Python IvyMessagesInterface.subscribe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 subscribe [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 subscribe [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 subscribe [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 subscribe [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()