def send_status(self, event=None): msg = AcousticModemStatus() msg.header.stamp = rospy.Time.now() msg.status = MODEM_STATUS[self.modem_status] msg.battery_level = self.battery_level # print 'im_ack_cnt', self.im_ack_cnt # print 'burst_ack_cnt', self.burst_ack_cnt if self.sent_im_ack_cnt > 0 and self.sent_burst_cnt > 0: info = { 'im_ack_success_rate': str(self.im_ack_cnt/self.sent_im_ack_cnt), 'im_burst_rate': str(self.burst_ack_cnt/self.sent_burst_cnt), 'total_sent': str(self.sent_burst_cnt + self.sent_im_ack_cnt), 'total_received': str(self.received_cnt) } msg.info = [KeyValue(key, value) for key, value in info.items()] self.pub_status.publish(msg)
def send_status(self, event=None): ms = AcousticModemStatus() ms.header.stamp = rospy.Time.now() ms.status = MODEM_STATUS[self.modem_status] self.pub_status.publish(ms)
def send_status(self, event=None): ms = AcousticModemStatus() ms.header.stamp = rospy.Time.now() ms.status = MODEM_STATUS[self.modem_status] self.pub_status.publish(ms)