def periodicRun(self):
hasLeg = False
hasRMB = False
if self.currentLeg and self.currentLeg.isActive():
hasLeg = True
if self.currentLeg.getAnchorDistance() is not None:
routerInfo = "Anchor watch, from %s, (anchor radius %sm)" % (
str(self.currentLeg.getFrom()),
str(self.currentLeg.getAnchorDistance()))
else:
routerInfo = "from %s, to %s, route=%s, activeWp=%s, approach=%s (approach radius %sm)" % (
str(self.currentLeg.getFrom()), str(
self.currentLeg.getTo()),
self.currentLeg.getRouteName(),
self.currentLeg.getCurrentTarget(),
self.currentLeg.isApproach(),
self.currentLeg.getApproachDistance())
AVNLog.debug(routerInfo)
self.setInfo("leg", routerInfo, WorkerStatus.RUNNING)
try:
if self.currentLeg is not None and self.currentLeg.getAnchorDistance(
) is not None:
self.computeAnchor()
else:
self.startStopAlarm(False, self.ALARMS.anchor)
self.startStopAlarm(False, self.ALARMS.gps)
computeRMB = self.getBoolParam("computeRMB")
computeAPB = self.getBoolParam("computeAPB")
if computeRMB or computeAPB:
hasRMB = self.computeRMB(computeRMB, computeAPB)
except Exception as e:
AVNLog.warn("exception in computeRMB %s, retrying",
traceback.format_exc())
try:
self.computeApproach()
except:
AVNLog.warn("exception in computeApproach %s, retrying",
traceback.format_exc())
if (not hasLeg):
self.setInfo("leg", "no leg", WorkerStatus.INACTIVE)
if (not hasRMB):
self.setInfo("autopilot", "no autopilot data",
WorkerStatus.INACTIVE)
try:
lat = self.navdata.getSingleValue(AVNStore.BASE_KEY_GPS + ".lat")
lon = self.navdata.getSingleValue(AVNStore.BASE_KEY_GPS + ".lon")
if lat is not None and lon is not None:
self.startStopAlarm(False, self.ALARMS.gps)
except:
pass
AVNLog.debug("router main loop")
def _publish(self, description: ServiceDescription) -> object:
if description.group is not None:
try:
description.group.Reset()
except:
pass
try:
description.group.Free()
except:
pass
try:
description.group = None
if description.oldKey is not None:
self.deleteInfo(description.oldKey)
else:
self.deleteInfo(description.getKey())
except:
pass
if description.name is None or description.name == '':
return False
description.group = dbus.Interface(
dbus.SystemBus().get_object(self.DBUS_NAME,
self.server.EntryGroupNew()),
self.DBUS_INTERFACE_ENTRY_GROUP)
timeout = self.getFloatParam('timeout')
retries = self.getIntParam('maxRetries')
num = 0
retry = True
self.setInfo(description.getKey(), "trying to register",
WorkerStatus.STARTED)
while retry:
retry = False
AVNLog.info("trying to register %s for %s",
description.currentName, str(self.port))
try:
description.group.AddService(self.IF_UNSPEC, self.PROTO_INET,
dbus.UInt32(0),
description.currentName,
description.type,
self.server.GetDomainName(),
self.server.GetHostNameFqdn(),
description.port, '')
description.group.Commit()
except Exception as e:
AVNLog.warn("unable to register avahi service %s, error: %s",
description.currentName, str(e))
if description.retry(retries):
retry = True
continue
waitTime = timeout * 10
state = description.group.GetState()
while state in [
self.ENTRY_GROUP_REGISTERING, self.ENTRY_GROUP_UNCOMMITED
] and waitTime > 0:
waitTime -= 1
time.sleep(0.1)
state = description.group.GetState()
if state == self.ENTRY_GROUP_COLLISION:
if not description.retry(retries):
AVNLog.error("max retries reached for %s",
description.name)
else:
retry = True
continue
if state != self.ENTRY_GROUP_ESTABLISHED:
try:
description.group.Reset()
except:
pass
description.group = None
self.setInfo(
description.getKey(),
"unable to register service, state=%s" % str(state),
WorkerStatus.ERROR)
return False
description.isRegistered = True
self.setInfo(description.getKey(), "registered", WorkerStatus.NMEA)
self.hostname = self.server.GetHostNameFqdn()
return True
self.setInfo(description.getKey(),
"unable to register service after retries",
WorkerStatus.ERROR)
return False