def enable_piksi_sim(self):
print 'ENABLING SIM'
section = "simulator"
name = "enabled"
value = "True"
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, value))
self.send_to_piksi(msg.to_binary())
def enable_piksi_sim(self): print 'ENABLING SIM' section = "simulator" name = "enabled" value = "True" msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, value)) self.send_to_piksi(msg.to_binary())
def main():
parser = argparse.ArgumentParser(
description="Swift Navigation SBP Setting Monitor example.")
parser.add_argument("-H",
"--host",
required=True,
help="specify the host address.")
parser.add_argument("-p",
"--port",
default=55556,
help="specify the port to use.")
args = parser.parse_args()
monitor = SettingMonitor()
with TCPDriver(args.host, args.port) as driver:
with Handler(Framer(driver.read, driver.write,
verbose=True)) as link:
driver.flush()
time.sleep(2)
# Capture setting messages
link.add_callback(monitor.capture_setting,
SBP_MSG_SETTINGS_READ_RESP)
link.add_callback(print_setting, SBP_MSG_SETTINGS_READ_RESP)
# Disable spectrum analyzer
link(
MsgSettingsWrite(
setting=b'%s\0%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer', b'False')))
# Request the value of the system_monitor:spectrum_analyzer setting
link(
MsgSettingsReadReq(
setting=b'%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer')))
# Wait up to 5 seconds to see the setting we want
specan_off = monitor.wait_for_setting_value(
b'system_monitor', b'spectrum_analyzer', b'False')
assert (specan_off == True)
print("Spectrum analyzer turned off!")
# Request the value of the system_monitor:spectrum_analyzer setting
link(
MsgSettingsReadReq(
setting=b'%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer')))
# Wait up to 5 seconds to see the setting we (don't) want
specan_off = monitor.wait_for_setting_value(
b'system_monitor', b'spectrum_analyzer', b'True')
assert (specan_off == False)
print("Spectrum analyzer still off!")
def enable_piksi_sim(self):
if not self.framer:
return False
section = "simulator"
name = "enabled"
value = "True"
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, value))
self.framer(msg)
return True
def set_base_pos_location(self, lat, lon, alt, save=True):
'''
assumes lat, lon, alt are already strings in the decimal degrees
'''
if not self.framer:
return False
print "module_SBPUDPBroadcast: Setting base pos location: ", lat, lon, alt
section = "surveyed_position"
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, "surveyed_lat", lat))
self.framer(msg)
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, "surveyed_lon", lon))
self.framer(msg)
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, "surveyed_alt", alt))
self.framer(msg)
if save:
msg = MsgSettingsSave()
self.framer(msg)
return True
def disable_piksi_sim(self, save=True):
if not self.framer:
return False
section = "simulator"
name = "enabled"
value = "False"
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, value))
self.framer(msg)
if save:
msg = MsgSettingsSave()
self.framer(msg)
return True
def write(self, section, setting, value, write_retries=DEFAULT_WRITE_RETRIES,
confirm_retries=DEFAULT_CONFIRM_RETRIES, verbose=False):
"""Write setting by name and confirm set
Notes: Caller does not raise an exception, but RuntimeError may be raised when write unsuccessful
Args:
section(str): string of section name
setting(str): string of setting name
value(str): value to set
verbose(bool): Echo settings to sdout
Returns:
None
"""
attempts = 0
while (attempts < write_retries):
if verbose:
print("Attempting to write:section={}|setting={}|value={}".format(section, setting, value))
attempts += 1
reply = {'status': 0}
def cb(msg, **metadata):
reply['status'] = msg.status
self.link.add_callback(cb, SBP_MSG_SETTINGS_WRITE_RESP)
self.link(MsgSettingsWrite(setting=b'%s\0%s\0%s\0'
% (section.encode(KEY_ENCODING), setting.encode(KEY_ENCODING),
value.encode(VALUE_ENCODING))))
if self._confirm_write(section, setting, value, verbose=verbose, retries=confirm_retries):
self.link.remove_callback(cb, SBP_MSG_SETTINGS_WRITE_RESP)
return
if reply['status'] == 1:
raise RuntimeError("Unable to write setting \"{}\" in section \"{}\" "
"with value \"{}\": Setting value rejected.".format(setting, section,
value))
elif reply['status'] == 2:
raise RuntimeError("Unable to write setting \"{}\" in section \"{}\"."
"Setting does not exist.".format(setting, section))
elif reply['status'] > 0:
raise RuntimeError("Unknown setting write status response")
else:
continue
raise RuntimeError("Unable to write setting \"{}\" in section \"{}\" "
"with value \"{}\" after {} attempts. Setting "
"may be read-only or the value could be out of bounds.".format(setting, section,
value, write_retries))
self.link.remove_callback(cb, SBP_MSG_SETTINGS_WRITE_RESP)
def toggle_base_pos_broadcast(self, value=False, save=True):
if not self.framer:
return False
section = "surveyed_position"
name = "broadcast"
settingValue = "False"
if value:
settingValue = "True"
print "module_SBPUDPBroadcast: Broadcast base pos location: ", settingValue
msg = MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, settingValue))
self.framer(msg)
if save:
msg = MsgSettingsSave()
self.framer(msg)
return True
def write(source, section, setting, value):
'''
Writes the value of a given setting to the Multi.
Args:
source: Handler object
section: section of the settings
settings: setting to be set
value: set values
Returns:
None
'''
write_retries = 5
attempts = 0
# print('Writing: section={}, setting={}, value={}'.format(section,
# setting, value))
while (attempts < write_retries):
attempts += 1
reply = {'status': 0}
def cb(msg, **metadata):
reply['status'] = msg.status
source.add_callback(cb, SBP_MSG_SETTINGS_WRITE_RESP)
source(
MsgSettingsWrite(
setting='{}\0{}\0{}\0'.format(section, setting, value)))
if confirm_write(source, section, setting, value):
source.remove_callback(cb, SBP_MSG_SETTINGS_WRITE_RESP)
break
def set(self, section, name, value):
self.link(
MsgSettingsWrite(setting='%s\0%s\0%s\0' % (section, name, value)))
def write(self, section, setting, value):
self.link(
MsgSettingsWrite(setting='%s\0%s\0%s\0' %
(section, setting, value)))