def send_msg(self, msg_idx, remote_address, ack, packet): acoustic_msg = AcousticModemPayload() acoustic_msg.msg_id = msg_idx acoustic_msg.address = remote_address acoustic_msg.ack = ack acoustic_msg.payload = packet # Send the packet to the Evologics driver which will send to modem self.acoustic_msg_pub.publish(acoustic_msg)
def send_info(self, data):
# send a broadcast im to exchange the information stored
print("Sending Broadcast IM with nav data...")
self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0, int(self.time_for_bim * 1e9)), self.timer_callback, oneshot=True)
# create and send the message
msg = AcousticModemPayload()
msg.ack = False
msg.address = 255
msg.payload = MSG_HEADER + self.data_packer.pack(data)
self.pub_msg.publish(msg)
def send_requestV2(self, node):
# send an im to a device to get his position
# self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0, int(self.time_for_im * 1e9)), self.timer_callback, oneshot= True)
# self.nodes_list.append(node)
# create and send the message
msg = AcousticModemPayload()
msg.ack = True
msg.address = node
msg.payload = 'A'
self.pub_msg.publish(msg)
def send_info(self, data):
# send a broadcast im to exchange the information stored
print("Sending Broadcast IM with nav data...")
self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0,
int(self.time_for_bim * 1e9)),
self.timer_callback,
oneshot=True)
# create and send the message
msg = AcousticModemPayload()
msg.ack = False
msg.address = 255
msg.payload = MSG_HEADER + self.data_packer.pack(data)
self.pub_msg.publish(msg)
def send_requestV2(self, node):
# send an im to a device to get his position
# self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0,
int(self.time_for_im * 1e9)),
self.timer_callback,
oneshot=True)
# self.nodes_list.append(node)
# create and send the message
msg = AcousticModemPayload()
msg.ack = True
msg.address = node
msg.payload = 'A'
self.pub_msg.publish(msg)
def wmOutgoingMsg(msg):
""" method must convert from AcousticModemData uint8[]]
to AcousticModemPayload string
"""
global evologics_pub
rospy.loginfo("WM outgoing msg being converted and sent to Evologics driver")
uint8_payload = msg.payload
converted_payload = str(uint8_payload)
# populate new msg and send to evologics modem driver
converted_msg = AcousticModemPayload()
converted_msg.address = 5
converted_msg.payload = converted_payload
evologics_pub.publish(converted_msg)
def parse_acoustic_im(self, tokens):
"""
This method parses an incoming instant message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.header.stamp = rospy.Time.now()
msg.address = int(tokens[2])
msg.duration = int(tokens[5])
msg.rssi = float(tokens[6])
msg.integrity = float(tokens[7])
msg.relative_velocity = float(tokens[8])
msg.payload = ','.join(tokens[9:])
rospy.loginfo('%s: Received IM from node %s, payload: %s, info: %s' %(self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.received_cnt += 1
self.pub_im_in.publish(msg)
def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.address = int(tokens[2])
msg.payload = ','.join(tokens[9:])
duration = int(tokens[7]) # in microseconds
rel_speed = float(tokens[8]) # in meters per second
info = {'duration': duration, 'relative_speed': rel_speed}
msg.info = [KeyValue(key, value) for key, value in info.items()]
rospy.loginfo(
'%s: Received IM from node %s, payload: %s, info: %s' %
(self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.pub_burst_in.publish(msg)
def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.address = int(tokens[2])
msg.payload = ','.join(tokens[9:])
duration = int(tokens[7]) # in microseconds
rel_speed = float(tokens[8]) # in meters per second
info = {
'duration': duration,
'relative_speed': rel_speed
}
msg.info = [KeyValue(key, value) for key, value in info.items()]
rospy.loginfo('%s: Received IM from node %s, payload: %s, info: %s' %(self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.pub_burst_in.publish(msg)
def send_from_buffer(self):
if len(self.outgoing_msg_buffer) == 0:
return
msg_box = self.outgoing_msg_buffer.pop()
header = struct.pack(FORMAT[HEADER], TYPE_TO_ID[msg_box.type], msg_box.id, rospy.Time.now().to_sec())
payload = '{0}{1}'.format(header, msg_box.payload_body)
modem_msg = AcousticModemPayload()
modem_msg.header.stamp = rospy.Time.now()
modem_msg.address = msg_box.address
modem_msg.payload = payload
if msg_box.id in self.single_msgs_out.keys():
self.single_msgs_out[msg_box.id].update_last_time(rospy.Time.now().to_sec())
rospy.loginfo('%s: Sending message of type %s with id %s to %s' % (self.name, msg_box.type, msg_box.id, msg_box.address))
self.pub_modem.publish(modem_msg)
def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.header.stamp = rospy.Time.now()
msg.address = int(tokens[2])
msg.bitrate = int(tokens[4])
msg.rssi = float(tokens[5])
msg.integrity = float(tokens[6])
msg.propagation_time = int(tokens[7])
self.propagation_time = int(tokens[7])
# print 'Distance', self.propagation_time * 1500 * 10**-6
msg.relative_velocity = float(tokens[8])
msg.payload = ','.join(tokens[9:])
rospy.loginfo('%s: Received burst message from node %s, payload: %s, info: %s' % (self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.received_cnt += 1
self.pub_burst_in.publish(msg)