async def dispatch_message(self, bus_message: BusMessage,
source: str) -> None:
""" Detect type of a BusMessage and call a controller. """
type_msg = bus_message.WhichOneof("message_content")
if type_msg == "heartbeat":
pass
elif type_msg == "encoderPosition":
self.position_controller.update_odometry(
bus_message.encoderPosition.left_tick,
bus_message.encoderPosition.right_tick)
self.motion_controller.trigger_update()
elif type_msg == "laserSensor":
await self.match_action.set_laser_distances()
elif type_msg == "pressureSensor":
await self.match_action.set_pressures()
elif type_msg == "debugLog":
LOGGER.get().info("low_level_log",
content=bus_message.debugLog.content,
source=source)
elif type_msg in [
"moveWheelAtSpeed", "wheelPositionTarget", "pidConfig",
"wheelTolerances", "wheelPWM", "wheelControlMode"
]:
# messages that are read back are ignored
pass
else:
LOGGER.get().error("unhandled_protobuf_message",
message_type=type_msg,
source=source)
async def dispatch_message(self, bus_message: BusMessage) -> None:
""" Detect type of a BusMessage and call a controller. """
type_msg = bus_message.WhichOneof("message_content")
if type_msg == "heartbeat":
pass
elif type_msg == "movementEnded":
self.localization_controller.movement_done(
bus_message.movementEnded.blocked)
elif type_msg == "encoderPosition":
self.localization_controller.update_odometry_position(
bus_message.encoderPosition.left_tick,
bus_message.encoderPosition.right_tick)
elif type_msg == "laserSensor":
await self.match_action.set_laser_distances()
elif type_msg == "pressureSensor":
await self.match_action.set_pressures()
else:
LOGGER.get().error("unhandled_protobuf_message",
message_type=type_msg)
async def handle_movement_order(self, data: bytes, _: str) -> None:
"""
Handle move wheels packets.
"""
bus_message = BusMessage()
bus_message.ParseFromString(data)
# pylint: disable=no-member
type_msg = bus_message.WhichOneof("message_content")
if type_msg == "moveWheelAtSpeed":
target_left = bus_message.moveWheelAtSpeed.left_tick_per_sec
target_right = bus_message.moveWheelAtSpeed.right_tick_per_sec
self.simulation_state.queue_speed_left.append(target_left)
self.simulation_state.queue_speed_left.popleft()
self.simulation_state.queue_speed_right.append(target_right)
self.simulation_state.queue_speed_right.popleft()
LOGGER.get().debug('simulation_router_received_wheel_speed_target')
elif type_msg == "pidConfig":
LOGGER.get().debug('simulation_router_received_pid_config')
else:
LOGGER.get().debug('simulation_router_received_unhandled_order')
