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)
def worldenv_cb(ac_id, msg):
"""
Callback for paparazzi WORLD_ENV requests
"""
# request location (in meters)
east, north, up = float(msg.get_field(3)),\
float(msg.get_field(4)),\
float(msg.get_field(5))
up *= -1
# convert in km + translation with mesoNH origin
weast, wnorth, wup = get_wind(east, north, up)
print("wind_est:")
print(weast)
print(wnorth)
print(wup)
msg_back = PprzMessage("ground", "WORLD_ENV")
msg_back.set_value_by_name("wind_east", weast)
msg_back.set_value_by_name("wind_north", wnorth)
msg_back.set_value_by_name("wind_up", wup)
msg_back.set_value_by_name("ir_contrast", 400)
msg_back.set_value_by_name("time_scale", 1)
msg_back.set_value_by_name("gps_availability", 1)
ivy.send(msg_back, None)
def worldenv_cb(ac_id, msg):
"""
Callback for paparazzi WORLD_ENV requests
"""
# request location (in meters)
east, north, up = float(msg.get_field(3)),\
float(msg.get_field(4)),\
float(msg.get_field(5))
up *= -1
# convert in km + translation with mesoNH origin
weast, wnorth, wup = get_wind(east, north, up)
print("wind_est:")
print(weast)
print(wnorth)
print(wup)
msg_back=PprzMessage("ground", "WORLD_ENV")
msg_back.set_value_by_name("wind_east",weast)
msg_back.set_value_by_name("wind_north",wnorth)
msg_back.set_value_by_name("wind_up",wup)
msg_back.set_value_by_name("ir_contrast",400)
msg_back.set_value_by_name("time_scale",1)
msg_back.set_value_by_name("gps_availability",1)
ivy.send(msg_back,None)
