def __init__(self, conf, messages, options, listen_acid=wasp.ACID_ALL):
gs.config.ConfigurableIface.__init__(self, conf)
gobject.GObject.__init__(self)
self._rxts = treeview.MessageTreeStore()
#dictionary of msgid : [list, of, MessageCb objects]
self._callbacks = {}
#for tracking UAVs we have seen and are communicating with
self._listen_acid = listen_acid
self._desination_acid = wasp.ACID_ALL
self._seen_acids = {}
self._messages_file = messages
self._transport = transport.Transport(check_crc=True, debug=DEBUG)
self._groundstation_header = wasp.transport.TransportHeaderFooter(acid=wasp.ACID_GROUNDSTATION)
self._rm = self._messages_file.get_message_by_name("REQUEST_MESSAGE")
self._rt = self._messages_file.get_message_by_name("REQUEST_TELEMETRY")
source_name, comm_klass, cmdline_config = communication.get_source(options.source)
LOG.info("Source: %s" % comm_klass)
self.communication = comm_klass(self._transport, self._messages_file, self._groundstation_header)
#manage commands that expect a reply
self._command_manager = fms.CommandManager(self.communication)
#configure the class
#start with default values
self._default_config = self.communication.get_configuration_default()
#replace those with configured values
self.update_state_from_config()
#replace those with command line values
self._default_config.update(cmdline_config)
LOG.debug("Source config: %s" % self._default_config)
self.communication.configure_connection(**self._default_config)
#attach the config UI
self._config_gui = _SOURCE_CONFIG_GUIS.get(source_name, _SourceConfig)()
self.communication.connect("message-received", self.on_message_received)
self.communication.connect("uav-connected", self.on_uav_connected)
#track how many messages per second
self._linkok = False
self._linktimeout = datetime.timedelta(seconds=2)
self._lastt = datetime.datetime.now()
self._times = utils.MovingAverage(5, float)
gobject.timeout_add(2000, self._check_link_status)
#track the ping time
self._sendping = None
self._pingtime = 0
self._pingmsg = messages.get_message_by_name("PING")
self.register_interest(self._got_pong, 0, "PONG")
if options.ping_time > 0:
gobject.timeout_add(1000*options.ping_time, self._do_ping)
def __init__(self, conf, messages, options, listen_acid=wasp.ACID_ALL):
config.ConfigurableIface.__init__(self, conf)
gobject.GObject.__init__(self)
self._port = self.config_get("serial_port", self.DEFAULT_PORT)
self._speed = self.config_get("serial_speed", self.DEFAULT_SPEED)
self._rxts = treeview.MessageTreeStore()
# dictionary of msgid : [list, of, MessageCb objects]
self._callbacks = {}
# for tracking UAVs we have seen and are communicating with
self._listen_acid = listen_acid
self._desination_acid = wasp.ACID_ALL
self._seen_acids = {}
self._messages_file = messages
self._transport = transport.Transport(check_crc=True, debug=DEBUG)
self._groundstation_header = wasp.transport.TransportHeaderFooter(acid=wasp.ACID_GROUNDSTATION)
self._rm = self._messages_file.get_message_by_name("REQUEST_MESSAGE")
self._rt = self._messages_file.get_message_by_name("REQUEST_TELEMETRY")
# initialise the communication class
connection_configuration = {"serial_port": self._port, "serial_speed": self._speed}
source_name = options.source
comm_klass = communication.get_source(source_name)
LOG.info("Source: %s" % comm_klass)
self.communication = comm_klass(self._transport, self._messages_file, self._groundstation_header)
self.communication.configure_connection(**connection_configuration)
self.communication.connect("message-received", self.on_message_received)
self.communication.connect("uav-connected", self.on_uav_connected)
# track how many messages per second
self._linkok = False
self._linktimeout = datetime.timedelta(seconds=2)
self._lastt = datetime.datetime.now()
self._times = utils.MovingAverage(5, float)
gobject.timeout_add(2000, self._check_link_status)
# track the ping time
self._sendping = None
self._pingtime = 0
self._pingmsg = messages.get_message_by_name("PING")
self.register_interest(self._got_pong, 0, "PONG")
if options.ping_time > 0:
gobject.timeout_add(1000 * options.ping_time, self._do_ping)
