def _route_db_comm_protocol(self, raw_data_encoded):
"""Routing of the DroneBridge communication protocol packets"""
status = False
extracted_info = comm_message_extract_info(
raw_data_encoded) # returns json bytes [0] and crc bytes [1]
try:
loaded_json = json.loads(extracted_info[0].decode())
except UnicodeDecodeError:
print(self.tag + "Invalid command: Could not decode json message")
return False
except ValueError:
print(self.tag + "ValueError on decoding extracted_info[0]")
return False
if loaded_json[
'destination'] == 1 and self.comm_direction == DBDir.DB_TO_UAV and check_package_good(
extracted_info):
message = self._process_db_comm_protocol_type(loaded_json)
if message != "":
status = self.sendto_smartphone(message, self.APP_PORT_COMM)
else:
status = True
elif loaded_json['destination'] == 2 and check_package_good(
extracted_info):
if self.comm_direction == DBDir.DB_TO_UAV:
response_drone = self._redirect_comm_to_drone(raw_data_encoded)
if response_drone != False and response_drone != None:
message = self._process_db_comm_protocol_type(loaded_json)
self.sendto_smartphone(message, self.APP_PORT_COMM)
status = self.sendto_smartphone(response_drone,
self.APP_PORT_COMM)
else:
message = self._process_db_comm_protocol_type(loaded_json)
sentbytes = self.sendto_groundstation(
message, DBPort.DB_PORT_COMMUNICATION.value)
if sentbytes == None:
status = True
elif loaded_json['destination'] == 3:
if self.comm_direction == DBDir.DB_TO_UAV:
status = self.sendto_uav(raw_data_encoded,
DBPort.DB_PORT_COMMUNICATION.value)
else:
change_settings_gopro(loaded_json)
elif loaded_json['destination'] == 4:
if self.comm_direction == DBDir.DB_TO_UAV:
status = self.sendto_smartphone(raw_data_encoded,
self.APP_PORT_COMM)
else:
print(self.tag + "DB_COMM_PROTO: Unknown message destination")
return status
def _route_db_comm_protocol(self, raw_data_encoded):
status = False
extracted_info = comm_message_extract_info(
raw_data_encoded) # returns json bytes and crc bytes
loaded_json = json.loads(extracted_info[0].decode())
if loaded_json[
'destination'] == 1 and self.comm_direction == TO_DRONE and check_package_good(
extracted_info):
message = self._process_db_comm_protocol_type(loaded_json)
if message != "":
status = self.sendto_smartphone(message,
self.COMM_PORT_SMARTPHONE)
else:
status = True
elif loaded_json['destination'] == 2 and check_package_good(
extracted_info):
if self.comm_direction == TO_DRONE:
response_drone = self._redirect_comm_to_drone(raw_data_encoded)
if response_drone != False and response_drone != None:
message = self._process_db_comm_protocol_type(loaded_json)
self.sendto_smartphone(message, self.COMM_PORT_SMARTPHONE)
status = self.sendto_smartphone(response_drone,
self.COMM_PORT_SMARTPHONE)
else:
message = self._process_db_comm_protocol_type(loaded_json)
sentbytes = self.sendto_groundstation(message,
PORT_COMMUNICATION)
if sentbytes == None:
status = True
elif loaded_json['destination'] == 3:
if self.comm_direction == TO_DRONE:
status = self._sendto_drone(raw_data_encoded,
PORT_COMMUNICATION)
else:
change_settings_gopro(loaded_json)
elif loaded_json['destination'] == 4:
if self.comm_direction == TO_DRONE:
status = self.sendto_smartphone(raw_data_encoded,
self.COMM_PORT_SMARTPHONE)
else:
print(self.tag + "DB_COMM_PROTO: Unknown message destination")
return status
def _route_db_comm_protocol(self, raw_data_encoded):
"""Routing of the DroneBridge communication protocol packets. Only write to local settings if we get a positive
response from the drone! Ping requests are a exception!"""
status = False
extracted_info = comm_message_extract_info(raw_data_encoded) # returns json bytes [0] and crc bytes [1]
try:
loaded_json = json.loads(extracted_info[0].decode())
except UnicodeDecodeError:
print(self.tag + "Invalid command: Could not decode json message")
return False
except ValueError:
print(self.tag + "ValueError on decoding extracted_info[0]")
return False
# Check CRC
if not comm_crc_correct(extracted_info):
message = new_error_response_message('Bad CRC', self.comm_direction.value,
loaded_json['id'])
if self.comm_direction == DBDir.DB_TO_UAV:
self.sendto_smartphone(message, DBPort.DB_PORT_COMMUNICATION.value)
else:
self.sendto_groundstation(message, DBPort.DB_PORT_COMMUNICATION.value)
return False
# Process communication protocol
if loaded_json['destination'] == 1 and self.comm_direction == DBDir.DB_TO_UAV:
message = self._process_db_comm_protocol_type(loaded_json)
if message != "":
status = self.sendto_smartphone(message, self.APP_PORT_COMM)
else:
status = True
elif loaded_json['destination'] == 2:
if self.comm_direction == DBDir.DB_TO_UAV:
# Always process ping requests right away! Do not wait for UAV response!
if loaded_json['type'] == DBCommProt.DB_TYPE_PING_REQUEST.value:
message = self._process_db_comm_protocol_type(loaded_json)
status = self.sendto_smartphone(message, self.APP_PORT_COMM)
response_drone = self._redirect_comm_to_drone(raw_data_encoded)
if type(response_drone) is bytearray:
status = self.sendto_smartphone(response_drone, self.APP_PORT_COMM)
else:
response_drone = self._redirect_comm_to_drone(raw_data_encoded)
if type(response_drone) is bytearray:
message = self._process_db_comm_protocol_type(loaded_json)
self.sendto_smartphone(message, self.APP_PORT_COMM)
status = self.sendto_smartphone(response_drone, self.APP_PORT_COMM)
else:
message = new_error_response_message('UAV was unreachable - command not executed',
DBCommProt.DB_ORIGIN_GND.value, loaded_json['id'])
self.sendto_smartphone(message, self.APP_PORT_COMM)
else:
message = self._process_db_comm_protocol_type(loaded_json)
sentbytes = self.sendto_groundstation(message, DBPort.DB_PORT_COMMUNICATION.value)
if sentbytes == None:
status = True
elif loaded_json['destination'] == 3:
if self.comm_direction == DBDir.DB_TO_UAV:
status = self.sendto_uav(raw_data_encoded, DBPort.DB_PORT_COMMUNICATION.value)
else:
change_settings_gopro(loaded_json)
elif loaded_json['destination'] == 4:
if self.comm_direction == DBDir.DB_TO_UAV:
status = self.sendto_smartphone(raw_data_encoded, self.APP_PORT_COMM)
elif loaded_json['destination'] == 5:
if self.comm_direction == DBDir.DB_TO_UAV:
status = self.sendto_uav(raw_data_encoded, DBPort.DB_PORT_COMMUNICATION.value)
else:
message = self._process_db_comm_protocol_type(loaded_json)
if self.sendto_groundstation(message, DBPort.DB_PORT_COMMUNICATION.value) == None:
status = True
else:
print(self.tag + "DB_COMM_PROTO: Unknown message destination")
return status