def onReadyRead(self):
inputStream = QtCore.QDataStream(self.tcpSocket)
while (1):
if len(self.rxBuffer) < Messaging.hdrSize:
if self.tcpSocket.bytesAvailable() < Messaging.hdrSize:
return
self.rxBuffer += inputStream.readRawData(Messaging.hdrSize -
len(self.rxBuffer))
if len(self.rxBuffer) >= Messaging.hdrSize:
hdr = Messaging.hdr(self.rxBuffer)
bodyLen = hdr.GetDataLength()
if len(self.rxBuffer) + self.tcpSocket.bytesAvailable(
) < Messaging.hdrSize + bodyLen:
return
self.rxBuffer += inputStream.readRawData(Messaging.hdrSize +
bodyLen -
len(self.rxBuffer))
# create a new header object with the appended body
hdr = Messaging.hdr(self.rxBuffer)
# if we got this far, we have a whole message! So, emit the signal
self.messagereceived.emit(hdr)
# then clear the buffer, so we start over on the next message
self.rxBuffer = bytearray()
def onReadyRead(self):
inputStream = QtCore.QDataStream(self.tcpSocket)
while(1):
if len(self.rxBuffer) < Messaging.hdrSize:
if self.tcpSocket.bytesAvailable() < Messaging.hdrSize:
return
self.rxBuffer += inputStream.readRawData(Messaging.hdrSize - len(self.rxBuffer))
if len(self.rxBuffer) >= Messaging.hdrSize:
hdr = Messaging.hdr(self.rxBuffer)
bodyLen = hdr.GetDataLength()
if len(self.rxBuffer)+self.tcpSocket.bytesAvailable() < Messaging.hdrSize + bodyLen:
return
self.rxBuffer += inputStream.readRawData(Messaging.hdrSize + bodyLen - len(self.rxBuffer))
# create a new header object with the appended body
hdr = Messaging.hdr(self.rxBuffer)
# if we got this far, we have a whole message! So, emit the signal
self.messagereceived.emit(hdr)
# then clear the buffer, so we start over on the next message
self.rxBuffer = bytearray()
def sendMsg(self, msgClass):
msg = msgClass()
if self.timeInfo:
hdr = Messaging.hdr(msg.rawBuffer())
t = self.currentTime
maxTime = self.timeInfo.maxVal
# if the timestamp field is small, assume the user wants relative times since midnight.
if maxTime != "DBL_MAX" and (maxTime == 'FLT_MAX' or float(maxTime) <= 2**32):
t = (datetime.fromtimestamp(self.currentTime) - datetime.fromtimestamp(self.currentTime).replace(hour=0, minute=0, second=0, microsecond=0)).total_seconds()
if self.timeInfo.units == "ms":
t = t * 1000.0
if self.timeInfo.type == "int":
t = int(t)
hdr.SetTime(t)
for fieldInfo in msgClass.fields:
if fieldInfo.units == 'ASCII':
Messaging.set(msg, fieldInfo, 's'+str(self.fieldValue(fieldInfo)))
else:
if(fieldInfo.count == 1):
Messaging.set(msg, fieldInfo, str(self.fieldValue(fieldInfo)))
for bitInfo in fieldInfo.bitfieldInfo:
Messaging.set(msg, bitInfo, str(self.fieldValue(bitInfo)))
else:
for i in range(0,fieldInfo.count):
Messaging.set(msg, fieldInfo, self.fieldValue(fieldInfo), i)
self.SendMsg(msg)
def recv(self, msgIds=[], timeout=None):
# if user didn't pass a list, put the single param into a list
if not isinstance(msgIds, list):
msgIds = [msgIds]
# if they passed classes, get the ID of each
for i in range(0,len(msgIds)):
if hasattr(msgIds[i], 'ID'):
msgIds[i] = msgIds[i].ID
if timeout != None and self._timeout != timeout:
self._timeout = timeout
if self._timeout == 0.0:
self._sock.setblocking(0)
else:
self._sock.setblocking(1)
self._sock.settimeout(self._timeout)
while True:
try:
# see if there's enough for header
data = self._sock.recv(Messaging.hdr.SIZE, socket.MSG_PEEK)
if len(data) == Messaging.hdr.SIZE:
# create header based on peek'd data
hdr = Messaging.hdr(data)
# see if there's enough for the body, too
data += self._sock.recv(hdr.GetDataLength(), socket.MSG_PEEK)
if len(data) != Messaging.hdr.SIZE + hdr.GetDataLength():
print("didn't get whole body, error!")
continue
# read out what we peek'd.
data = self._sock.recv(Messaging.hdr.SIZE + hdr.GetDataLength())
# reset the header based on appended data
hdr = Messaging.hdr(data)
id = hdr.GetMessageID()
if id in self._extra_msgs_to_record:
self.received[id] = msg
if len(msgIds) == 0 or id in msgIds:
msg = Messaging.MsgFactory(hdr)
self.received[id] = msg
return msg
except socket.timeout:
return None
except BlockingIOError:
return None
def recv(self, msgIds=[], timeout=None):
# if user didn't pass a list, put the single param into a list
if not isinstance(msgIds, list):
msgIds = [msgIds]
# if they passed classes, get the ID of each
for i in range(0,len(msgIds)):
if hasattr(msgIds[i], 'ID'):
msgIds[i] = msgIds[i].ID
if timeout != None and self.timeout != timeout:
self.timeout = timeout
while True:
try:
data = self.synchronous_rx_queue.get(True, self.timeout)
hdr = Messaging.hdr(data)
id = hdr.GetMessageID()
if len(msgIds) == 0 or id in msgIds:
msg = Messaging.MsgFactory(hdr)
return msg
except queue.Empty:
return None
def sendMsg(self, msgClass):
msg = msgClass()
try:
hdr = Messaging.hdr(msg.rawBuffer())
hdr.SetTime(self.currentTime)
except AttributeError:
pass
for fieldInfo in msgClass.fields:
if fieldInfo.units == 'ASCII':
Messaging.set(msg, fieldInfo,
's' + str(self.fieldValue(fieldInfo)))
else:
if (fieldInfo.count == 1):
Messaging.set(msg, fieldInfo,
str(self.fieldValue(fieldInfo)))
for bitInfo in fieldInfo.bitfieldInfo:
Messaging.set(msg, bitInfo,
str(self.fieldValue(bitInfo)))
else:
for i in range(0, fieldInfo.count):
Messaging.set(msg, fieldInfo,
self.fieldValue(fieldInfo), i)
self.SendMsg(msg)
def processBinaryMessage(self, bytes):
hdr = Messaging.hdr(bytes.data())
self.messagereceived.emit(hdr)