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logger.warning("Could not load config")
else:
self.resetTrees()
self.loggingPeriod.setText("%d" % config.getPeriod())
self.period = config.getPeriod()
for v in config.getVariables():
if (v.getVarType() == LogVariable.TOC_TYPE):
parts = v.getName().split(".")
varParent = parts[0]
varName = parts[1]
if self.moveNodeByName(self.logTree,
self.varTree,
varParent,
varName) == False:
logger.warning("Could not find node!!")
elif (v.getVarType() == LogVariable.MEM_TYPE):
logger.warning("Error: Mem vars not supported!")
def connected(self, linkURI):
# IMU & THRUST
lg = LogConfig("Stabalizer", 50)
lg.addVariable(LogVariable("stabilizer.roll", "float"))
lg.addVariable(LogVariable("stabilizer.pitch", "float"))
lg.addVariable(LogVariable("stabilizer.yaw", "float"))
lg.addVariable(LogVariable("stabilizer.thrust", "uint16_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._imu_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# MOTOR
lg = LogConfig("Motors", 50)
lg.addVariable(LogVariable("motor.m1", "uint32_t"))
lg.addVariable(LogVariable("motor.m2", "uint32_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._imu_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# MOTOR
lg = LogConfig("Motors", 50)
lg.addVariable(LogVariable("motor.m1", "uint32_t"))
lg.addVariable(LogVariable("motor.m2", "uint32_t"))
lg.addVariable(LogVariable("motor.m3", "uint32_t"))
lg.addVariable(LogVariable("motor.m4", "uint32_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._motor_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# BARO
lg = LogConfig("Baro", 50)
lg.addVariable(LogVariable("baro.asl", "float"))
lg.addVariable(LogVariable("baro.aslLong", "float"))
lg.addVariable(LogVariable("baro.aslRaw", "float"))
lg.addVariable(LogVariable("baro.temp", "float"))
def createConfigFromSelection(self):
logconfig = LogConfig(str(self.configNameCombo.currentText()),
self.period)
for node in self.getNodeChildren(self.varTree.invisibleRootItem()):
parentName = node.text(NAME_FIELD)
for leaf in self.getNodeChildren(node):
varName = leaf.text(NAME_FIELD)
varType = str(leaf.text(CTYPE_FIELD))
completeName = "%s.%s" % (parentName, varName)
newVar = LogVariable(completeName,
fetchAs=varType,
storedAs=varType)
logconfig.addVariable(newVar)
return logconfig
lg.addVariable(LogVariable("baro.asl", "float"))
lg.addVariable(LogVariable("baro.aslLong", "float"))
lg.addVariable(LogVariable("baro.aslRaw", "float"))
lg.addVariable(LogVariable("baro.temp", "float"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._baro_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# HOVER
lg = LogConfig("Hover", 50)
lg.addVariable(LogVariable("hover.target", "float"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._hover_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
lg.addVariable(LogVariable("motor.m3", "uint32_t"))
lg.addVariable(LogVariable("motor.m4", "uint32_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._motor_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# BARO
lg = LogConfig("Baro", 50)
lg.addVariable(LogVariable("baro.asl", "float"))
lg.addVariable(LogVariable("baro.aslLong", "float"))
lg.addVariable(LogVariable("baro.aslRaw", "float"))
lg.addVariable(LogVariable("baro.temp", "float"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._baro_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# HOVER
lg = LogConfig("Hover", 50)
lg.addVariable(LogVariable("hover.target", "float"))
self.log = self.helper.cf.log.create_log_packet(lg)
accel_log_conf.addVariable(LogVariable("acc.z", "float"))
# Now that the connection is established, start logging
self.accel_log = self.crazyflie.log.create_log_packet(accel_log_conf)
if self.accel_log is not None:
self.accel_log.dataReceived.add_callback(self.log_accel_data)
self.accel_log.start()
else:
print("acc.x/y/z not found in log TOC")
motor_log_conf = LogConfig("Motor", 10)
motor_log_conf.addVariable(LogVariable("motor.m1", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m2", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m3", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m4", "int32_t"))
# Now that the connection is established, start logging
self.motor_log = self.crazyflie.log.create_log_packet(motor_log_conf)
if self.motor_log is not None:
self.motor_log.dataReceived.add_callback(self.log_motor_data)
self.motor_log.start()
else:
print("motor.m1/m2/m3/m4 not found in log TOC")
self.setupStabilizerLog()
"""
Configure the logger to log accelerometer values and start recording.
The logging variables are added one after another to the logging
configuration. Then the configuration is used to create a log packet
which is cached on the Crazyflie. If the log packet is None, the
program exits. Otherwise the logging packet receives a callback when
it receives data, which prints the data from the logging packet's
data dictionary as logging info.
"""
# Set accelerometer logging config
accel_log_conf = LogConfig("Accel", 10)
accel_log_conf.addVariable(LogVariable("acc.x", "float"))
accel_log_conf.addVariable(LogVariable("acc.y", "float"))
accel_log_conf.addVariable(LogVariable("acc.z", "float"))
# Now that the connection is established, start logging
self.accel_log = self.crazyflie.log.create_log_packet(accel_log_conf)
if self.accel_log is not None:
self.accel_log.dataReceived.add_callback(self.log_accel_data)
self.accel_log.start()
else:
print("acc.x/y/z not found in log TOC")
motor_log_conf = LogConfig("Motor", 10)
motor_log_conf.addVariable(LogVariable("motor.m1", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m2", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m3", "int32_t"))
motor_log_conf.addVariable(LogVariable("motor.m4", "int32_t"))
def setupStabilizerLog(self):
log_conf = LogConfig("Pitch", 10)
log_conf.addVariable(LogVariable("stabilizer.pitch", "float"))
log_conf.addVariable(LogVariable("stabilizer.roll", "float"))
log_conf.addVariable(LogVariable("stabilizer.thrust", "int32_t"))
log_conf.addVariable(LogVariable("stabilizer.yaw", "float"))
self.pitch_log = self.crazyflie.log.create_log_packet(log_conf)
if self.pitch_log is not None:
self.pitch_log.dataReceived.add_callback(self.log_pitch_data)
self.pitch_log.start()
print("stabilizer.pitch/roll/thrust/yaw now logging")
else:
print("stabilizer.pitch/roll/thrust/yaw not found in log TOC")
lg.addVariable(LogVariable("stabilizer.thrust", "uint16_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._imu_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# MOTOR
lg = LogConfig("Motors", 50)
lg.addVariable(LogVariable("motor.m1", "uint32_t"))
lg.addVariable(LogVariable("motor.m2", "uint32_t"))
lg.addVariable(LogVariable("motor.m3", "uint32_t"))
lg.addVariable(LogVariable("motor.m4", "uint32_t"))
self.log = self.helper.cf.log.create_log_packet(lg)
if (self.log is not None):
self.log.dataReceived.add_callback(self._motor_data_signal.emit)
self.log.error.add_callback(self.loggingError)
self.log.start()
else:
logger.warning("Could not setup logconfiguration after "
"connection!")
# BARO
lg = LogConfig("Baro", 50)
lg.addVariable(LogVariable("baro.asl", "float"))
lg.addVariable(LogVariable("baro.aslLong", "float"))