def post_telemetry(self, location, heading):
"""
Post the drone's telemetry information.
:param location: The location to post.
:type location: Location
:param heading: The UAV's heading.
:type heading: Float
"""
print (location)
print(heading)
missing_data = True
while missing_data:
try:
telem_upload_data = interop_api_pb2.Telemetry()
print("after telem upload data initialization interopclient")
telem_upload_data.longitude = location.get_lon()
print("after get lon interopclient")
telem_upload_data.altitude = location.get_alt()
print("after get alt interopclient")
telem_upload_data.latitude = (location.get_lat() + GCSSettings.MSL_ALT)
print("after get lat interopclient")
telem_upload_data.heading = heading
missing_data = False
except ConnectionError:
sleep(GCSSettings.INTEROP_DISCONNECT_RETRY_RATE)
print("before post_telemery statement interopclient")
self.client1.post_telemetry(telem_upload_data)
def test_post_bad_telemetry(self):
"""Test sending some (incorrect) telemetry."""
t = interop_api_pb2.Telemetry()
t.latitude = 38
t.longitude = -76
t.altitude = 100
t.heading = 400 # Out of range.
with self.assertRaises(InteropError):
self.client.post_telemetry(t)
with self.assertRaises(InteropError):
self.async_client.post_telemetry(t).result()
def test_post_telemetry(self):
"""Test sending some telemetry."""
t = interop_api_pb2.Telemetry()
t.latitude = 38
t.longitude = -76
t.altitude = 100
t.heading = 90
# Raises an exception on error.
self.client.post_telemetry(t)
self.async_client.post_telemetry(t).result()
def submit_telemetry(self, mav):
while True:
if self.client is None:
self.login_status = False
print("Interop connection lost")
self.login()
else:
telemetry = interop_api_pb2.Telemetry()
telemetry.latitude = mav.lat
telemetry.longitude = mav.lon
telemetry.altitude = mav.altitude
telemetry.heading = mav.orientation['yaw']
self.telemetry_json = json_format.MessageToJson(telemetry)
self.client.post_telemetry(telemetry)
time.sleep(0.1)
def post(self, request):
"""Posts the UAS position with a POST request."""
telemetry_proto = interop_api_pb2.Telemetry()
try:
json_format.Parse(request.body, telemetry_proto)
except Exception as e:
return HttpResponseBadRequest(
'Failed to parse request. Error: %s' % str(e))
if (not telemetry_proto.HasField('latitude') or
not telemetry_proto.HasField('longitude') or
not telemetry_proto.HasField('altitude') or
not telemetry_proto.HasField('heading')):
return HttpResponseBadRequest('Request missing fields.')
# Check the values make sense.
if telemetry_proto.latitude < -90 or telemetry_proto.latitude > 90:
return HttpResponseBadRequest('Latitude out of range [-90, 90]: %f'
% telemetry_proto.latitude)
if telemetry_proto.longitude < -180 or telemetry_proto.longitude > 180:
return HttpResponseBadRequest(
'Longitude out of range [-180, 180]: %f' %
telemetry_proto.longitude)
if telemetry_proto.altitude < -1500 or telemetry_proto.altitude > 330000:
return HttpResponseBadRequest(
'Altitude out of range [-1500, 330000]: %f' %
telemetry_proto.altitude)
if telemetry_proto.heading < 0 or telemetry_proto.heading > 360:
return HttpResponseBadRequest(
'Heading out of range [0, 360]: %f' % telemetry_proto.heading)
# Store telemetry.
gpos = GpsPosition(
latitude=telemetry_proto.latitude,
longitude=telemetry_proto.longitude)
gpos.save()
apos = AerialPosition(
gps_position=gpos, altitude_msl=telemetry_proto.altitude)
apos.save()
telemetry = UasTelemetry(
user=request.user,
uas_position=apos,
uas_heading=telemetry_proto.heading)
telemetry.save()
return HttpResponse('UAS Telemetry Successfully Posted.')
def simulate_telemetry(test, client, mission, hit_waypoint):
"""Simulates sending telemetry."""
t = interop_api_pb2.Telemetry()
if hit_waypoint:
wpt = random.choice(mission.mission_waypoints.all())
t.latitude = wpt.latitude
t.longitude = wpt.longitude
t.altitude = wpt.altitude_msl
t.heading = random.uniform(0, 360)
else:
t.latitude = random.uniform(0, 90)
t.longitude = random.uniform(0, 180)
t.altitude = random.uniform(0, 800)
t.heading = random.uniform(0, 360)
r = client.post(telemetry_url,
data=json_format.MessageToJson(t),
content_type='application/json')
test.assertEqual(r.status_code, 200, r.content)
#print(DictObj["flyZones"][0]["boundaryPoints"])
#print (mission)
#print(type(mission))
try:
x = urllib.request.urlopen('http://10.10.130.104:56781/mavlink/')
#print(x.read())
# Catching the exception generated
except Exception as e:
print(str(e))
from urllib.request import urlopen
#print(type(mav_json))
#print(mav_json["GPS_RAW_INT"]["msg"]["lat"]/1e7)
#print(mav_json["GPS_RAW_INT"]["msg"]["lon"]/1e7)
#print(mav_json["GPS_RAW_INT"]["msg"]["alt"]/1e3)
#print(mav_json["VFR_HUD"]["msg"]["heading"])
while (True):
time.sleep(0.8)
mav_json = json.load(urlopen("http://10.10.130.104:56781/mavlink/"))
print("sent")
#print(mav_json["GPS_RAW_INT"])
telemetry = interop_api_pb2.Telemetry()
telemetry.latitude = mav_json["GPS_RAW_INT"]["msg"]["lat"] / 1e7
telemetry.longitude = mav_json["GPS_RAW_INT"]["msg"]["lon"] / 1e7
telemetry.altitude = (mav_json["VFR_HUD"]["msg"]["alt"]) * 3.281
telemetry.heading = mav_json["VFR_HUD"]["msg"]["heading"]
client.post_telemetry(telemetry)
