def _message_req(self, msg_name, cb, params=None):
bind_id = None
def _cb(sender, msg):
if bind_id is not None:
self._ivy.unsubscribe(bind_id)
cb(sender, msg)
req_id = self._get_req_id()
req_regex = '^{} ([^ ]* +{}( .*|$))'.format(req_id, msg_name)
bind_id = self._ivy.subscribe(_cb, req_regex)
req_msg = PprzMessage('ground', '{}_REQ'.format(msg_name))
if params is not None:
req_msg.set_values(params)
#FIXME we shouldn't use directly Ivy, but pprzlink python API is not supporting the request id for now
IvySendMsg('pprz_connect {} {} {}'.format(
req_id, req_msg.name, req_msg.payload_to_ivy_string()))
def send_request(self, class_name, request_name, callback,
**request_extra_data):
"""
Send a data request message and passes the result directly to the callback method.
:return: Number of clients this message was sent to.
:rtype: int
:param class_name: Message class, the same as :ref:`PprzMessage.__init__`
:param request_name: Request name (without the _REQ suffix)
:param callback: Callback function that accepts two parameters: 1. aircraft id as int 2. The response message
:param request_extra_data: Payload that will be sent with the request if any
:type class_name: str
:type request_name: str
:type callback: Callable[[str, PprzMessage], Any]
:type request_extra_data: Dict[str, Any]
:raises: ValueError: if msg was invalid or `sender_id` not provided for telemetry messages
:raises: RuntimeError: if the server is not running
"""
new_id = RequestUIDFactory.generate_uid()
regex = r"^((\S*\s*)?%s %s %s( .*|$))" % (new_id, class_name,
request_name)
def data_request_callback(ac_id, request_id, msg):
try:
callback(ac_id, msg)
except Exception as e:
raise e
finally:
self.unsubscribe(binding_id)
binding_id = self.subscribe(data_request_callback, regex)
request_message = PprzMessage(class_name, "%s_REQ" % request_name)
for k, v in request_extra_data.items():
request_message.set_value_by_name(k, v)
data_request_message = ' '.join(
(self.agent_name, new_id, request_message.name,
request_message.payload_to_ivy_string()))
return self.send(data_request_message)
