def connect(self, link, read_config): """Retry read connections. Intended to be called when thread started Only shared resource here is the self.link Parameters ---------- link : SbpHandler read_config : SkylarkConsoleConnectConfig object Returns ---------- ret : int 0 if exited normally by thread stopping -1 if unable to connect as base station -2 if unable to connect as rover -3 if we lost our net connection to skylark (we restart in this case unless stopped) """ assert isinstance(read_config, SkylarkConsoleConnectConfig) self._connect_time = time.time() if self.verbose: print(("SkylarkWatchdogThread connection attempted at time {0} with parameters {1}".format( self.get_connect_time(), read_config))) i = 0 repeats = 5 http = HTTPDriver(device_uid=read_config.base_uuid, url=read_config.skylark_url) if not http.connect_write(link, read_config.whitelist, pragma=read_config.base_pragma): msg = ("\nUnable to connect to Skylark!\n\n" + "Please check that you have a network connection.") self._prompt_networking_error(msg) http.close() self.stop() return -1 # unable to connect as base time.sleep(1) # If we get here, we were able to connect as a base print("Attempting to read observation from Skylark...") while (not self.stopped() and http and not http.connect_read(device_uid=read_config.rover_uuid, pragma=read_config.rover_pragma)): time.sleep(0.1) i += 1 if i >= repeats: msg = ("\nUnable to receive observations from Skylark!\n\n" "Please check that:\n" " - you have a network connection\n" " - your Piksi has a single-point position\n" " - a Skylark-connected Piksi receiver \n is nearby (within 5km)") self._prompt_networking_error(msg) http.close() self.stop() return -2 # Unable to connect as rover # If we get here, we were able to connect as rover print("Connected as a rover!") with Handler(Framer(http.read, http.write)) as net_link: fwd = Forwarder(net_link, swriter(link)) if self.verbose: print("Starting forwarder") fwd.start() # now we sleep until we stop the thread or our http handler dies while not self.stopped() and net_link.is_alive(): time.sleep(0.1) # when we leave this loop, we are no longer connected to skylark so the fwd should be stopped if self.verbose: print("Stopping forwarder") fwd.stop() if self.verbose: print("Stopping HTTPDriver") http.close() # now manage the return code if self.stopped(): return 0 # If we stop from the event, it it intended and we return 0 else: return -3 # Lost connection
def connect(self, link, read_config): """Retry read connections. Intended to be called when thread started Only shared resource here is the self.link Parameters ---------- link : SbpHandler read_config : HttpConsoleConnectConfig object Returns ---------- ret : int 0 if exited normally by thread stopping -1 if unable to connect as base station -2 if unable to connect as rover -3 if we lost our network connection (we restart in this case unless stopped) """ assert isinstance(read_config, HttpConsoleConnectConfig) self._connect_time = time.time() if self.verbose: print( "HttpWatchdogThread connection attempted at time {0} with parameters {1}". format(self.get_connect_time(), read_config)) i = 0 repeats = 5 http = HTTPDriver( device_uid=read_config.base_uuid, url=read_config.url) if not http.connect_write( link, read_config.whitelist, pragma=read_config.base_pragma): msg = ("\nUnable to connect!\n\n" + "Please check that you have a network connection.") self._prompt_networking_error(msg) http.close() self.stop() return -1 # unable to connect as base time.sleep(1) # If we get here, we were able to connect as a base print("Attempting to read observations ...") while (not self.stopped() and http and not http.connect_read( device_uid=read_config.rover_uuid, pragma=read_config.rover_pragma)): time.sleep(0.1) i += 1 if i >= repeats: msg = ("\nUnable to receive observations!\n\n" "Please check that:\n" " - you have a network connection\n" " - your Piksi has a single-point position\n" " - your Piksi has sent its settings to the console") self._prompt_networking_error(msg) http.close() self.stop() return -2 # Unable to connect as rover # If we get here, we were able to connect as rover print("Connected as a rover!") with Handler(Framer(http.read, http.write)) as net_link: fwd = Forwarder(net_link, swriter(link)) if self.verbose: print("Starting forwarder") fwd.start() # now we sleep until we stop the thread or our http handler dies while not self.stopped() and net_link.is_alive(): time.sleep(0.1) # when we leave this loop, we are no longer connected so the fwd should be stopped if self.verbose: print("Stopping forwarder") fwd.stop() if self.verbose: print("Stopping HTTPDriver") http.close() # now manage the return code if self.stopped(): return 0 # If we stop from the event, it it intended and we return 0 else: return -3 # Lost connection