else:
print("session not available")
self.set_status(401, "Wrong session ID")
self.finish()
except (ValueError, KeyError) as error:
print("session access request decode failed ", error)
self.set_status(400, "unsupported input, JSON required")
self.finish()
else:
self.set_status(400, "JSON input required")
self.finish()
if __name__ == '__main__':
# redis_main.flushall()
redis_main.set("app_info", json.dumps({"status": 2})) # set app not ready flag.
drone_list = [{'api_key': '84d440b0ba95c19ccd8e56a2cf0e540694798850', 'vehicle_id': '6gi14TJq'},
{'api_key': '20fe4f04fe765cf265b81dbccd54a74303deba39', 'vehicle_id': '1atcQaG8', }]
print("Init: Checking available drones")
live_drones = confirm_drones(drone_list)
redis_main.set("app_info", json.dumps({"status": 1})) # Set 'app busy confirming drones' flag.
print("Init: ", len(live_drones), " Drones ready, Connecting over WebSocket")
ws_clients = []
if len(live_drones) > 0:
init_redis_structures(live_drones)
for drone_info in live_drones:
ws_clients.append(WebSocketClient(drone_info, None, sub_topics))
else:
print "session not available"
self.set_status(401, "Wrong session ID")
self.finish()
except (ValueError, KeyError) as error:
print "session access request decode failed ", error
self.set_status(400, "unsupported input, JSON required")
self.finish()
else:
self.set_status(400, "JSON input required")
self.finish()
if __name__ == '__main__':
# redis_main.flushall()
redis_main.set("app_info", json.dumps({"status":
2})) # set app not ready flag.
# drone_list = [{'api_key': '84d440b0ba95c19ccd8e56a2cf0e540694798850', 'vehicle_id': '6gi14TJq'},
# {'api_key': '20fe4f04fe765cf265b81dbccd54a74303deba39', 'vehicle_id': '1atcQaG8', }]
# print "Init: Checking available drones"
# live_drones = confirm_drones(drone_list)
# redis_main.set("app_info", json.dumps({"status": 1})) # Set 'app busy confirming drones' flag.
# print "Init: ", len(live_drones), " Drones ready, Connecting over WebSocket"
# ws_clients = []
# if len(live_drones) > 0:
# init_redis_structures(live_drones)
# for drone_info in live_drones:
# ws_clients.append(WebSocketClient(drone_info, None, sub_topics))
class WebSocketClient(WebSocketClientBase):
def __init__(self, drone_info, drone_vec, sub_topics, throttle_rate=6000):
self.api_key = drone_info["api_key"] # API key to talk with drone.
self.vehicle_id = drone_info["vehicle_id"] # vehicle ID of the drone.
self.namespace = drone_info["namespace"] # namespace of the drone
self.topics_subscribed = []
self.drone_vec = drone_vec # drone status vector that will be updated.
self.topics_to_subscribe = sub_topics
self.msglib = MsgStructs(self.namespace, throttle_rate)
self.redis = RedisClient()
self.redis.connect('localhost')
super(WebSocketClient, self).__init__()
def _on_message(self, msg):
try:
res = json.loads(msg)
ioloop.IOLoop.instance().add_callback(partial(self.parse_msg, res))
except ValueError:
print "json decoding failed"
def _on_connection_success(self):
print('Drone Connected! ', self.vehicle_id)
deadline = time.time() + 1
ioloop.IOLoop().instance().add_timeout(
deadline, functools.partial(self.subscribe_to_topics))
def _on_connection_close(self):
print('Connection closed!')
def _on_connection_error(self, exception):
print('Connection error: %s', exception)
def subscribe_to_topics(self):
for topic in self.topics_to_subscribe:
self.topics_subscribed.append(topic)
ioloop.IOLoop.instance().add_callback(
partial(self.send, json.dumps(self.msglib.sub_msg(topic))))
# TODO remove debug statement
# ioloop.IOLoop().instance().add_timeout(time.time()+10, functools.partial(self.stop_client))
def stop_client(self):
# unsubscribe from the data.
for topic in self.topics_subscribed:
self.send(json.dumps(self.msglib.get_unsub_msg(topic)))
# call close method
self.close()
def parse_msg(self, msg):
if isinstance(msg, dict):
if 'op' in msg.keys():
if msg['op'] == 'publish':
# print msg
word6 = msg['topic'][-6:]
if word6 == "global":
lat = msg['msg']['latitude']
lon = msg['msg']['longitude']
alt = msg['msg']['altitude']
# print lat, lon, "global"
self.redis.set(
self.vehicle_id + '_gpos',
json.dumps({
"lat": lat,
"long": lon,
"alt": alt
}))
if word6 == "/local":
x = msg['msg']['twist']['linear']['x']
y = msg['msg']['twist']['linear']['y']
z = msg['msg']['twist']['linear']['z']
yaw = msg['msg']['twist']['angular']['z']
# print x,y,z, "local"
self.redis.set(
self.vehicle_id + '_lpos',
json.dumps({
"x": x,
"y": y,
"z": z,
"yaw": yaw
}))
if word6 == "attery":
percent = msg['msg']['percentage']
# print percent*100, " % battery"
self.redis.set(self.vehicle_id + '_batt',
json.dumps({"percent": percent}))
if word6 == "_euler":
yaw = msg['msg']['twist']['linear']['z']
# print percent*100, " % battery"
self.redis.set(self.vehicle_id + '_imu',
json.dumps({"yaw": yaw}))
