Source code for morse.middleware.mavlink.abstract_mavlink

from morse.middleware import AbstractDatastream
import logging; logger = logging.getLogger("morse." + __name__)

class classproperty(object):
    def __init__(self, fget):
        self.fget = fget
    def __get__(self, owner_self, owner_cls):
        return self.fget(owner_cls)

class MavlinkDatastream(AbstractDatastream):
    @classproperty
    def _type_url(cls):
        return "https://pixhawk.ethz.ch/mavlink/#" + cls._type_name

    def setup(self, conn_manager, mav, boot_time):
        self._conn = conn_manager.get(self.kwargs['device'])
        self._boot_time = boot_time
        self._mav = mav

class MavlinkSensor(MavlinkDatastream):
    def initialize(self):
        self._mavlink_client = None
        self._boot_time = 0
        self._mav = None
        self._msg = None

    """
    common messages requires time in ms since boot, so provide an helper
    function to compute that
    """
    def time_since_boot(self):
        return int((self.data['timestamp'] - self._boot_time) * 1000)

    """
    The make_msg is a method which must be overrided The goal of the
    method is to set with something sensible the self._msg field
    """
    def make_msg(self):
        pass

    def default(self, ci = 'unused'):
        self.make_msg()
        self._conn.write(self._msg.pack(self._mav))

class MavlinkActuator(MavlinkDatastream):
    def initialize(self):
        self._conn = None
        self._msg = None

    def process_msg(self):
        """
        The process_msg must be overriden. It should convert mavlink
        format into the internal Morse format. The last mavlink message
        is stored in self._msg.
        """
        pass

    def default(self, ci = 'unused'):
        last_msg = None
        missed = -1
        self._msg = self._conn.recv_match(type=self._type_name, blocking=False)
        while self._msg:
            last_msg = self._msg
            self._msg = self._conn.recv_msg()
            missed += 1
        if not last_msg:
            return False
        self._msg = last_msg
        if missed != 0:
            logger.warning('Dropped %d messages' % missed)
        logger.debug('Received %s' % self._msg)
        self.process_msg()
        return True