( self . target_system , self . target_component , int ( a [ 0 ] ) , # seq int ( a [ 1 ] ) , # frame int ( a [ 2 ] ) , # action int ( a [ 7 ] ) , # current int ( a [ 12 ] ) , # autocontinue float ( a [ 5 ] ) , # param1, float ( a [ 6 ] ) , # param2, float ( a [ 3 ] ) , # param3 float ( a [ 4 ] ) , # param4 float ( a [ 9 ] ) , # x, latitude float ( a [ 8 ] ) , # y, longitude float ( a [ 10 ] ) # z ) if not w . command in cmdmap : raise MAVWPError ( "Unknown v100 waypoint action %u" % w . command ) w . command = cmdmap [ w . command ] self . add ( w , comment ) comment = '' | read a version 100 waypoint | 523 | 6 |
229,370 | def _read_waypoints_v110 ( self , file ) : comment = '' for line in file : if line . startswith ( '#' ) : comment = line [ 1 : ] . lstrip ( ) continue line = line . strip ( ) if not line : continue a = line . split ( ) if len ( a ) != 12 : raise MAVWPError ( "invalid waypoint line with %u values" % len ( a ) ) if mavutil . mavlink10 ( ) : fn = mavutil . mavlink . MAVLink_mission_item_message else : fn = mavutil . mavlink . MAVLink_waypoint_message w = fn ( self . target_system , self . target_component , int ( a [ 0 ] ) , # seq int ( a [ 2 ] ) , # frame int ( a [ 3 ] ) , # command int ( a [ 1 ] ) , # current int ( a [ 11 ] ) , # autocontinue float ( a [ 4 ] ) , # param1, float ( a [ 5 ] ) , # param2, float ( a [ 6 ] ) , # param3 float ( a [ 7 ] ) , # param4 float ( a [ 8 ] ) , # x (latitude) float ( a [ 9 ] ) , # y (longitude) float ( a [ 10 ] ) # z (altitude) ) if w . command == 0 and w . seq == 0 and self . count ( ) == 0 : # special handling for Mission Planner created home wp w . command = mavutil . mavlink . MAV_CMD_NAV_WAYPOINT self . add ( w , comment ) comment = '' | read a version 110 waypoint | 374 | 6 |
229,371 | def load ( self , filename ) : f = open ( filename , mode = 'r' ) version_line = f . readline ( ) . strip ( ) if version_line == "QGC WPL 100" : readfn = self . _read_waypoints_v100 elif version_line == "QGC WPL 110" : readfn = self . _read_waypoints_v110 elif version_line == "QGC WPL PB 110" : readfn = self . _read_waypoints_pb_110 else : f . close ( ) raise MAVWPError ( "Unsupported waypoint format '%s'" % version_line ) self . clear ( ) readfn ( f ) f . close ( ) return len ( self . wpoints ) | load waypoints from a file . returns number of waypoints loaded | 167 | 13 |
229,372 | def view_indexes ( self , done = None ) : ret = [ ] if done is None : done = set ( ) idx = 0 # find first point not done yet while idx < self . count ( ) : if not idx in done : break idx += 1 while idx < self . count ( ) : w = self . wp ( idx ) if idx in done : if w . x != 0 or w . y != 0 : ret . append ( idx ) break done . add ( idx ) if w . command == mavutil . mavlink . MAV_CMD_DO_JUMP : idx = int ( w . param1 ) w = self . wp ( idx ) if w . x != 0 or w . y != 0 : ret . append ( idx ) continue if ( w . x != 0 or w . y != 0 ) and self . is_location_command ( w . command ) : ret . append ( idx ) idx += 1 return ret | return a list waypoint indexes in view order | 220 | 9 |
229,373 | def polygon ( self , done = None ) : indexes = self . view_indexes ( done ) points = [ ] for idx in indexes : w = self . wp ( idx ) points . append ( ( w . x , w . y ) ) return points | return a polygon for the waypoints | 58 | 8 |
229,374 | def polygon_list ( self ) : done = set ( ) ret = [ ] while len ( done ) != self . count ( ) : p = self . polygon ( done ) if len ( p ) > 0 : ret . append ( p ) return ret | return a list of polygons for the waypoints | 55 | 10 |
229,375 | def view_list ( self ) : done = set ( ) ret = [ ] while len ( done ) != self . count ( ) : p = self . view_indexes ( done ) if len ( p ) > 0 : ret . append ( p ) return ret | return a list of polygon indexes lists for the waypoints | 56 | 12 |
229,376 | def reindex ( self ) : for i in range ( self . rally_count ( ) ) : self . rally_points [ i ] . count = self . rally_count ( ) self . rally_points [ i ] . idx = i self . last_change = time . time ( ) | reset counters and indexes | 63 | 4 |
229,377 | def append_rally_point ( self , p ) : if ( self . rally_count ( ) > 9 ) : print ( "Can't have more than 10 rally points, not adding." ) return self . rally_points . append ( p ) self . reindex ( ) | add rallypoint to end of list | 59 | 7 |
229,378 | def load ( self , filename ) : f = open ( filename , mode = 'r' ) self . clear ( ) for line in f : if line . startswith ( '#' ) : continue line = line . strip ( ) if not line : continue a = line . split ( ) if len ( a ) != 7 : raise MAVRallyError ( "invalid rally file line: %s" % line ) if ( a [ 0 ] . lower ( ) == "rally" ) : self . create_and_append_rally_point ( float ( a [ 1 ] ) * 1e7 , float ( a [ 2 ] ) * 1e7 , float ( a [ 3 ] ) , float ( a [ 4 ] ) , float ( a [ 5 ] ) * 100.0 , int ( a [ 6 ] ) ) f . close ( ) return len ( self . rally_points ) | load rally and rally_land points from a file . returns number of points loaded | 193 | 16 |
229,379 | def load ( self , filename ) : f = open ( filename , mode = 'r' ) self . clear ( ) for line in f : if line . startswith ( '#' ) : continue line = line . strip ( ) if not line : continue a = line . split ( ) if len ( a ) != 2 : raise MAVFenceError ( "invalid fence point line: %s" % line ) self . add_latlon ( float ( a [ 0 ] ) , float ( a [ 1 ] ) ) f . close ( ) return len ( self . points ) | load points from a file . returns number of points loaded | 125 | 11 |
229,380 | def move ( self , i , lat , lng , change_time = True ) : if i < 0 or i >= self . count ( ) : print ( "Invalid fence point number %u" % i ) self . points [ i ] . lat = lat self . points [ i ] . lng = lng # ensure we close the polygon if i == 1 : self . points [ self . count ( ) - 1 ] . lat = lat self . points [ self . count ( ) - 1 ] . lng = lng if i == self . count ( ) - 1 : self . points [ 1 ] . lat = lat self . points [ 1 ] . lng = lng if change_time : self . last_change = time . time ( ) | move a fence point | 162 | 4 |
229,381 | def remove ( self , i , change_time = True ) : if i < 0 or i >= self . count ( ) : print ( "Invalid fence point number %u" % i ) self . points . pop ( i ) # ensure we close the polygon if i == 1 : self . points [ self . count ( ) - 1 ] . lat = self . points [ 1 ] . lat self . points [ self . count ( ) - 1 ] . lng = self . points [ 1 ] . lng if i == self . count ( ) : self . points [ 1 ] . lat = self . points [ self . count ( ) - 1 ] . lat self . points [ 1 ] . lng = self . points [ self . count ( ) - 1 ] . lng if change_time : self . last_change = time . time ( ) | remove a fence point | 181 | 4 |
229,382 | def polygon ( self ) : points = [ ] for fp in self . points [ 1 : ] : points . append ( ( fp . lat , fp . lng ) ) return points | return a polygon for the fence | 42 | 7 |
229,383 | def add_input ( cmd , immediate = False ) : if immediate : process_stdin ( cmd ) else : mpstate . input_queue . put ( cmd ) | add some command input to be processed | 35 | 7 |
229,384 | def param_set ( name , value , retries = 3 ) : name = name . upper ( ) return mpstate . mav_param . mavset ( mpstate . master ( ) , name , value , retries = retries ) | set a parameter | 52 | 3 |
229,385 | def unload_module ( modname ) : for ( m , pm ) in mpstate . modules : if m . name == modname : if hasattr ( m , 'unload' ) : m . unload ( ) mpstate . modules . remove ( ( m , pm ) ) print ( "Unloaded module %s" % modname ) return True print ( "Unable to find module %s" % modname ) return False | unload a module | 93 | 4 |
229,386 | def import_package ( name ) : import zipimport try : mod = __import__ ( name ) except ImportError : clear_zipimport_cache ( ) mod = __import__ ( name ) components = name . split ( '.' ) for comp in components [ 1 : ] : mod = getattr ( mod , comp ) return mod | Given a package name like foo . bar . quux imports the package and returns the desired module . | 70 | 20 |
229,387 | def process_master ( m ) : try : s = m . recv ( 16 * 1024 ) except Exception : time . sleep ( 0.1 ) return # prevent a dead serial port from causing the CPU to spin. The user hitting enter will # cause it to try and reconnect if len ( s ) == 0 : time . sleep ( 0.1 ) return if ( mpstate . settings . compdebug & 1 ) != 0 : return if mpstate . logqueue_raw : mpstate . logqueue_raw . put ( str ( s ) ) if mpstate . status . setup_mode : if mpstate . system == 'Windows' : # strip nsh ansi codes s = s . replace ( "\033[K" , "" ) sys . stdout . write ( str ( s ) ) sys . stdout . flush ( ) return if m . first_byte and opts . auto_protocol : m . auto_mavlink_version ( s ) msgs = m . mav . parse_buffer ( s ) if msgs : for msg in msgs : sysid = msg . get_srcSystem ( ) if sysid in mpstate . sysid_outputs : # the message has been handled by a specialised handler for this system continue if getattr ( m , '_timestamp' , None ) is None : m . post_message ( msg ) if msg . get_type ( ) == "BAD_DATA" : if opts . show_errors : mpstate . console . writeln ( "MAV error: %s" % msg ) mpstate . status . mav_error += 1 | process packets from the MAVLink master | 346 | 8 |
229,388 | def set_stream_rates ( ) : if ( not msg_period . trigger ( ) and mpstate . status . last_streamrate1 == mpstate . settings . streamrate and mpstate . status . last_streamrate2 == mpstate . settings . streamrate2 ) : return mpstate . status . last_streamrate1 = mpstate . settings . streamrate mpstate . status . last_streamrate2 = mpstate . settings . streamrate2 for master in mpstate . mav_master : if master . linknum == 0 : rate = mpstate . settings . streamrate else : rate = mpstate . settings . streamrate2 if rate != - 1 : master . mav . request_data_stream_send ( mpstate . settings . target_system , mpstate . settings . target_component , mavutil . mavlink . MAV_DATA_STREAM_ALL , rate , 1 ) | set mavlink stream rates | 197 | 6 |
229,389 | def periodic_tasks ( ) : if mpstate . status . setup_mode : return if ( mpstate . settings . compdebug & 2 ) != 0 : return if mpstate . settings . heartbeat != 0 : heartbeat_period . frequency = mpstate . settings . heartbeat if heartbeat_period . trigger ( ) and mpstate . settings . heartbeat != 0 : mpstate . status . counters [ 'MasterOut' ] += 1 for master in mpstate . mav_master : send_heartbeat ( master ) if heartbeat_check_period . trigger ( ) : check_link_status ( ) set_stream_rates ( ) # call optional module idle tasks. These are called at several hundred Hz for ( m , pm ) in mpstate . modules : if hasattr ( m , 'idle_task' ) : try : m . idle_task ( ) except Exception as msg : if mpstate . settings . moddebug == 1 : print ( msg ) elif mpstate . settings . moddebug > 1 : exc_type , exc_value , exc_traceback = sys . exc_info ( ) traceback . print_exception ( exc_type , exc_value , exc_traceback , limit = 2 , file = sys . stdout ) # also see if the module should be unloaded: if m . needs_unloading : unload_module ( m . name ) | run periodic checks | 292 | 3 |
229,390 | def master ( self ) : if len ( self . mav_master ) == 0 : return None if self . settings . link > len ( self . mav_master ) : self . settings . link = 1 # try to use one with no link error if not self . mav_master [ self . settings . link - 1 ] . linkerror : return self . mav_master [ self . settings . link - 1 ] for m in self . mav_master : if not m . linkerror : return m return self . mav_master [ self . settings . link - 1 ] | return the currently chosen mavlink master object | 126 | 9 |
229,391 | def generate ( basename , xml ) : structsfilename = basename + '.generated.cs' msgs = [ ] enums = [ ] filelist = [ ] for x in xml : msgs . extend ( x . message ) enums . extend ( x . enum ) filelist . append ( os . path . basename ( x . filename ) ) for m in msgs : m . order_map = [ 0 ] * len ( m . fieldnames ) for i in range ( 0 , len ( m . fieldnames ) ) : m . order_map [ i ] = m . ordered_fieldnames . index ( m . fieldnames [ i ] ) m . fields_in_order = [ ] for i in range ( 0 , len ( m . fieldnames ) ) : m . order_map [ i ] = m . ordered_fieldnames . index ( m . fieldnames [ i ] ) print ( "Generating messages file: %s" % structsfilename ) dir = os . path . dirname ( structsfilename ) if not os . path . exists ( dir ) : os . makedirs ( dir ) outf = open ( structsfilename , "w" ) generate_preamble ( outf , msgs , filelist , xml [ 0 ] ) outf . write ( """ using System.Reflection; [assembly: AssemblyTitle("Mavlink Classes")] [assembly: AssemblyDescription("Generated Message Classes for Mavlink. See http://qgroundcontrol.org/mavlink/start")] [assembly: AssemblyProduct("Mavlink")] [assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyFileVersion("1.0.0.0")] """ ) generate_enums ( outf , enums ) generate_classes ( outf , msgs ) outf . close ( ) print ( "Generating the (De)Serializer classes" ) serfilename = basename + '_codec.generated.cs' outf = open ( serfilename , "w" ) generate_CodecIndex ( outf , msgs , xml ) generate_Deserialization ( outf , msgs ) generate_Serialization ( outf , msgs ) outf . write ( "\t}\n\n" ) outf . write ( "}\n\n" ) outf . close ( ) # Some build commands depend on the platform - eg MS .NET Windows Vs Mono on Linux if platform . system ( ) == "Windows" : winpath = os . environ [ 'WinDir' ] cscCommand = winpath + "\\Microsoft.NET\\Framework\\v4.0.30319\\csc.exe" if ( os . path . exists ( cscCommand ) == False ) : print ( "\nError: CS compiler not found. .Net Assembly generation skipped" ) return else : print ( "Error:.Net Assembly generation not yet supported on non Windows platforms" ) return cscCommand = "csc" print ( "Compiling Assembly for .Net Framework 4.0" ) generatedCsFiles = [ serfilename , structsfilename ] includedCsFiles = [ 'CS/common/ByteArrayUtil.cs' , 'CS/common/FrameworkBitConverter.cs' , 'CS/common/Mavlink.cs' ] outputLibraryPath = os . path . normpath ( dir + "/mavlink.dll" ) compileCommand = "%s %s" % ( cscCommand , "/target:library /debug /out:" + outputLibraryPath ) compileCommand = compileCommand + " /doc:" + os . path . normpath ( dir + "/mavlink.xml" ) for csFile in generatedCsFiles + includedCsFiles : compileCommand = compileCommand + " " + os . path . normpath ( csFile ) #print("Cmd:" + compileCommand) res = os . system ( compileCommand ) if res == '0' : print ( "Generated %s OK" % filename ) else : print ( "Error" ) | generate complete MAVLink CSharp implemenation | 869 | 12 |
229,392 | def load_stylesheet ( pyside = True ) : # Smart import of the rc file if pyside : import qdarkstyle . pyside_style_rc else : import qdarkstyle . pyqt_style_rc # Load the stylesheet content from resources if not pyside : from PyQt4 . QtCore import QFile , QTextStream else : from PySide . QtCore import QFile , QTextStream f = QFile ( ":qdarkstyle/style.qss" ) if not f . exists ( ) : _logger ( ) . error ( "Unable to load stylesheet, file not found in " "resources" ) return "" else : f . open ( QFile . ReadOnly | QFile . Text ) ts = QTextStream ( f ) stylesheet = ts . readAll ( ) if platform . system ( ) . lower ( ) == 'darwin' : # see issue #12 on github mac_fix = ''' QDockWidget::title { background-color: #31363b; text-align: center; height: 12px; } ''' stylesheet += mac_fix return stylesheet | Loads the stylesheet . Takes care of importing the rc module . | 248 | 14 |
229,393 | def load_stylesheet_pyqt5 ( ) : # Smart import of the rc file import qdarkstyle . pyqt5_style_rc # Load the stylesheet content from resources from PyQt5 . QtCore import QFile , QTextStream f = QFile ( ":qdarkstyle/style.qss" ) if not f . exists ( ) : _logger ( ) . error ( "Unable to load stylesheet, file not found in " "resources" ) return "" else : f . open ( QFile . ReadOnly | QFile . Text ) ts = QTextStream ( f ) stylesheet = ts . readAll ( ) if platform . system ( ) . lower ( ) == 'darwin' : # see issue #12 on github mac_fix = ''' QDockWidget::title { background-color: #31363b; text-align: center; height: 12px; } ''' stylesheet += mac_fix return stylesheet | Loads the stylesheet for use in a pyqt5 application . | 208 | 14 |
229,394 | def call_handler ( self ) : if self . handler is None : return call = getattr ( self . handler , 'call' , None ) if call is not None : self . handler_result = call ( ) | optionally call a handler function | 46 | 6 |
229,395 | def add ( self , items ) : if not isinstance ( items , list ) : items = [ items ] for m in items : updated = False for i in range ( len ( self . items ) ) : if self . items [ i ] . name == m . name : self . items [ i ] = m updated = True if not updated : self . items . append ( m ) | add a submenu | 81 | 4 |
229,396 | def call ( self ) : mp_util . child_close_fds ( ) import wx_processguard from wx_loader import wx from wx . lib . agw . genericmessagedialog import GenericMessageDialog app = wx . App ( False ) # note! font size change is not working. I don't know why yet font = wx . Font ( self . font_size , wx . MODERN , wx . NORMAL , wx . NORMAL ) dlg = GenericMessageDialog ( None , self . message , self . title , wx . ICON_INFORMATION | wx . OK ) dlg . SetFont ( font ) dlg . ShowModal ( ) app . MainLoop ( ) | show the dialog as a child process | 162 | 7 |
229,397 | def read_ermapper ( self , ifile ) : ers_index = ifile . find ( '.ers' ) if ers_index > 0 : data_file = ifile [ 0 : ers_index ] header_file = ifile else : data_file = ifile header_file = ifile + '.ers' self . header = self . read_ermapper_header ( header_file ) nroflines = int ( self . header [ 'nroflines' ] ) nrofcellsperlines = int ( self . header [ 'nrofcellsperline' ] ) self . data = self . read_ermapper_data ( data_file , offset = int ( self . header [ 'headeroffset' ] ) ) self . data = numpy . reshape ( self . data , ( nroflines , nrofcellsperlines ) ) longy = numpy . fromstring ( self . getHeaderParam ( 'longitude' ) , sep = ':' ) latty = numpy . fromstring ( self . getHeaderParam ( 'latitude' ) , sep = ':' ) self . deltalatitude = float ( self . header [ 'ydimension' ] ) self . deltalongitude = float ( self . header [ 'xdimension' ] ) if longy [ 0 ] < 0 : self . startlongitude = longy [ 0 ] + - ( ( longy [ 1 ] / 60 ) + ( longy [ 2 ] / 3600 ) ) self . endlongitude = self . startlongitude - int ( self . header [ 'nrofcellsperline' ] ) * self . deltalongitude else : self . startlongitude = longy [ 0 ] + ( longy [ 1 ] / 60 ) + ( longy [ 2 ] / 3600 ) self . endlongitude = self . startlongitude + int ( self . header [ 'nrofcellsperline' ] ) * self . deltalongitude if latty [ 0 ] < 0 : self . startlatitude = latty [ 0 ] - ( ( latty [ 1 ] / 60 ) + ( latty [ 2 ] / 3600 ) ) self . endlatitude = self . startlatitude - int ( self . header [ 'nroflines' ] ) * self . deltalatitude else : self . startlatitude = latty [ 0 ] + ( latty [ 1 ] / 60 ) + ( latty [ 2 ] / 3600 ) self . endlatitude = self . startlatitude + int ( self . header [ 'nroflines' ] ) * self . deltalatitude | Read in a DEM file and associated . ers file | 574 | 11 |
229,398 | def printBoundingBox ( self ) : print ( "Bounding Latitude: " ) print ( self . startlatitude ) print ( self . endlatitude ) print ( "Bounding Longitude: " ) print ( self . startlongitude ) print ( self . endlongitude ) | Print the bounding box that this DEM covers | 61 | 9 |
229,399 | def getPercentBlank ( self ) : blank = 0 nonblank = 0 for x in self . data . flat : if x == - 99999.0 : blank = blank + 1 else : nonblank = nonblank + 1 print ( "Blank tiles = " , blank , "out of " , ( nonblank + blank ) ) | Print how many null cells are in the DEM - Quality measure | 71 | 12 |
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