Added try...except to be more safe after pprzlink api changes. (#2548)

* Updated pprzlink library to the latest version

* Added try...except to crazyradio2ivy.py to be safer after pprzlink API changes. paparazzi/pprzlink#117

* Updated request messages with the new pprzlink API

* Added a #noqa comment so linters won't remove the seemingly unused import.

* Updated the guided_mode_example.py to have a wait timeout.

sw/ground_segment/python/bitcraze/crazyradio2ivy.py

@@ -98,7 +98,12 @@ class RadioBridge:
                         print("Got message {} from {}".format(msg.name, sender_id))
                     # Forward message to Ivy bus
                     if self.is_connected:
-                        self._ivy.send(msg, sender_id=sender_id)
+                        try:
+                            self._ivy.send(msg, sender_id=sender_id)
+                        except RuntimeError as e:
+                            print("Runtime error {}".format(e))
+                        except ValueError as e:
+                            print("Invalid message error {}".format(e))
 
     def _link_quality_cb(self, quality):
         pass

sw/ground_segment/python/guided_mode_example.py

@@ -161,17 +161,26 @@ class IvyRequester(object):
             self._interface = None
 
     def get_aircrafts(self):
+        wait_step = 0.1
+        timeout = 30 / wait_step  # 30 seconds
+        new_answer = False
 
         def aircrafts_cb(ac_id, msg):
+            global new_answer
             self.ac_list = [int(a) for a in msg['ac_list'].split(',') if a]
             print("aircrafts: {}".format(self.ac_list))
+            new_answer = True
 
-        self._interface.subscribe(aircrafts_cb, "(.*AIRCRAFTS .*)")
-        sender = 'get_aircrafts'
-        request_id = '42_1' # fake request id, should be PID_index
-        self._interface.send("{} {} AIRCRAFTS_REQ".format(sender, request_id))
+        self._interface.send_request('ground', "AIRCRAFTS", aircrafts_cb)
         # hack: sleep briefly to wait for answer
-        sleep(0.1)
+        while not new_answer and timeout > 0:
+            sleep(wait_step)
+            timeout -= 1
+
+        if not new_answer:
+            print("WARNING: Getting the list of aircraft timed out. The results might be outdated.")
+            # Didn't raise an exception or return None in order to not break the API
+
         return self.ac_list
 
 

sw/lib/python/pprz_connect.py

@@ -125,7 +125,6 @@ class PprzConnect(object):
         """
         self.verbose = verbose
         self._notify = notify
-        self._req_idx = 0
 
         self._conf_list_by_name = {}
         self._conf_list_by_id = {}
@@ -184,27 +183,6 @@ class PprzConnect(object):
         """
         return self._ivy
 
-    def _get_req_id(self):
-        req_id = '{}_{}'.format(getpid(), self._req_idx)
-        self._req_idx += 1
-        return req_id
-
-    def _message_req(self, msg_name, cb, params=None):
-        bind_id = None
-        def _cb(sender, msg):
-            if bind_id is not None:
-                self._ivy.unsubscribe(bind_id)
-            cb(sender, msg)
-        req_id = self._get_req_id()
-        req_regex = '^{} ([^ ]* +{}( .*|$))'.format(req_id, msg_name)
-        bind_id = self._ivy.subscribe(_cb, req_regex)
-        req_msg = PprzMessage('ground','{}_REQ'.format(msg_name))
-        if params is not None:
-            req_msg.set_values(params)
-        #FIXME we shouldn't use directly Ivy, but pprzlink python API is not supporting the request id for now
-        IvySendMsg('pprz_connect {} {} {}'.format(req_id, req_msg.name, req_msg.payload_to_ivy_string()))
-        #self._ivy.send(req_msg)
-
     def get_aircrafts(self):
         """
         request all aircrafts IDs from a runing server
@@ -217,7 +195,7 @@ class PprzConnect(object):
             #ac_list = [int(a) for a in msg['ac_list'].split(',') if a]
             if self.verbose:
                 print("aircrafts: {}".format(ac_list))
-        self._message_req("AIRCRAFTS", aircrafts_cb)
+        self._ivy.send_request('ground', "AIRCRAFTS", aircrafts_cb)
 
         def new_ac_cb(sender, msg):
             ac_id = msg['ac_id']
@@ -243,7 +221,7 @@ class PprzConnect(object):
                 self._notify(conf) # user defined general callback
             if self.verbose:
                 print(conf)
-        self._message_req("CONFIG", conf_cb, [ac_id])
+        self._ivy.send_request('ground', "CONFIG", conf_cb, ac_id=ac_id)
 
 
 if __name__ == '__main__':

sw/simulator/mesonh/mesonh.py

@@ -124,7 +124,7 @@ def main():
     ivy.subscribe(worldenv_cb,'(.* WORLD_ENV_REQ .*)')
 
     # wait for ivy to stop
-    from ivy.std_api import IvyMainLoop
+    from ivy.std_api import IvyMainLoop  # noqa
 
     signal.pause()