示例#1
0
    def parse_pprz_msg(callback, ivy_msg):
        """
        Parse an Ivy message into a PprzMessage.
        Basically parts/args in string are separated by space, but char array can also contain a space:
        |f,o,o, ,b,a,r| in old format or "foo bar" in new format

        :param callback: function to call with ac_id and parsed PprzMessage as params
        :param ivy_msg: Ivy message string to parse into PprzMessage
        """
        # first split on array delimiters
        l = re.split('([|\"][^|\"]*[|\"])', ivy_msg)
        # strip spaces and filter out emtpy strings
        l = [str.strip(s) for s in l if str.strip(s) is not '']
        data = []
        for s in l:
            # split non-array strings further up
            if '|' not in s and '"' not in s:
                data += s.split(' ')
            else:
                data.append(s)
        # ignore ivy message with less than 3 elements
        if len(data) < 3:
            return

        # normal format is "sender_name msg_name msg_payload..."
        # advanced format has requests and answers (with request_id as 'pid_index')
        # request: "sender_name request_id msg_name_REQ msg_payload..."
        # answer:  "request_id sender_name msg_name msg_payload..."

        # check for request_id in first or second string (-> advanced format with msg_name in third string)
        advanced = False
        if re.search("[0-9]+_[0-9]+", data[0]) or re.search(
                "[0-9]+_[0-9]+", data[1]):
            advanced = True
        msg_name = data[2] if advanced else data[1]
        # check which message class it is
        msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
        if msg_class is None:
            print("Ignoring unknown message " + ivy_msg)
            return
        # pass non-telemetry messages with ac_id 0
        if msg_class == "telemetry":
            try:
                ac_id = int(data[0])
            except ValueError:
                print("ignoring message " + ivy_msg)
                sys.stdout.flush()
        else:
            ac_id = 0
        payload = data[3:] if advanced else data[2:]
        values = list(filter(None, payload))
        msg = PprzMessage(msg_class, msg_name)
        msg.set_values(values)
        # finally call the callback, passing the aircraft id and parsed message
        callback(ac_id, msg)
示例#2
0
    def parse_pprz_msg(callback, ivy_msg):
        """
        Parse an Ivy message into a PprzMessage.
        :param callback: function to call with ac_id and parsed PprzMessage as params
        :param ivy_msg: Ivy message string to parse into PprzMessage
        """
        # normal format is "sender_name msg_name msg_payload..."
        # advanced format has requests and answers (with request_id as 'pid_index')
        # request: "sender_name request_id msg_name_REQ msg_payload..."
        # answer:  "request_id sender_name msg_name msg_payload..."

        data = re.search("(\S+) +(\S+) +(.*)", ivy_msg)
        # check for request_id in first or second string (-> advanced format with msg_name in third string)
        if data is None:
            return
        if re.search("[0-9]+_[0-9]+", data.group(1)) or re.search("[0-9]+_[0-9]+", data.group(2)):
            if re.search("[0-9]+_[0-9]+", data.group(1)):
                sender_name = data.group(2)
            else:
                sender_name = data.group(1)
            # this is an advanced type, split again
            data = re.search("(\S+) +(.*)", data.group(3))
            msg_name = data.group(1)
            payload = data.group(2)
        else:
            # this was a normal message
            sender_name = data.group(1)
            msg_name = data.group(2)
            payload = data.group(3)
        # check which message class it is
        msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
        if msg_class is None:
            print("Ignoring unknown message " + ivy_msg)
            return
        msg = PprzMessage(msg_class, msg_name)
        msg.ivy_string_to_payload(payload)
        # pass non-telemetry messages with ac_id 0 or ac_id attrib value
        if msg_class == "telemetry":
            try:
                if(sender_name[0:6] == 'replay'):
                    ac_id = int(sender_name[6:])
                else:
                    ac_id = int(sender_name)
            except ValueError:
                print("ignoring message " + ivy_msg)
                sys.stdout.flush()
        else:
            if 'ac_id' in msg.fieldnames:
                ac_id_idx = msg.fieldnames.index('ac_id')
                ac_id = msg.fieldvalues[ac_id_idx]
            else:
                ac_id = 0
        # finally call the callback, passing the aircraft id and parsed message
        callback(ac_id, msg)
示例#3
0
    def parse_pprz_msg(callback, ivy_msg):
        """
        Parse an Ivy message into a PprzMessage.
        Basically parts/args in string are separated by space, but char array can also contain a space:
        |f,o,o, ,b,a,r| in old format or "foo bar" in new format

        :param callback: function to call with ac_id and parsed PprzMessage as params
        :param ivy_msg: Ivy message string to parse into PprzMessage
        """
        # first split on array delimiters
        l = re.split('([|\"][^|\"]*[|\"])', ivy_msg)
        # strip spaces and filter out emtpy strings
        l = [str.strip(s) for s in l if str.strip(s) is not '']
        data = []
        for s in l:
            # split non-array strings further up
            if '|' not in s and '"' not in s:
                data += s.split(' ')
            else:
                data.append(s)
        # ignore ivy message with less than 3 elements
        if len(data) < 3:
            return

        # normal format is "sender_name msg_name msg_payload..."
        # advanced format has requests and answers (with request_id as 'pid_index')
        # request: "sender_name request_id msg_name_REQ msg_payload..."
        # answer:  "request_id sender_name msg_name msg_payload..."

        # check for request_id in first or second string (-> advanced format with msg_name in third string)
        advanced = False
        if re.search("[0-9]+_[0-9]+", data[0]) or re.search("[0-9]+_[0-9]+", data[1]):
            advanced = True
        msg_name = data[2] if advanced else data[1]
        # check which message class it is
        msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
        if msg_class is None:
            print("Ignoring unknown message " + ivy_msg)
            return
        # pass non-telemetry messages with ac_id 0
        if msg_class == "telemetry":
            try:
                ac_id = int(data[0])
            except ValueError:
                print("ignoring message " + ivy_msg)
                sys.stdout.flush()
        else:
            ac_id = 0
        payload = data[3:] if advanced else data[2:]
        values = list(filter(None, payload))
        msg = PprzMessage(msg_class, msg_name)
        msg.set_values(values)
        # finally call the callback, passing the aircraft id and parsed message
        callback(ac_id, msg)
    def on_ivy_msg(self, agent, *larg):
        """ Split ivy message up into the separate parts
        Basically parts/args in string are separated by space, but char array can also contain a space:
        |f,o,o, ,b,a,r| in old format or "foo bar" in new format
        """
        # return if no callback is set
        if self.callback is None:
            return

        # first split on array delimiters
        l = re.split('([|\"][^|\"]*[|\"])', larg[0])
        # strip spaces and filter out emtpy strings
        l = [str.strip(s) for s in l if str.strip(s) is not '']
        data = []
        for s in l:
            # split non-array strings further up
            if '|' not in s and '"' not in s:
                data += s.split(' ')
            else:
                data.append(s)
        # ignore ivy message with less than 3 elements
        if len(data) < 3:
            return

        # check which message class it is
        msg_name = data[1]
        msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
        if msg_class is None:
            print("Ignoring unknown message " + larg[0])
            return
        # pass non-telemetry messages with ac_id 0
        if msg_class == "telemetry":
            try:
                ac_id = int(data[0])
            except ValueError:
                print("ignoring message " + larg[0])
                sys.stdout.flush()
        else:
            ac_id = 0
        values = list(filter(None, data[2:]))
        msg = PprzMessage(msg_class, msg_name)
        msg.set_values(values)
        self.callback(ac_id, msg)
示例#5
0
    def on_ivy_msg(self, agent, *larg):
        """ Split ivy message up into the separate parts
        Basically parts/args in string are separated by space, but char array can also contain a space:
        |f,o,o, ,b,a,r| in old format or "foo bar" in new format
        """
        # return if no callback is set
        if self.callback is None:
            return

        # first split on array delimiters
        l = re.split('([|\"][^|\"]*[|\"])', larg[0])
        # strip spaces and filter out emtpy strings
        l = [str.strip(s) for s in l if str.strip(s) is not '']
        data = []
        for s in l:
            # split non-array strings further up
            if '|' not in s and '"' not in s:
                data += s.split(' ')
            else:
                data.append(s)
        # ignore ivy message with less than 3 elements
        if len(data) < 3:
            return

        # check which message class it is
        msg_name = data[1]
        msg_class, msg_name = messages_xml_map.find_msg_by_name(msg_name)
        if msg_class is None:
            print("Ignoring unknown message " + larg[0])
            return
        # pass non-telemetry messages with ac_id 0
        if msg_class == "telemetry":
            try:
                ac_id = int(data[0])
            except ValueError:
                print("ignoring message " + larg[0])
                sys.stdout.flush()
        else:
            ac_id = 0
        values = list(filter(None, data[2:]))
        msg = PprzMessage(msg_class, msg_name)
        msg.set_values(values)
        self.callback(ac_id, msg)