[python] used updated IvyMessagesInterface

sw/ground_segment/python/dashboard/radiowatchframe.py

@@ -66,7 +66,8 @@ class RadioWatchFrame(wx.Frame):
         sizer.Add(self.rc_statusText, 1, wx.EXPAND)
         self.SetSizer(sizer)
         sizer.Layout()
-        self.interface = IvyMessagesInterface(self.message_recv)
+        self.interface = IvyMessagesInterface("radiowatchframe")
+        self.interface.subscribe(self.message_recv)
         self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update)
 
     def OnClose(self, event):

sw/ground_segment/python/guided_mode_example.py

@@ -35,16 +35,13 @@ class Guidance(object):
         except Exception as e:
             print(e)
             print("auto2 setting not found, mode change not possible.")
-        self._interface = IvyMessagesInterface(self.message_recv)
-
-    def message_recv(self, ac_id, msg):
-        if self.verbose:
-            print("Got msg %s" % msg.name)
+        self._interface = IvyMessagesInterface("guided mode example")
 
     def shutdown(self):
         if self._interface is not None:
             print("Shutting down ivy interface...")
             self._interface.shutdown()
+            self._interface = None
 
     def __del__(self):
         self.shutdown()

sw/ground_segment/python/ivytoredis/ivy_to_redis.py

@@ -24,7 +24,8 @@ server = None
 class Ivy2RedisServer():
     def __init__(self, redishost, redisport, verbose=False):
         self.verbose = verbose
-        self.interface = IvyMessagesInterface(self.message_recv)
+        self.interface = IvyMessagesInterface("Ivy2Redis")
+        self.interface.subscribe(self.message_recv)
         self.r = redis.StrictRedis(host=redishost, port=redisport, db=0)
         self.keep_running = True
         print("Connected to redis server %s on port %i" % (redishost, redisport))

sw/ground_segment/python/messages_app/messagesframe.py

@@ -172,7 +172,9 @@ class MessagesFrame(wx.Frame):
         self.timer = threading.Timer(0.1, self.update_leds)
         self.timer.start()
         self.msg_class = msg_class
-        self.interface = IvyMessagesInterface(self.message_recv)
+        self.interface = IvyMessagesInterface("Paparazzi Messages Viewer")
+        self.interface.subscribe(self.message_recv)
+
 
     def OnClose(self, event):
         self.timer.cancel()

sw/ground_segment/python/move_waypoint_example.py

@@ -18,11 +18,7 @@ from pprzlink.message import PprzMessage
 class WaypointMover(object):
     def __init__(self, verbose=False):
         self.verbose = verbose
-        self._interface = IvyMessagesInterface(self.message_recv)
-
-    def message_recv(self, ac_id, msg):
-        if self.verbose:
-            print("Got msg %s" % msg.name)
+        self._interface = IvyMessagesInterface("WaypointMover")
 
     def shutdown(self):
         print("Shutting down ivy interface...")

sw/ground_segment/python/real_time_plot/messagepicker.py

@@ -32,7 +32,7 @@ class Aircraft(object):
 
 
 class MessagePicker(wx.Frame):
-    def __init__(self, parent, callback, initIvy=True):
+    def __init__(self, parent, callback, ivy_interface=None):
         wx.Frame.__init__(self, parent, name="MessagePicker", title=u'Message Picker', size=wx.Size(320,640))
 
         self.aircrafts = {}
@@ -43,7 +43,11 @@ class MessagePicker(wx.Frame):
         self.tree.Bind(wx.EVT_LEFT_DCLICK, self.OnDoubleClick)
         self.tree.Bind(wx.EVT_CHAR, self.OnKeyChar)
         self.Bind(wx.EVT_CLOSE, self.OnClose)
-        self.message_interface = IvyMessagesInterface(self.msg_recv, initIvy)
+        if ivy_interface is None:
+            self.message_interface = IvyMessagesInterface("MessagePicker")
+        else:
+            self.message_interface = ivy_interface
+        self.message_interface.subscribe(self.msg_recv)
 
     def OnClose(self, event):
         # if we have a parent (like the plotpanel) only hide instead of shutdown

sw/ground_segment/python/real_time_plot/plotpanel.py

@@ -19,7 +19,8 @@ sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
 
 import pprz_env
 from pprzlink import messages_xml_map
-
+from ivy_msg_interface import IvyMessagesInterface
+from pprzlink.message import PprzMessage
 
 class PlotData:
     def __init__(self, ivy_msg_id, title, width, color=None, scale=1.0):
@@ -172,7 +173,6 @@ class PlotPanel(object):
         self.frame = frame  # the frame owns any controls we might need to update
 
         parent.SetDropTarget(TextDropTarget(self))  # calls self.OnDropText when drag and drop complete
-        self.InitIvy()
 
         self.width = 800
         self.height = 200
@@ -191,6 +191,8 @@ class PlotPanel(object):
 
         messages_xml_map.parse_messages()
 
+        self.ivy_interface = IvyMessagesInterface(_IVY_APPNAME)
+
         # start the timer
         self.timer = wx.FutureCall(self.plot_interval, self.OnTimer)
 
@@ -229,29 +231,9 @@ class PlotPanel(object):
         pass
 
     def ShowMessagePicker(self, parent):
-        frame = messagepicker.MessagePicker(parent, self.BindCurve, False)
+        frame = messagepicker.MessagePicker(parent, self.BindCurve, self.ivy_interface)
         frame.Show()
 
-    def InitIvy(self):
-        # initialising the bus
-        IvyInit(_IVY_APPNAME,  # application name for Ivy
-                "",  # "[%s is ready]" % IVYAPPNAME,       # ready message
-                0,  # main loop is local (ie. using IvyMainloop)
-                lambda x, y: y,  # handler called on connection/deconnection
-                lambda x, y: y  # handler called when a diemessage is received
-                )
-
-        # starting the bus
-        # Note: env variable IVYBUS will be used if no parameter or empty string
-        # is given ; this is performed by IvyStart (C)
-        try:
-            logging.getLogger('Ivy').setLevel(logging.WARN)
-            IvyStart(pprz_env.IVY_BUS)
-            # binding to every message
-            # IvyBindMsg(self.OnIvyMsg, "(.*)")
-        except:
-            IvyStop()
-
     def OnDropText(self, data):
         [ac_id, category, message, field, scale] = data.encode('ASCII').split(':')
         self.BindCurve(int(ac_id), message, field, scale=float(scale))
@@ -299,7 +281,7 @@ class PlotPanel(object):
                                                                random.randint(0, 255))
             return
 
-        ivy_id = IvyBindMsg(self.OnIvyMsg, str(message_string))
+        ivy_id = self.ivy_interface.bind_raw(self.OnIvyMsg, str(message_string))
         title = '%i:%s:%s' % (ac_id, message, field)
         self.plots[ac_id][message][field] = PlotData(ivy_id, title, self.plot_size, color, scale)
         self.frame.AddCurve(ivy_id, title, use_as_x)
@@ -336,7 +318,7 @@ class PlotPanel(object):
         if (self.x_axis is not None) and (self.x_axis.id == ivy_id):
             self.x_axis = None
 
-        IvyUnBindMsg(ivy_id)
+        self.ivy_interface.unbind(ivy_id)
         del self.plots[ac_id][msg][field]
         if len(self.plots[ac_id][msg]) == 0:
             del self.plots[ac_id][msg]