def mavlink_thread_out():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while self._alive:
try:
msg = self.out_queue.get(True, timeout=0.01)
self.master.write(msg)
except Empty:
continue
except socket.error as error:
# If connection reset (closed), stop polling.
if error.errno == ECONNABORTED:
raise APIException('Connection aborting during read')
raise
except Exception as e:
errprinter('>>> mav send error:', e)
break
except APIException as e:
errprinter('>>> ' + str(e.message))
self._alive = False
self.master.close()
self._death_error = e
except Exception as e:
# http://bugs.python.org/issue1856
if not self._alive:
pass
else:
self._alive = False
self.master.close()
self._death_error = e
# Explicitly clear out buffer so .close closes.
self.out_queue = Queue()
def mavlink_thread_out():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while self._alive:
try:
msg = self.out_queue.get(True, timeout=0.01)
self.master.write(msg)
except Empty:
continue
except socket.error as error:
# If connection reset (closed), stop polling.
if error.errno == ECONNABORTED:
raise APIException('Connection aborting during read')
raise
except Exception as e:
errprinter('>>> mav send error:', e)
break
except APIException as e:
errprinter('>>> ' + str(e.message))
self._alive = False
self.master.close()
self._death_error = e
except Exception as e:
# http://bugs.python.org/issue1856
if not self._alive:
pass
else:
self._alive = False
self.master.close()
self._death_error = e
# Explicitly clear out buffer so .close closes.
self.out_queue = Queue()
def notify_message_listeners(self, msg):
for fn in self._message_listeners:
try:
fn(self, msg)
except Exception as e:
errprinter('>>> Exception in message handler for %s' %
msg.get_type())
errprinter('>>> ' + str(e))
def mavlink_thread_in():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while self._alive:
# Downtime
time.sleep(0.05)
# Loop listeners.
for fn in self.loop_listeners:
self.send_heartbeat()
fn(self)
while self._accept_input:
if not self._alive:
break
try:
msg = self.master.recv_msg()
# print("msg=%s" % (str(msg)))
except socket.error as error:
# If connection reset (closed), stop polling.
if error.errno == ECONNABORTED:
raise APIException('Connection aborting during send')
raise
except Exception as e:
# TODO this should be more rigorous. How to avoid
# invalid MAVLink prefix '73'
# invalid MAVLink prefix '13'
errprinter('mav recv error:', e)
msg = None
if not msg:
break
# Message listeners.
for fn in self.message_listeners:
try:
fn(self, msg)
except Exception as e:
errprinter('>>> Exception in message handler for %s' %
msg.get_type())
errprinter('>>> ' + str(e))
except APIException as e:
errprinter('>>> APIException (' + str(e.message) + ")")
self._alive = False
self.master.close()
self._death_error = e
return
except Exception as e:
# http://bugs.python.org/issue1856
if not self._alive:
pass
else:
self._alive = False
self.master.close()
self._death_error = e
errprinter('>>> Exception (' + str(e.message) + ")")
traceback.print_exc()
def callback(_, msg):
try:
target.out_queue.put(msg.pack(target.master.mav))
except:
try:
assert len(msg.get_msgbuf()) > 0
target.out_queue.put(msg.get_msgbuf())
except:
errprinter('>>> Could not pack this object on receive: %s' % type(msg))
def callback(_, msg):
try:
target.out_queue.put(msg.pack(target.master.mav))
except:
try:
assert len(msg.get_msgbuf()) > 0
target.out_queue.put(msg.get_msgbuf())
except:
errprinter('>>> Could not pack this object on receive: %s' % type(msg))
def callback(_, msg):
msg = copy.copy(msg)
try:
self.out_queue.put(msg.pack(self.master.mav))
except:
try:
assert len(msg.get_msgbuf()) > 0
self.out_queue.put(msg.get_msgbuf())
except:
errprinter('>>> Could not pack this object on forward: %s' % type(msg))
def callback(_, msg):
msg = copy.copy(msg)
target.fix_targets(msg)
try:
self.out_queue.put(msg.pack(self.master.mav))
except:
try:
assert len(msg.get_msgbuf()) > 0
self.out_queue.put(msg.get_msgbuf())
except:
errprinter('>>> Could not pack this object on forward: %s' % type(msg))
def mavlink_thread_in():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while self._alive:
# Loop listeners.
for fn in self.loop_listeners:
fn(self)
# Sleep
self.master.select(0.05)
while self._accept_input:
try:
msg = self.master.recv_msg()
except socket.error as error:
# If connection reset (closed), stop polling.
if error.errno == ECONNABORTED:
raise APIException(
'Connection aborting during send')
raise
except mavutil.mavlink.MAVError as e:
# Avoid
# invalid MAVLink prefix '73'
# invalid MAVLink prefix '13'
# errprinter('mav recv error:', e)
msg = None
except Exception as e:
# Log any other unexpected exception
errprinter(
'>>> Exception while receiving message: ', e)
msg = None
if not msg:
break
# Message listeners.
for fn in self.message_listeners:
try:
fn(self, msg)
except Exception as e:
errprinter(
'>>> Exception in message handler for %s' %
msg.get_type())
errprinter('>>> ' + str(e))
except APIException as e:
errprinter('>>> ' + str(e))
self._alive = False
self.master.close()
self._death_error = e
return
except Exception as e:
# http://bugs.python.org/issue1856
if not self._alive:
pass
else:
self._alive = False
self.master.close()
self._death_error = e
def mavlink_thread_in():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while True:
# Downtime
time.sleep(0.05)
# Loop listeners.
for fn in self.loop_listeners:
fn(self)
while self._accept_input:
try:
msg = self.master.recv_msg()
except socket.error as error:
# If connection reset (closed), stop polling.
if error.errno == ECONNABORTED:
raise APIException('Connection aborting during send')
raise
except Exception as e:
# TODO this should be more rigorous. How to avoid
# invalid MAVLink prefix '73'
# invalid MAVLink prefix '13'
# errprinter('mav recv error:', e)
msg = None
if not msg:
break
# Message listeners.
for fn in self.message_listeners:
try:
fn(self, msg)
except Exception as e:
errprinter('>>> Exception in message handler for %s' %
msg.get_type())
errprinter('>>> ' + str(e))
except APIException as e:
errprinter('>>> ' + str(e.message))
self._alive = False
self.master.close()
self._death_error = e
return
except Exception as e:
# http://bugs.python.org/issue1856
if not self._alive:
pass
else:
self._alive = False
self.master.close()
self._death_error = e
def read(self):
errprinter('writer should not have had a read request')
os._exit(43)
def mavlink_thread():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while True:
# Downtime
time.sleep(0.05)
# Loop listeners.
for fn in self.loop_listeners:
fn(self)
while True:
try:
msg = self.out_queue.get_nowait()
self.fix_targets(msg)
self.master.write(msg)
except socket.error as error:
if error.errno == ECONNABORTED:
errprinter(
'reestablishing connection after read timeout'
)
if hasattr(self.master, 'reset'):
self.master.reset()
else:
try:
self.master.close()
except:
pass
self.master = mavutil.mavlink_connection(
self.master.address)
continue
# If connection reset (closed), stop polling.
return
except Empty:
break
except Exception as e:
errprinter('mav send error:', e)
break
while True:
try:
msg = self.master.recv_msg()
except socket.error as error:
if error.errno == ECONNABORTED:
errprinter(
'reestablishing connection after send timeout'
)
if hasattr(self.master, 'reset'):
self.master.reset()
else:
try:
self.master.close()
except:
pass
self.master = mavutil.mavlink_connection(
self.master.address)
continue
# If connection reset (closed), stop polling.
return
except Exception as e:
# TODO this should be more rigorous. How to avoid
# invalid MAVLink prefix '73'
# invalid MAVLink prefix '13'
# errprinter('mav recv error:', e)
msg = None
if not msg:
break
# Message listeners.
for fn in self.message_listeners:
fn(self, msg)
except Exception as e:
# http://bugs.python.org/issue1856
if self.exiting:
pass
else:
raise
def read(self):
errprinter('writer should not have had a read request')
os._exit(43)
def mavlink_thread():
# Huge try catch in case we see http://bugs.python.org/issue1856
try:
while True:
# Downtime
time.sleep(0.05)
# Loop listeners.
for fn in self.loop_listeners:
fn(self)
while True:
try:
msg = self.out_queue.get_nowait()
self.fix_targets(msg)
self.master.write(msg)
except socket.error as error:
if error.errno == ECONNABORTED:
errprinter('reestablishing connection after read timeout')
if hasattr(self.master, 'reset'):
self.master.reset()
else:
try:
self.master.close()
except:
pass
self.master = mavutil.mavlink_connection(self.master.address)
continue
# If connection reset (closed), stop polling.
return
except Empty:
break
except Exception as e:
errprinter('mav send error:', e)
break
while True:
try:
msg = self.master.recv_msg()
except socket.error as error:
if error.errno == ECONNABORTED:
errprinter('reestablishing connection after send timeout')
if hasattr(self.master, 'reset'):
self.master.reset()
else:
try:
self.master.close()
except:
pass
self.master = mavutil.mavlink_connection(self.master.address)
continue
# If connection reset (closed), stop polling.
return
except Exception as e:
# TODO this should be more rigorous. How to avoid
# invalid MAVLink prefix '73'
# invalid MAVLink prefix '13'
# errprinter('mav recv error:', e)
msg = None
if not msg:
break
# Message listeners.
for fn in self.message_listeners:
fn(self, msg)
except Exception as e:
# http://bugs.python.org/issue1856
if self.exiting:
pass
else:
raise
