class IvyRequester(object):
def __init__(self, interface=None):
self._interface = interface
if interface is None:
self._interface = IvyMessagesInterface("ivy requester")
self.ac_list = []
def __del__(self):
self.shutdown()
def shutdown(self):
if self._interface is not None:
print("Shutting down ivy interface...")
self._interface.shutdown()
self._interface = None
def get_aircrafts(self):
wait_step = 0.1
timeout = 30 / wait_step # 30 seconds
new_answer = False
def aircrafts_cb(ac_id, msg):
global new_answer
self.ac_list = [int(a) for a in msg['ac_list'].split(',') if a]
print("aircrafts: {}".format(self.ac_list))
new_answer = True
self._interface.send_request('ground', "AIRCRAFTS", aircrafts_cb)
# hack: sleep briefly to wait for answer
while not new_answer and timeout > 0:
sleep(wait_step)
timeout -= 1
if not new_answer:
print(
"WARNING: Getting the list of aircraft timed out. The results might be outdated."
)
# Didn't raise an exception or return None in order to not break the API
return self.ac_list
class PprzConnect(object):
"""
Main class to handle the initialization process with the server
in order to retrieve the configuration of the known aircraft
and update for the new ones
"""
def __init__(self, notify=None, ivy=None, verbose=False):
"""
Init function
Create an ivy interface if not provided and request for all aircraft
:param notify: callback function called on new aircraft, takes a PprzConfig as parameter
:param ivy: ivy interface to contact the server, if None a new one will be created
:param verbose: display debug information
"""
self.verbose = verbose
self._notify = notify
self._conf_list_by_name = {}
self._conf_list_by_id = {}
if ivy is None:
self._ivy = IvyMessagesInterface("PprzConnect")
else:
self._ivy = ivy
sleep(0.1)
self.get_aircrafts()
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Shutdown function
Should be called before leaving if the ivy interface is not closed elsewhere
"""
if self._ivy is not None:
if self.verbose:
print("Shutting down ivy interface...")
self._ivy.shutdown()
self._ivy = None
def conf_by_name(self, ac_name=None):
"""
Get a conf by its name
:param ac_name: aircraft name, if None the complete dict is returned
:type ac_name: str
"""
if ac_name is not None:
return self._conf_list_by_name[ac_name]
else:
return self._conf_list_by_name
def conf_by_id(self, ac_id=None):
"""
Get a conf by its ID
:param ac_id: aircraft id, if None the complete dict is returned
:type ac_id: str
"""
if ac_id is not None:
return self._conf_list_by_id[ac_id]
else:
return self._conf_list_by_id
@property
def ivy(self):
"""
Getter function for the ivy interface
"""
return self._ivy
def get_aircrafts(self):
"""
request all aircrafts IDs from a runing server
and new aircraft when they appear
"""
def aircrafts_cb(sender, msg):
ac_list = msg['ac_list']
for ac_id in ac_list:
self.get_config(ac_id)
#ac_list = [int(a) for a in msg['ac_list'].split(',') if a]
if self.verbose:
print("aircrafts: {}".format(ac_list))
self._ivy.send_request('ground', "AIRCRAFTS", aircrafts_cb)
def new_ac_cb(sender, msg):
ac_id = msg['ac_id']
self.get_config(ac_id)
if self.verbose:
print("new aircraft: {}".format(ac_id))
self._ivy.subscribe(new_ac_cb,PprzMessage('ground','NEW_AIRCRAFT'))
def get_config(self, ac_id):
"""
Requsest a config from the server for a given ID
:param ac_id: aircraft ID
:type ac_id: str
"""
def conf_cb(sender, msg):
conf = PprzConfig(msg['ac_id'], msg['ac_name'], msg['airframe'],
msg['flight_plan'], msg['settings'], msg['radio'],
msg['default_gui_color'])
self._conf_list_by_name[conf.name] = conf
self._conf_list_by_id[int(conf.id)] = conf
if self._notify is not None:
self._notify(conf) # user defined general callback
if self.verbose:
print(conf)
self._ivy.send_request('ground', "CONFIG", conf_cb, ac_id=ac_id)
