Python LogConfig.start方法代码示例

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def connected(self, linkURI):
        # IMU & THRUST
        lg = LogConfig("Stabalizer", GuiConfig().get("ui_update_period"))
        lg.add_variable("stabilizer.roll", "float")
        lg.add_variable("stabilizer.pitch", "float")
        lg.add_variable("stabilizer.yaw", "float")
        lg.add_variable("stabilizer.thrust", "uint16_t")

        self.helper.cf.log.add_config(lg)
        if (lg.valid):
            lg.data_received_cb.add_callback(self._imu_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after "
                           "connection!")

        # MOTOR
        lg = LogConfig("Motors", GuiConfig().get("ui_update_period"))
        lg.add_variable("motor.m1")
        lg.add_variable("motor.m2")
        lg.add_variable("motor.m3")
        lg.add_variable("motor.m4")

        self.helper.cf.log.add_config(lg)
        if lg.valid:
            lg.data_received_cb.add_callback(self._motor_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after "
                           "connection!")

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def connected(self, linkURI):
        # IMU & THRUST
        lg = LogConfig("Stabilizer", Config().get("ui_update_period"))
        lg.add_variable("stabilizer.roll", "float")
        lg.add_variable("stabilizer.pitch", "float")
        lg.add_variable("stabilizer.yaw", "float")
        lg.add_variable("stabilizer.thrust", "uint16_t")

        try:
            self.helper.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self._imu_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))
        except AttributeError as e:
            logger.warning(str(e))

        # MOTOR
        lg = LogConfig("Motors", Config().get("ui_update_period"))
        lg.add_variable("motor.m1")
        lg.add_variable("motor.m2")
        lg.add_variable("motor.m3")
        lg.add_variable("motor.m4")

        try:
            self.helper.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self._motor_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))
        except AttributeError as e:
            logger.warning(str(e))

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
def start_position_printing(scf):
    log_conf = LogConfig(name='Position', period_in_ms=500)
    log_conf.add_variable('kalman.stateX', 'float')
    log_conf.add_variable('kalman.stateY', 'float')
    log_conf.add_variable('kalman.stateZ', 'float')

    scf.cf.log.add_config(log_conf)
    log_conf.data_received_cb.add_callback(position_callback)
    log_conf.start()

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
 def _connected(self, link_uri):
     lg = LogConfig("GPS", 1000)
     lg.add_variable("gps.lat", "float")
     lg.add_variable("gps.long", "float")
     lg.add_variable("gps.alt", "float")
     self._cf.log.add_config(lg)
     if lg.valid:
         lg.data_received_cb.add_callback(self._log_data_signal.emit)
         lg.error_cb.add_callback(self._log_error_signal.emit)
         lg.start()
     else:
         logger.warning("Could not setup logging block for GPS!")

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
class CFLog:
    def __init__(self):
        self.status = CFStatus()

    def start(self, cf):
        self._lc_stab = LogConfig(name="Log-Stab", period_in_ms=50)
        self._lc_stab.add_variable("stabilizer.roll", "float")
        self._lc_stab.add_variable("stabilizer.pitch", "float")
        self._lc_stab.add_variable("stabilizer.yaw", "float")
        self._lc_stab.add_variable("stabilizer.thrust", "float")

        self._lc_motor = LogConfig(name="Log-Motor", period_in_ms=50)
        self._lc_motor.add_variable("pm.vbat", "float")
        self._lc_motor.add_variable("motor.m1", "float")  # Front (green)
        self._lc_motor.add_variable("motor.m2", "float")  # Right
        self._lc_motor.add_variable("motor.m3", "float")  # Back (red)
        self._lc_motor.add_variable("motor.m4", "float")  # Left

        cf.log.add_config(self._lc_stab)
        cf.log.add_config(self._lc_motor)
        if self._lc_stab.valid and self._lc_motor.valid:
            self._lc_stab.data_received_cb.add_callback(self._log_data)
            self._lc_stab.error_cb.add_callback(self._log_error)
            self._lc_stab.start()
            self._lc_motor.data_received_cb.add_callback(self._log_data)
            self._lc_motor.error_cb.add_callback(self._log_error)
            self._lc_motor.start()
            logger.info("Starting CFLog")
        else:
            logger.error("Could not add logconfig since some variables are not in TOC")

    def stop(self):
        self._lc_stab.stop()

    def _log_error(self, logconf, msg):
        """Callback from the log API when an error occurs"""
        logger.info("Error when logging %s: %s" % (logconf.name, msg))

    def _log_data(self, timestamp, data, logconf):
        """Callback froma the log API when data arrives"""
        if logconf.name == "Log-Stab":
            self.status.pitch = data["stabilizer.pitch"]
            self.status.roll = data["stabilizer.roll"]
            self.status.yaw = data["stabilizer.yaw"]
            self.status.thrust = data["stabilizer.thrust"]
        else:
            self.status.bat = data["pm.vbat"]
            self.status.motor_1 = data["motor.m1"]
            self.status.motor_2 = data["motor.m2"]
            self.status.motor_3 = data["motor.m3"]
            self.status.motor_4 = data["motor.m4"]

        logger.info("%s" % self.status)

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def _connected(self, linkURI):
        self._update_ui_state(UIState.CONNECTED, linkURI)

        Config().set("link_uri", str(linkURI))

        lg = LogConfig("Battery", 1000)
        lg.add_variable("pm.vbat", "float")
        try:
            self.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def connectionDone(self, linkURI):
        self.setUIState(UIState.CONNECTED, linkURI)

        GuiConfig().set("link_uri", linkURI)

        lg = LogConfig("Battery", 1000)
        lg.add_variable("pm.vbat", "float")
        self.cf.log.add_config(lg)
        if lg.valid:
            lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup loggingblock!")

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def connected(self, linkURI):
        # IMU & THRUST
        lg = LogConfig("Stabalizer", GuiConfig().get("ui_update_period"))
        lg.add_variable("stabilizer.roll", "float")
        lg.add_variable("stabilizer.pitch", "float")
        lg.add_variable("stabilizer.yaw", "float")
        lg.add_variable("stabilizer.thrust", "uint16_t")
        lg.add_variable("acc.x", "float")
        lg.add_variable("acc.y", "float")
        lg.add_variable("acc.z", "float")

        self.helper.cf.log.add_config(lg)
        if (lg.valid):
            lg.data_received_cb.add_callback(self._imu_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after "
                           "connection!")
            
        # MOTOR
        lg = LogConfig("Motors", GuiConfig().get("ui_update_period"))
        lg.add_variable("motor.m1")
        lg.add_variable("motor.m2")
        lg.add_variable("motor.m3")
        lg.add_variable("motor.m4")

        self.helper.cf.log.add_config(lg)
        if lg.valid:
            lg.data_received_cb.add_callback(self._motor_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after "
                           "connection!")
        
        # Acc for freefall
        lg = LogConfig("Acc", 10) # Yes we need this at 100hz for freefall detection!!
        lg.add_variable("acc.zw", "float")

        self.helper.cf.log.add_config(lg)
        if lg.valid:
            lg.data_received_cb.add_callback(self._acc_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after connection [ACC]!")
        
        lg = LogConfig("Magnetometer", 100)
        lg.add_variable("mag.x", "int16_t")
        lg.add_variable("mag.y", "int16_t")
        lg.add_variable("mag.z", "int16_t")
            
        self.helper.cf.log.add_config(lg)
        if lg.valid:
            lg.data_received_cb.add_callback(self._mag_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logconfiguration after connection!")

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def _register_logblock(self, logblock_name, variables, data_cb, error_cb,
                           update_period=UPDATE_PERIOD_LOG):
        """Register log data to listen for. One logblock can contain a limited
        number of parameters (6 for floats)."""
        lg = LogConfig(logblock_name, update_period)
        for variable in variables:
            if self._is_in_log_toc(variable):
                lg.add_variable('{}.{}'.format(variable[0], variable[1]),
                                variable[2])

        self._helper.cf.log.add_config(lg)
        lg.data_received_cb.add_callback(data_cb)
        lg.error_cb.add_callback(error_cb)
        lg.start()
        return lg

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def _connected(self, linkURI):
        self._update_ui_state(UIState.CONNECTED, linkURI)

        Config().set("link_uri", str(linkURI))

        lg = LogConfig("Battery", 1000)
        lg.add_variable("pm.vbat", "float")
        try:
            self.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))

        mem = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)[0]
        mem.write_data(self._led_write_done)

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
 def _connected(self, link_uri):
     lg = LogConfig("GPS", 100)
     lg.add_variable("gps.lat")
     lg.add_variable("gps.lon")
     lg.add_variable("gps.hMSL")
     lg.add_variable("gps.heading")
     lg.add_variable("gps.gSpeed")
     lg.add_variable("gps.hAcc")
     lg.add_variable("gps.fixType")
     self._cf.log.add_config(lg)
     if lg.valid:
         lg.data_received_cb.add_callback(self._log_data_signal.emit)
         lg.error_cb.add_callback(self._log_error_signal.emit)
         lg.start()
     else:
         logger.warning("Could not setup logging block for GPS!")
     self._max_speed = 0.0

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
 def _connected(self, link_uri):
     lg = LogConfig("GPS", 100)
     lg.add_variable("gps.lat")
     lg.add_variable("gps.lon")
     lg.add_variable("gps.hMSL")
     lg.add_variable("gps.heading")
     lg.add_variable("gps.gSpeed")
     lg.add_variable("gps.hAcc")
     lg.add_variable("gps.fixType")
     try:
         self._cf.log.add_config(lg)
         lg.data_received_cb.add_callback(self._log_data_signal.emit)
         lg.error_cb.add_callback(self._log_error_signal.emit)
         lg.start()
     except KeyError as e:
         logger.warning(str(e))
     except AttributeError as e:
         logger.warning(str(e))
     self._max_speed = 0.0

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def _connected(self):
        self.uiState = UIState.CONNECTED
        self._update_ui_state()

        Config().set("link_uri", str(self._selected_interface))

        lg = LogConfig("Battery", 1000)
        lg.add_variable("pm.vbat", "float")
        lg.add_variable("pm.state", "int8_t")
        try:
            self.cf.log.add_config(lg)
            lg.data_received_cb.add_callback(self.batteryUpdatedSignal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        except KeyError as e:
            logger.warning(str(e))

        mems = self.cf.mem.get_mems(MemoryElement.TYPE_DRIVER_LED)
        if len(mems) > 0:
            mems[0].write_data(self._led_write_done)

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def connected(self, URI):
        print('We are now connected to {}'.format(URI))

        # The definition of the logconfig can be made before connecting
        lpos = LogConfig(name='Position', period_in_ms=100)
        lpos.add_variable('stateEstimate.x')
        lpos.add_variable('stateEstimate.y')
        lpos.add_variable('stateEstimate.z')

        try:
            self.cf.log.add_config(lpos)
            lpos.data_received_cb.add_callback(self.pos_data)
            lpos.start()
        except KeyError as e:
            print('Could not start log configuration,'
                  '{} not found in TOC'.format(str(e)))
        except AttributeError:
            print('Could not add Position log config, bad configuration.')

        lmeas = LogConfig(name='Meas', period_in_ms=100)
        lmeas.add_variable('range.front')
        lmeas.add_variable('range.back')
        lmeas.add_variable('range.up')
        lmeas.add_variable('range.left')
        lmeas.add_variable('range.right')
        lmeas.add_variable('range.zrange')
        lmeas.add_variable('stabilizer.roll')
        lmeas.add_variable('stabilizer.pitch')
        lmeas.add_variable('stabilizer.yaw')

        try:
            self.cf.log.add_config(lmeas)
            lmeas.data_received_cb.add_callback(self.meas_data)
            lmeas.start()
        except KeyError as e:
            print('Could not start log configuration,'
                  '{} not found in TOC'.format(str(e)))
        except AttributeError:
            print('Could not add Measurement log config, bad configuration.')

# 需要导入模块: from cflib.crazyflie.log import LogConfig [as 别名]
# 或者: from cflib.crazyflie.log.LogConfig import start [as 别名]
    def _connected(self, link_uri):
        lg = LogConfig("GPS", 1000)
        lg.add_variable("gps.lat")
        lg.add_variable("gps.lon")      
        lg.add_variable("gps.hMSL")
        lg.add_variable("gps.hAcc")
        lg.add_variable("gps.nsat")
        lg.add_variable("gps.fixType") 
        self._cf.log.add_config(lg)

        """When heading & speed are included in the above logging variables, """
        """ the CF2 logging becomes overloaded and freezes up.               """
#        lg.add_variable("gps.gSpeed")
#        lg.add_variable("gps.heading")        

        if lg.valid:
            lg.data_received_cb.add_callback(self._log_data_signal.emit)
            lg.error_cb.add_callback(self._log_error_signal.emit)
            lg.start()
        else:
            logger.warning("Could not setup logging block for GPS!")
        self._max_speed = 0.0