def unpackage(data):
"""Function that takes a packaged proto and unpackages the item
Parses through the python pseudo-class created by the protobuf and stores it into a
dictionary. All of the axes data and the button data, enumerates each value to follow
a mapping shared by dawn, and stores it in the dictionary with the gamepad index
as a key.
Student code status is also stored in this dictionary. This dictionary is added to
the overall state through the update method implemented in state manager.
"""
unpackaged_data = {}
received_proto = ansible_pb2.DawnData()
received_proto.ParseFromString(data)
new_state = received_proto.student_code_status
unpackaged_data["student_code_status"] = [new_state, time.time()]
if self.pipe.poll():
self.control_state = self.pipe.recv()
if self.control_state is None or new_state != self.control_state:
self.control_state = received_proto.student_code_status
sm_state_command = self.sm_mapping[new_state]
self.state_queue.put([sm_state_command, []])
all_gamepad_dict = {}
for gamepad in received_proto.gamepads:
gamepad_dict = {}
gamepad_dict["axes"] = dict(enumerate(gamepad.axes))
gamepad_dict["buttons"] = dict(enumerate(gamepad.buttons))
all_gamepad_dict[gamepad.index] = gamepad_dict
unpackaged_data["gamepads"] = [all_gamepad_dict, time.time()]
if received_proto.team_color != ansible_pb2.DawnData.NONE:
self.state_queue.put([
SM_COMMANDS.SET_TEAM,
[self.team_color_mapping[received_proto.team_color]]
])
return unpackaged_data
def unpackage(data):
"""Function that takes a packaged proto and unpackages the item
Parses through the python pseudo-class created by the protobuf and stores it into a dictionary.
All of the axes data and the button data, enumerates each value to follow a mapping shared by dawn,
and stores it in the dictionary with the gamepad index as a key.
student code status is also stored in this dictionary. This dictionary is added to the overall state
through the update method implemented in state manager.
"""
unpackaged_data = {}
received_proto = ansible_pb2.DawnData()
received_proto.ParseFromString(data)
unpackaged_data["student_code_status"] = [
received_proto.student_code_status,
time.time()
]
all_gamepad_dict = {}
for gamepad in received_proto.gamepads:
gamepad_dict = {}
gamepad_dict["axes"] = dict(enumerate(gamepad.axes))
gamepad_dict["buttons"] = dict(enumerate(gamepad.buttons))
all_gamepad_dict[gamepad.index] = gamepad_dict
unpackaged_data["gamepads"] = [all_gamepad_dict, time.time()]
return unpackaged_data
def dawn_packager():
proto_message = ansible_pb2.DawnData()
proto_message.student_code_status = ansible_pb2.DawnData.TELEOP
test_gamepad = proto_message.gamepads.add()
test_gamepad.index = 0
test_gamepad.axes.append(.5)
test_gamepad.buttons.append(True)
return proto_message.SerializeToString()