def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.address = int(tokens[2])
msg.payload = ','.join(tokens[9:])
duration = int(tokens[7]) # in microseconds
rel_speed = float(tokens[8]) # in meters per second
info = {'duration': duration, 'relative_speed': rel_speed}
msg.info = [KeyValue(key, value) for key, value in info.items()]
rospy.loginfo(
'%s: Received IM from node %s, payload: %s, info: %s' %
(self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.pub_burst_in.publish(msg)
def parse_acoustic_bm(self, tokens):
"""
This method parse an incoming burst message and publish its content on a dedicated topic
:param tokens: list of message fields
"""
msg = AcousticModemPayload()
msg.address = int(tokens[2])
msg.payload = ','.join(tokens[9:])
duration = int(tokens[7]) # in microseconds
rel_speed = float(tokens[8]) # in meters per second
info = {
'duration': duration,
'relative_speed': rel_speed
}
msg.info = [KeyValue(key, value) for key, value in info.items()]
rospy.loginfo('%s: Received IM from node %s, payload: %s, info: %s' %(self.name, msg.address, repr(msg.payload), repr(msg.info)))
self.pub_burst_in.publish(msg)
