def __init__(self,
callback,
verbose=False,
uplink_port=UPLINK_PORT,
downlink_port=DOWNLINK_PORT,
msg_class='telemetry',
interface_id=0):
threading.Thread.__init__(self)
self.callback = callback
self.verbose = verbose
self.msg_class = msg_class
self.uplink_port = uplink_port
self.downlink_port = downlink_port
self.ac_downlink_status = {}
self.id = interface_id # set to None to disable id filtering
self.running = True
try:
self.server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.server.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.server.settimeout(2.0)
self.server.bind(('0.0.0.0', self.downlink_port))
except OSError:
logger.error(
"Error: unable to open socket on ports '%d' (up) and '%d' (down)"
% (self.uplink_port, self.downlink_port))
exit(0)
self.trans = PprzTransport(msg_class)
def __init__(self, callback, verbose=False, device='/dev/ttyUSB0', baudrate=115200,
msg_class='telemetry', interface_id=0):
threading.Thread.__init__(self)
self.callback = callback
self.verbose = verbose
self.msg_class = msg_class
self.id = interface_id
self.running = True
try:
self.ser = serial.Serial(device, baudrate, timeout=1.0)
except serial.SerialException:
print("Error: unable to open serial port '%s'" % device)
exit(0)
self.trans = PprzTransport(msg_class)
def __init__(self, link_uri, msg_class='telemetry', verbose=False):
""" Initialize and run with the specified link_uri """
self.verbose = verbose
# Ivy interface and stream parser
self._ivy = IvyMessagesInterface("cf2ivy")
self._transport = PprzTransport(msg_class)
# Create a Crazyradio
self._driver = RadioDriver()
self._driver.connect(link_uri, self._link_quality_cb,
self._link_error_cb)
if self.verbose:
print('Connecting to %s' % link_uri)
# Variable used to keep main loop occupied until disconnect
self.is_connected = True
# Bind to all messages from ac_id
def _forward_to_cf(ac_id, msg):
try:
data = self._transport.pack_pprz_msg(0,
msg) # sender_id 0 = GCS
for i in range(0, len(data), 30):
pk = CRTPPacket()
pk.port = CRTP_PORT_PPRZLINK
pk.data = data[i:(i + 30)]
self._driver.send_packet(pk)
if self.verbose:
print('Forward message', msg.name)
except:
if self.verbose:
print('Forward error for', ac_id)
messages_datalink = messages_xml_map.get_msgs("datalink")
for msg in messages_datalink:
self._ivy.subscribe(_forward_to_cf, PprzMessage("datalink", msg))
