mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-10 15:09:25 +08:00
Felix Ruess
34e076e2f7
- pprz_env.IVY_BUS is either the env variable IVY_BUS or appropriate default (checks for OSX) - some fixes for udp_link should fix #1495 and the python part of #204
89 lines
2.8 KiB
Python
Executable File
89 lines
2.8 KiB
Python
Executable File
#!/usr/bin/env python
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from __future__ import absolute_import, print_function
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from ivy.std_api import *
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import logging
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import sys
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import pprz_env
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sys.path.append(pprz_env.PAPARAZZI_SRC + "/sw/lib/python")
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from settings_xml_parse import PaparazziACSettings
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_SHOW_IVY_MSGS_ = False
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class IvySettingsInterface(PaparazziACSettings):
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def __init__(self, ac_ids):
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PaparazziACSettings.__init__(self, ac_ids[0])
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self.update_callback = None
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self.InitIvy()
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self.ac_ids = ac_ids
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def ProcessMessage(self, message_values, fromRemote):
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# Extract aircraft id from message and ignore if not matching
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msg_ac_id = int(message_values[0])
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if (msg_ac_id != self.ac_ids[0]):
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return
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# Extract setting value
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setting_index = int(message_values[1])
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setting_value = message_values[2]
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if _SHOW_IVY_MSGS_:
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print("Got setting with index: %s value %s " % (setting_index, setting_value))
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# Store value from message
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self.lookup[setting_index].value = setting_value
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# Callback (if present)
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if self.update_callback != None:
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self.update_callback(setting_index, setting_value, fromRemote)
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# Called for DL_VALUE (from aircraft)
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def OnValueMsg(self, agent, *larg):
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# Extract field values
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message_values = list(filter(None, larg[0].split(' ')))
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message_values = message_values[0:1] + message_values[2:]
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self.ProcessMessage(message_values, True)
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# Called for DL_SETTING (from ground)
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def OnSettingMsg(self, agent, *larg):
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# Extract field values
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message_values = list(filter(None, larg[0].split(' ')))
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self.ProcessMessage(message_values, False)
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def RegisterCallback(self, callback_function):
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self.update_callback = callback_function
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def InitIvy(self):
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# initialising the bus
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IvyInit("settings_app", # application name for Ivy
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"", # ready message
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0, # main loop is local (ie. using IvyMainloop)
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lambda x,y: y, # handler called on connection/deconnection
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lambda x,y: y # handler called when a diemessage is received
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)
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# starting the bus
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logging.getLogger('Ivy').setLevel(logging.WARN)
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IvyStart(pprz_env.IVY_BUS)
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IvyBindMsg(self.OnValueMsg, "(^.* DL_VALUE .*)")
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IvyBindMsg(self.OnSettingMsg, "dl DL_SETTING (.*)")
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def SendSetting(self, setting_index):
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for ac_id in self.ac_ids:
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IvySendMsg("dl DL_SETTING %s %s %s" % (ac_id, setting_index, self.lookup[setting_index].value))
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def OnClose(self):
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IvyStop()
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def main():
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ac_id = [ 11 ]
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ivy_interface = IvySettingsInterface(ac_id)
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if __name__ == '__main__':
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main()
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