def sendPositionDataZero(self, longitude, latitude, altitude, heading,
accX, accY, accZ, gyroX, gyroY, gyroZ):
"""
Send gps data for the tricc-kit pi zero
:param longitude: Longitude of gps stamp (float)
:param latitude: Latitude of gps stamp (float)
:param altitude: Altitude of gps stamp (float)
:param heading: Heading of the gps stamp (float)
:param accX: X component of the acceleration (float)
:param accY: Y component of the acceleration (float)
:param accZ: Z component of the acceleration (float)
:param gyroX: X Component of the gyroscope (float)
:param gyroY: Y Component of the gyroscope (float)
:param gyroZ: Z Component of the gyroscope (float)
"""
positionData = tricc.PositionData()
positionData.header.CopyFrom(self.__createHeader("PositionZero"))
positionData.longitude = longitude
positionData.latitude = latitude
positionData.altitude = altitude
positionData.heading = heading
positionData.acceleration.CopyFrom(
self.__createAcceleration(accX, accY, accZ))
positionData.gyro.CopyFrom(self.__createGyro(gyroX, gyroY, gyroZ))
self.mqtt.publish(positionData.header.topic,
bytearray(positionData.SerializeToString()))
def handlePositionZeroMsg(data, mqttClient):
"""
Received a message with gps data
:param data: The data received
:param mqttClient: Client that received the data
"""
posData = tricc.PositionData()
posData.ParseFromString(data)
if (mqttClient.serverInterface != None):
serverInterfaceMethod(mqttClient.serverInterface, posData)
print "Received position zero data"
def sendPositionDataRelay(self, longitude, latitude):
"""
Send gps data for a relay node
:param longitude: Longitude of gps stamp (float)
:param latitude: Latitude of gps stamp (float)
"""
positionData = tricc.PositionData()
positionData.header.CopyFrom(self.__createHeader("PositionRelay"))
positionData.longitude = longitude
positionData.latitude = latitude
self.mqtt.publish(positionData.header.topic,
bytearray(positionData.SerializeToString()))