mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 06:59:54 +08:00
Felix Ruess
91 lines
3.0 KiB
Python
91 lines
3.0 KiB
Python
from __future__ import absolute_import, print_function
|
|
|
|
from ivy.std_api import *
|
|
import logging
|
|
import os
|
|
import sys
|
|
import re
|
|
|
|
# if PAPARAZZI_SRC not set, then assume the tree containing this
|
|
# file is a reasonable substitute
|
|
PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)),
|
|
'../../../../')))
|
|
sys.path.append(PPRZ_SRC + "/sw/lib/python")
|
|
|
|
from pprz_msg.message import PprzMessage
|
|
|
|
|
|
class IvyMessagesInterface(object):
|
|
def __init__(self, callback, init=True, verbose=False, bind_regex='(.*)'):
|
|
self.callback = callback
|
|
self.ivy_id = 0
|
|
self.verbose = verbose
|
|
self.init_ivy(init, bind_regex)
|
|
|
|
def stop(self):
|
|
IvyUnBindMsg(self.ivy_id)
|
|
|
|
def shutdown(self):
|
|
self.stop()
|
|
IvyStop()
|
|
|
|
def __init__del__(self):
|
|
try:
|
|
IvyUnBindMsg(self.ivy_id)
|
|
except:
|
|
pass
|
|
|
|
def init_ivy(self, init=True, bind_regex='(.*)'):
|
|
if init:
|
|
IvyInit("Messages %i" % os.getpid(), "READY", 0, lambda x,y: y, lambda x,y: y)
|
|
logging.getLogger('Ivy').setLevel(logging.WARN)
|
|
IvyStart("")
|
|
self.ivy_id = IvyBindMsg(self.on_ivy_msg, bind_regex)
|
|
|
|
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
|
|
"""
|
|
# 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
|
|
# pass non-telemetry messages with ac_id 0
|
|
if data[0] in ["sim", "ground_dl", "dl"]:
|
|
if self.verbose:
|
|
print("ignoring message " + ' '.join(data))
|
|
sys.stdout.flush()
|
|
return
|
|
elif data[0] in ["ground"]:
|
|
msg_class = data[0]
|
|
msg_name = data[1]
|
|
ac_id = 0
|
|
values = list(filter(None, data[2:]))
|
|
else:
|
|
try:
|
|
ac_id = int(data[0])
|
|
except ValueError:
|
|
if self.verbose:
|
|
print("ignoring message " + ' '.join(data))
|
|
sys.stdout.flush()
|
|
return
|
|
msg_class = "telemetry"
|
|
msg_name = data[1]
|
|
values = list(filter(None, data[2:]))
|
|
msg = PprzMessage(msg_class, msg_name)
|
|
msg.set_values(values)
|
|
self.callback(ac_id, msg)
|