#!/usr/bin/env python

#omniscan3dExample.py

from brping import definitions

from brping import Omniscan3D

from brping import PingMessage

import time

import argparse

from builtins import input

import signal

import sys

import math

from datetime import datetime

from pathlib import Path

##Parse Command line options

############################

parser = argparse.ArgumentParser(description="Ping python library example.")

parser.add_argument('--device', action="store", required=False, type=str, help="Ping device port. E.g: /dev/ttyUSB0")

parser.add_argument('--baudrate', action="store", type=int, default=115200, help="Ping device baudrate. E.g: 115200")

parser.add_argument('--tcp', action="store", required=False, type=str, help="Omniscan3D IP:Port. E.g: 192.168.2.86:62312")

parser.add_argument('--range', action="store", required=False, type=str, help="Set range. E.g: 5000 or 0:5000")

parser.add_argument('--log', action="store", nargs='?', const=True, type=str, help="Log filename and/or directory path. Will create new log if blank or directory is specified. Will replay if file is specified and exists.")

args = parser.parse_args()

if args.device is None and args.tcp is None and args.log is None:

parser.print_help()

exit(1)

# Signal handler to stop pinging on the Omniscan3D

def signal_handler(sig, frame):

print("Stopping pinging on Omniscan3D...")

myOmniscan3D.control_os3d_set_ping_params(ping_enable = False)

# Close socket if open

if myOmniscan3D.iodev:

try:

myOmniscan3D.iodev.close()

except Exception as e:

print(f"Failed to close socket: {e}")

sys.exit(0)

signal.signal(signal.SIGINT, signal_handler)

# Check for log argument and make new Omniscan3D

# If no .svlog is specified, create one using default directory

# If directory specified, .svlog be created in specified directory

# If a .svlog is specified, existing log will be opened

new_log = False

log_path = ""

replay_path = None

default_dir = Path("logs/omniscan3d").resolve()

if args.log is not None:

if args.log is True:

# Logging to default directory

default_dir.mkdir(parents=True, exist_ok=True)

myOmniscan3D = Omniscan3D(logging=True, log_directory=default_dir)

new_log = True

elif isinstance(args.log, str):

log_path = Path(args.log).expanduser()

if log_path.suffix == ".svlog" and log_path.parent == Path("."):

log_path = default_dir / log_path.name

log_path = log_path.resolve()

if log_path.suffix == ".svlog":

if log_path.exists() and log_path.is_file():

# File exists, replaying

new_log = False

myOmniscan3D = Omniscan3D(logging=False)

replay_path = log_path

print(f"Replaying from: {replay_path}")

else:

raise FileNotFoundError(f"Log file not found: {log_path}")

elif log_path.is_dir() or log_path.suffix == "":

# Path is directory, logging to that directory

myOmniscan3D = Omniscan3D(logging=True, log_directory=log_path)

new_log = True

else:

raise ValueError(f"Invalid log argument: {args.log}")

else:

myOmniscan3D = Omniscan3D()

if args.log is None or new_log:

if args.device is not None:

myOmniscan3D.connect_serial(args.device, args.baudrate)

elif args.tcp is not None:

(host, port) = args.tcp.split(':')

try:

myOmniscan3D.connect_tcp(host, int(port))

except Exception as e:

print(f"Could not connect to Omniscan3D at {host}:{port}")

print(f"Reason: {e}")

sys.exit(1)

if myOmniscan3D.initialize() is False:

print("Failed to initialize Omniscan3D!")

exit(1)

print("------------------------------------")

print("Starting Omniscan3D..")

print("Press CTRL+C to exit")

print("------------------------------------")

input("Press Enter to continue...")

# Running omniscan3d.py from existing log file

if args.log is not None and not new_log:

with open(log_path, 'rb') as f:

while True:

data = Omniscan3D.read_packet(f)

if data is None:

break # EOF or bad packet

# print(f"ID: {data.message_id}\tName: {data.name}")

if data.message_id == definitions.OMNISCAN3D_ATTITUDE_REPORT:

# Print pitch and roll data

vector = (data.up_vec_x, data.up_vec_y, data.up_vec_z)

pitch = math.asin(vector[0])

roll = math.atan2(vector[1], vector[2])

print(f"Pitch: {pitch}\tRoll: {roll}")

elif data.message_id == definitions.OMNISCAN3D_OS3D_POINT_SET:

# print out data

print(f"ping_number : {data.ping_number}")

print(f"sos_mps : {data.sos_mps}")

print(f"num_points : {data.num_points}")

print(f"utc_msec : {data.utc_msec}")

print(f"pwr_up_msec : {data.pwr_up_msec}")

print(f"version : {data.version}")

print(f"device_number : {data.device_number}")

print(f"pwr_threshold_high : {data.pwr_threshold_high}")

print(f"pwr_threshold_med : {data.pwr_threshold_med}")

print(f"pwr_threshold_low : {data.pwr_threshold_low}")

elif data.message_id == definitions.OMNISCAN3D_END_PING_INFO:

# print out data

print("got OS3D_END_PING_INFO packet")

# Connected to physical Omniscan3D

else:

if args.range is not None:

parts = args.range.split(':')

if len(parts) == 2:

myOmniscan3D.control_os3d_set_ping_params(

start_m=int(parts[0]),

end_m=int(parts[1]),

ping_enable=True,

enable_atof_data=True

)

elif len(parts) == 1:

myOmniscan3D.control_os3d_set_ping_params(

start_m=0,

end_m=int(parts[0]),

ping_enable=True,

enable_atof_data=True

)

else:

print("Invalid range input, using default range")

myOmniscan3D.control_os3d_set_ping_params(

ping_enable=True,

enable_atof_data=True

)

else:

print("start_m=0, end_m-=7, msec_per_ping=100, sos_mps=1500, ping_enable = True, enable_atof_data = True")

myOmniscan3D.control_os3d_set_ping_params(

start_m=0,

end_m=7,

msec_per_ping=200,

diagnostic_injected_signal = 1,

sos_mps=1500,

ping_enable = True,

enable_atof_data = True

)

if new_log:

print("Logging...\nCTRL+C to stop logging")

else:

print("CTRL-C to end program...")

try:

while True:

# Set multiple packets to listen for

data = myOmniscan3D.wait_message([definitions.OMNISCAN3D_ATTITUDE_REPORT,

definitions.OMNISCAN3D_OS3D_POINT_SET,

definitions.OMNISCAN3D_END_PING_INFO])

if data:

## To watch pitch and roll data in real time while recording, uncomment this block

if data.message_id == definitions.OMNISCAN3D_ATTITUDE_REPORT:

# Print pitch and roll data

vector = (data.up_vec_x, data.up_vec_y, data.up_vec_z)

pitch = math.asin(vector[0])

roll = math.atan2(vector[1], vector[2])

print(f"Pitch: {pitch}\tRoll: {roll}")

elif data.message_id == definitions.OMNISCAN3D_OS3D_POINT_SET:

# print out data

print(f"ping_number : {data.ping_number}")

print(f"sos_mps : {data.sos_mps}")

print(f"num_points : {data.num_points}")

print(f"utc_msec : {data.utc_msec}")

print(f"pwr_up_msec : {data.pwr_up_msec}")

print(f"version : {data.version}")

print(f"device_number : {data.device_number}")

print(f"pwr_threshold_high : {data.pwr_threshold_high}")

print(f"pwr_threshold_med : {data.pwr_threshold_med}")

print(f"pwr_threshold_low : {data.pwr_threshold_low}")

except KeyboardInterrupt:

if new_log:

print("Stopping logging...")

# Stop pinging from Omniscan3D

myOmniscan3D.control_os3d_set_ping_params(ping_enable = False)

if myOmniscan3D.iodev:

try:

myOmniscan3D.iodev.close()

except Exception as e:

print(f"Failed to close socket: {e}")