def forward_heartbeat(self, msg_class, msg_name, sender, message):
hb = HeartBeat()
hb.ParseFromString(message)
# TELEMETRY_STATUS message
msg = PprzMessage("ground", "TELEMETRY_STATUS")
values = [
str(self.aircraft_id), "no_id", "0.02", "0", "0", "0.0", "0", "0",
"0", "0", "0", "9999.0"
]
msg.set_values(values)
self.interface.send(msg)
def on_ivy_msg(self, agent, *larg):
""" Split ivy message up into the separate parts
Basically parts/args in string are separated by space, but char array can also contain a space:
|f,o,o, ,b,a,r| in old format or "foo bar" in new format
"""
# return if no callback is set
if self.callback is None:
return
# first split on array delimiters
l = re.split('([|\"][^|\"]*[|\"])', larg[0])
# strip spaces and filter out emtpy strings
l = [str.strip(s) for s in l if str.strip(s) is not '']
data = []
for s in l:
# split non-array strings further up
if '|' not in s and '"' not in s:
data += s.split(' ')
else:
data.append(s)
# ignore ivy message with less than 3 elements
if len(data) < 3:
return
# check which message class it is
# pass non-telemetry messages with ac_id 0
if data[0] in ["sim", "ground_dl", "dl"]:
if self.verbose:
print("ignoring message " + larg[0])
sys.stdout.flush()
return
elif data[0] in ["ground"]:
msg_class = data[0]
msg_name = data[1]
ac_id = 0
values = list(filter(None, data[2:]))
else:
try:
ac_id = int(data[0])
except ValueError:
if self.verbose:
print("ignoring message " + larg[0])
sys.stdout.flush()
return
msg_class = "telemetry"
msg_name = data[1]
values = list(filter(None, data[2:]))
msg = PprzMessage(msg_class, msg_name)
msg.set_values(values)
self.callback(ac_id, msg)
def on_ivy_msg(self, agent, *larg):
""" Split ivy message up into the separate parts
Basically parts/args in string are separated by space, but char array can also contain a space:
|f,o,o, ,b,a,r| in old format or "foo bar" in new format
"""
# return if no callback is set
if self.callback is None:
return
# first split on array delimiters
l = re.split('([|\"][^|\"]*[|\"])', larg[0])
# strip spaces and filter out emtpy strings
l = [str.strip(s) for s in l if str.strip(s) is not '']
data = []
for s in l:
# split non-array strings further up
if '|' not in s and '"' not in s:
data += s.split(' ')
else:
data.append(s)
# ignore ivy message with less than 3 elements
if len(data) < 3:
return
# check which message class it is
# pass non-telemetry messages with ac_id 0
if data[0] in ["sim", "ground_dl", "dl"]:
if self.verbose:
print("ignoring message " + larg[0])
sys.stdout.flush()
return
elif data[0] in ["ground"]:
msg_class = data[0]
msg_name = data[1]
ac_id = 0
values = list(filter(None, data[2:]))
else:
try:
ac_id = int(data[0])
except ValueError:
if self.verbose:
print("ignoring message " + larg[0])
sys.stdout.flush()
return
msg_class = "telemetry"
msg_name = data[1]
values = list(filter(None, data[2:]))
msg = PprzMessage(msg_class, msg_name)
msg.set_values(values)
self.callback(ac_id, msg)
def forward_position(self, msg_class, msg_name, sender, message):
pos = Position()
pos.ParseFromString(message)
# FLIGHT_PARAM message
msg = PprzMessage("ground", "FLIGHT_PARAM")
values = [
str(self.aircraft_id), "0.0", "0.0",
str(pos.hdg),
str(pos.lat),
str(pos.lon),
str(pos.vground), "0.0",
str(pos.alt),
str(pos.vz),
str(pos.relalt), "0.0", "0", "0.0"
]
msg.set_values(values)
self.interface.send(msg)
def codeRecognized (self, data):
print data
if data == '1':
coords = 1
print "Dropzone 1"
elif data == '2':
coords = 2
print "Dropzone 2"
elif data == '3':
coords = 3
print "Dropzone 3"
else:
print data
return
print('Going to: ', coords)
pprzmsg = PprzMessage("ground", "DL_SETTING")
pprzmsg.set_values([self.ac_id, self.waypoint_id, coords])
self.interface.send(pprzmsg)
