def main():
recievedPackets = False
sendTime = int(time.time() + 1)
# this loop will wait for packets and then process them
while True:
curTime = int(time.time())
# send dummy GPS data once a second
if curTime >= sendTime:
sendTime = curTime + 1
GPSpacket = CustMes.MESSAGE_FRAME()
GPSdata = CustMes.MESSAGE_GPS()
# set up GPS packet
GPSpacket.MessageID = 0x02
GPSpacket.TargetID = 0
GPSpacket.SystemID = GlobalVals.SYSTEM_ID
# load dummy GPS data
GPSdata.Longitude = 77.77
GPSdata.Latitude = 88.88
GPSdata.Altitude = 99.99
GPSdata.GPSTime = 100.01
# send dummy GPS packet
GPSpacket.Payload = GPSdata.data_to_bytes()
NetworkManager.sendPacket(GPSpacket)
# check if packets have been recived
with GlobalVals.RECIEVED_PACKETS_MUTEX:
if GlobalVals.RECIEVED_PACKETS:
recievedPackets = True
# if no packets have been recived then sleep and loop
if not recievedPackets:
continue
else:
recievedPackets = False
# go through all the packets in the buffer
with GlobalVals.PACKET_BUFFER_IN_MUTEX:
while len(GlobalVals.PACKET_BUFFER_IN) > 0:
recievedPacket = GlobalVals.PACKET_BUFFER_IN.pop(0)
# if the packet is a ping
if recievedPacket.MessageID == 1:
NetworkManager.PingRespond(recievedPacket.SystemID,
recievedPacket.Timestamp)
# if the packet is a GPS data packet
if recievedPacket.MessageID == 2:
# get the GPS data
recData = CustMes.MESSAGE_GPS()
error = recData.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Dummy Radio 1: GPS data error " + str(error) +
".\n")
continue
print("GPS Data from " + str(recievedPacket.SystemID) +
":")
print("Lon:" + str(recData.Longitude) + ", Lat:" +
str(recData.Latitude) + ", Alt:" +
str(recData.Altitude) + ", Time:" +
str(recData.GPSTime) + "\n")
continue
# if the packet is string message
if recievedPacket.MessageID == 3:
# get the string
StrData = CustMes.MESSAGE_STR()
error = StrData.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Dummy Radio 2: Message error " + str(error) +
".\n")
continue
# print string
print(StrData.MessageStr)
continue
def main():
recievedPackets = False
# sendTime = int(time.time() + 1)
# this loop will wait for packets and then process them
while True:
# check if packets have been recived
with GlobalVals.RECIEVED_PACKETS_MUTEX:
if GlobalVals.RECIEVED_PACKETS:
recievedPackets = True
# if no packets have been recived then sleep and loop
if not recievedPackets:
time.sleep(0.1)
continue
else:
recievedPackets = False
# go through all the packets in the buffer
recievedPacket = CustMes.MESSAGE_FRAME()
with GlobalVals.PACKET_BUFFER_IN_MUTEX:
while len(GlobalVals.PACKET_BUFFER_IN) > 0:
recievedPacket = GlobalVals.PACKET_BUFFER_IN.pop(0)
# if the packet is a ping
if recievedPacket.MessageID == 1:
NetworkManager.PingRespond(recievedPacket.SystemID,
recievedPacket.Timestamp)
# if the packet is a GPS data packet
if recievedPacket.MessageID == 2:
# get the GPS data
GPSdata = CustMes.MESSAGE_GPS()
error = GPSdata.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: GPS data error " +
str(error))
continue
# print("GPS Data from " + str(recievedPacket.SystemID) + ":")
# print("Lon:" + str(round(GPSdata.Longitude,3)) + ", Lat:" + str(round(GPSdata.Latitude,3)) + ", Alt:" + str(round(GPSdata.Altitude,2)) + ", Time:" + str(GPSdata.GPSTime) + "\n")
# set the system id for the GPS data
GPSdata.SystemID = recievedPacket.SystemID
if not GPSHandler.GPS_FormatCheck(GPSdata):
print(
"GPS message via RFD900 was broken. Discard it...")
continue
# print("GPS Data from " + str(recievedPacket.SystemID) + ":")
# print("Lon:" + str(round(GPSdata.Longitude,3)) + ", Lat:" + str(round(GPSdata.Latitude,3)) + ", Alt:" + str(round(GPSdata.Altitude,2)) + ", Time:" + str(GPSdata.GPSTime) + "\n")
# update GPS_Log
with GlobalVals.GPS_LOG_MUTEX:
update_GPS_Log(GPSdata)
distance = distanceMatrixCalculation(
GlobalVals.GPS_ALL, 0)
print(
"--------------------------------------------------------------------------------------------------"
)
print("GPS GPS GPS " + str(recievedPacket.SystemID) +
str(recievedPacket.SystemID) +
str(recievedPacket.SystemID) + ":" + " Lon:" +
str(round(GPSdata.Longitude, 3)) + ", Lat:" +
str(round(GPSdata.Latitude, 3)) + ", Alt:" +
str(round(GPSdata.Altitude, 1)) + ", Time:" +
str(round(GPSdata.GPSTime, 1)))
print('Distance from GPS [m]:\n', distance)
# put data into the buffer
# with GlobalVals.GPS_DATA_BUFFER_MUTEX:
# GlobalVals.GPS_DATA_BUFFER.append(GPSdata)
# set the flags for the buffer
# with GlobalVals.RECIEVED_GPS_RADIO_DATA_MUTEX:
# GlobalVals.RECIEVED_GPS_RADIO_DATA = True
continue
# if the packet is string message
if recievedPacket.MessageID == 3:
# get the string
StrData = CustMes.MESSAGE_STR()
error = StrData.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Packet error, packet will be discarded.\n")
continue
# print string
print(StrData.MessageStr)
continue
# if the packet is an EKF GPS data packet
if recievedPacket.MessageID == 5:
# get the GPS data
EKF_Data = CustMes.MESSAGE_EKF()
error = EKF_Data.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: EKF data error " +
str(error))
continue
# set the system id for the GPS data
EKF_Data.SystemID = recievedPacket.SystemID
if not EKFHandler.EKF_FormatCheck(EKF_Data):
print(
"EKF message via RFD900 was broken. Discard it...")
continue
# update GPS_Log
with GlobalVals.EKF_LOG_MUTEX:
update_EKF_Log(EKF_Data)
distance = distanceEKF_MatrixCalculation(
GlobalVals.GPS_ALL,
0,
)
print(
"=================================================================================================="
)
print("EKF EKF EKF " + str(recievedPacket.SystemID) +
str(recievedPacket.SystemID) +
str(recievedPacket.SystemID) + ":" + " Lon:" +
str(round(EKF_Data.Longitude, 3)) + ", Lat:" +
str(round(EKF_Data.Latitude, 3)) + ", Alt:" +
str(round(EKF_Data.Altitude, 1)) + ", Time:" +
str(round(EKF_Data.Epoch, 1)))
print('Distance from EKF [m]:\n', distance)
continue
# if the packet is an temperature data packet
# Temperature
if recievedPacket.MessageID == 6:
# get the RSSI data
temperatureData = CustMes.MESSAGE_TEMP()
error = temperatureData.bytes_to_data(
recievedPacket.Payload)
if error != 0:
print("Radio Network Main: temperature data error " +
str(error))
continue
# set the system id for the GPS data
temperatureData.SystemID = recievedPacket.SystemID
if not TemperatureHandler.temperatureFormatCheck(
temperatureData):
print(
"Temperature message via RFD900 was broken. Discard it..."
)
continue
tempur = TEMPERATURE(temperatureData.SystemID,
temperatureData.Temperature,
temperatureData.Epoch)
with GlobalVals.TEMPERATURE_UPDATE_MUTEX:
update_temperature(tempur)
# print(" Temperature Data from " + str(recievedPacket.SystemID) + ":" + "Temperature:" + str(round(temperatureData.Temperature,1)))
# RSSI
if recievedPacket.MessageID == 7:
# get the RSSI data
RSSI_Data = CustMes.MESSAGE_RSSI()
error = RSSI_Data.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: RSSI data error " +
str(error))
continue
# set the system id for the GPS data
RSSI_Data.SystemID = recievedPacket.SystemID
# print(RSSI_Data.SystemID)
# print(RSSI_Data.TargetPayloadID)
# print(GlobalVals.RSSI_ALLOCATION)
# Check if the message was sent correctly via the RFD900
if not RSSI_Handler.RSSI_FormatCheck(RSSI_Data):
print(
"RSSI message via RFD900 was broken. Discard it..."
)
continue
print("RSSI Data from " + str(recievedPacket.SystemID) +
": " + "RSSI Distance:" +
str(round(RSSI_Data.Distance, 1)) +
", Filtered RSSI: " +
str(round(RSSI_Data.FilteredRSSI, 1)) +
", TargetPayloadID: " +
str(RSSI_Data.TargetPayloadID) + ", Time: " +
str(RSSI_Data.Epoch) + ", SysID: " +
str(RSSI_Data.SystemID))
if GlobalVals.SYSTEM_ID == 1:
with GlobalVals.RSSI_ALLOCATION_MUTEX:
# print("UPDATE RSSI ALLOCATION FROM RADIO [",RSSI_Data.SystemID,"] !!!!")
# print(GlobalVals.RSSI_ALLOCATION)
GlobalVals.RSSI_ALLOCATION[RSSI_Data.SystemID - 1][
int(RSSI_Data.TargetPayloadID) - 1] = True
# print("check 32")
# print(GlobalVals.RSSI_ALLOCATION)
RSSI_Handler.getPairAllocation()
# put data into the buffer
with GlobalVals.RSSI_DATA_BUFFER_MUTEX:
GlobalVals.RSSI_DATA_BUFFER.append(RSSI_Data)
# set the flags for the buffer
with GlobalVals.RECIEVED_RSSI_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_RSSI_RADIO_DATA = True
continue
if recievedPacket.MessageID == 8:
# get the RSSI data
RSSI_AllocationData = CustMes.MESSAGE_RSSI_ALLOCATION()
error = RSSI_AllocationData.bytes_to_data(
recievedPacket.Payload)
if error != 0:
print(
"Radio Network Main: RSSI Allocation data error " +
str(error))
continue
# set the system id for the GPS data
RSSI_AllocationData.SystemID = recievedPacket.SystemID
if not RSSI_Handler.RSSI_AllocationFormatCheck(
RSSI_AllocationData):
print(
"RSSI Allocation message via RFD900 was broken. Discard it..."
)
continue
print("RSSI Allocation Data from " +
str(recievedPacket.SystemID) + ":" + "Pair:" +
str(int(RSSI_AllocationData.Pair)))
# put data into the buffer
with GlobalVals.RSSI_DATA_ALLOCATION_BUFFER_MUTEX:
# if len(GlobalVals.RSSI_DATA_ALLOCATION_BUFFER)>5:
# GlobalVals.RSSI_DATA_ALLOCATION_BUFFER.pop(0)
GlobalVals.RSSI_DATA_ALLOCATION_BUFFER.append(
int(RSSI_AllocationData.Pair))
# set the flags for the buffer
with GlobalVals.RECIEVED_RSSI_ALLOCATION_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_RSSI_ALLOCATION_RADIO_DATA = True
continue
with GlobalVals.PACKET_STATS_LOG_MUTEX:
packetStatsLogTmp = copy.deepcopy(GlobalVals.PACKET_STATS_LOG)
with GlobalVals.PACKET_STATS_AWS_MUTEX:
GlobalVals.PACKET_STATS_AWS = packetStatsLogTmp
# if radio GPS data has been recived record it
if GlobalVals.RECIEVED_GPS_RADIO_DATA:
logString = ""
with GlobalVals.GPS_DATA_BUFFER_MUTEX:
while len(GlobalVals.GPS_DATA_BUFFER) > 0:
# get the GPS data
GPSData = GlobalVals.GPS_DATA_BUFFER.pop(0)
Longitude = GPSData.Longitude
Latitude = GPSData.Latitude
Altitude = GPSData.Altitude
GPSTime = int(GPSData.GPSTime)
SystemID = GPSData.SystemID
# create message string
logString = logString + str(GPSTime) + "," + str(
SystemID) + "," + str(Longitude) + "," + str(
Latitude) + "," + str(Altitude) + "\n"
# write the log string to file
try:
fileObj = open(GlobalVals.GROUND_STATION_LOG_FILE, "a")
fileObj.write(logString)
fileObj.close()
except Exception as e:
print("Exception: " + str(e.__class__))
print(e)
print("Error using GPS data log file")
def main():
recievedPackets = False
# sendTime = int(time.time() + 1)
# this loop will wait for packets and then process them
while True:
# curTime = int(time.time())
# # send dummy GPS data once a second
# if curTime >= sendTime:
# sendTime = curTime + 1
# GPSpacket = CustMes.MESSAGE_FRAME()
# GPSdata = CustMes.MESSAGE_GPS()
# # set up GPS packet
# GPSpacket.MessageID = 0x02
# GPSpacket.TargetID = 0
# GPSpacket.SystemID = GlobalVals.SYSTEM_ID
# # load dummy GPS data
# GPSdata.Longitude = 7.7
# GPSdata.Latitude = 8.8
# GPSdata.Altitude = 9.9
# GPSdata.GPSTime = 10.1
# # send dummy GPS packet
# GPSpacket.Payload = GPSdata.data_to_bytes()
# NetworkManager.sendPacket(GPSpacket)
# check if packets have been recived
with GlobalVals.RECIEVED_PACKETS_MUTEX:
if GlobalVals.RECIEVED_PACKETS:
recievedPackets = True
# if no packets have been recived then sleep and loop
if not recievedPackets:
time.sleep(0.1)
continue
else:
recievedPackets = False
# go through all the packets in the buffer
recievedPacket = CustMes.MESSAGE_FRAME()
with GlobalVals.PACKET_BUFFER_IN_MUTEX:
while len(GlobalVals.PACKET_BUFFER_IN) > 0:
recievedPacket = GlobalVals.PACKET_BUFFER_IN.pop(0)
# if the packet is a ping
if recievedPacket.MessageID == 1:
NetworkManager.PingRespond(recievedPacket.SystemID,
recievedPacket.Timestamp)
# if the packet is a GPS data packet
if recievedPacket.MessageID == 2:
# get the GPS data
GPSdata = CustMes.MESSAGE_GPS()
error = GPSdata.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: GPS data error " +
str(error))
continue
# print("GPS Data from " + str(recievedPacket.SystemID) + ":" +"Lon:" + str(round(GPSdata.Longitude,3)) + ", Lat:" + str(round(GPSdata.Latitude,3)) + ", Alt:" + str(round(GPSdata.Altitude,1)) + ", Time:" + str(round(GPSdata.GPSTime,1)))
# print("Lon:" + str(GPSdata.Longitude) + ", Lat:" + str(GPSdata.Latitude) + ", Alt:" + str(GPSdata.Altitude) + ", Time:" + str(GPSdata.GPSTime) + "\n")
# set the system id for the GPS data
GPSdata.SystemID = recievedPacket.SystemID
if not GPSHandler.GPS_FormatCheck(GPSdata):
print(
"GPS message via RFD900 was broken. Discard it...")
continue
print("Lon:" + str(round(GPSdata.Longitude, 2)) +
", Lat:" + str(round(GPSdata.Latitude, 2)) +
", Alt:" + str(round(GPSdata.Altitude, 2)) +
", Time:" + str(GPSdata.GPSTime))
# print("RECEIVED GPS from ",GPSdata.SystemID,"!!")
# put data into the buffer
with GlobalVals.GPS_DATA_BUFFER_MUTEX:
GlobalVals.GPS_DATA_BUFFER.append(GPSdata)
# set the flags for the buffer
with GlobalVals.RECIEVED_GPS_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_GPS_RADIO_DATA = True
continue
# get the GPS data
# recData = CustMes.MESSAGE_GPS()
# error = recData.bytes_to_data(recievedPacket.Payload)
# if error != 0:
# print ("Radio Network Main: GPS data error " + str(error) )
# continue
# print("GPS Data from " + str(recievedPacket.SystemID) + ":")
# print("Lon:" + str(recData.Longitude) + ", Lat:" + str(recData.Latitude) + ", Alt:" + str(recData.Altitude) + ", Time:" + str(recData.GPSTime) + "\n")
# continue
# if the packet is string message
if recievedPacket.MessageID == 3:
# get the string
StrData = CustMes.MESSAGE_STR()
error = StrData.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Packet error, packet will be discarded.\n")
continue
# print string
print(StrData.MessageStr)
continue
if recievedPacket.MessageID == 4:
# get the GPS data
IMUdata = CustMes.MESSAGE_IMU()
error = IMUdata.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: IMU data error " +
str(error))
continue
print("IMU Data from " + str(recievedPacket.SystemID) +
":")
print("Euler:" + str(IMUdata.Euler321_theta) + "\n")
# set the system id for the GPS data
IMUdata.SystemID = recievedPacket.SystemID
# put data into the buffer
with GlobalVals.IMU_DATA_BUFFER_MUTEX:
GlobalVals.IMU_DATA_BUFFER.append(GPSdata)
# set the flags for the buffer
with GlobalVals.RECIEVED_IMU_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_IMU_RADIO_DATA = True
continue
if recievedPacket.MessageID == 5:
# get the GPS data
EKF_Data = CustMes.MESSAGE_EKF()
error = EKF_Data.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: EKF data error " +
str(error))
continue
# print("GPS Data from " + str(recievedPacket.SystemID) + ":" +"Lon:" + str(round(GPSdata.Longitude,3)) + ", Lat:" + str(round(GPSdata.Latitude,3)) + ", Alt:" + str(round(GPSdata.Altitude,1)) + ", Time:" + str(round(GPSdata.GPSTime,1)))
# print("Lon:" + str(GPSdata.Longitude) + ", Lat:" + str(GPSdata.Latitude) + ", Alt:" + str(GPSdata.Altitude) + ", Time:" + str(GPSdata.GPSTime) + "\n")
# set the system id for the GPS data
EKF_Data.SystemID = recievedPacket.SystemID
if not EKFHandler.EKF_FormatCheck(EKF_Data):
print(
"EKF message via RFD900 was broken. Discard it...")
continue
print("EKF EKF EKF Data from [", EKF_Data.SystemID,
"], Lat: ", round(EKF_Data.Latitude, 2), ", Lon: ",
round(EKF_Data.Longitude, 2), ", Alt: ",
round(EKF_Data.Altitude, 2))
# put data into the buffer
# with GlobalVals.EKF_DATA_BUFFER_MUTEX:
# GlobalVals.EKF_DATA_BUFFER.append(EKF_Data)
# set the flags for the buffer
# with GlobalVals.RECIEVED_EKF_RADIO_DATA_MUTEX:
# GlobalVals.RECIEVED_EKF_RADIO_DATA = True
continue
# Temperature
if recievedPacket.MessageID == 6:
# get the RSSI data
temperatureData = CustMes.MESSAGE_TEMP()
error = temperatureData.bytes_to_data(
recievedPacket.Payload)
if error != 0:
print("Radio Network Main: temperature data error " +
str(error))
continue
# set the system id for the GPS data
temperatureData.SystemID = recievedPacket.SystemID
if not TemperatureHandler.temperatureFormatCheck(
temperatureData):
print(
"Temperature message via RFD900 was broken. Discard it..."
)
continue
# print(" Temperature Data from " + str(recievedPacket.SystemID) + ":" + "Temperature:" + str(round(temperatureData.Temperature,1)))
# RSSI
if recievedPacket.MessageID == 7:
# get the RSSI data
RSSI_Data = CustMes.MESSAGE_RSSI()
error = RSSI_Data.bytes_to_data(recievedPacket.Payload)
if error != 0:
print("Radio Network Main: RSSI data error " +
str(error))
continue
# set the system id for the GPS data
RSSI_Data.SystemID = recievedPacket.SystemID
# print(RSSI_Data.SystemID)
# print(RSSI_Data.TargetPayloadID)
# print(GlobalVals.RSSI_ALLOCATION)
# Check if the message was sent correctly via the RFD900
if not RSSI_Handler.RSSI_FormatCheck(RSSI_Data):
print(
"RSSI message via RFD900 was broken. Discard it..."
)
continue
print("RSSI Data from " + str(recievedPacket.SystemID) +
": " + "RSSI Distance:" +
str(round(RSSI_Data.Distance, 1)) +
", Filtered RSSI: " +
str(round(RSSI_Data.FilteredRSSI, 1)) +
", TargetPayloadID: " +
str(RSSI_Data.TargetPayloadID) + ", Time: " +
str(RSSI_Data.Epoch) + ", SysID: " +
str(RSSI_Data.SystemID))
if GlobalVals.SYSTEM_ID == 1:
with GlobalVals.RSSI_ALLOCATION_MUTEX:
# print("UPDATE RSSI ALLOCATION FROM RADIO [",RSSI_Data.SystemID,"] !!!!")
# print(GlobalVals.RSSI_ALLOCATION)
GlobalVals.RSSI_ALLOCATION[RSSI_Data.SystemID - 1][
int(RSSI_Data.TargetPayloadID) - 1] = True
# print("check 32")
# print(GlobalVals.RSSI_ALLOCATION)
RSSI_Handler.getPairAllocation()
# put data into the buffer
with GlobalVals.RSSI_DATA_BUFFER_MUTEX:
GlobalVals.RSSI_DATA_BUFFER.append(RSSI_Data)
# set the flags for the buffer
with GlobalVals.RECIEVED_RSSI_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_RSSI_RADIO_DATA = True
continue
if recievedPacket.MessageID == 8:
# get the RSSI data
RSSI_AllocationData = CustMes.MESSAGE_RSSI_ALLOCATION()
error = RSSI_AllocationData.bytes_to_data(
recievedPacket.Payload)
if error != 0:
print(
"Radio Network Main: RSSI Allocation data error " +
str(error))
continue
# set the system id for the GPS data
RSSI_AllocationData.SystemID = recievedPacket.SystemID
if not RSSI_Handler.RSSI_AllocationFormatCheck(
RSSI_AllocationData):
print(
"RSSI Allocation message via RFD900 was broken. Discard it..."
)
continue
print(" RSSI Allocation Data from " +
str(recievedPacket.SystemID) + ":" + "Pair:" +
str(int(RSSI_AllocationData.Pair)))
# put data into the buffer
with GlobalVals.RSSI_DATA_ALLOCATION_BUFFER_MUTEX:
# if len(GlobalVals.RSSI_DATA_ALLOCATION_BUFFER)>5:
# GlobalVals.RSSI_DATA_ALLOCATION_BUFFER.pop(0)
GlobalVals.RSSI_DATA_ALLOCATION_BUFFER.append(
int(RSSI_AllocationData.Pair))
# set the flags for the buffer
with GlobalVals.RECIEVED_RSSI_ALLOCATION_RADIO_DATA_MUTEX:
GlobalVals.RECIEVED_RSSI_ALLOCATION_RADIO_DATA = True
continue
