sw/tools/calibration/calibrate.py

@@ -1,5 +1,28 @@
 #! /usr/bin/env python
 
+#  $Id$
+#  Copyright (C) 2010 Antoine Drouin
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# Paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.  
+#
+
+
+
 import os
 from optparse import OptionParser
 import scipy
@@ -28,6 +51,10 @@ def main():
         else:
             print args[0] + " not found"
             sys.exit(1)
+    ac_ids = sensor_calibration.get_ids_in_log(filename)
+#    import code; code.interact(local=locals())
+    if options.ac_id == None and len(ac_ids) == 1:
+        options.ac_id = ac_ids[0]
     if options.verbose:
         print "reading file "+filename+" for aircraft "+options.ac_id+" and sensor "+options.sensor
     measurements = sensor_calibration.read_log(options.ac_id, filename, options.sensor)

sw/tools/calibration/calibrate_gui.py

@@ -0,0 +1,103 @@
+#!/usr/bin/env python
+
+#  $Id$
+#  Copyright (C) 2010 Antoine Drouin
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# Paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.  
+#
+
+import pygtk
+pygtk.require('2.0')
+import gtk
+import os
+
+import sensor_calibration
+
+class CalibrateGui:
+
+    #
+    # loads a log
+    #
+    def on_load_log(self, widget, data=None):
+        print "Loading log"
+        dialog = gtk.FileChooserDialog("Open..",
+                               None,
+                               gtk.FILE_CHOOSER_ACTION_OPEN,
+                               (gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL,
+                                gtk.STOCK_OPEN, gtk.RESPONSE_OK))
+        dialog.set_default_response(gtk.RESPONSE_OK)
+        pprz_home = os.environ.get("PAPARAZZI_HOME")
+        if pprz_home != None:
+            dialog.set_current_folder(pprz_home+"/var/logs")
+
+        filter = gtk.FileFilter()
+        filter.set_name("Logs")
+        filter.add_mime_type("paparazzi/logs")
+        filter.add_pattern("*.data")
+        dialog.add_filter(filter)
+
+        filter = gtk.FileFilter()
+        filter.set_name("All files")
+        filter.add_pattern("*")
+        dialog.add_filter(filter)
+        
+        response = dialog.run()
+        if response == gtk.RESPONSE_OK:
+            print dialog.get_filename(), 'selected'
+            ac_ids = sensor_calibration.get_ids_in_log(dialog.get_filename())
+        elif response == gtk.RESPONSE_CANCEL:
+            print 'Closed, no files selected'
+        dialog.destroy()
+        
+    def delete_event(self, widget, event, data=None):
+        print "delete event occurred"
+        return False
+    
+    def destroy(self, widget, data=None):
+        print "destroy signal occurred"
+        gtk.main_quit()
+
+    #
+    # build gui
+    #
+    def build_gui(self):
+        self.window = gtk.Window(gtk.WINDOW_TOPLEVEL)
+        self.window.connect("delete_event", self.delete_event)
+        self.window.connect("destroy", self.destroy)
+        self.window.set_title("Paparazzi Sensor Calibration")
+        self.window.set_border_width(10)
+        table = gtk.Table(2, 2, True)
+        self.window.add(table)
+        table.attach(gtk.Label("Log :"), 0, 1, 0, 1)
+        self.label_log = gtk.Label("None")
+        table.attach(self.label_log, 1, 2, 0, 1)
+        self.button_load_log = gtk.Button("Load log")
+        self.button_load_log.connect("clicked", self.on_load_log, None)
+        table.attach(self.button_load_log, 1, 2, 1, 2)
+        self.window.show_all()   
+
+        
+    def __init__(self):
+        self.build_gui();
+
+    def main(self):
+        gtk.main()
+
+if __name__ == "__main__":
+    app = CalibrateGui()
+    app.main()    

sw/tools/calibration/sensor_calibration.py

@@ -1,11 +1,51 @@
 
+#  $Id$
+#  Copyright (C) 2010 Antoine Drouin
+#
+# This file is part of Paparazzi.
+#
+# Paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# Paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with Paparazzi; see the file COPYING.  If not, write to
+# the Free Software Foundation, 59 Temple Place - Suite 330,
+# Boston, MA 02111-1307, USA.  
+#
+
 import re
 import scipy
 from scipy import linalg
 from pylab import *
 
+
 #
-# parse a log and extracts raw sensor measurements
+# returns available ac_id from a log
+#
+def get_ids_in_log(filename):
+    f = open(filename, 'r')
+    ids = []
+    pattern = re.compile("\S+ (\S+)")
+    while 1:
+        line = f.readline().strip()
+        if line == '':
+            break
+        m=re.match(pattern, line)
+        if m:
+            id = m.group(1)
+            if not id in ids:
+              ids.append(id)
+    return ids
+
+#
+# extracts raw sensor measurements from a log
 #
 def read_log(ac_id, filename, sensor):
     f = open(filename, 'r')