Log bearing data to chase log.

chasemapper/bearings.py

@@ -260,7 +260,7 @@ class Bearings(object):
         # Add in any raw DOA data we may have been given.
         if 'raw_bearing_angles' in bearing:
             _new_bearing['raw_bearing_angles'] = bearing['raw_bearing_angles']
-            _new_bearing['raw_doa'] = bearing['raw_doa']
+            _new_bearing['raw_doa'] = bearing['raw_doa'][::-1]
 
 
         # Now we need to update the web clients on what has changed.

chasemapper/logger.py

@@ -104,6 +104,19 @@ class ChaseLogger(object):
             self.log_error("Processing not running, discarding.")        
 
 
+    def add_bearing(self, data):
+        """ Log a packet of bearing data """
+
+        data['log_type'] = 'BEARING'
+        data['log_time'] = pytz.utc.localize(datetime.datetime.utcnow()).isoformat()
+
+        # Add it to the queue if we are running.
+        if self.input_processing_running:
+            self.input_queue.put(data)
+        else:
+            self.log_error("Processing not running, discarding.")
+
+
     def process_queue(self):
         """ Process data from the input queue, and write telemetry to log files.
         """

horusmapper.py

@@ -664,10 +664,11 @@ def udp_listener_car_callback(data):
 
 
 def udp_listener_bearing_callback(data):
-    global bearing_store
+    global bearing_store, chase_logger
 
     if bearing_store != None:
         bearing_store.add_bearing(data)
+        chase_logger.add_bearing(data)
 
 
 # Data Age Monitoring Thread