Changeset 650 for trunk/software

Timestamp:

02/02/10 01:13:36 (2 years ago)

Author:

mosttw

Message:

Made Drive set duty cycle rather than use PID; capture script now captures video from Elphel; logs now saved with .log extension

Location:

trunk/software

Files:

• logs (modified) (1 prop)
• pics (modified) (1 prop)
• rb/controller.py (modified) (1 diff)
• rb/drive.py (modified) (5 diffs)
• scripts/capture.sh (modified) (1 diff)

trunk/software/rb/controller.py

@@ -132 +132 @@
                         from rb.transcript import TranscriptLogger
                         self.transcript = TranscriptLogger(
-                                        datetime.now().strftime('logs/rblog-%Y-%M-%d-%H:%m:%s.txt'),
+                                        datetime.now().strftime('logs/rblog-%Y-%m-%dT%H:%M:%S.log'),
                                         self.drive, self.gps, self.microstrain)
 

trunk/software/rb/drive.py

@@ -1 @@
-# Copyright (C) 2008-2009 Thomas W. Most
+# Copyright (C) 2008-2010 Thomas W. Most
 # Copyright (C) 2009 Andy Spencer
 #
@@ -168 +168 @@
         def _main(self):
                 logger.info("Motor %s main starting", self.dev)
+                # TODO: Make this robust against disconnections
+                while self._send('disable') is None and self.drive.running:
+                        logger.debug('Trying to disable PID on controller %s', self._port_name)
+                        time.sleep(0.5)
                 while self.drive.running:
                         self._send('setdc', self.target * DC_MAX) # Ping!
-                        time.sleep(.05)
+                        time.sleep(0.05)
                 logger.info("Motor %s main terminating", self.dev)
                 self._send('setdc', 0)
@@ -185 +189 @@
                         ln = self._port.write(chr(t['op']))
                         self._port.write(chr(len(t_st)))
-                        self._port.write(t_st)
+                        if t_st:
+                                self._port.write(t_st)
                         
                         # Recieve response
@@ -200 +205 @@
                         r_length = ord(r_length)
                         if r_length != struct.calcsize(r['fmt']):
-                                print "Motor._send: Recieved incorrect `r_length' (%d) from motor controller %s" % (r_length, self._port_name)
+                                logger.error("Recieved incorrect `r_length' (%d) from motor controller %s",
+                                                r_length, self._port_name)
 
                         if r_length == 0:
@@ -207 +213 @@
                         r_st = self._port.read(r_length)
                         if len(r_st) != r_length:
-                                print "Motor._send: Timeout reading `r_data' from motor controller"
+                                logger.error("Timeout reading `r_data' from motor controller %s", self._port_name)
+                                return None
                         r_data = struct.unpack(r['fmt'], r_st)
 

trunk/software/scripts/capture.sh

@@ -1 +1 @@
 #!/usr/bin/zsh
+# Capture video from the Elphel.
 
-#PID=''
-I=1
-while true; do
-  wget 'http://192.168.1.4:8081/bimg' -O img.$I.jpg
-  #kill $PID
-  #eog img.$I.jpg &
-  #PID=$!
-  I=`dc <<< "$I 1 + p"`
-  sleep 1
-done
+gst-launch-0.10 \
+  rtspsrc location=rtsp://192.168.27.3:554 latency=100 ! \
+  rtpjpegdepay ! \
+  matroskamux ! \
+  filesink location=capture.mkv