def main():
main_interface = command_handler.CommandHandler("polyglot.db")
while True:
command = main_interface.parse_command(str(input("Enter command>")))
if main_interface.is_command(command, "help"):
print(main_interface.trigger_help())
elif main_interface.is_command(command, "list_employees"):
print(main_interface.trigger_list_employees())
elif main_interface.is_command(command, "monthly_spending"):
print("The company is spending ${} every month!".format(
main_interface.trigger_monthly_spending()))
elif main_interface.is_command(command, "yearly_spending"):
print("The company is spending ${} every year!".format(
main_interface.trigger_yearly_spending()))
elif main_interface.is_command(command, "add_employee"):
main_interface.trigger_add_employee()
elif main_interface.is_command(command, "delete_employee"):
print(main_interface.trigger_delete_employee(command[1]))
elif main_interface.is_command(command, "update_employee"):
main_interface.trigger_update_employee(command[1])
else:
print(main_interface.trigger_unknown_command())
def handle_connect(self):
# get the socket that connect to the client socket
self.socket = self.request
self.socket.settimeout(99)
# send greetings
self.socket.send(
("--------------Welcome to MySSH server-------------\n")
.encode()
)
# create user instance to process commands
self.handler = command_handler.CommandHandler(
None, command_parser.CommandParser())
self.ackno = 0
self.record = {}
def __init__(self):
self.request_sent = False
self.first_msg_ok = False
# status variables
self.batt_volt = 0.0
self.last_heard = 0
self.last_heard_sys_status = 0
self.lat = 0.0
self.lon = 0.0
self.alt = 0.0
self.local_lat = 0.0
self.local_lon = 0.0
self.local_alt = -5.0
self.local_pos = np.empty((1, 3), float)
self.recorded_sys_id = 0
self.recorded_comp_id = 0
self.utmconv = utm.utmconv()
self.target_lat = 55.4720459
self.target_lon = 10.4148503
(_, _, _, easting,
northing) = self.utmconv.geodetic_to_utm(self.target_lat,
self.target_lon)
self.target_easting = easting
self.target_northing = northing
self.mission_handler = mission_handler.MissionHandler()
self.current_mission_no = 0
self.last_mission_no = 0
self.command_handler = command_handler.CommandHandler()
rospy.sleep(1) # wait until everything is running
self.boot_time = rospy.Time.now().to_sec() * 1000
self.drone_boot_epoch = 0
# Service handlers
self.arm_service = rospy.Service("/telemetry/arm_drone",
Trigger,
self.command_handler.arm_drone,
buff_size=10)
self.disarm_service = rospy.Service("/telemetry/disarm_drone",
Trigger,
self.command_handler.disarm_drone,
buff_size=10)
self.takeoff_service = rospy.Service(
"/telemetry/takeoff_drone",
TakeoffDrone,
self.command_handler.takeoff_drone,
buff_size=10)
self.land_service = rospy.Service("/telemetry/land_drone",
LandDrone,
self.command_handler.land_drone,
buff_size=10)
self.start_mission_service = rospy.Service(
"/telemetry/start_mission",
Trigger,
self.command_handler.start_mission,
buff_size=10)
self.goto_waypoint = rospy.Service("/telemetry/goto_waypoint",
GotoWaypoint,
self.command_handler.goto_waypoint,
buff_size=10)
self.return_home_service = rospy.Service(
"/telemetry/return_home",
Trigger,
self.command_handler.return_home,
buff_size=10)
self.set_home_service = rospy.Service("/telemetry/set_home",
SetHome,
self.command_handler.set_home,
buff_size=10)
self.set_mode_service = rospy.Service("/telemetry/set_mode",
SetMode,
self.command_handler.set_mode,
buff_size=10)
self.guided_enable_service = rospy.Service(
"/telemetry/guided_enable",
Trigger,
self.command_handler.guided_enable,
buff_size=10)
self.guided_disable_service = rospy.Service(
"/telemetry/guided_disable",
Trigger,
self.command_handler.guided_disable,
buff_size=10)
self.change_speed_service = rospy.Service(
"/telemetry/change_speed",
ChangeSpeed,
self.command_handler.change_speed,
buff_size=10)
self.dowload_mission_service = rospy.Service(
"/telemetry/download_mission",
Trigger,
self.mission_handler.download,
buff_size=10)
self.mission_upload_service = rospy.Service(
"/telemetry/upload_mission",
UploadMission,
self.mission_handler.upload,
buff_size=10)
self.mission_upload_from_file_service = rospy.Service(
"/telemetry/upload_mission_from_file",
UploadFromFile,
self.mission_handler.upload_from_file,
buff_size=10)
self.start_tracking_service = rospy.Service(
"/telemetry/start_tracking",
Trigger,
self.start_tracking,
buff_size=10)
self.stop_tracking_service = rospy.Service("/telemetry/stop_tracking",
Trigger,
self.stop_tracking,
buff_size=10)
# Topic handlers
self.mavlink_msg_pub = rospy.Publisher(mavlink_lora_pub_topic,
mavlink_lora_msg,
queue_size=0)
self.statustext_pub = rospy.Publisher("/telemetry/statustext",
telemetry_statustext,
queue_size=0)
self.heartbeat_status_pub = rospy.Publisher(
"/telemetry/heartbeat_status",
telemetry_heartbeat_status,
queue_size=0)
self.mav_mode_pub = rospy.Publisher("/telemetry/mav_mode",
telemetry_mav_mode,
queue_size=0)
self.vfr_hud_pub = rospy.Publisher("/telemetry/vfr_hud",
telemetry_vfr_hud,
queue_size=0)
self.home_position_pub = rospy.Publisher("/telemetry/home_position",
telemetry_home_position,
queue_size=0)
self.control_commands_pub = rospy.Publisher(
"/telemetry/control_commands",
telemetry_control_commands,
queue_size=0)
self.imu_ned_pub = rospy.Publisher("/telemetry/imu_data_ned",
telemetry_imu_ned,
queue_size=0)
self.local_position_ned_pub = rospy.Publisher(
"/telemetry/local_position_ned",
telemetry_local_position_ned,
queue_size=0)
rospy.Subscriber(mavlink_lora_sub_topic, mavlink_lora_msg,
self.on_mavlink_msg)
rospy.Subscriber(mavlink_lora_pos_sub_topic, mavlink_lora_pos,
self.on_mavlink_lora_pos)
rospy.Subscriber(mavlink_lora_status_sub_topic, mavlink_lora_status,
self.on_mavlink_lora_status)
rospy.Subscriber("/telemetry/new_mission", mavlink_lora_mission_list,
self.mission_handler.on_mission_list)
rospy.Subscriber("/telemetry/mission_set_current", Int16,
self.mission_handler.mission_set_current)
rospy.Subscriber("/telemetry/set_landing_target",
telemetry_landing_target, self.on_landing_target)
rospy.Subscriber("/mavlink_interface/mission/ack",
mavlink_lora_mission_ack,
self.mission_handler.on_mission_ack)
rospy.Subscriber("/mavlink_interface/command/ack",
mavlink_lora_command_ack,
self.command_handler.on_command_ack)
self.rate = rospy.Rate(update_interval)
def setUp(self):
create_database("tests.db")
self.test_interface = command_handler.CommandHandler("tests.db")