def send_status(self, event=None):
msg = AcousticModemStatus()
msg.header.stamp = rospy.Time.now()
msg.status = MODEM_STATUS[self.modem_status]
msg.battery_level = self.battery_level
# print 'im_ack_cnt', self.im_ack_cnt
# print 'burst_ack_cnt', self.burst_ack_cnt
if self.sent_im_ack_cnt > 0 and self.sent_burst_cnt > 0:
info = {
'im_ack_success_rate': str(self.im_ack_cnt/self.sent_im_ack_cnt),
'im_burst_rate': str(self.burst_ack_cnt/self.sent_burst_cnt),
'total_sent': str(self.sent_burst_cnt + self.sent_im_ack_cnt),
'total_received': str(self.received_cnt)
}
msg.info = [KeyValue(key, value) for key, value in info.items()]
self.pub_status.publish(msg)
def send_status(self, event=None):
ms = AcousticModemStatus()
ms.header.stamp = rospy.Time.now()
ms.status = MODEM_STATUS[self.modem_status]
self.pub_status.publish(ms)
def send_status(self, event=None):
ms = AcousticModemStatus()
ms.header.stamp = rospy.Time.now()
ms.status = MODEM_STATUS[self.modem_status]
self.pub_status.publish(ms)
