def get_data(self,bodies,body_id,time):
		data = QuadPosition()

		data.found_body = False
		
		if bodies==[]:
			utils.loginfo("Gazebo not started")
		else:
			if hasattr(bodies,'name'):
				if body_id<len(bodies.name):
					data.found_body=True
					data.x=bodies.pose[body_id].position.x
					data.y=bodies.pose[body_id].position.y
					data.z=bodies.pose[body_id].position.z
					x = bodies.pose[body_id].orientation.x
					y = bodies.pose[body_id].orientation.y
					z = bodies.pose[body_id].orientation.z
					w = bodies.pose[body_id].orientation.w

					dcm = quat_to_dcm(w,x,y,z)
					(roll,pitch,yaw) = dcm.to_euler()

					data.pitch=degrees(pitch)
					data.roll=degrees(roll)
					data.yaw=degrees(yaw)
				else:
					print 'Body not found'
			
		return copy.deepcopy(data)

def tool(request, appname):
    # if we are here, we have been given a particular appname, e.g. "keyinfo", as part of the url
    context = {'applayout': appLayout[appname]}
    if request.method == 'POST':
        form = forms.Form(request.POST)

    elif request.method == 'GET':
        form = forms.Form(request.GET)

    else:
        form = forms.Form()

    if form.is_valid():
        loginfo(appname, context, request)
        context = dispatch(context, request, appname)

        #context['form'] = form
        context = setconstants(request, context, appname)
        loginfo(appname, context, request)

    # special case: the data endpoint returns JSON
    if appname == 'data':
        return HttpResponse(json.dumps(context['data']))
    else:
        return render(request, 'toolbox.html', context)

def Set_Flight_Mode(NODE_NAME,MODE):
	return_value=True

	#Change the flight mode on the Pixhawk flight controller
	try:
		rospy.wait_for_service('/mavros/set_mode',10)
	except:
		utils.logerr('Mavros is not available')
		return_value=False

	utils.loginfo('Changing flight mode to '+MODE+' ...')

	rospy.sleep(2)

	try:
		change_param=rospy.ServiceProxy('/mavros/set_mode',SetMode)
		param=change_param(0,MODE)
	except:
		utils.logerr('Cannot change flight mode')
		return_value=False

	if param.success:
		utils.loginfo('Flight mode changed to '+MODE)
	else:
		utils.logerr('Cannot change flight mode')
		return_value=False

	return return_value

	def get_data(self,body):
		data = QuadPosition()

		body_id = body

		data.found_body = False
		
		if self.bodies==[]:
			utils.loginfo("Gazebo not started")
		else:
			if hasattr(self.bodies,'name'):
				if body_id<len(self.bodies.name):
					data.found_body=True
					data.x=self.bodies.pose[body_id].position.x
					data.y=self.bodies.pose[body_id].position.y
					data.z=self.bodies.pose[body_id].position.z
					x = self.bodies.pose[body_id].orientation.x
					y = self.bodies.pose[body_id].orientation.y
					z = self.bodies.pose[body_id].orientation.z
					w = self.bodies.pose[body_id].orientation.w

					dcm = quat_to_dcm(w,x,y,z)
					(roll,pitch,yaw) = dcm.to_euler()

					data.pitch=degrees(pitch)
					data.roll=degrees(roll)
					data.yaw=degrees(yaw)
					
					print "Sending data for the body with id: "+str(body_id)
				else:
					print 'Body not found'
			
		return(data)

def Set_Flight_Mode(MODE):
        """This function sets the flight mode of the drone to MODE."""
	return_value=True

	#Change the flight mode on the Pixhawk flight controller
	try:
		rospy.wait_for_service('mavros/set_mode',10)
	except:
		utils.logerr('Mavros is not available')
		return_value=False

	utils.loginfo('Changing flight mode to '+MODE+' ...')

	rospy.sleep(2)

	try:
		change_param=rospy.ServiceProxy('mavros/set_mode',SetMode)
		param=change_param(0,MODE)
		while param.success==False:
			param=change_param(0,MODE)
			if param.success==False:
				utils.logerr('Cannot change flight mode')
		if param.success:
			utils.loginfo('Flight mode changed to '+MODE)
		else:
			utils.logerr('Cannot change flight mode')
			return_value=False
	except:
		utils.logerr('Cannot change flight mode')
		return_value=False


	return return_value

def prepareFiles(request, validateonly):
    tricoder_fileinfo = {}
    tricoder_files = []
    numProblems = 0
    for lineno, afile in enumerate(request.FILES.getlist('tricoderfiles')):
        # print afile
        # we gotta do this for now!
        if 'barcode.' not in afile.name: afile.name = 'barcode.' + afile.name
        fileinfo = {'id': lineno, 'name': afile.name, 'status': '', 'date': time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())}
        # always use the current date as the date for the filename checking
        today = time.strftime("%Y-%m-%d", time.localtime())
        filenamepattern = r'^barcode.TRIDATA_' + re.escape(today) + r'_[\w_\.]+\.DAT$'
        if not re.match(filenamepattern, afile.name):
            fileinfo['status'] = 'filename is not valid'
            numProblems += 1
        else:
            try:
                print "%s %s: %s %s (%s %s)" % ('id', lineno, 'name', afile.name, 'size', afile.size)
                if not validateonly:
                    handle_uploaded_file(afile)
                fileinfo['status'] = 'OK'
            except:
                if validateonly:
                    fileinfo['status'] = 'validation failed'
                else:
                    fileinfo['status'] = 'file handling problem, not uploaded'
                numProblems += 1

        tricoder_files.append(fileinfo)

    if numProblems > 0:
        errormsg = 'Errors found, abandoning upload. Please fix and try again.'
    else:
        tricoder_filenumber = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime())
        tricoder_fileinfo['tricoder_filenumber'] = tricoder_filenumber
        tricoder_fileinfo['estimatedtime'] = '%8.1f' % (len(tricoder_files) * 10 / 60.0)

        if 'createtricoder' in request.POST:
            tricoder_fileinfo['status'] = 'createtricoder'
            if not validateonly:
                loginfo('start', get_tricoder_file('input',tricoder_filenumber), request)
                try:
                    retcode = subprocess.call(
                        [POSTBLOBPATH, get_tricoder_file('input',tricoder_filenumber)])
                    if retcode < 0:
                        loginfo('process', tricoder_filenumber + " Child was terminated by signal %s" % -retcode,
                                request)
                    else:
                        loginfo('process', tricoder_filenumber + ": Child returned %s" % retcode, request)
                except OSError as e:
                    loginfo('error', "Execution failed: %s" % e, request)
                loginfo('finish', get_tricoder_file('input',tricoder_filenumber), request)

        elif 'uploadtricoder' in request.POST:
            tricoder_fileinfo['status'] = 'uploadtricoder'
        else:
            tricoder_fileinfo['status'] = 'No status possible'

    return tricoder_fileinfo, tricoder_files, numProblems

def Get_Parameter(NODE_NAME,PARAMETER_NAME,DEFAULT_VALUE):
	param=rospy.get_param(PARAMETER_NAME,DEFAULT_VALUE)
	if rospy.has_param(PARAMETER_NAME):
		utils.loginfo(''+PARAMETER_NAME+' found: '+str(param))
	else:
		utils.logwarn(''+PARAMETER_NAME+' not found. Default: '+str(DEFAULT_VALUE))

	return param

    def Terminate(self):
        inputstring = 'rosnode kill `rosnode list | grep ' + self.name + '`'
        self.execute(inputstring)

        try:
            delete_model = rospy.ServiceProxy("gazebo/delete_model", DeleteModel)
            delete_model(self.name)
        except rospy.ServiceException as exc:
            utils.loginfo('Failed to delete model ' + str(exc))

 def adjust_gravity_cancel(self):
     self.name = self._widget.IrisInputBox.currentText()
     rospy.set_param("/" + self.name + "/CONTROL_CANCEL_GRAVITY", int(self._widget.GravitySpinBox.value()))
     try:
         params_load = rospy.ServiceProxy("/%s/blender/update_parameters" % (self.name), Empty)
         params_load_PID = rospy.ServiceProxy("/%s/PID_controller/update_parameters" % (self.name), Empty)
         params_load()
         params_load_PID()
     except rospy.ServiceException as exc:
         utils.loginfo("PID not reachable " + str(exc))

def search(request):
    if request.method == 'GET' and request.GET != {}:
        context = {'searchValues': dict(request.GET.iteritems())}
        context = doSearch(context)

    else:
        context = setConstants({})

    loginfo('start search', context, request)
    context['additionalInfo'] = AdditionalInfo.objects.filter(live=True)
    return render(request, 'search.html', context)

def bmapper(request):
    if request.method == 'POST' and request.POST != {}:
        requestObject = request.POST
        form = forms.Form(requestObject)

        if form.is_valid():
            context = SEARCHRESULTS
            context = setupBMapper(requestObject, context)

            loginfo('bmapper', context, request)
            return HttpResponse(context['bmapperurl'])

def retrieveResults(request):
    if request.method == 'POST' and request.POST != {}:
        requestObject = dict(request.POST.iteritems())
        form = forms.Form(requestObject)

        if form.is_valid():
            context = {'searchValues': requestObject}
            context = doSearch(context)

        loginfo('results.%s' % context['displayType'], context, request)
        return render(request, 'searchResults.html', context)

def bmapper(request):
    if request.method == 'POST' and request.POST != {}:
        requestObject = dict(request.POST.iteritems())
        form = forms.Form(requestObject)

        if form.is_valid():
            context = {'searchValues': requestObject}
            context = setupBMapper(requestObject, context)

            loginfo('bmapper', context, request)
            return HttpResponse(context['bmapperurl'])

def gmapper(request):
    if request.method == 'POST' and request.POST != {}:
        requestObject = request.POST
        form = forms.Form(requestObject)

        if form.is_valid():
            context = SEARCHRESULTS
            context = setupGoogleMap(requestObject, context)

            loginfo('gmapper', context, request)
            return render(request, 'maps.html', context)

def gmapper(request):
    if request.method == 'POST' and request.POST != {}:
        requestObject = dict(request.POST.iteritems())
        form = forms.Form(requestObject)

        if form.is_valid():
            context = {'searchValues': requestObject}
            context = setupGoogleMap(requestObject, context)

            loginfo('gmapper', context, request)
            return render(request, 'maps.html', context)

def Connect_To_Mocap(NODE_NAME):
	#Connect to the Motion Capture System, flag an error if it is unavailable

	try:
		utils.loginfo('Connecting to the mocap system...')
		rospy.wait_for_service('mocap_get_data',10)
	except:
		utils.logerr('No connection to the mocap system')
		sys.exit()
	utils.loginfo('Connected to Mocap')

	return rospy.ServiceProxy('mocap_get_data',BodyData)

def publicsearch(request):
    if request.method == 'GET' and request.GET != {}:
        context = {'searchValues': request.GET}
        context = doSearch(SOLRSERVER, SOLRCORE, context)

        global SEARCHRESULTS
        SEARCHRESULTS = context
    else:
        context = {}

    context = setConstants(context)
    loginfo('start search', context, request)
    return render(request, 'publicsearch.html', context)

def search(request):
    if request.method == 'GET' and request.GET != {}:
        context = {'searchValues': request.GET}
        context = doSearch(context)

        #global SEARCHRESULTS
        #SEARCHRESULTS = context
    else:
        context = {}

    context = setConstants(context)
    loginfo('start search', context, request)
    return render(request, 'search.html', context)

def Set_System_ID(NODE_NAME,id_int):
	return_value=True

	#Necesary to allow RCOverride
	#Also checks if there is a connection to Mavros, and shuts down if there isn't

	utils.loginfo('Connecting to Mavros ...')
	try:
		rospy.wait_for_service('mavros/param/set',10)
	except:
		utils.logerr('Mavros is not available')
		return_value=False
	utils.loginfo('Connected to Mavros')

	utils.loginfo('Changing system ID ...')

	rospy.sleep(2)

	try:
		change_param=rospy.ServiceProxy('mavros/param/set',ParamSet)
		param=change_param('SYSID_MYGCS',id_int,0.0)
	except:
		utils.logerr('Cannot change system ID')
		return_value=False

	if param.success:
		utils.loginfo('System ID changed')
	else:
		utils.logerr('Cannot change system ID')
		return_value=False

	return return_value

def Wait_For_ID(id_int):
	return_value=False

	# Wait for Mavros connection and wait until the parameter SYSID_MYGCS is available

	utils.loginfo('Connecting to Mavros ...')
	try:
		rospy.wait_for_service('mavros/param/set',10)
	except:
		utils.logerr('Mavros is not available (fail to contact service mavros/param/set).')
		return_value=False
	utils.loginfo('Connected to Mavros')

	set_param=rospy.ServiceProxy('mavros/param/set',ParamSet)
	while return_value==False:
		try:
			param=set_param('SYSID_MYGCS',id_int,0.0)
			if param.success:
				utils.loginfo('System ID changed')
				return_value=True
			else:
				utils.logerr('Cannot change system ID')
				return_value=False
		except:
			utils.logerr('Cannot change system ID')
			return_value=False
		rospy.sleep(5)

	utils.loginfo('Iris initialised...')
	return return_value