def __init__(self):
self.mu_lock = Lock()
self.sat_lock = Lock()
MOOSCommClient.__init__(self)
self.SetOnConnectCallBack(self._on_connect)
self.SetOnDisconnectCallBack(self._on_disconnect)
self.SetOnMailCallBack(self._on_mail)
def __init__(self, config):
MOOSCommClient.__init__(self)
self.SetOnConnectCallBack(self.onConnect)
self.SetOnMailCallBack(self.onMail)
self.get_config(config)
self.set_publishers()
self.holder = {}
self.create_cap_freq_holders()
self.navpy_gps = GPS()
def __init__(self):
self.data = deepcopy(VehicleData)
MOOSCommClient.__init__(self)
self.SetOnConnectCallBack(self._on_connect)
self.SetOnDisconnectCallBack(self._on_disconnect)
self.SetOnMailCallBack(self._on_mail)
self.Run(cfg.moos_ip, cfg.moos_port, cfg.moos_name, cfg.moos_freq)
for x in range(30):
if not self.IsConnected():
sleep(0.1)
continue
print('CAN GUI Connected')
return
print('CAN GUI Could not connect to MOOSDB')
sys.exit()
def __init__(self, config, parent=None):
QtGui.QWidget.__init__(self, parent)
try:
MoosWidget.moosdb_ip = config['ip']
MoosWidget.moosdb_port = config['port']
except:
pass # default
self.thread = MoosWidget.MoosThread()
self.client = MOOSCommClient()
# self.client.SetOnConnectCallBack(self.onConnect)
# self.client.SetOnMailCallBack(self.onMail)
self.client.unpackCallback = self.unpackMsg
self.client.Run(self.moosdb_ip, self.moosdb_port, 'survey', 50)
self.time_buffer = config["time_buffer"]
self.client.desired_variables = self.desired_variables = config[
'desired_variables']
self.sensor = config['sensor']
print('MoosWidget will subscribe to Sensor: %s' % self.sensor)
print('MoosWidget will subscribe to Variables:')
for dv in self.desired_variables:
print('\t%s' % dv)
self.partial_positions = {}
self.current_position = {}
self.current_position_time = None
for i in self.desired_variables:
self.current_position[i] = None
self.num_var = len(self.desired_variables)
# Check Connection
for x in range(30):
sleep(0.1)
if self.client.IsConnected():
print("Connected to MOOSDB")
break
if not self.client.IsConnected():
print("MOOSCommClient Error:: Failed to Connect to MOOSDB")
sys.exit(-1)
def __init__(self):
MOOSCommClient.__init__(self)
self.SetOnConnectCallBack(self.onConnect)
self.SetOnMailCallBack(self.onMail)
class MoosWidget(QtGui.QWidget):
"""
Qt implementation of the MOOSCommClient
"""
sendPosition = QtCore.Signal(tuple)
moosdb_ip = '127.0.0.1'
moosdb_port = 9000
class MoosThread(QtCore.QThread):
"""Thread for the MOOSCommClient"""
def run():
"""reimplement run()"""
socket = QtNetwork.QTcpSocket()
socket.connectToHost(MoosWidget.moosdb_ip, MoosWidget.moosdb_port)
self.exec_()
def __init__(self, config, parent=None):
QtGui.QWidget.__init__(self, parent)
try:
MoosWidget.moosdb_ip = config['ip']
MoosWidget.moosdb_port = config['port']
except:
pass # default
self.thread = MoosWidget.MoosThread()
self.client = MOOSCommClient()
# self.client.SetOnConnectCallBack(self.onConnect)
# self.client.SetOnMailCallBack(self.onMail)
self.client.unpackCallback = self.unpackMsg
self.client.Run(self.moosdb_ip, self.moosdb_port, 'survey', 50)
self.time_buffer = config["time_buffer"]
self.client.desired_variables = self.desired_variables = config[
'desired_variables']
self.sensor = config['sensor']
print('MoosWidget will subscribe to Sensor: %s' % self.sensor)
print('MoosWidget will subscribe to Variables:')
for dv in self.desired_variables:
print('\t%s' % dv)
self.partial_positions = {}
self.current_position = {}
self.current_position_time = None
for i in self.desired_variables:
self.current_position[i] = None
self.num_var = len(self.desired_variables)
# Check Connection
for x in range(30):
sleep(0.1)
if self.client.IsConnected():
print("Connected to MOOSDB")
break
if not self.client.IsConnected():
print("MOOSCommClient Error:: Failed to Connect to MOOSDB")
sys.exit(-1)
def onConnect(self):
"""MOOS callback - required in every MOOS app's class definition"""
for var in self.desired_variables:
self.client.Register(var)
return True
def onMail(self):
"""MOOS callback - required in every MOOS app's class definition"""
messages = self.client.FetchRecentMail()
for message in messages:
self.unpackMsg(message)
return True
def unpackMsg(self, msg):
"""parse moos messages. put into dictionary
handles conversion of any strings"""
# print('\nIn unpack_msg: \t%s' % msg.GetKey())
time = round(msg.GetTime(), 3)
name = msg.GetKey() # 'z_____' String
if msg.GetSource() != self.sensor:
Warning('QtMOOS Receiving messages from undesired sensor')
return
if msg.IsDouble():
var_type = 'double'
valu = msg.GetDouble()
elif msg.IsString():
Warning('Strings not supported')
return
self.handleMsg(time, name, valu)
def handleMsg(self, time, name, valu):
""" update the current position when possible """
if time not in self.partial_positions:
self.partial_positions[time] = {}
self.partial_positions[time][name] = valu
ts = sorted(self.partial_positions.iterkeys()) # from low to high
for t in ts:
cull = False
if len(self.partial_positions[t]) == self.num_var: # update
self.current_position = self.partial_positions[t]
self.current_position_time = time_now()
cull = True
if time - t > self.time_buffer:
cull = True
if cull:
del self.partial_positions[t]
break # only one can be completed @ a time
@QtCore.Slot()
def onPositionRequested(self):
"""survey instance wants a position, trigger send position emit"""
if self.current_position == None or self.current_position_time == None:
raise MOOSConnectionWarning('Nones in current position')
return
elif time_now() - self.current_position_time > self.time_buffer:
raise MOOSPositionWarning(
'Time since last update too old - Disconnected?')
return
else:
print('\n\tTime Now: %f\t current_position_time: %f' % \
(time_now(), self.current_position_time))
out = (self.current_position[p] for p in self.desired_variables)
self.sendPosition.emit(out)
