def test():
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("-f", "--file", help="path to messages.xml file")
parser.add_argument("-c", "--class", help="message class", dest="msg_class", default="telemetry")
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
messages = [PprzMessage(args.msg_class, n) for n in messages_xml_map.get_msgs(args.msg_class)]
print("Listing %i messages in '%s' msg_class" % (len(messages), args.msg_class))
for msg in messages:
print(msg)
def __init__(self, link_uri, msg_class='telemetry', verbose=False):
""" Initialize and run with the specified link_uri """
self.verbose = verbose
# Ivy interface and stream parser
self._ivy = IvyMessagesInterface("cf2ivy")
self._transport = PprzTransport(msg_class)
# Create a Crazyradio
self._driver = RadioDriver()
self._driver.connect(link_uri, self._link_quality_cb,
self._link_error_cb)
if self.verbose:
print('Connecting to %s' % link_uri)
# Variable used to keep main loop occupied until disconnect
self.is_connected = True
# Bind to all messages from ac_id
def _forward_to_cf(ac_id, msg):
try:
data = self._transport.pack_pprz_msg(0,
msg) # sender_id 0 = GCS
for i in range(0, len(data), 30):
pk = CRTPPacket()
pk.port = CRTP_PORT_PPRZLINK
pk.data = data[i:(i + 30)]
self._driver.send_packet(pk)
if self.verbose:
print('Forward message', msg.name)
except:
if self.verbose:
print('Forward error for', ac_id)
messages_datalink = messages_xml_map.get_msgs("datalink")
for msg in messages_datalink:
self._ivy.subscribe(_forward_to_cf, PprzMessage("datalink", msg))
def initial_ivy_binds(self):
# Subscribe to all datalink messages
messages_datalink = messages_xml_map.get_msgs("datalink")
for msg in messages_datalink:
self.ivy.subscribe(self.proccess_uplink_msg,
message.PprzMessage("datalink", msg))
from ivy.std_api import *
import logging
PPRZ_HOME = os.getenv(
"PAPARAZZI_HOME",
os.path.normpath(
os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../')))
sys.path.append(PPRZ_HOME + "/var/lib/python")
from pprzlink.ivy import IvyMessagesInterface
from pprzlink.message import PprzMessage
from pprzlink import messages_xml_map
try:
msgs = messages_xml_map.get_msgs('test')
except Exception as e:
print(e)
dico = messages_xml_map.message_dictionary
for msg_type in dico.keys():
for msg in dico[msg_type]:
print(msg_type, ":", msg)
ac_id = 24
ivyInterface = IvyMessagesInterface()
time.sleep(0.5)
world = None
uavid = None