def _recv_frame(self, raw_frame):
if not raw_frame.extended:
return
frame = transport.Frame(raw_frame.id, raw_frame.data,
raw_frame.ts_monotonic, raw_frame.ts_real)
transfer_frames = self._transfer_manager.receive_frame(frame)
if not transfer_frames:
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames)
self._transfer_hook_dispatcher.call_hooks(
self._transfer_hook_dispatcher.TRANSFER_DIRECTION_INCOMING,
transfer)
if (transfer.service_not_message and not transfer.request_not_response) and \
transfer.dest_node_id == self._node_id:
# This is a reply to a request we sent. Look up the original request and call the appropriate callback
requests = self._outstanding_requests.keys()
for key in requests:
if transfer.is_response_to(self._outstanding_requests[key]):
# Call the request's callback and remove it from the active list
event = TransferEvent(transfer, self, 'response')
self._outstanding_request_callbacks[key](event)
del self._outstanding_requests[key]
del self._outstanding_request_callbacks[key]
break
elif not transfer.service_not_message or transfer.dest_node_id == self._node_id:
# This is a request or a broadcast; look up the appropriate handler by data type ID
self._handler_dispatcher.call_handlers(transfer)
def _recv_frame(self, dev, message):
frame_id, frame_data, ext_id = message
if not ext_id:
return
frame = transport.Frame(frame_id, frame_data)
# logging.debug("Node._recv_frame(): got {0!s}".format(frame))
transfer_frames = self.transfer_manager.receive_frame(frame)
if not transfer_frames:
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames)
logging.debug("Node._recv_frame(): received {0!r}".format(transfer))
# If it's a node info request, keep track of the status of each node
if transfer.payload.type == uavcan.protocol.NodeStatus:
self.node_info[transfer.source_node_id] = {
"uptime": transfer.payload.uptime_sec,
"health": transfer.payload.health,
"mode": transfer.payload.mode,
"sub_mode": transfer.payload.sub_mode,
"vendor_specific_status_code":
transfer.payload.vendor_specific_status_code,
"timestamp": time.time()
}
if (transfer.service_not_message and not
transfer.request_not_response) and \
transfer.dest_node_id == self.node_id:
# This is a reply to a request we sent. Look up the original
# request and call the appropriate callback
requests = self.outstanding_requests.keys()
for key in requests:
if transfer.is_response_to(self.outstanding_requests[key]):
# Call the request's callback and remove it from the
# active list
self.outstanding_request_callbacks[key](transfer.payload,
transfer)
del self.outstanding_requests[key]
del self.outstanding_request_callbacks[key]
del self.outstanding_request_timestamps[key]
del self.outstanding_request_retries[key]
break
elif not transfer.service_not_message or \
transfer.dest_node_id == self.node_id:
# This is a request, a unicast or a broadcast; look up the
# appropriate handler by data type ID
for handler in self.handlers:
if handler[0] == transfer.payload.type:
kwargs = handler[2] if len(handler) == 3 else {}
h = handler[1](transfer.payload, transfer, self, **kwargs)
h._execute()
def handle_raw_frame(self, raw_frame, handle_transfer=True):
frame = transport.Frame(raw_frame.id, raw_frame.data, raw_frame.ts_monotonic, raw_frame.ts_real)
transfer_frames = self._transfer_manager.receive_frame(frame)
if not transfer_frames:
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames)
if handle_transfer:
self.handle_transfer(transfer)
return None
else:
return transfer
def _recv_frame(self, dev, message):
frame_id, frame_data, ext_id = message
if not ext_id:
return
frame = transport.Frame(frame_id, frame_data)
# logging.debug("Node._recv_frame(): got {0!s}".format(frame))
transfer_frames = self.transfer_manager.receive_frame(frame)
if not transfer_frames:
return
dtid = transfer_frames[0].data_type_id
if transfer_frames[0].transfer_priority == \
transport.TransferPriority.SERVICE:
kind = dsdl.parser.CompoundType.KIND_SERVICE
else:
kind = dsdl.parser.CompoundType.KIND_MESSAGE
datatype = uavcan.DATATYPES.get((dtid, kind))
if not datatype:
logging.debug(("Node._recv_frame(): unrecognised data type " +
"ID {0:d} for kind {1:d}").format(dtid, kind))
return
transfer = transport.Transfer()
transfer.from_frames(transfer_frames, datatype_crc=datatype.base_crc)
if transfer.is_message():
payload = datatype() # Broadcast or unicast
elif transfer.is_request():
payload = datatype(mode="request")
else: # transfer.is_response()
payload = datatype(mode="response")
payload.unpack(transport.bits_from_bytes(transfer.payload))
logging.info("Node._recv_frame(): received {0!r}".format(payload))
# If it's a node info request, keep track of the status of each node
if payload.type == uavcan.protocol.NodeStatus:
self.node_info[transfer.source_node_id] = {
"uptime": payload.uptime_sec,
"status": payload.status_code,
"timestamp": time.time()
}
if transfer.is_response() and transfer.dest_node_id == self.node_id:
# This is a reply to a request we sent. Look up the original
# request and call the appropriate callback
requests = self.outstanding_requests.keys()
for key in requests:
if transfer.is_response_to(self.outstanding_requests[key]):
# Call the request's callback and remove it from the
# active list
if key in self.outstanding_request_callbacks:
self.outstanding_request_callbacks[key]((payload, transfer))
del self.outstanding_request_callbacks[key]
del self.outstanding_requests[key]
del self.outstanding_request_timestamps[key]
break
elif transfer.is_broadcast() or transfer.dest_node_id == self.node_id:
# This is a request, a unicast or a broadcast; look up the
# appropriate handler by data type ID
for handler in self.handlers:
if handler[0] == datatype:
kwargs = handler[2] if len(handler) == 3 else {}
h = handler[1](payload, transfer, self, **kwargs)
h._execute()