def parse_failed(self, tokens):
rospy.logwarn("%s: Message delivering failed to node %s" %
(self.name, tokens[1]))
if self.flag_ack_BUSY:
if self.last_transmission_type == "imack":
self.pub_im_ack.publish(AcousticModemAck(ack=False))
elif self.last_transmission_type == "burstack":
self.pub_burst_ack.publish(AcousticModemAck(ack=False))
self.flag_ack_BUSY = False
def parse_failed(self, tokens):
rospy.logwarn("%s: Message delivering failed to node %s" %(self.name,tokens[1]))
if self.modem.last_ack_type == "imack":
msg = AcousticModemAck()
msg.header.stamp = rospy.Time.now()
msg.ack = False
self.pub_im_ack.publish(msg)
elif self.modem.last_ack_type == "burstack":
msg = AcousticModemAck()
msg.header.stamp = rospy.Time.now()
msg.ack = False
self.pub_burst_ack.publish(msg)
self.modem.last_ack_type = ""
def parse_delivered(self, tokens):
rospy.loginfo("%s: Message delivered to node %s" %(self.name,tokens[1]))
# print self.modem.last_ack_type
if self.modem.last_ack_type == "imack":
self.propagation_time_flag = True # to check propagation time later
self.im_ack_cnt += 1
msg = AcousticModemAck()
msg.header.stamp = rospy.Time.now()
msg.ack = True
self.pub_im_ack.publish(msg)
elif self.modem.last_ack_type == "burstack":
self.burst_ack_cnt += 1
msg = AcousticModemAck()
msg.header.stamp = rospy.Time.now()
msg.ack = True
self.pub_burst_ack.publish(msg)
self.modem.last_ack_type = ""