idx int64 0 63k | question stringlengths 61 4.03k | target stringlengths 6 1.23k |
|---|---|---|
41,200 | def __callback ( self , rgb , d ) : data = Images2Rgbd ( rgb , d ) self . lock . acquire ( ) self . data = data self . lock . release ( ) | Callback function to receive and save Rgbd Scans . |
41,201 | def getRgbdData ( self ) : self . lock . acquire ( ) data = self . data self . lock . release ( ) return data | Returns last RgbdData . |
41,202 | def fence_fetch_point_send ( self , target_system , target_component , idx , force_mavlink1 = False ) : return self . send ( self . fence_fetch_point_encode ( target_system , target_component , idx ) , force_mavlink1 = force_mavlink1 ) | Request a current fence point from MAV |
41,203 | def hwstatus_send ( self , Vcc , I2Cerr , force_mavlink1 = False ) : return self . send ( self . hwstatus_encode ( Vcc , I2Cerr ) , force_mavlink1 = force_mavlink1 ) | Status of key hardware |
41,204 | def data16_send ( self , type , len , data , force_mavlink1 = False ) : return self . send ( self . data16_encode ( type , len , data ) , force_mavlink1 = force_mavlink1 ) | Data packet size 16 |
41,205 | def data32_send ( self , type , len , data , force_mavlink1 = False ) : return self . send ( self . data32_encode ( type , len , data ) , force_mavlink1 = force_mavlink1 ) | Data packet size 32 |
41,206 | def data64_send ( self , type , len , data , force_mavlink1 = False ) : return self . send ( self . data64_encode ( type , len , data ) , force_mavlink1 = force_mavlink1 ) | Data packet size 64 |
41,207 | def data96_send ( self , type , len , data , force_mavlink1 = False ) : return self . send ( self . data96_encode ( type , len , data ) , force_mavlink1 = force_mavlink1 ) | Data packet size 96 |
41,208 | def rally_fetch_point_send ( self , target_system , target_component , idx , force_mavlink1 = False ) : return self . send ( self . rally_fetch_point_encode ( target_system , target_component , idx ) , force_mavlink1 = force_mavlink1 ) | Request a current rally point from MAV . MAV should respond with a RALLY_POINT message . MAV should not respond if the request is invalid . |
41,209 | def battery2_send ( self , voltage , current_battery , force_mavlink1 = False ) : return self . send ( self . battery2_encode ( voltage , current_battery ) , force_mavlink1 = force_mavlink1 ) | 2nd Battery status |
41,210 | def gopro_heartbeat_send ( self , status , capture_mode , flags , force_mavlink1 = False ) : return self . send ( self . gopro_heartbeat_encode ( status , capture_mode , flags ) , force_mavlink1 = force_mavlink1 ) | Heartbeat from a HeroBus attached GoPro |
41,211 | def gopro_get_request_send ( self , target_system , target_component , cmd_id , force_mavlink1 = False ) : return self . send ( self . gopro_get_request_encode ( target_system , target_component , cmd_id ) , force_mavlink1 = force_mavlink1 ) | Request a GOPRO_COMMAND response from the GoPro |
41,212 | def gopro_get_response_send ( self , cmd_id , status , value , force_mavlink1 = False ) : return self . send ( self . gopro_get_response_encode ( cmd_id , status , value ) , force_mavlink1 = force_mavlink1 ) | Response from a GOPRO_COMMAND get request |
41,213 | def gopro_set_response_send ( self , cmd_id , status , force_mavlink1 = False ) : return self . send ( self . gopro_set_response_encode ( cmd_id , status ) , force_mavlink1 = force_mavlink1 ) | Response from a GOPRO_COMMAND set request |
41,214 | def rpm_send ( self , rpm1 , rpm2 , force_mavlink1 = False ) : return self . send ( self . rpm_encode ( rpm1 , rpm2 ) , force_mavlink1 = force_mavlink1 ) | RPM sensor output |
41,215 | def convert ( self , value , fromunits , tounits ) : 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 (... | convert a value from one set of units to another |
41,216 | def units ( self , varname ) : if not varname in self . mapping . vars : raise fgFDMError ( 'Unknown variable %s' % varname ) return self . mapping . vars [ varname ] . units | return the default units of a variable |
41,217 | def variables ( self ) : return sorted ( list ( self . mapping . vars . keys ( ) ) , key = lambda v : self . mapping . vars [ v ] . index ) | return a list of available variables |
41,218 | def get ( self , varname , idx = 0 , units = None ) : 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 .... | get a variable value |
41,219 | def set ( self , varname , value , idx = 0 , units = None ) : 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 . m... | set a variable value |
41,220 | def parse ( self , buf ) : try : t = struct . unpack ( self . pack_string , buf ) except struct . error as msg : raise fgFDMError ( 'unable to parse - %s' % msg ) self . values = list ( t ) | parse a FD FDM buffer |
41,221 | def pack ( self ) : 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 ) | pack a FD FDM buffer from current values |
41,222 | def quat2Yaw ( qw , qx , qy , qz ) : 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 | Translates from Quaternion to Yaw . |
41,223 | def quat2Pitch ( qw , qx , qy , qz ) : 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 | Translates from Quaternion to Pitch . |
41,224 | def odometry2Pose3D ( 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 . yaw = quat2Yaw ( ori . w , ori . x , ori . y , ori . z ) pose . pitch = quat2Pitch ( ori .... | Translates from ROS Odometry to JderobotTypes Pose3d . |
41,225 | def __callback ( self , odom ) : pose = odometry2Pose3D ( odom ) self . lock . acquire ( ) self . data = pose self . lock . release ( ) | Callback function to receive and save Pose3d . |
41,226 | def clip ( self , px , py , w , h , img ) : 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 ) | clip an area for display on the map |
41,227 | def update_position ( self , newpos ) : 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 | update object position |
41,228 | def clicked ( self , px , py ) : 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 ) **... | see if the polygon has been clicked on . Consider it clicked if the pixel is within 6 of the point |
41,229 | def clicked ( self , px , py ) : 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 ) | see if the image has been clicked on |
41,230 | def draw ( self , parent , box ) : 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 ( ) | redraw the image |
41,231 | def _resize ( self ) : 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 ( (... | calculate and set text size handling multi - line |
41,232 | def draw ( self , parent , box ) : 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 ( ) | redraw the text |
41,233 | def button ( self , name , filename , command ) : 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 [ ... | add a button |
41,234 | def find_message ( self ) : 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 , '... | find the next valid message |
41,235 | def slew ( self , value ) : if float ( value ) != self . filepos : pos = float ( value ) * self . filesize self . mlog . f . seek ( int ( pos ) ) self . find_message ( ) | move to a given position in the file |
41,236 | 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 ( vl... | Redraws the plot |
41,237 | def set_close_on_exec ( fd ) : try : import fcntl flags = fcntl . fcntl ( fd , fcntl . F_GETFD ) flags |= fcntl . FD_CLOEXEC fcntl . fcntl ( fd , fcntl . F_SETFD , flags ) except Exception : pass | set the clone on exec flag on a file descriptor . Ignore exceptions |
41,238 | 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 ) : global mavfile_gl... | open a serial UDP TCP or file mavlink connection |
41,239 | def is_printable ( c ) : 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 | see if a character is printable |
41,240 | def auto_detect_serial_win32 ( preferred_list = [ '*' ] ) : 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 ) f... | try to auto - detect serial ports on win32 |
41,241 | def auto_detect_serial_unix ( preferred_list = [ '*' ] ) : import glob glist = glob . glob ( '/dev/ttyS*' ) + glob . glob ( '/dev/ttyUSB*' ) + glob . glob ( '/dev/ttyACM*' ) + glob . glob ( '/dev/serial/by-id/*' ) ret = [ ] others = [ ] for d in glist : matches = False for preferred in preferred_list : if fnmatch . fnm... | try to auto - detect serial ports on unix |
41,242 | def auto_detect_serial ( preferred_list = [ '*' ] ) : if os . name == 'nt' : return auto_detect_serial_win32 ( preferred_list = preferred_list ) return auto_detect_serial_unix ( preferred_list = preferred_list ) | try to auto - detect serial port |
41,243 | def mode_string_v09 ( msg ) : 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_RETUR... | mode string for 0 . 9 protocol |
41,244 | def mode_mapping_bynumber ( mav_type ) : 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_W... | return dictionary mapping mode numbers to name or None if unknown |
41,245 | def mode_string_v10 ( msg ) : 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 . M... | mode string for 1 . 0 protocol from heartbeat |
41,246 | def auto_mavlink_version ( self , buf ) : 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_dial... | auto - switch mavlink protocol version |
41,247 | def select ( self , timeout ) : 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 | wait for up to timeout seconds for more data |
41,248 | def packet_loss ( self ) : if self . mav_count == 0 : return 0 return ( 100.0 * self . mav_loss ) / ( self . mav_count + self . mav_loss ) | packet loss as a percentage |
41,249 | def recv_match ( self , condition = None , type = None , blocking = False , timeout = None ) : 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 start_time + timeout ... | recv the next MAVLink message that matches the given condition type can be a string or a list of strings |
41,250 | def setup_logfile ( self , logfile , mode = 'w' ) : self . logfile = open ( logfile , mode = mode ) | start logging to the given logfile with timestamps |
41,251 | def setup_logfile_raw ( self , logfile , mode = 'w' ) : self . logfile_raw = open ( logfile , mode = mode ) | start logging raw bytes to the given logfile without timestamps |
41,252 | def param_fetch_all ( self ) : if time . time ( ) - getattr ( self , 'param_fetch_start' , 0 ) < 2.0 : 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 ) | initiate fetch of all parameters |
41,253 | def param_fetch_one ( self , name ) : 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 ) | initiate fetch of one parameter |
41,254 | def time_since ( self , mtype ) : if not mtype in self . messages : return time . time ( ) - self . start_time return time . time ( ) - self . messages [ mtype ] . _timestamp | return the time since the last message of type mtype was received |
41,255 | def param_set_send ( self , parm_name , parm_value , parm_type = None ) : 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 ( sel... | wrapper for parameter set |
41,256 | def waypoint_request_list_send ( self ) : 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 ) | wrapper for waypoint_request_list_send |
41,257 | def waypoint_clear_all_send ( self ) : 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 ) | wrapper for waypoint_clear_all_send |
41,258 | def waypoint_request_send ( self , seq ) : 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 ) | wrapper for waypoint_request_send |
41,259 | def waypoint_set_current_send ( self , seq ) : 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 ) | wrapper for waypoint_set_current_send |
41,260 | def waypoint_current ( self ) : 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 | return current waypoint |
41,261 | def waypoint_count_send ( self , seq ) : 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 ) | wrapper for waypoint_count_send |
41,262 | def set_mode_auto ( self ) : 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_ACTIO... | enter auto mode |
41,263 | def set_mode ( self , mode , custom_mode = 0 , custom_sub_mode = 0 ) : 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 ) | set arbitrary flight mode |
41,264 | def set_mode_rtl ( self ) : 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_AC... | enter RTL mode |
41,265 | def set_mode_manual ( self ) : 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 , sel... | enter MANUAL mode |
41,266 | def set_mode_fbwa ( self ) : 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" ) | enter FBWA mode |
41,267 | def set_mode_loiter ( self ) : 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_AC... | enter LOITER mode |
41,268 | def set_servo ( self , channel , pwm ) : 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 ) | set a servo value |
41,269 | def set_relay ( self , relay_pin = 0 , state = True ) : if self . mavlink10 ( ) : self . mav . command_long_send ( self . target_system , self . target_component , mavlink . MAV_CMD_DO_SET_RELAY , 0 , relay_pin , int ( state ) , 0 , 0 , 0 , 0 , 0 ) else : print ( "Setting relays not supported." ) | Set relay_pin to value of state |
41,270 | def reboot_autopilot ( self , hold_in_bootloader = False ) : 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 ) self . mav . co... | reboot the autopilot |
41,271 | def location ( self , relative_alt = False ) : self . wait_gps_fix ( ) 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 [ 'VF... | return current location |
41,272 | def motors_armed ( self ) : if not 'HEARTBEAT' in self . messages : return False m = self . messages [ 'HEARTBEAT' ] return ( m . base_mode & mavlink . MAV_MODE_FLAG_SAFETY_ARMED ) != 0 | return true if motors armed |
41,273 | def field ( self , type , field , default = None ) : if not type in self . messages : return default return getattr ( self . messages [ type ] , field , default ) | convenient function for returning an arbitrary MAVLink field with a default |
41,274 | def setup_signing ( self , secret_key , sign_outgoing = True , allow_unsigned_callback = None , initial_timestamp = None , link_id = None ) : self . mav . signing . secret_key = secret_key self . mav . signing . sign_outgoing = sign_outgoing self . mav . signing . allow_unsigned_callback = allow_unsigned_callback if li... | setup for MAVLink2 signing |
41,275 | def disable_signing ( self ) : self . mav . signing . secret_key = None self . mav . signing . sign_outgoing = False self . mav . signing . allow_unsigned_callback = None self . mav . signing . link_id = 0 self . mav . signing . timestamp = 0 | disable MAVLink2 signing |
41,276 | def scan_timestamp ( self , tbuf ) : while True : ( tusec , ) = struct . unpack ( '>Q' , tbuf ) t = tusec * 1.0e-6 if abs ( t - self . _last_timestamp ) <= 3 * 24 * 60 * 60 : break c = self . f . read ( 1 ) if len ( c ) != 1 : break tbuf = tbuf [ 1 : ] + c return t | scan forward looking in a tlog for a timestamp in a reasonable range |
41,277 | def pre_message ( self ) : if self . filesize != 0 : self . percent = ( 100.0 * self . f . tell ( ) ) / self . filesize if self . notimestamps : return if self . planner_format : tbuf = self . f . read ( 21 ) if len ( tbuf ) != 21 or tbuf [ 0 ] != '-' or tbuf [ 20 ] != ':' : raise RuntimeError ( 'bad planner timestamp ... | read timestamp if needed |
41,278 | def post_message ( self , msg ) : super ( mavlogfile , self ) . post_message ( msg ) if self . planner_format : self . f . read ( 1 ) self . timestamp = msg . _timestamp self . _last_message = msg if msg . get_type ( ) != "BAD_DATA" : self . _last_timestamp = msg . _timestamp msg . _link = self . _link | add timestamp to message |
41,279 | def trigger ( self ) : tnow = time . time ( ) if tnow < self . last_time : print ( "Warning, time moved backwards. Restarting timer." ) self . last_time = tnow if self . last_time + ( 1.0 / self . frequency ) <= tnow : self . last_time = tnow return True return False | return True if we should trigger now |
41,280 | def write ( self , b ) : from . import mavutil self . debug ( "sending '%s' (0x%02x) of len %u\n" % ( b , ord ( b [ 0 ] ) , len ( b ) ) , 2 ) while len ( b ) > 0 : n = len ( b ) if n > 70 : n = 70 buf = [ ord ( x ) for x in b [ : n ] ] buf . extend ( [ 0 ] * ( 70 - len ( buf ) ) ) self . mav . mav . serial_control_send... | write some bytes |
41,281 | def _recv ( self ) : from . import mavutil start_time = time . time ( ) while time . time ( ) < start_time + self . timeout : m = self . mav . recv_match ( condition = 'SERIAL_CONTROL.count!=0' , type = 'SERIAL_CONTROL' , blocking = False , timeout = 0 ) if m is not None and m . count != 0 : break self . mav . mav . se... | read some bytes into self . buf |
41,282 | def read ( self , n ) : if len ( self . buf ) == 0 : self . _recv ( ) if len ( self . buf ) > 0 : if n > len ( self . buf ) : n = len ( self . buf ) ret = self . buf [ : n ] self . buf = self . buf [ n : ] if self . _debug >= 2 : for b in ret : self . debug ( "read 0x%x" % ord ( b ) , 2 ) return ret return '' | read some bytes |
41,283 | def flushInput ( self ) : self . buf = '' saved_timeout = self . timeout self . timeout = 0.5 self . _recv ( ) self . timeout = saved_timeout self . buf = '' self . debug ( "flushInput" ) | flush any pending input |
41,284 | def stop ( self ) : self . mpstate . rl . set_prompt ( self . status . flightmode + "> " ) self . mpstate . functions . input_handler = None self . started = False mav = self . master . mav mav . serial_control_send ( self . serial_settings . port , 0 , 0 , self . serial_settings . baudrate , 0 , [ 0 ] * 70 ) | stop nsh input |
41,285 | def cmd_nsh ( self , args ) : usage = "Usage: nsh <start|stop|set>" if len ( args ) < 1 : print ( usage ) return if args [ 0 ] == "start" : self . mpstate . functions . input_handler = self . send self . started = True self . mpstate . rl . set_prompt ( "" ) elif args [ 0 ] == "stop" : self . stop ( ) elif args [ 0 ] =... | nsh shell commands |
41,286 | def process_waypoint_request ( self , m , master ) : if ( not self . loading_waypoints or time . time ( ) > self . loading_waypoint_lasttime + 10.0 ) : self . loading_waypoints = False self . console . error ( "not loading waypoints" ) return if m . seq >= self . wploader . count ( ) : self . console . error ( "Request... | process a waypoint request from the master |
41,287 | def send_all_waypoints ( self ) : self . master . waypoint_clear_all_send ( ) if self . wploader . count ( ) == 0 : return self . loading_waypoints = True self . loading_waypoint_lasttime = time . time ( ) self . master . waypoint_count_send ( self . wploader . count ( ) ) | send all waypoints to vehicle |
41,288 | def load_waypoints ( self , filename ) : self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component try : self . wploader . load ( filename ) except Exception as msg : print ( "Unable to load %s - %s" % ( filename , msg ) ) return print ( "Loaded %u waypoints fro... | load waypoints from a file |
41,289 | def update_waypoints ( self , filename , wpnum ) : self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component try : self . wploader . load ( filename ) except Exception as msg : print ( "Unable to load %s - %s" % ( filename , msg ) ) return if self . wploader . c... | update waypoints from a file |
41,290 | def get_default_frame ( self ) : if self . settings . terrainalt == 'Auto' : if self . get_mav_param ( 'TERRAIN_FOLLOW' , 0 ) == 1 : return mavutil . mavlink . MAV_FRAME_GLOBAL_TERRAIN_ALT return mavutil . mavlink . MAV_FRAME_GLOBAL_RELATIVE_ALT if self . settings . terrainalt == 'True' : return mavutil . mavlink . MAV... | default frame for waypoints |
41,291 | def wp_draw_callback ( self , points ) : if len ( points ) < 3 : return from MAVProxy . modules . lib import mp_util home = self . wploader . wp ( 0 ) self . wploader . clear ( ) self . wploader . target_system = self . target_system self . wploader . target_component = self . target_component self . wploader . add ( h... | callback from drawing waypoints |
41,292 | def wp_loop ( self ) : loader = self . wploader if loader . count ( ) < 2 : print ( "Not enough waypoints (%u)" % loader . count ( ) ) return wp = loader . wp ( loader . count ( ) - 2 ) if wp . command == mavutil . mavlink . MAV_CMD_DO_JUMP : print ( "Mission is already looped" ) return wp = mavutil . mavlink . MAVLink... | close the loop on a mission |
41,293 | def set_home_location ( self ) : try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ) return lat = float ( latlon [ 0 ] ) lon = float ( latlon [ 1 ] ) if self . wploader . count ( ) == 0 : self . wploader . add_latlonalt ( lat , lon , 0 ) w = self . wploader . wp ( 0 )... | set home location from last map click |
41,294 | def cmd_wp_move ( self , args ) : if len ( args ) != 1 : print ( "usage: wp move WPNUM" ) return idx = int ( args [ 0 ] ) if idx < 1 or idx > self . wploader . count ( ) : print ( "Invalid wp number %u" % idx ) return try : latlon = self . module ( 'map' ) . click_position except Exception : print ( "No map available" ... | handle wp move |
41,295 | def cmd_wp_param ( self , args ) : if len ( args ) < 2 : print ( "usage: wp param WPNUM PNUM <VALUE>" ) return idx = int ( args [ 0 ] ) if idx < 1 or idx > self . wploader . count ( ) : print ( "Invalid wp number %u" % idx ) return wp = self . wploader . wp ( idx ) param = [ wp . param1 , wp . param2 , wp . param3 , wp... | handle wp parameter change |
41,296 | def depthToRGB8 ( float_img_buff , encoding ) : gray_image = None if ( encoding [ - 3 : - 2 ] == "U" ) : gray_image = float_img_buff else : float_img = np . zeros ( ( float_img_buff . shape [ 0 ] , float_img_buff . shape [ 1 ] , 1 ) , dtype = "float32" ) float_img . data = float_img_buff . data gray_image = cv2 . conve... | Translates from Distance Image format to RGB . Inf values are represented by NaN when converting to RGB NaN passed to 0 |
41,297 | def __callback ( self , img ) : image = imageMsg2Image ( img , self . bridge ) self . lock . acquire ( ) self . data = image self . lock . release ( ) | Callback function to receive and save Images . |
41,298 | def noise ( ) : from random import gauss v = Vector3 ( gauss ( 0 , 1 ) , gauss ( 0 , 1 ) , gauss ( 0 , 1 ) ) v . normalize ( ) return v * args . noise | a noise vector |
41,299 | def find_offsets ( data , ofs ) : max_change = args . max_change gain = args . gain data2 = [ ] for d in data : d = d . copy ( ) + noise ( ) d . x = float ( int ( d . x + 0.5 ) ) d . y = float ( int ( d . y + 0.5 ) ) d . z = float ( int ( d . z + 0.5 ) ) data2 . append ( d ) data = data2 history_idx = 0 mag_history = d... | find mag offsets by applying Bills offsets revisited algorithm on the data |
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