rsc_flight_data_logger/server.py at main · drjdlarson/rsc_flight_data_logger · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
#!/usr/bin/env python
# Camera server
# Tuan Luong UA RSC
# 12/26/2021
import time
import datetime
from xmlrpc.server import SimpleXMLRPCServer

file_prefix = '/home/pi/Desktop/nav_dat/'
timestamp_filename = file_prefix + datetime.datetime.now().strftime("%Y%m%d_%H%M%S") + "_cam_timestamp.txt"
gimbal_angle_filename = file_prefix + datetime.datetime.now().strftime("%Y%m%d_%H%M%S") + "_gimbal_angle.txt"
gimbal_calib_filename = file_prefix + datetime.datetime.now().strftime("%Y%m%d_%H") + "gimbal_cal.txt"

try:
    # Begin an xmlrpc server
    with SimpleXMLRPCServer (("169.254.2.166",8000),logRequests=False) as server:
        # Define some functions that the controller calls

        # Get camera state (on/off)
        def getCameraState():
            with open('/home/pi/Desktop/nav_software/cam_state.txt', mode='r') as f:
                state = f.readline().rstrip()
                return state == "1"

        # Get current GGA string
        def getGPGGAState():
            with open('/home/pi/Desktop/nav_software/gga.txt', mode='r') as f:
                line = f.readline().rstrip()
                return line

        # Get current RMC string
        def getGPRMCState():
            with open('/home/pi/Desktop/nav_software/rmc.txt', mode='r') as f:
                line = f.readline().rstrip()
                return line

        # Record current timestamp
        def savetime():
            with open(timestamp_filename, mode='a') as f:
                    f.write(str(int(time.time())))
                    f.write('\n')
                    return True

        # Get current INS string
        def getVNINS():
            try:
                with open ('/home/pi/Desktop/nav_software/vnins.txt', mode='r') as f:
                    line = f.readline().rstrip()
                    return line
            except:
                return None

        # Record gimbal angle
        def record_gimbal_angles(ant_pitch, ant_roll):
            with open(gimbal_angle_filename, mode='a') as f:
                f.write(str(int(time.time())))
                f.write(",")
                f.write(str(ant_roll))
                f.write(",")
                f.write(str(ant_pitch))
                f.write('\n')

        # Record gimbal angles and plane angle on ground to solve plane to gimbal stationary
        def record_gimbal_base_offset (ant_pitch, ant_roll):
            with open ('/home/pi/Desktop/nav_software/vnins.txt', mode='r') as f:
                line = f.readline().rstrip()
            with open (gimbal_calib_filename, mode='w') as f:
                f.write(line)
                f.write('\n')
                f.write(str(ant_roll))
                f.write(",")
                f.write(str(ant_pitch))

        # Register functions above
        server.register_function(getCameraState)
        server.register_function(getGPGGAState)
        server.register_function(getGPRMCState)
        server.register_function(savetime)
        server.register_function(getVNINS)
        server.register_function(record_gimbal_angles)
        server.register_function(record_gimbal_base_offset)

        # Run the server forever
        server.serve_forever()
except Exception as e:
    print ('\n')