def ack_converter(data, state):
'''Converts status of a message to a recognised status'''
if data.uuid == 0:
return None
else:
message = LinkMessage()
message.uuid = data.uuid
message.id = 0
if state == 0:
message.data = "pending"
elif state == 1:
message.data = "single tick"
elif state == 2:
message.data = "double tick"
return message
def send_regular_payload_tele(self, data):
'''Send regular payload over Telegram link'''
message = LinkMessage()
message.uuid = 0
message.data, message.id = self._prep_regular_payload()
self.pub_to_telegram.publish(message)
rospy.sleep(self._tele_interval)
def send_regular_payload_sms(self, data):
'''Send regular payload over sms link'''
message = LinkMessage()
message.uuid = 0
message.data, message.id = self._prep_regular_payload()
self.pub_to_sms.publish(message)
rospy.sleep(self._sms_interval)
def _send_heartbeat_sms(self, data):
msg = LinkMessage()
msg.uuid = 0
msg.data = self._prep_heartbeat()
msg.id = self._air_id
self._pub_to_sms.publish(msg)
rospy.sleep(self._sms_interval)
def send_msgs(data):
'''Send messages from user input (in terminal) to screen'''
cmd = LinkMessage()
cmd.uuid = 0
cmd.id = 1 # Temp ID
cmd.data = input()
pub_to_despatcher.publish(cmd)
def create_link_message(self, destination_id, data):
'''Create a custom Link Message'''
message = LinkMessage()
message.uuid = feedback_util.increment()
message.id = destination_id
message.data = data
self.command_publisher.publish(message)
def send_to_rqt(message_id, data):
'''Handles sending LinkMessage to rqt'''
message = LinkMessage()
message.id = message_id
message.data = data
message.uuid = 0 # 0 is for uuid for non-A2G message
pub_to_rqt.publish(message)
def check_incoming_msgs(self, data):
'''Check for incoming A2G messages from ogc/from_sms, from_sbd or from_telegram topics'''
try:
# Handle msg prefixes
msgtype, devicetype, sysid, uuid, timestamp, entries \
= headers.split_headers(data.data)
if not self._new_msg_chk.is_new_msg(timestamp, sysid):
# Check if it is new msg
return
# Check if it is regular msg. This requires a list of the msg with all its headers attached
data_list = data.data.split() # Msg + Headers, split into a list
if regular.is_regular(msgtype, len(data_list)):
# Check if it is regular payload
msg = regular.convert_to_rosmsg(data_list)
self.rqt_recovery_log(data_list, sysid)
self.pub_to_rqt_regular.publish(msg)
else:
# Check if the incoming message is an acknowledgment message
if uuid != 0:
ack_msg = LinkMessage()
ack_msg.uuid = uuid
ack_msg.data = ""
ack_msg.id = 1
ack = feedback_util.ack_converter(ack_msg, 2)
if ack != None:
self.pub_to_timeout.publish(ack)
return 0 # Prevent the message to get sent through ondemand
if msgtype == 's':
# Check if it is statustext
self.pub_to_statustext.publish(data.data)
elif msgtype == 'm':
# Check if it is mission update message
reqFile = LinkMessage()
reqFile.uuid = 0
reqFile.id = sysid
if entries == ["No", "update", "required"]:
return
for i in entries:
reqFile.data = "Waypoints/" + i
self.file_to_telegram.publish(reqFile)
rospy.sleep(1)
else:
self.pub_to_rqt_ondemand.publish(data.data)
except (ValueError, IndexError, TypeError):
rospy.logerr("Despatcher: Invalid message format")
def rockBlockTxSuccess(self, momsg, target_id, uuid):
# Acknowledgment message sending. Create a LinkMessage to be compatible with feedback_util's ack converter
msg = LinkMessage()
msg.data = momsg
msg.id = target_id
msg.uuid = uuid
ack = feedback_util.ack_converter(msg, 1)
if ack != None:
self._pub_to_timeout.publish(ack)
rospy.loginfo("SBD: Msg sent: " + momsg)
self._msg_send_success = 1
def _switch_cmd_handler(self):
'''Send cmds to all aircraft, telling them to switch between server and RB-2-RB methods'''
air_ids = self._get_valid_ids().ids
switch_cmd = LinkMessage()
switch_cmd.uuid = 0
prefixes = ["e", 0, self._id, switch_cmd.uuid]
for i in air_ids:
switch_cmd.id = i
rospy.loginfo("SBD: Sending switch cmd to aircraft " + str(i))
if self._thr_server:
switch_cmd.data = headers.attach_headers(
prefixes, [rospy.get_rostime().secs], "sbd switch 1")
self._server_send_msg(switch_cmd)
else:
# Sending from gnd Rockblock is likely to fail. We need to ensure that all switch cmds are sent
while not self._msg_send_success == 1:
switch_cmd.data = headers.attach_headers(
prefixes, [rospy.get_rostime().secs], "sbd switch 0")
self.sbd_get_mo_msg(switch_cmd)
self.sbd_check_mailbox("")
def sendmsg(self, msgtype, uuid=0):
'''Send any msg that's not a regular payload'''
self._attach_headers(msgtype, uuid)
message = LinkMessage()
message.uuid = 0 # This UUID does get passed through to the links
message.id = self.ground_id
message.data = self._msg
if self.link_select == 0:
self.pub_to_telegram.publish(message)
elif self.link_select == 1:
self.pub_to_sms.publish(message)
else:
self.pub_to_sbd.publish(message)
def handle_outgoing_msgs(self, data):
'''Check that outgoing G2A messages are valid before forwarding them to the links'''
dummy_prefixes = [
"i", 1, data.id, 0
] # Dummy prefixes for publishing local msgs to on_demand topic
feedback_to_rqt = ""
if data.data.split()[0] not in recognised_commands:
feedback_to_rqt = "Invalid command: " + data.data
else:
msg = LinkMessage()
msg.uuid = data.uuid
msg.id = data.id
# Add msg headers
prefixes = ["i", self._is_air, self._id, data.uuid]
msg.data = headers.attach_headers(prefixes,
[rospy.get_rostime().secs],
data.data)
try:
link = self._aircrafts[data.id].link_status()
if link == TELE:
self.pub_to_telegram.publish(msg)
feedback_to_rqt = "Command sent to Tele: " + data.data
elif link == SMS:
self.pub_to_sms.publish(msg)
feedback_to_rqt = "Command sent to SMS: " + data.data
elif link == SBD:
self.pub_to_sbd.publish(msg)
feedback_to_rqt = "Command sent to SBD: " + data.data
else:
rospy.logerr("Despatcher: Invalid link")
feedback_to_rqt = "Invalid Link. Command " + data.data + " not sent"
except KeyError:
rospy.logerr("Despatcher: Invalid aircraft ID")
feedback_to_rqt = "Invalid Aircraft ID. Command " + data.data + " not sent"
self.pub_to_rqt_ondemand.publish(\
headers.attach_headers(dummy_prefixes, [rospy.get_rostime().secs], feedback_to_rqt))
def send_regular_payload_sbd(self, data):
'''Send regular payload over SBD Satcomms link'''
message = LinkMessage()
message.uuid = 0
message.data, message.id = self._prep_regular_payload()
self.pub_to_sbd.publish(message)