def send_msg(self, msg_idx, remote_address, ack, packet): acoustic_msg = AcousticModemPayload() acoustic_msg.msg_id = msg_idx acoustic_msg.address = remote_address acoustic_msg.ack = ack acoustic_msg.payload = packet # Send the packet to the Evologics driver which will send to modem self.acoustic_msg_pub.publish(acoustic_msg)
def send_info(self, data):
# send a broadcast im to exchange the information stored
print("Sending Broadcast IM with nav data...")
self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0, int(self.time_for_bim * 1e9)), self.timer_callback, oneshot=True)
# create and send the message
msg = AcousticModemPayload()
msg.ack = False
msg.address = 255
msg.payload = MSG_HEADER + self.data_packer.pack(data)
self.pub_msg.publish(msg)
def send_requestV2(self, node):
# send an im to a device to get his position
# self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0, int(self.time_for_im * 1e9)), self.timer_callback, oneshot= True)
# self.nodes_list.append(node)
# create and send the message
msg = AcousticModemPayload()
msg.ack = True
msg.address = node
msg.payload = 'A'
self.pub_msg.publish(msg)
def send_info(self, data):
# send a broadcast im to exchange the information stored
print("Sending Broadcast IM with nav data...")
self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0,
int(self.time_for_bim * 1e9)),
self.timer_callback,
oneshot=True)
# create and send the message
msg = AcousticModemPayload()
msg.ack = False
msg.address = 255
msg.payload = MSG_HEADER + self.data_packer.pack(data)
self.pub_msg.publish(msg)
def send_requestV2(self, node):
# send an im to a device to get his position
# self.flag_busy = True
self.timer = rospy.Timer(rospy.Duration(0,
int(self.time_for_im * 1e9)),
self.timer_callback,
oneshot=True)
# self.nodes_list.append(node)
# create and send the message
msg = AcousticModemPayload()
msg.ack = True
msg.address = node
msg.payload = 'A'
self.pub_msg.publish(msg)
