def send_message(self, data, priority='11', count_incr=True):
cksm = Checksum.calculate(data)
message = priority + json.dumps(data) + cksm
try:
self.sock.sendto(message, (self.rxip, self.rxport))
#TODO implement catch, fail, etc
except Exception:
pass
if count_incr:
self.counter.increment()
def handle_message(self,message):
#parse parts
self.priority = message[:2]
self.cksm = message[-32:]
self.msg = message[2:-32]
self.vprint(self.msg)
#calculate checksum
calc_cksm = Checksum.calculate(json.loads(self.msg))
self.vprint("Calculated checksum: " + str(calc_cksm))
self.vprint("Delivered checksum: " + str(self.cksm))
if(calc_cksm != self.cksm):
return False
#decode msg json
msg_dict = json.loads(self.msg)
#handle update count message
if(self.priority == '01'):
new_count = int(msg_dict["new_count"])
self.counter.update_count(new_count)
return
#retrieve counter
msg_count = int(msg_dict["active_count"])
self.vprint("Active Count: " + str(msg_count))
#increment counter
self.counter.increment()
if(self.counter.check_value(msg_count)):
return msg_dict
elif(self.priority == '00'): #allow emergency messages
return msg_dict
else:
self.counter.decrement()
return False
msg2 = {
"hello": "world"
}
msg3 = {
"active_count":2,
"yaw_x" : -5,
"abort" : False,
"speed" : 25.6,
"hello": "world",
"more_data": 23235
}
print msg
chksm = Checksum.calculate(msg)
print Checksum.calculate(msg2)
print Checksum.calculate(msg3)
print chksm
print len(chksm)
log.info('test')
message = '11' + json.dumps(msg) + chksm
print message
x = imh.handle_message(message)
print x
print x['abort']