def parse_pprz_msg(callback, ivy_msg):
"""
Parse an Ivy message into a PprzMessage.
:param callback: function to call with ac_id and parsed PprzMessage as params
:param ivy_msg: Ivy message string to parse into PprzMessage
"""
# normal format is "sender_name msg_name msg_payload..."
# advanced format has requests and answers (with request_id as 'pid_index')
# request: "sender_name request_id msg_name_REQ msg_payload..."
# answer: "request_id sender_name msg_name msg_payload..."
data = re.search("(\S+) +(\S+) +(.*)", ivy_msg)
# check for request_id in first or second string (-> advanced format with msg_name in third string)
if data is None:
return
if re.search("[0-9]+_[0-9]+", data.group(1)) or re.search("[0-9]+_[0-9]+", data.group(2)):
if re.search("[0-9]+_[0-9]+", data.group(1)):
sender_name = data.group(2)
else:
sender_name = data.group(1)
# this is an advanced type, split again
data = re.search("(\S+) +(.*)", data.group(3))
msg_name = data.group(1)
payload = data.group(2)
else:
# this was a normal message
sender_name = data.group(1)
msg_name = data.group(2)
payload = data.group(3)
# check which message class it is
msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
if msg_class is None:
print("Ignoring unknown message " + ivy_msg)
return
msg = PprzMessage(msg_class, msg_name)
msg.ivy_string_to_payload(payload)
# pass non-telemetry messages with ac_id 0 or ac_id attrib value
if msg_class == "telemetry":
try:
if(sender_name[0:6] == 'replay'):
ac_id = int(sender_name[6:])
else:
ac_id = int(sender_name)
except ValueError:
print("ignoring message " + ivy_msg)
sys.stdout.flush()
else:
if 'ac_id' in msg.fieldnames:
ac_id_idx = msg.fieldnames.index('ac_id')
ac_id = msg.fieldvalues[ac_id_idx]
else:
ac_id = 0
# finally call the callback, passing the aircraft id and parsed message
callback(ac_id, msg)
