def gen_radio_status_msg_str():
global radio_msg, ancien
if radio_msg != "":
rssi = extractData(radio_msg)
if rssi < 0:
rssi = -rssi
# create a mavlink instance, which will do IO on file object 'f'
mav = mavlink.MAVLink(f, 24, 1)
#radio_status_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
m = mav.radio_status_encode(rssi, 0, 9, 0, 0, 0, 9)
m.pack(mav)
# get the encoded message as a buffer
b = m.get_msgbuf()
radio_status_str = base64.b64encode(b)
# the devEUI is false. We have to modify it if we need the good one.
radio_status_msg_str = "{\"devEUI\":\"f03d291000000046\",\"fPort\":99,\"gatewayCount\":99,\"rssi\":99,\"data\":\"" + str(
radio_status_str) + "\"}"
ancien = str(radio_status_str)
return radio_status_msg_str
else:
radio_status_msg_str = "{\"devEUI\":\"f03d291000000046\",\"fPort\":99,\"gatewayCount\":99,\"rssi\":99,\"data\":\"" + ancien + "\"}"
return radio_status_msg_str
else:
radio_status_msg_str = "{\"devEUI\":\"f03d291000000046\",\"fPort\":99,\"gatewayCount\":99,\"rssi\":99,\"data\":\"" + ancien + "\"}"
return radio_status_msg_str
def __init__(self, args, kwargs):
""" Initialize the socket connections """
# Call the constructor of the parent class
DatastreamManager.__init__(self, args, kwargs)
self._mav = mavlink.MAVLink(None)
self._conn_manager = MavlinkConnManager(self._mav)
self._boot_time = blenderapi.persistantstorage().time.time
def publishMQTT_gps_raw_int(client, fix_type, obs_time=0):
global topicToPublishMQTT
mav = mavlink.MAVLink(f, 24, 1)
#gps_raw_int_encode(usec, fix_type, lat, lon, alt, eph, epv, v, hdg)
m = mav.gps_raw_int_encode(obs_time, fix_type, 0, 0, 0, 0, 0, 0, 65535,
255)
m.pack(mav)
data = m.get_msgbuf()
(result, mid) = client.publish(topicToPublishMQTT, encodeData(data))
def gen_heartbeat_msg_str():
# create a mavlink instance, which will do IO on file object 'f'
mav = mavlink.MAVLink(f, 24, 1)
m = mav.heartbeat_encode(6, 8, 220, 0, 1)
m.pack(mav)
# get the encoded message as a buffer
b = m.get_msgbuf()
heartbeat_str = base64.b64encode(b)
heartbeat_msg_str = "{\"devEUI\":\"f03d291000000046\",\"fPort\":99,\"gatewayCount\":99,\"rssi\":99,\"data\":\"" + str(
heartbeat_str) + "\"}"
return heartbeat_msg_str
class fifo(object):
def __init__(self):
self.buf = []
def write(self, data):
self.buf += data
return len(data)
def read(self):
return self.buf.pop(0)
# we will use a fifo as an encode/decode buffer
f = fifo()
# create a mavlink instance, which will do IO on file object 'f'
mav = mavlink.MAVLink(f)
def encodeBase64(data):
return base64.b64encode(data)
def encodeData(data):
data64 = encodeBase64(data)
return "{\"devEUI\":\"f03d291000000046\",\"fPort\":99,\"gatewayCount\":99,\"rssi\":99,\"data\":\"" + str(
data64) + "\"}"
def extract_observation_time(message):
if (len(message) > 20):
binString = bin(
#camera = gphoto2.Camera()
#camera.init()
logger.info("camera init success")
except:
logger.info("camera init failed")
# if os.path.exists("mn") is True:
# with open("mn") as f:
# mission_num=f.read()
logger.info("current mission num is " + str(mission_num))
HeartBeat['mission_id'] = mission_num
resetNet()
os.system("sudo route add default ppp0")
# 创建连接 打开连接飞控的串口
the_connect = mavutil.mavlink_connection("/dev/feikong_uart", baud=57600)
#the_connect = mavutil.mavlink_connection("/dev/ttyUSB5", baud=57600)
aa = cm.MAVLink(the_connect)
# 阿里云初始化
if len(sys.argv) > 1:
flag_start = 1
else:
flag_start = 0
# whichserver = sys.argv[1] #如果从start.py启动
whichserver = 'hejing'
pd_key, pd_secret, dv_secret, dv_name = read_init(whichserver)
lk = linkkit.LinkKit(host_name="cn-shanghai",
product_key=pd_key,
device_name=dv_name,
device_secret=dv_secret,
product_secret=pd_secret)
if dv_secret == "": #如果为空，代表还没有动态注册