def __init__(self, deviceName, baudrate=115200):
if deviceName is None:
print("Device name is required")
return
try:
print("Opening %s at %d bps" % (deviceName, baudrate))
## Serial object for device communication
self.iodev = serial.Serial(deviceName, baudrate)
self.iodev.timeout = 1
except Exception as e:
print("Failed to open the given serial port")
print("\t", e)
exit(1)
## A helper class to take care of decoding the input stream
self.parser = PingMessage.PingParser()
## device id of this Ping1D object, used for dst_device_id in outgoing messages
self.my_id = 255
type=str,
default="0.0.0.0:9000",
help="Mavlink udp address and port. ex \"0.0.0.0:9000\"")
parser.add_argument(
'--min-confidence',
action="store",
type=int,
default=50,
help="Minimum acceptable confidence percentage for depth measurements.\"")
args = parser.parse_args()
## The time that this script was started
tboot = time.time()
## Parser to decode incoming PingMessage
ping_parser = PingMessage.PingParser()
## Messages that have the current distance measurement in the payload
distance_messages = [
PingMessage.PING1D_DISTANCE, PingMessage.PING1D_DISTANCE_SIMPLE,
PingMessage.PING1D_PROFILE
]
## The minimum interval time for distance updates to the autopilot
ping_interval_ms = 0.1
## The last time a distance measurement was received
last_distance_measurement_time = 0
## The last time a distance measurement was requested
last_ping_request_time = 0
def __init__(self):
## Queued messages received from client
self.rxMsgs = deque([])
## Parser to verify client comms
self.parser = PingMessage.PingParser()