class DSRC(Process):
def __init__(self, port):
Process.__init__(self)
self.conn = RxConnector(port, 'UDP')
self.queue = Queue()
def __enter__(self):
return self.queue
def run(self):
my_last_time = 0
my_last_msg = None
times = []
msgs = []
ids = []
updated = []
while True:
news = self.conn.recv(1024, .2)
assert news != '', "DSRC connection stopped"
rcv, msg_id, tmp_id, snd_time, lat, lon, elevation, accuracy,\
extra = parsemessage(news)
lat *= 10.**-7
lon *= 10.**-7
if lat < 90 and lon < 180:
x, y = utm.from_latlon(lat, lon)[:2]
if rcv == 0:
if snd_time > my_last_time or snd_time < my_last_time - 50:
my_last_msg = (x, y, extra)
my_last_time = snd_time
# send current messages
output = [
(1, vid, msg[0], msg[1], msg[2])
for vid, msg, update in zip(ids, msgs, updated)
if update
]
output.append((0, 0, my_last_msg[0], my_last_msg[1],
my_last_msg[2]))
self.queue.add(output)
else:
found = False
for idx, current_id in enumerate(ids):
if current_id == tmp_id:
if snd_time > times[
idx] or snd_time < times[idx] - 50:
msgs[idx] = (x, y, extra)
times[idx] = snd_time
updated[idx] = True
found = True
break
if not found:
times.append(snd_time)
ids.append(msg_id)
msgs.append((x, y, extra))
updated[idx].append(True)
def terminate(self):
self.conn.__exit__()
self.queue.close()
super(DSRC, self).terminate()
def __exit__(self, errtype=None, errval=None, traceback=None):
self.terminate()
