def sendPing(self):
for (ac_id, value) in self.ac_downlink_status.items():
if messages_xml_map.PROTOCOL_VERSION == "2.0":
# For pprzlink V2.0 set the receiver id
self.udp.send(message.PprzMessage('datalink', 'PING'), 0,
self.ac_downlink_status[int(ac_id)].address,
ac_id)
else:
self.udp.send(message.PprzMessage('datalink', 'PING'), 0,
self.ac_downlink_status[int(ac_id)].address)
value.last_ping_time = time.time()
self.ping_timer = threading.Timer(PING_PERIOD, self.sendPing)
self.ping_timer.start()
def run(self):
try:
# Start the UDP interface
self.udp.start()
if self.ping_sender:
# Create a PING message
ping = message.PprzMessage('datalink', 'PING')
# Wait for a ^C
while True:
if self.ping_sender:
# Send PING message
print("Sending %s to %s:%d (%d)" %
(ping, remote_address, ping_port, my_receiver_id))
self.udp.send(
ping, # The message to send
my_sender_id, # Our numerical id
remote_address, # The IP address of the destination
my_receiver_id # The id of the destination
)
time.sleep(2)
except KeyboardInterrupt:
self.udp.stop()
def proccess_msg(self,
sender,
address,
msg,
length,
receiver_id=None,
component_id=None):
# If it is a PING send a PONG, else print message information
if msg.name == "PING":
print("Received PING from %i %s [%d Bytes]" %
(sender, address, length))
pong = message.PprzMessage('telemetry', 'PONG')
print("Sending back %s to %s:%d (%d)" %
(pong, address[0], address[1], sender))
self.udp.send(pong, receiver_id, address[0], receiver=sender)
else:
print("Received message from %i %s [%d Bytes]: %s" %
(sender, address, length, msg))
def run(self):
print("Starting serial interface on %s at %i baud" %
(args.dev, self.baudrate))
try:
self.serial_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
while self.serial_interface.isAlive():
self.serial_interface.join(1)
# create a ping message
ping = message.PprzMessage('datalink', 'PING')
# send a ping message to ourselves
print("Sending ping")
self.serial_interface.send(ping, self.ac_id, self.ac_id)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
self.serial_interface.stop()
exit()
def recv_callback(ac_id, pprzMsg):
# Print the message and the sender id
print ("Received message %s from %s" % (pprzMsg,ac_id))
# Send back a PONG message
ivy.send(message.PprzMessage("telemetry", "PONG"), sender_id= 2, receiver_id= ac_id)
import pprzlink.messages_xml_map as messages_xml_map
import pprzlink.message as message
import time
# Function called when a PING message is received
def recv_callback(ac_id, pprzMsg):
# Print the message and the sender id
print ("Received message %s from %s" % (pprzMsg,ac_id))
# Send back a PONG message
ivy.send(message.PprzMessage("telemetry", "PONG"), sender_id= 2, receiver_id= ac_id)
# Creation of the ivy interface
ivy = pprzlink.ivy.IvyMessagesInterface(
agent_name="PprzlinkIvyTutorial", # Ivy agent name
start_ivy=False, # Do not start the ivy bus now
ivy_bus="127.255.255.255:2010") # address of the ivy bus
try:
# starts the ivy interface
ivy.start()
# Subscribe to PING messages and sets recv_callback as the callback function.
ivy.subscribe(recv_callback,message.PprzMessage("datalink", "PING"))
# Wait untill ^C is pressed
while True:
time.sleep(5)
except KeyboardInterrupt:
ivy.shutdown()
def initial_ivy_binds(self):
# Subscribe to all datalink messages
messages_datalink = messages_xml_map.get_msgs("datalink")
for msg in messages_datalink:
self.ivy.subscribe(self.proccess_uplink_msg,
message.PprzMessage("datalink", msg))
def process_incoming_message(self, source, pprz_message):
print("Received message from %i: %s" % (source, pprz_message))
if pprz_message.name == "PING":
print("Sending back PONG")
pong = message.PprzMessage('telemetry', 'PONG')
self.serial_interface.send(pong, self.ac_id, source)
def proccess_msg(sender,
address,
msg,
length,
receiver_id=None,
component_id=None):
print("Got message from %i %s [%d Bytes]: %s" %
(sender, address, length, msg))
udp = pprzlink.udp.UdpMessagesInterface(callback=proccess_msg,
uplink_port=outgoing_port,
downlink_port=incoming_port,
interface_id=my_id)
try:
udp.start()
ping = message.PprzMessage('datalink', 'PING')
while True:
print("Sending %s to %s:%d (%d)" %
(ping, remote_address, outgoing_port, other_id))
udp.send(ping, my_id, remote_address, other_id)
time.sleep(2)
except KeyboardInterrupt:
udp.stop()
