Python IvyMessagesInterface.shutdown方法代码示例

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
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)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def move_waypoint(self, ac_id, wp_id, lat, lon, alt):
        msg = PprzMessage("ground", "MOVE_WAYPOINT")
        msg["ac_id"] = ac_id
        msg["wp_id"] = wp_id
        msg["lat"] = lat
        msg["long"] = lon
        msg["alt"] = alt
        print("Sending message: %s" % msg)
        self._interface.send(msg)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class Ivy2RedisServer():
    def __init__(self, redishost, redisport, verbose=False):
        self.verbose = verbose
        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))

    def message_recv(self, ac_id, msg):
        # if ac_id is not 0 (i.e. telemetry from an aircraft) include it in the key
        # don't add it to the key for ground messages
        if ac_id:
            key = "{0}.{1}.{2}".format(msg.msg_class, msg.name, ac_id)
        else:
            key = "{0}.{1}".format(msg.msg_class, msg.name)
        if self.verbose:
            print("received message, key=%s, msg=%s" % (key, msg.to_json(payload_only=True)))
            sys.stdout.flush()
        self.r.publish(key, msg.to_json(payload_only=True))
        self.r.set(key, msg.to_json(payload_only=True))

    def run(self):
        while self.keep_running:
            time.sleep(0.1)

    def stop(self):
        self.keep_running = False
        self.interface.shutdown()

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class ObstacleAdder(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)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def add_obstacle(self, obstacle_id, color, status, lat, lon, radius, alt):
        msg = PprzMessage("ground", "OBSTACLE")
        msg['id'] = obstacle_id
        msg['color'] = color
        msg['status'] = status
        msg['lat'] = lat
        msg['lon'] = lon
        msg['radius'] = radius
        msg['alt'] = alt
        print("Sending message: %s" % msg)
        self._interface.send(msg)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class RadioWatchFrame(wx.Frame):
    def message_recv(self, ac_id, msg):
        if msg.name == "ROTORCRAFT_STATUS":
            self.rc_status = int(msg['rc_status'])
        if self.rc_status != 0 and not self.alertChannel.get_busy():
            self.warn_timer = wx.CallLater(5, self.rclink_alert)
            # else:
            # self.notification.close()

    def gui_update(self):
        self.rc_statusText.SetLabel(["OK", "LOST", "REALLY LOST"][self.rc_status])
        self.update_timer.Restart(UPDATE_INTERVAL)

    def rclink_alert(self):
        self.alertChannel.queue(self.alertSound)
        self.notification.show()
        time.sleep(5)

    def setFont(self, control):
        font = control.GetFont()
        size = font.GetPointSize()
        font.SetPointSize(size * 1.4)
        control.SetFont(font)

    def __init__(self):
        wx.Frame.__init__(self, id=-1, parent=None, name=u'RCWatchFrame',
                          size=wx.Size(WIDTH, HEIGHT), title=u'RC Status')
        self.Bind(wx.EVT_CLOSE, self.OnClose)

        self.rc_statusText = wx.StaticText(self, -1, "UNKWN")

        pygame.mixer.init()
        self.alertSound = pygame.mixer.Sound("crossing.wav")
        self.alertChannel = pygame.mixer.Channel(False)

        self.setFont(self.rc_statusText)

        self.notification = pynotify.Notification("RC Link Warning!",
                                                  "RC Link status not OK!",
                                                  "dialog-warning")

        self.rc_status = -1

        pynotify.init("RC Status")

        sizer = wx.BoxSizer(wx.VERTICAL)
        sizer.Add(self.rc_statusText, 1, wx.EXPAND)
        self.SetSizer(sizer)
        sizer.Layout()
        self.interface = IvyMessagesInterface("radiowatchframe")
        self.interface.subscribe(self.message_recv)
        self.update_timer = wx.CallLater(UPDATE_INTERVAL, self.gui_update)

    def OnClose(self, event):
        self.interface.shutdown()
        self.Destroy()

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class myQRParser():
	def signal_handler(self, signal, frame):
			print('You pressed Ctrl+C!')
			self.interface.shutdown()
			sys.exit(0)

	def myCrapThread(self):
		time.sleep(1)
		myCode.decode_webcam(callback=self.codeRecognized, device='/dev/video0')
		#print('Finished, please ctrl+c')
		self.interface.shutdown()
		sys.exit(0)

	def __init__(self, ac_id, waypoint_id):
		self.ac_id = ac_id[0]
		self.waypoint_id = waypoint_id[0]
		self.interface = IvyMessagesInterface(self, self.emptyFun)
				
		t = threading.Thread(target=self.myCrapThread)
		t.start()

		signal.signal(signal.SIGINT, self.signal_handler)
		print('Press Ctrl+C')
		signal.pause()
		
		self.interface.shutdown()

	def emptyFun(ac_id, msg):
		print "Never"

	def codeRecognized (self, data):
		print data
		if data == '1':
			coords = 1
			print "Dropzone 1"
		elif data == '2':
			coords = 2
			print "Dropzone 2"
		elif data == '3':
			coords = 3
			print "Dropzone 3"
		else:
			print data
			return
		print('Going to: ', coords)
		pprzmsg = PprzMessage("ground", "DL_SETTING")
		pprzmsg.set_values([self.ac_id, self.waypoint_id, coords])
		self.interface.send(pprzmsg)
		#pprzmsg.set_values([self.ac_id, (self.waypoint_id+1), coords[0], coords[1], 10])
		#self.interface.send(pprzmsg)

	def __call__(a, b, c):
		print ""

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class CommandReader(object):

    def __init__(self, verbose=False, callback=None):
        self.verbose = verbose
        self.callback = callback
        self._interface = IvyMessagesInterface(self.message_recv)

    def message_recv(self, ac_id, msg):
        if (self.verbose and self.callback != None):
            self.callback(ac_id, msg)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class WaypointMover(object):
    def __init__(self, verbose=False):
        self.verbose = verbose
        self._interface = IvyMessagesInterface("WaypointMover")

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def move_waypoint(self, ac_id, wp_id, lat, lon, alt):
        msg = PprzMessage("ground", "MOVE_WAYPOINT")
        msg['ac_id'] = ac_id
        msg['wp_id'] = wp_id
        msg['lat'] = lat
        msg['long'] = lon
        msg['alt'] = alt
        print("Sending message: %s" % msg)
        self._interface.send(msg)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class IntruderAdder(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)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def add_intruder(self, intruder_id, name, lat, lon, alt, course, speed, climb, itow):
        msg = PprzMessage("ground", "INTRUDER")
        msg['id'] = intruder_id
        msg['name'] = name
        msg['lat'] = lat
        msg['lon'] = lon
        msg['alt'] = alt
        msg['course'] = course
        msg['speed'] = speed
        msg['climb'] = climb
        msg['itow'] = 0
        print("Sending message: %s" % msg)
        self._interface.send(msg)

    def new_intruder(self, intruder_id, name):
        msg = PprzMessage("ground", "INTRUDER")
        msg['id'] = intruder_id
        msg['name'] = name
        msg['itow'] = 0
        print("Sending message: %s" % msg)
        self._interface.send(msg)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class Guidance(object):
    def __init__(self, ac_id, verbose=False):
        self.ac_id = ac_id
        self.verbose = verbose
        self._interface = None
        self.auto2_index = None
        try:
            settings = PaparazziACSettings(self.ac_id)
        except Exception as e:
            print(e)
            return
        try:
            self.auto2_index = settings.name_lookup['auto2'].index
        except Exception as e:
            print(e)
            print("auto2 setting not found, mode change not possible.")
        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()

    def set_guided_mode(self):
        """
        change auto2 mode to GUIDED.
        """
        if self.auto2_index is not None:
            msg = PprzMessage("ground", "DL_SETTING")
            msg['ac_id'] = self.ac_id
            msg['index'] = self.auto2_index
            msg['value'] = 19  # AP_MODE_GUIDED
            print("Setting mode to GUIDED: %s" % msg)
            self._interface.send(msg)

    def set_nav_mode(self):
        """
        change auto2 mode to NAV.
        """
        if self.auto2_index is not None:
            msg = PprzMessage("ground", "DL_SETTING")
            msg['ac_id'] = self.ac_id
            msg['index'] = self.auto2_index
            msg['value'] = 13  # AP_MODE_NAV
            print("Setting mode to NAV: %s" % msg)
            self._interface.send(msg)

    def goto_ned(self, north, east, down, heading=0.0):
        """
        goto a local NorthEastDown position in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg['ac_id'] = self.ac_id
        msg['flags'] = 0x00
        msg['x'] = north
        msg['y'] = east
        msg['z'] = down
        msg['yaw'] = heading
        print("goto NED: %s" % msg)
        # embed the message in RAW_DATALINK so that the server can log it
        self._interface.send_raw_datalink(msg)

    def goto_ned_relative(self, north, east, down, yaw=0.0):
        """
        goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg['ac_id'] = self.ac_id
        msg['flags'] = 0x01
        msg['x'] = north
        msg['y'] = east
        msg['z'] = down
        msg['yaw'] = yaw
        print("goto NED relative: %s" % msg)
        self._interface.send_raw_datalink(msg)

    def goto_body_relative(self, forward, right, down, yaw=0.0):
        """
        goto to a position relative to current position and heading in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg['ac_id'] = self.ac_id
        msg['flags'] = 0x03
        msg['x'] = forward
        msg['y'] = right
        msg['z'] = down
        msg['yaw'] = yaw
        print("goto body relative: %s" % msg)
        self._interface.send_raw_datalink(msg)

    def move_at_vel(self, north=0.0, east=0.0, down=0.0, yaw=0.0):
        """
        move at specified velocity in meters/sec with absolute heading (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg['ac_id'] = self.ac_id
#.........这里部分代码省略.........

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class MessagePicker(wx.Frame):
    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 = {}
        self.callback = callback

        self.tree = wx.TreeCtrl(self)
        self.root = self.tree.AddRoot("Telemetry")
        self.tree.Bind(wx.EVT_LEFT_DCLICK, self.OnDoubleClick)
        self.tree.Bind(wx.EVT_CHAR, self.OnKeyChar)
        self.Bind(wx.EVT_CLOSE, self.OnClose)
        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
        if self.GetParent() is not None:
            self.Hide()
        else:
            self.message_interface.shutdown()
            self.Destroy()

    def msg_recv(self, ac_id, msg):
        if msg.msg_class != "telemetry":
            return

        self.tree.Expand(self.root)
        if ac_id not in self.aircrafts:
            ac_node = self.tree.AppendItem(self.root, str(ac_id))
            self.aircrafts[ac_id] = Aircraft(ac_id)
            self.aircrafts[ac_id].messages_book = ac_node

        aircraft = self.aircrafts[ac_id]
        ac_node = aircraft.messages_book

        if msg.name not in aircraft.messages:
            msg_node = self.tree.AppendItem(ac_node, str(msg.name))
            self.tree.SortChildren(ac_node)
            aircraft.messages[msg.name] = Message("telemetry", msg.name)
            for field in aircraft.messages[msg.name].fieldnames:
                item = self.tree.AppendItem(msg_node, field)

    def OnKeyChar(self, event):
        if event.GetKeyCode() != 13:
            return False
        node = self.tree.GetSelection()
        field_name = self.tree.GetItemText(node)

        parent = self.tree.GetItemParent(node)
        message_name = self.tree.GetItemText(parent)

        grandparent = self.tree.GetItemParent(parent)
        ac_id = self.tree.GetItemText(grandparent)

        if node == self.root or parent == self.root or grandparent == self.root:
            # if not leaf, double click = expand
            if self.tree.IsExpanded(node):
                self.tree.Collapse(node)
            else:
                self.tree.Expand(node)
            return

        self.callback(int(ac_id), message_name, field_name)

    def OnDoubleClick(self, event):
        node = self.tree.GetSelection()
        field_name = self.tree.GetItemText(node)

        parent = self.tree.GetItemParent(node)
        message_name = self.tree.GetItemText(parent)

        grandparent = self.tree.GetItemParent(parent)
        ac_id = self.tree.GetItemText(grandparent)

        if node == self.root or parent == self.root or grandparent == self.root:
            # if not leaf, double click = expand
            if self.tree.IsExpanded(node):
                self.tree.Collapse(node)
            else:
                self.tree.Expand(node)
            return

        self.callback(int(ac_id), message_name, field_name)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class Guidance(object):
    def __init__(self, ac_id, verbose=False):
        self.ac_id = ac_id
        self.verbose = verbose
        self._interface = None
        self.auto2_index = None
        try:
            settings = PaparazziACSettings(self.ac_id)
        except Exception as e:
            print(e)
            return
        try:
            self.auto2_index = settings.name_lookup["auto2"].index
        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)

    def shutdown(self):
        if self._interface is not None:
            print("Shutting down ivy interface...")
            self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def set_guided_mode(self):
        """
        change auto2 mode to GUIDED.
        """
        if self.auto2_index is not None:
            msg = PprzMessage("ground", "DL_SETTING")
            msg["ac_id"] = self.ac_id
            msg["index"] = self.auto2_index
            msg["value"] = 19  # AP_MODE_GUIDED
            print("Setting mode to GUIDED: %s" % msg)
            self._interface.send(msg)

    def set_nav_mode(self):
        """
        change auto2 mode to NAV.
        """
        if self.auto2_index is not None:
            msg = PprzMessage("ground", "DL_SETTING")
            msg["ac_id"] = self.ac_id
            msg["index"] = self.auto2_index
            msg["value"] = 13  # AP_MODE_NAV
            print("Setting mode to NAV: %s" % msg)
            self._interface.send(msg)

    def goto_ned(self, north, east, down, heading=0.0):
        """
        goto a local NorthEastDown position in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg["ac_id"] = self.ac_id
        msg["flags"] = 0x00
        msg["x"] = north
        msg["y"] = east
        msg["z"] = down
        msg["yaw"] = heading
        print("goto NED: %s" % msg)
        # embed the message in RAW_DATALINK so that the server can log it
        self._interface.send_raw_datalink(msg)

    def goto_ned_relative(self, north, east, down, yaw=0.0):
        """
        goto a local NorthEastDown position relative to current position in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg["ac_id"] = self.ac_id
        msg["flags"] = 0x01
        msg["x"] = north
        msg["y"] = east
        msg["z"] = down
        msg["yaw"] = yaw
        print("goto NED relative: %s" % msg)
        self._interface.send_raw_datalink(msg)

    def goto_body_relative(self, forward, right, down, yaw=0.0):
        """
        goto to a position relative to current position and heading in meters (if already in GUIDED mode)
        """
        msg = PprzMessage("datalink", "GUIDED_SETPOINT_NED")
        msg["ac_id"] = self.ac_id
        msg["flags"] = 0x03
        msg["x"] = forward
        msg["y"] = right
        msg["z"] = down
        msg["yaw"] = yaw
        print("goto body relative: %s" % msg)
        self._interface.send_raw_datalink(msg)

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]

#.........这里部分代码省略.........
                    aircraft.messages_book.SetPageImage(message.index, 0)

        self.timer = threading.Timer(0.1, self.update_leds)
        self.timer.start()

    def setup_image_list(self, notebook):
        imageList = wx.ImageList(24, 24)

        image = wx.Image(PPRZ_HOME + "/data/pictures/gray_led24.png")
        bitmap = wx.BitmapFromImage(image)
        imageList.Add(bitmap)

        image = wx.Image(PPRZ_HOME + "/data/pictures/green_led24.png")
        bitmap = wx.BitmapFromImage(image)
        imageList.Add(bitmap)

        notebook.AssignImageList(imageList)

    def add_new_aircraft(self, ac_id):
        self.aircrafts[ac_id] = Aircraft(ac_id)
        ac_panel = wx.Panel(self.notebook, -1)
        self.notebook.AddPage(ac_panel, str(ac_id))
        messages_book = wx.Notebook(ac_panel, style=wx.NB_LEFT)
        self.setup_image_list(messages_book)
        sizer = wx.BoxSizer(wx.VERTICAL)
        sizer.Add(messages_book, 1, wx.EXPAND)
        ac_panel.SetSizer(sizer)
        sizer.Layout()
        self.aircrafts[ac_id].messages_book = messages_book

    def add_new_message(self, aircraft, msg_class, name):
        messages_book = aircraft.messages_book
        aircraft.messages[name] = Message(msg_class, name)
        field_panel = wx.Panel(messages_book)
        grid_sizer = wx.FlexGridSizer(len(aircraft.messages[name].fieldnames), 2)

        index = self.find_page(messages_book, name)
        messages_book.InsertPage(index, field_panel, name, imageId=1)
        aircraft.messages[name].index = index

        # update indexes of pages which are to be moved
        for message_name in aircraft.messages:
            aircraft.messages[message_name].index = self.find_page(messages_book, message_name)

        for field_name in aircraft.messages[name].fieldnames:
            name_text = wx.StaticText(field_panel, -1, field_name)
            size = name_text.GetSize()
            size.x = LABEL_WIDTH
            name_text.SetMinSize(size)
            grid_sizer.Add(name_text, 1, wx.ALL, BORDER)
            value_control = wx.StaticText(field_panel, -1, "42", style=wx.EXPAND)
            size = value_control.GetSize()
            size.x = LABEL_WIDTH
            value_control.SetMinSize(size)
            grid_sizer.Add(value_control, 1, wx.ALL | wx.EXPAND, BORDER)
            if wx.MAJOR_VERSION > 2:
                if grid_sizer.IsColGrowable(1):
                    grid_sizer.AddGrowableCol(1)
            else:
                grid_sizer.AddGrowableCol(1)
            aircraft.messages[name].field_controls.append(value_control)

        field_panel.SetAutoLayout(True)
        field_panel.SetSizer(grid_sizer)
        field_panel.Layout()

    def gui_update(self, ac_id, msg):
        if ac_id not in self.aircrafts:
            self.add_new_aircraft(ac_id)
        aircraft = self.aircrafts[ac_id]
        if msg.name not in aircraft.messages:
            self.add_new_message(aircraft, msg.msg_class, msg.name)

        aircraft.messages_book.SetPageImage(aircraft.messages[msg.name].index, 1)
        self.aircrafts[ac_id].messages[msg.name].last_seen = time.time()

        for index in range(0, len(msg.fieldvalues)):
            aircraft.messages[msg.name].field_controls[index].SetLabel(msg.get_field(index))

    def __init__(self, msg_class="telemetry"):
        wx.Frame.__init__(self, id=-1, parent=None, name=u'MessagesFrame', size=wx.Size(WIDTH, HEIGHT), style=wx.DEFAULT_FRAME_STYLE, title=u'Messages')
        self.Bind(wx.EVT_CLOSE, self.OnClose)
        self.notebook = wx.Notebook(self)
        self.aircrafts = {}

        sizer = wx.BoxSizer(wx.HORIZONTAL)
        sizer.Add(self.notebook, 1, wx.EXPAND)
        self.SetSizer(sizer)
        sizer.Layout()
        self.timer = threading.Timer(0.1, self.update_leds)
        self.timer.start()
        self.msg_class = msg_class
        self.interface = IvyMessagesInterface("Paparazzi Messages Viewer")
        self.interface.subscribe(self.message_recv)


    def OnClose(self, event):
        self.timer.cancel()
        self.interface.shutdown()
        self.Destroy()

# 需要导入模块: from ivy_msg_interface import IvyMessagesInterface [as 别名]
# 或者: from ivy_msg_interface.IvyMessagesInterface import shutdown [as 别名]
class CommandSender(object):
    def __init__(self, verbose=False, callback = None):
        self.verbose = verbose
        self.callback = callback
        self._interface = IvyMessagesInterface(self.message_recv)

    def message_recv(self, ac_id, msg):
        if (self.verbose and self.callback != None):
            self.callback(ac_id, msg)

    def shutdown(self):
        print("Shutting down ivy interface...")
        self._interface.shutdown()

    def __del__(self):
        self.shutdown()

    def add_mission_command(self, msg_id = "", ac_id = 5 , insert = "APPEND" , wp_lat = "", wp_lon = "", wp_alt = "", duration = "60", center_lat = "", center_lon = "", center_alt = "", radius = "60",segment_lat_1 = "", segment_lat_2 = "", segment_lon_1 = "", segment_lon_2 = "", segment_alt = "", point_lat_1 = "", point_lon_1 = "", point_lat_2 = "", point_lon_2 = "", point_lat_3 = "", point_lon_3 = "", point_lat_4 = "", point_lon_4 = "", point_lat_5 = "", point_lon_5 = "", path_alt = "", nb = "", survey_lat_1 = "", survey_lon_1 = "", survey_lat_2 = "", survey_lon_2 = "", survey_alt = ""):
        msg = PprzMessage("datalink", msg_id)
        msg['ac_id'] = ac_id
        msg['insert'] = insert
        msg['duration'] = duration
	
        if msg_id == MISSION_GOTO_WP_LLA:
            msg['wp_lat'] = wp_lat	
            msg['wp_lon'] = wp_lon
            msg['wp_alt'] = wp_alt

        elif msg_id == MISSION_CIRCLE_LLA:
            msg['center_lat'] = center_lat
            msg['center_lon'] = center_lon
            msg['center_alt'] = center_alt
            msg['radius'] = radius

        elif msg_id == MISSION_SEGMENT_LLA:
            msg['segment_lat_1'] = segment_lat_1
            msg['segment_lon_1'] = segment_lon_1
            msg['segment_lat_2'] = segment_lat_2
            msg['segment_lon_2'] = segment_lon_2

        elif msg_id == MISSION_PATH_LLA:
            msg['point_lat_1'] = point_lat_1
            msg['point_lon_1'] = point_lon_1
            msg['point_lat_2'] = point_lat_2
            msg['point_lon_2'] = point_lon_2
            msg['point_lat_3'] = point_lat_3
            msg['point_lon_3'] = point_lon_3
            msg['point_lat_4'] = point_lat_4
            msg['point_lon_4'] = point_lon_4
            msg['point_lat_5'] = point_lat_5
            msg['point_lon_5'] = point_lon_5
            msg['path_alt'] = path_alt
            msg['nb'] = nb

        elif msg_id == MISSION_SURVEY_LLA:
            msg['survey_lat_1'] = survey_lat_1
            msg['survey_lon_1'] = survey_lon_1
            msg['survey_lat_2'] = survey_lat_2
            msg['survey_lon_2'] = survey_lon_2
            msg['survey_alt'] = survey_alt


        print("Sending message: %s" % msg)
        self._interface.send(msg)

    def add_mission_command_dict(self, ac_id, insert, msg_id, msgs):
        print('hello')
        msg = PprzMessage("datalink", msg_id)
	
        print(msgs)
        print(msgs.keys)
        print(msgs.get('duration'))
        msg['ac_id'] = ac_id
        msg['insert'] = insert
        msg['duration'] = msgs.get('duration')
	
        if msg_id == 'MISSION_GOTO_WP_LLA':
            msg['wp_lat'] = msgs.get('wp_lat')
            msg['wp_lon'] = msgs.get('wp_lon')
            msg['wp_alt'] = msgs.get('wp_alt')

        elif msg_id == 'MISSION_CIRCLE_LLA':
            msg['center_lat'] = msgs.get('center_lat')
            msg['center_lon'] = msgs.get('center_lon')
            msg['center_alt'] = msgs.get('center_alt')
            msg['radius'] = msgs.get('radius')

        elif msg_id == 'MISSION_SEGMENT_LLA':
            msg['segment_lat_1'] = msgs.get('segment_lat_1')
            msg['segment_lon_1'] = msgs.get('segment_lon_1')
            msg['segment_lat_2'] = msgs.get('segment_lat_2')
            msg['segment_lon_2'] = msgs.get('segment_lon_2')

        elif msg_id == 'MISSION_PATH_LLA':
            msg['point_lat_1'] = msgs.get('point_lat_1')
            msg['point_lon_1'] = msgs.get('point_lon_1')
            msg['point_lat_2'] = msgs.get('point_lat_2')
            msg['point_lon_2'] = msgs.get('point_lon_2')
            msg['point_lat_3'] = msgs.get('point_lat_3')
            msg['point_lon_3'] = msgs.get('point_lon_3')
#.........这里部分代码省略.........