def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(
self)) # calls self.OnDropText when drag and drop complete
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL,
wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def __init__(self, parent, frame):
self.parent = parent # we are drawing on our parent, so dc comes from this
self.frame = frame # the frame owns any controls we might need to update
parent.SetDropTarget(TextDropTarget(self)) # calls self.OnDropText when drag and drop complete
self.InitIvy()
self.width = 800
self.height = 200
self.margin = min(self.height / 10, 20)
self.font = wx.Font(self.margin / 2, wx.DEFAULT, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_NORMAL)
self.pixmap = wx.EmptyBitmap(self.width, self.height)
self.plot_size = self.width
self.max = -1e32
self.min = 1e32
self.plot_interval = 200
self.plots = {}
self.auto_scale = True
self.offset = 0.0
self.scale = 1.0
self.x_axis = None
messages_xml_map.parse_messages()
# start the timer
self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
def test():
'''
run test program as a module to avoid namespace conflicts with serial module:
python -p pprzlink.serial
pprzlink should be installed in a python standard path or included to your PYTHONPATH
'''
import time
import argparse
from pprzlink import messages_xml_map
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')
parser.add_argument("-d", "--device", help="device name", dest='dev', default='/dev/ttyUSB0')
parser.add_argument("-b", "--baudrate", help="baudrate", dest='baud', default=115200, type=int)
parser.add_argument("-id", "--ac_id", help="aircraft id (receiver)", dest='ac_id', default=42, type=int)
parser.add_argument("--interface_id", help="interface id (sender)", dest='id', default=0, type=int)
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
serial_interface = SerialMessagesInterface(lambda s, m: print("new message from %i: %s" % (s, m)), device=args.dev,
baudrate=args.baud, msg_class=args.msg_class, interface_id=args.id, verbose=True)
print("Starting serial interface on %s at %i baud" % (args.dev, args.baud))
try:
serial_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
# send some datalink messages to aicraft for test
ac_id = args.ac_id
print("sending ping")
ping = PprzMessage('datalink', 'PING')
serial_interface.send(ping, 0)
get_setting = PprzMessage('datalink', 'GET_SETTING')
get_setting['index'] = 0
get_setting['ac_id'] = ac_id
serial_interface.send(get_setting, 0)
# change setting with index 0 (usually the telemetry mode)
set_setting = PprzMessage('datalink', 'SETTING')
set_setting['index'] = 0
set_setting['ac_id'] = ac_id
set_setting['value'] = 1
serial_interface.send(set_setting, 0)
# block = PprzMessage('datalink', 'BLOCK')
# block['block_id'] = 3
# block['ac_id'] = ac_id
# serial_interface.send(block, 0)
while serial_interface.isAlive():
serial_interface.join(1)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
serial_interface.stop()
exit()
def test():
import time
import argparse
from pprzlink import messages_xml_map
parser = argparse.ArgumentParser()
parser.add_argument("-f", "--file", help="path to messages.xml file")
parser.add_argument("-c", "--class", help="message class of incoming messages", dest='msg_class', default='telemetry')
parser.add_argument("-a", "--address", help="destination address", dest='address', default='127.0.0.1')
parser.add_argument("-id", "--ac_id", help="aircraft id (receiver)", dest='ac_id', default=42, type=int)
parser.add_argument("--interface_id", help="interface id (sender)", dest='id', default=0, type=int)
parser.add_argument("-up", "--uplink_port", help="uplink port", dest='uplink', default=UPLINK_PORT, type=int)
parser.add_argument("-dp", "--downlink_port", help="downlink port", dest='downlink', default=DOWNLINK_PORT, type=int)
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
udp_interface = UdpMessagesInterface(lambda s, a, m: print("new message from %i (%s): %s" % (s, a, m)),
uplink_port=args.uplink, downlink_port=args.downlink,
msg_class=args.msg_class, interface_id=args.id, verbose=True)
print("Starting UDP interface with '%s' with id '%d'" % (args.address, args.ac_id))
address = (args.address, args.uplink)
try:
udp_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
# send some datalink messages to aicraft for test
ac_id = args.ac_id
print("sending ping")
ping = PprzMessage('datalink', 'PING')
udp_interface.send(ping, 0, address)
print("sending get_setting")
get_setting = PprzMessage('datalink', 'GET_SETTING')
get_setting['index'] = 0
get_setting['ac_id'] = ac_id
udp_interface.send(get_setting, 0, address)
# change setting with index 0 (usually the telemetry mode)
print("sending setting")
set_setting = PprzMessage('datalink', 'SETTING')
set_setting['index'] = 0
set_setting['ac_id'] = ac_id
set_setting['value'] = 1
udp_interface.send(set_setting, 0, address)
# print("sending block")
# block = PprzMessage('datalink', 'BLOCK')
# block['block_id'] = 3
# block['ac_id'] = ac_id
# udp_interface.send(block, 0, address)
while udp_interface.isAlive():
udp_interface.join(1)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
udp_interface.stop()
exit()
def __init__(self, callback=None, init=True, verbose=False, bind_regex='(.*)', ivy_bus=IVY_BUS):
self.callback = callback
self.ivy_id = 0
self.verbose = verbose
self.ivy_bus = ivy_bus
# make sure all messages are parsed before we start creating them in callbacks
messages_xml_map.parse_messages()
self.init_ivy(init, bind_regex)
def test():
import time
import argparse
from pprzlink import messages_xml_map
parser = argparse.ArgumentParser()
parser.add_argument("-f", "--file", help="path to messages.xml file")
parser.add_argument("-c", "--class", help="message class of incoming messages", dest='msg_class', default='telemetry')
parser.add_argument("-a", "--address", help="destination address", dest='address', default='127.0.0.1')
parser.add_argument("-id", "--ac_id", help="aircraft id", dest='ac_id', default=42, type=int)
parser.add_argument("-up", "--uplink_port", help="uplink port", dest='uplink', default=UPLINK_PORT, type=int)
parser.add_argument("-dp", "--downlink_port", help="downlink port", dest='downlink', default=DOWNLINK_PORT, type=int)
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
udp_interface = UdpMessagesInterface(lambda s, a, m: print("new message from %i (%s): %s" % (s, a, m)),
uplink_port=args.uplink, downlink_port=args.downlink,
msg_class=args.msg_class, verbose=True)
print("Starting UDP interface with '%s' with id '%d'" % (args.address, args.ac_id))
address = (args.address, args.uplink)
try:
udp_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
# send some datalink messages to aicraft for test
ac_id = args.ac_id
print("sending ping")
ping = PprzMessage('datalink', 'PING')
udp_interface.send(ping, 0, address)
print("sending get_setting")
get_setting = PprzMessage('datalink', 'GET_SETTING')
get_setting['index'] = 0
get_setting['ac_id'] = ac_id
udp_interface.send(get_setting, 0, address)
# change setting with index 0 (usually the telemetry mode)
print("sending setting")
set_setting = PprzMessage('datalink', 'SETTING')
set_setting['index'] = 0
set_setting['ac_id'] = ac_id
set_setting['value'] = 1
udp_interface.send(set_setting, 0, address)
# print("sending block")
# block = PprzMessage('datalink', 'BLOCK')
# block['block_id'] = 3
# block['ac_id'] = ac_id
# udp_interface.send(block, 0, address)
while udp_interface.isAlive():
udp_interface.join(1)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
udp_interface.stop()
exit()
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 main():
messages_xml_map.parse_messages()
#Command line options
parser = argparse.ArgumentParser(description="Link_Combiner listens to the ivy messages received from multiple Link agents (set each of their -id options to a unique number), and sends a combined stream of messages to the other agents.")
parser.add_argument("-b", "-buffer_size", "--buffer_size", help="The number of elements messages to be stored in the circular buffer for each link", default=10)
args = parser.parse_args()
global BUFFER_SIZE
BUFFER_SIZE = int(args.buffer_size) #The number of elements messages to be stored in the circular buffer for each link.
link_combiner = Link_Combiner()
def __init__(self,
callback=None,
init=True,
verbose=False,
bind_regex='(.*)',
ivy_bus=IVY_BUS):
self.callback = callback
self.ivy_id = 0
self.verbose = verbose
self.ivy_bus = ivy_bus
# make sure all messages are parsed before we start creating them in callbacks
messages_xml_map.parse_messages()
self.init_ivy(init, bind_regex)
def __init__(self, opts):
messages_xml_map.parse_messages()
self.run_event = threading.Event()
self.uplink_port = opts.uplink_port
self.downlink_port = opts.downlink_port
self.udp = pprzlink.udp.UdpMessagesInterface(
self.proccess_downlink_msg, False, self.uplink_port,
self.downlink_port)
self.ivy = pprzlink.ivy.IvyMessagesInterface("UDPLink", True, False,
opts.bus)
self.ac_downlink_status = {}
self.rx_err = 0
self.status_timer = threading.Timer(STATUS_PERIOD, self.sendStatus)
self.ping_timer = threading.Timer(PING_PERIOD, self.sendPing)
self.bcast_method = opts.broadcast_method
self.bcast_addr = opts.broadcast_address
def __init__(self):
self.InitIvy()
self.ivy_id = 0
self.status_timer = threading.Timer(STATUS_PERIOD, self.sendStatus)
self.ping_timer = threading.Timer(STATUS_PERIOD, self.sendPing)
self.ac_downlink_status = {}
self.rx_err = 0
messages_xml_map.parse_messages()
self.data_types = {'float': ['f', 4],
'uint8': ['B', 1],
'uint16': ['H', 2],
'uint32': ['L', 4],
'int8': ['b', 1],
'int16': ['h', 2],
'int32': ['l', 4]
}
def __init__(self):
self.InitIvy()
self.ivy_id = 0
self.status_timer = threading.Timer(STATUS_PERIOD, self.sendStatus)
self.ping_timer = threading.Timer(STATUS_PERIOD, self.sendPing)
self.ac_downlink_status = {}
self.rx_err = 0
messages_xml_map.parse_messages()
self.data_types = {
'float': ['f', 4],
'uint8': ['B', 1],
'uint16': ['H', 2],
'uint32': ['L', 4],
'int8': ['b', 1],
'int16': ['h', 2],
'int32': ['l', 4]
}
def __init__(self, agent_name=None, start_ivy=True, verbose=False, ivy_bus=IVY_BUS):
if agent_name is None:
agent_name = "IvyMessagesInterface %i" % os.getpid()
self.verbose = verbose
self._ivy_bus = ivy_bus
self._running = False
# make sure all messages are parsed before we start creating them in callbacks
# the message parsing should really be redone...
messages_xml_map.parse_messages()
# bindings with associated callback functions
self.bindings = {}
IvyInit(agent_name, "READY")
logging.getLogger('Ivy').setLevel(logging.WARN)
if start_ivy:
self.start()
def __init__(self, agent_name=None, start_ivy=True, verbose=False, ivy_bus=IVY_BUS):
if agent_name is None:
agent_name = "IvyMessagesInterface %i" % os.getpid()
self.verbose = verbose
self._ivy_bus = ivy_bus
self._running = False
# make sure all messages are parsed before we start creating them in callbacks
# the message parsing should really be redone...
messages_xml_map.parse_messages()
# bindings with associated callback functions
self.bindings = {}
IvyInit(agent_name, "READY")
logging.getLogger('Ivy').setLevel(logging.WARN)
if start_ivy:
self.start()
def main():
'''
Real-time Fault prediction module:
'''
import time
import argparse
from pprzlink import messages_xml_map
import numpy as np
parser = argparse.ArgumentParser()
parser.add_argument("-f",
"--file",
help="path to messages.xml file",
default='pprzlink/messages.xml')
parser.add_argument("-c",
"--class",
help="message class",
dest='msg_class',
default='telemetry')
parser.add_argument("-d",
"--device",
help="device name",
dest='dev',
default='/dev/serial0')
parser.add_argument("-b",
"--baudrate",
help="baudrate",
dest='baud',
default=230400,
type=int)
parser.add_argument("-id",
"--ac_id",
help="aircraft id (receiver)",
dest='ac_id',
default=42,
type=int)
parser.add_argument("--interface_id",
help="interface id (sender)",
dest='id',
default=0,
type=int)
args = parser.parse_args()
messages_xml_map.parse_messages(args.file)
#model_filename = 'svm_model_1.joblib'
#scaler_filename = 'svm_scaler_1.joblib'
#model_filename = 'models/svm_model_binary_r05.joblib'
#scaler_filename = 'models/svm_scaler_binary_r05.joblib'
#model_filename = 'models/svm_model_binary_r05_07072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r05_07072020_AGC_20h_10s.joblib'
#model_filename = 'models/svm_model_binary_r03_10072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r03_10072020_AGC_20h_10s.joblib'
#model_filename = 'models/svm_model_binary_r03_l03_13072020_AGC_20h_10s.joblib'
#scaler_filename = 'models/svm_scaler_binary_r03_l03_13072020_AGC_20h_10s.joblib'
model_filename = 'models/svm_model_binary_multi_21072020_AGC_20h_10s.joblib'
scaler_filename = 'models/svm_scaler_binary_multi_21072020_AGC_20h_10s.joblib'
model = Model(model_filename, scaler_filename)
#collector = Data_Collector(model=model, dimension=8, history_step=20, verbose=True)
collector = Data_Collector(model=model,
dimension=8,
history_step=20,
verbose=False)
serial_interface = SerialMessagesInterface(collector.parse_msg,
device=args.dev,
baudrate=args.baud,
msg_class=args.msg_class,
interface_id=args.id,
verbose=False)
logger = Logger()
model.set_interface(serial_interface)
model.set_logger(logger)
print("Starting serial interface on %s at %i baud" % (args.dev, args.baud))
try:
serial_interface.start()
# give the thread some time to properly start
time.sleep(0.1)
while serial_interface.isAlive():
serial_interface.join(1)
except (KeyboardInterrupt, SystemExit):
print('Shutting down...')
logger.close_log()
serial_interface.stop()
exit()
