Using message_encode_decode to send MAVlink messages #247
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Where is this change? Can you make this a PR in common or something?
| cls, | ||
| home_position: position_global.PositionGlobal, | ||
| local_logger: logger.Logger, | ||
| worker_id: worker_enum.WorkerEnum, |
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Instead of having it as an input, the communications worker/class should always use the communication worker id. Just use the enum when you need to as a constant instead of as an input
| result = self.controller.send_statustext_msg(message) | ||
| if not result: | ||
| self.__logger.error("Failed to send statustext message", True) | ||
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Note that message may be None due to get_nowait, so you should not log error every time. Skip normally if its None
| input_queue: queue_proxy_wrapper.QueueProxyWrapper, | ||
| output_queue: queue_proxy_wrapper.QueueProxyWrapper, | ||
| communications_output_queue: queue_proxy_wrapper.QueueProxyWrapper, | ||
| coordinates_input_queue: queue_proxy_wrapper.QueueProxyWrapper, |
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This must be the second queue becasue that's what you defined in main_2024. It goes in order (input1, input2, output1, output2...)
| try: | ||
| coordinate = coordinates_input_queue.queue.get_nowait() | ||
| except queue.Empty: | ||
| local_logger.warning("No more coordinates to process") |
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No need to log this, as it will log it 8 times per second, and it's normal operation
| if not isinstance(coordinate, bytes): | ||
| local_logger.warning(f"Skipping unexpected input: {coordinate}") | ||
| continue |
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Do not put this check here, put it in the run() function. This is so that it still continues to put odometry in the output queues, and you don't skip that functionality of the flight interface worker (cuz now you'll just skip getting odometry every time you don't have a communications message)
| COMMUNICATIONS_WORKER_ID = worker_enum.WorkerEnum.COMMUNICATIONS_WORKER | ||
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| def simulate_communications_worker( |
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No need to add this test, as Jane is doing it as her task. Just make sure that the old test can still run (ie fix the inputs to the functions and worker)
… function, adjusted flight interface test to reflect new inputs
maxlou05
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maxlou05
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Reviewed. Conditionally approved after fix and common PR
| self.__logger.info(str(odometry_and_time_object), True) | ||
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| if not isinstance(message, bytes): | ||
| self.__logger.warning(f"Skipping unexpected input: {message}") |
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Maybe don't log this? It will be kind of very spammy
| result, metadata = metadata_encoding_decoding.encode_metadata( | ||
| worker_enum.WorkerEnum.COMMUNICATIONS_WORKER, len(list_of_messages) | ||
| ) | ||
| if not result: | ||
| local_logger.error("Failed to encode metadata", True) | ||
| continue |
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Could you move this thing to communications.py? Then this file will no longer need to import enum and encoding, and just do sending.
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| self.__logger.info(str(odometry_and_time_object), True) | ||
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| self.controller.send_statustext_msg(message) |
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Check if message is None. If it's None, do not send any message and just continue normal operation
| return self.__home_position | ||
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| def run(self) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]": | ||
| def run(self, message: bytes) -> "tuple[bool, odometry_and_time.OdometryAndTime | None]": |
| self.__logger.error("Failed to encode metadata", True) | ||
| return False, None, None | ||
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| return True, encoded_position_global_objects, metadata |
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Just switch the order: metadata then encoded_position_global_objects. Make sure to change function definition and also communications worker.
HermanG05
deleted the
Use-message_encode_decode-to-send-MAVlink-message-fixed
branch
Fixed PR with cleaner commit history.
Description:
Used the following functions in data_encoding and flight_controller.py to send MAVlink messages to the flight controller via the flight interface worker:
encode_metadata()
encode_position_global()
send_statustext_msg()