def parse_startstop_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.START_STOP_MSG:
return pubsub_message.startstop.cmd
return None
def create_steering_msg(cmd, angle):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.STEERING_MSG
pubsub_message.steering.cmd = cmd
pubsub_message.steering.angle = angle
return pubsub_message.SerializeToString()
def parse_all_type_messages(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
#handles with message type and returns the parsed data.
if pubsub_message.msg_type is process_pb2.pub_sub_message.GPS_MSG:
return pubsub_message.location.latitude, pubsub_message.location.longitude
elif pubsub_message.msg_type is process_pb2.pub_sub_message.HCSR4_MSG:
return pubsub_message.hcsr4_dis.distance
elif pubsub_message.msg_type is process_pb2.pub_sub_message.BRAKE_MSG:
return pubsub_message.brake.brakeValue
elif pubsub_message.msg_type is process_pb2.pub_sub_message.THROTTLE_MSG:
return pubsub_message.throttle.throttleValue
elif pubsub_message.msg_type is process_pb2.pub_sub_message.STATE_WORKING_MSG:
return pubsub_message.statework.cmd
elif pubsub_message.msg_type is process_pb2.pub_sub_message.STEERING_MSG:
return pubsub_message.steering.cmd, pubsub_message.steering.angle
elif pubsub_message.msg_type is process_pb2.pub_sub_message.START_STOP_MSG:
return pubsub_message.startstop.cmd
else:
logging.warning("Invalid parse type!")
return None
def create_GPS_msg(latitudeVal, longitudeVal):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.GPS_MSG
pubsub_message.location.latitude = latitudeVal
pubsub_message.location.longitude = longitudeVal
return pubsub_message.SerializeToString()
def create_message(message_type, val_1, val_2=None):
pubsub_message = process_pb2.pub_sub()
if message_type == process_pb2.pub_sub_message.START_STOP_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.START_STOP_MSG
pubsub_message.startstop.cmd = val_1 # val1 is cmd in here
elif message_type == process_pb2.pub_sub_message.THROTTLE_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.THROTTLE_MSG
pubsub_message.throttle.throttleValue = val_1 # val1 is throttleVal in here
elif message_type == process_pb2.pub_sub_message.STEERING_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.STEERING_MSG
pubsub_message.steering.cmd = val_1 # val1 is cmd in here
pubsub_message.steering.angle = val_2 # val2 is angle in here
elif message_type == process_pb2.pub_sub_message.BRAKE_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.BRAKE_MSG
pubsub_message.brake.brakeValue = val_1 # val1 is brakeValue in here
elif message_type == process_pb2.pub_sub_message.STATE_WORKING_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.STATE_WORKING_MSG
pubsub_message.statework.cmd = val_1 # val1 is cmd in here
elif message_type == process_pb2.pub_sub_message.HSCR4_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.HCSR4_MSG
pubsub_message.hcsr4_dis.distance = val_1 # val1 is distance in here
elif message_type == process_pb2.pub_sub_message.GPS_MSG:
pubsub_message.msg_type = process_pb2.pub_sub_message.GPS_MSG
pubsub_message.location.latitude = val_1 # val1 is latitude in here
pubsub_message.location.longitude = val_2 # val1 is longitude in here
else:
logging.warning("Invalid message type!")
return pubsub_message.SerializeToString()
def parse_brake_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.BRAKE_MSG:
return pubsub_message.brake.brakeValue
return None
def create_brake_msg(brakeValue):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.BRAKE_MSG
pubsub_message.brake.brakeValue = brakeValue
return pubsub_message.SerializeToString()
def parse_throttle_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.THROTTLE_MSG:
return pubsub_message.throttle.throttleValue
return None
def create_throttle_msg(throttleValue):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.THROTTLE_MSG
pubsub_message.throttle.throttleValue = throttleValue
return pubsub_message.SerializeToString()
def parse_stateWorking_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.STATE_WORKING_MSG:
return pubsub_message.statework.cmd
return None
def create_stateWorking_msg(cmd):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.STATE_WORKING_MSG
pubsub_message.statework.cmd = cmd
return pubsub_message.SerializeToString()
def parse_steering_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.STEERING_MSG:
return pubsub_message.steering.cmd, pubsub_message.steering.angle
return None
def create_startstop_msg(cmd):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.START_STOP_MSG
pubsub_message.startstop.cmd = cmd
return pubsub_message.SerializeToString()
def parse_GPS_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.GPS_MSG:
return pubsub_message.location.latitude, pubsub_message.location.longitude
return None
def parse_HCSR4_msg(msg):
pubsub_message = process_pb2.pub_sub()
pubsub_message.ParseFromString(msg)
if pubsub_message.msg_type is process_pb2.pub_sub_message.HCSR4_MSG:
return pubsub_message.hcsr4_dis.distance
return None
def create_HCSR4_msg(distanceVal):
pubsub_message = process_pb2.pub_sub()
pubsub_message.msg_type = process_pb2.pub_sub_message.HCSR4_MSG
pubsub_message.hcsr4_dis.distance = distanceVal
return pubsub_message.SerializeToString()