async def run_sim(websocket, path):
try:
# If your XBee is somewhere else, change this.
xb = XBee("/dev/xbee", 1200)
except:
print(
"XBee not connected. Try plugging it in or changing the default from /dev/xbee."
)
exit()
# two payloads
p1 = Payload(PROFILE, MASS1, BALLAST, "P1")
p2 = Payload(PROFILE, MASS2, BALLAST, "P2")
# First order of business: figure out who's who.
print("Performing initial peering...")
bmp.init_peering(p1, p2, xb)
# Ok, we have two payloads.
# Wait for one to request an altitude.
print("Waiting for initial altitude requests...")
launched = False
time_launched = None
p1_ready = False
p2_ready = False
p1_landed = False
p2_landed = False
while ((p1_landed == False) or (p2_landed == False)):
msg = None
# just listen. the payloads will ask for altitudes.
while (msg == None):
msg = xb.rx()
parsed = bmp.parse(msg)
msg_type = parsed[0]
if (msg_type == bmp.MSG_TYPES['WAT_REQUEST']):
# Say "I am a simulator"
addr = int.from_bytes(parsed[2], byteorder="big")
xb.tx(parsed[1], addr)
elif (msg_type == bmp.MSG_TYPES['ALT_REQUEST']):
# Time to simulate.
addr = int.from_bytes(parsed[1], byteorder="big")
if (addr == p1.addr):
p1_ready = True
cur_p = p1
elif (addr == p2.addr):
p2_ready = True
cur_p = p2
else:
print("Another payload?")
continue
ballast_time_ms = parsed[2]
cur_p.drop_mass(ballast_time_ms)
cur_time = time.time()
last_time = cur_p.last_request_time
last_alt_m = cur_p.last_alt / 10.0
if (launched):
#cur_p.adjust_time(cur_time)
p1.adjust_time(cur_time)
p2.adjust_time(cur_time)
else:
#cur_p.last_request_time = cur_time
p1.last_request_time = cur_time
p2.last_request_time = cur_time
# Send them their current alt.
if (cur_p.alt() is not None):
alt = cur_p.alt()
cur_p.last_alt = alt
# send the payload's alt
xb.tx("s" + str(int(alt)), cur_p.addr)
timestamp = datetime.fromtimestamp(cur_time).strftime(
"[%H:%M:%S]")
#alt_m = cur_p.alt()/10.0 # decimeters to meters
#speed = (alt_m-last_alt_m)/(cur_time-last_time)
p1_alt_m = p1.alt() / 10.0
p2_alt_m = p2.alt() / 10.0
#if (speed == None):
# speed = 0
#print("{0} {1}: alt={2:.1f}m speed={3:.2f}m/s mass={4:.3f}kg drop_time={5}".format(timestamp,cur_p.name,alt_m,speed,cur_p.mass,ballast_time_ms))
#print("P1 alt: {0}, P2 alt: {1}, Delta alt: {2}, P1 mass: {3}, P2 mass: {4}".format(p1_alt_m, p2_alt_m, p1_alt_m - p2_alt_m, p1.mass, p2.mass))
await websocket.send(
'{{"p1_a": {0}, "p2_a": {1}, "p1_m": {2}, "p2_m": {3}, "dist": {4}}}'
.format(p1_alt_m, p2_alt_m, p1.mass, p2.mass,
p1_alt_m - p2_alt_m))
# update graph
#if (time_launched is not None):
#if (cur_p.name == "P1"):
#lp.update_line(cur_time - time_launched, alt_m, p1_line)
#elif (cur_p.name == "P2"):
#lp.update_line(cur_time - time_launched, alt_m, p2_line)
else:
# if alt is None, the payload finished simulation.
if (cur_p.addr == p1.addr):
p1_landed = True
elif (cur_p.addr == p2.addr):
p2_landed = True
continue
if (p1_ready and p2_ready and launched == False):
launched = True
time_launched = time.time()
time_elapsed = 0
print("Launched!")
elif (msg_type == bmp.MSG_TYPES['WAT_REQUEST']):
# Respond, saying "I am the simulator".
addr = int.from_bytes(parsed[2], byteorder="big")
xb.tx(parsed[1], addr)
