def xbee_callback(compressed_message, autonomyToCV):
global search_area
global comm_sim_on
if (comm_sim_on):
message = compressed_message
else:
message = msgpack.unpackb(compressed_message)
address = message.remote_device.get_64bit_addr()
msg = json.loads(message.data)
print("Received data from %s: %s" % (address, msg))
try:
msg_type = msg["type"]
if msg_type == "addMission":
area = msg["missionInfo"]["searchArea"]
search_area = SearchArea(area["topLeft"], area["topRight"],
area["bottomLeft"], area["bottomRight"])
autonomy.start_mission = True
acknowledge(address, msg["id"], autonomyToCV)
elif msg_type == "pause":
autonomy.pause_mission = True
acknowledge(address, msg["id"], autonomyToCV)
elif msg_type == "resume":
autonomy.pause_mission = False
acknowledge(address, msg["id"], autonomyToCV)
elif msg_type == "stop":
autonomy.stop_mission = True
acknowledge(address, msg["id"], autonomyToCV)
elif msg_type == "ack":
autonomy.ack_id = msg["ackid"]
else:
bad_msg(address, "Unknown message type: \'" + msg_type + "\'",
autonomyToCV)
# KeyError if message was missing an expected key
except KeyError as e:
bad_msg(address, "Missing \'" + e.args[0] + "\' key", autonomyToCV)
def xbee_callback(message):
global search_area
address = message.remote_device.get_64bit_addr()
msg = json.loads(message.data)
print("Received data from %s: %s" % (address, msg))
try:
msg_type = msg["type"]
if msg_type == "addMission":
area = msg["searchArea"]
search_area = SearchArea(area["center"], area["rad1"],
area["rad2"])
autonomy.start_mission = True
acknowledge(address, msg["id"])
elif msg_type == "pause":
autonomy.pause_mission = True
acknowledge(address, msg["id"])
elif msg_type == "resume":
autonomy.pause_mission = False
acknowledge(address, msg["id"])
elif msg_type == "stop":
autonomy.stop_mission = True
acknowledge(address, msg["id"])
elif msg_type == "acknowledge":
# TODO check the ID
pass
else:
bad_msg(address, "Unknown message type: \'" + msg_type + "\'")
# KeyError if message was missing an expected key
except KeyError as e:
bad_msg(address, "Missing \'" + e.args[0] + "\' key")
def xbee_callback(message):
address = message.remote_device.get_64bit_addr()
msg = json.loads(message.data)
print("Received data from %s: %s" % (address, msg))
try:
msg_type = msg["type"]
if msg_type == "start":
autonomy.start_mission = True
acknowledge(address, msg_type)
elif msg_type == "addMission":
msg_lat = msg['missionInfo']['lat']
msg_lon = msg['missionInfo']['lon']
# convert mission coordinates to dronekit object, and add to POI queue
POI_queue.put(LocationGlobalRelative(msg_lat, msg_lon, None))
acknowledge(address, msg_type)
elif msg_type == "pause":
autonomy.pause_mission = True
acknowledge(address, msg_type)
elif msg_type == "resume":
autonomy.pause_mission = False
acknowledge(address, msg_type)
elif msg_type == "stop":
autonomy.stop_mission = True
acknowledge(address, msg_type)
else:
bad_msg(address, "Unknown message type: \'" + msg_type + "\'")
# KeyError if message was missing an expected key
except KeyError as e:
bad_msg(address, "Missing \'" + e.args[0] + "\' key")
def xbee_callback(message):
global gcs_timestamp
global connection_timestamp
address = message.remote_device.get_64bit_addr()
msg = json.loads(message.data)
print("Received data from %s: %s" % (address, msg))
try:
msg_type = msg["type"]
if msg_type == "connectionAck":
gcs_timestamp = msg['clocktime']
connection_timestamp = time.time()
autonomy.ack_id = msg["ackid"]
elif msg_type == "start":
# detach this callback so that the corresponding role can use its own callback
xbee.del_data_received_callback(xbee_callback)
xbee.close()
job_type = msg['jobType']
if job_type == "quickScan":
quick_scan(gcs_timestamp=gcs_timestamp,
connection_timestamp=connection_timestamp)
elif job_type == "detailedSearch":
detailed_search(gcs_timestamp=gcs_timestamp,
connection_timestamp=connection_timestamp)
elif job_type == "guide":
# TODO
pass
else:
bad_msg(address, "Unknown jobType: \'" + job_type + "\'")
else:
bad_msg(address, "Unknown message type: \'" + msg_type + "\'")
# KeyError if message was missing an expected key
except KeyError as e:
bad_msg(address, "Missing \'" + e.args[0] + "\' key")
