def unpack_pprz_msg(self, data): """Unpack a raw PPRZ message""" sender_id = data[0] receiver_id = data[1] class_id = data[2] & 0x0F component_id = (data[2] & 0xF0) >> 4 msg_id = data[3] msg = PprzMessage(class_id, msg_id) msg.binary_to_payload(data[4:]) return sender_id, receiver_id, component_id, msg
def ros2pprz(self, ros_msg): pprz_msg = PprzMessage(ros_msg.class_name,ros_msg.msg_name) pprz_msg.binary_to_payload(ros_msg.data) return pprz_msg