def sendStateMessages(self):
# send:
# PressureMessage
# StateMessage
# should maybe also send RedHerringBatteryStatusMessage
#
# These should match the DepthCalibration message used:
depth_offset = -9.48232
depth_mult = 0.010395
depth = float(-self.displacement[2])
pressure = int((depth - depth_offset) / depth_mult)
# if somehow we're floating above the surface...
if pressure < 0:
pressure = 0
orientation = base_model.orientationToYPR(self.orientation)
#print 'pressure=', pressure, 'orientation=', orientation
self.node.send(messaging.PressureMessage(pressure, pressure))
self.node.send(messaging.StateMessage(orientation))
p_SetMotorMapMessage = pp.Group(l \
+ p_MotorID + c \
+ p_MotorMap \
+ r).streamline()
p_SetMotorMapMessage.setParseAction(lambda x: messaging.SetMotorMapMessage(*x[0]))
p_ResetMCBMessage = pp.Group(l \
+ r).streamline()
p_ResetMCBMessage.setParseAction(lambda x: messaging.ResetMCBMessage(*x[0]))
p_CalibrateNoRotationMessage = pp.Group(l \
+ p_int \
+ r).streamline()
p_CalibrateNoRotationMessage.setParseAction(lambda x: messaging.CalibrateNoRotationMessage(*x[0]))
p_StateMessage = pp.Group(l \
+ p_floatYPR \
+ r).streamline()
p_StateMessage.setParseAction(lambda x: messaging.StateMessage(*x[0]))
p_TelemetryMessage = pp.Group(l \
+ p_floatYPR + c \
+ p_float \
+ r).streamline()
p_TelemetryMessage.setParseAction(lambda x: messaging.TelemetryMessage(*x[0]))
p_BatteryUseMessage = pp.Group(l \
+ p_float + c \
+ p_float + c \
+ p_float \
+ r).streamline()
p_BatteryUseMessage.setParseAction(lambda x: messaging.BatteryUseMessage(*x[0]))
p_ProcessStatusMessage = pp.Group(l \
+ p_str + c \
+ p_str + c \
+ p_float + c \