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Added the ability to see command ack #168

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Added the ability to see command ack #168

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24 changes: 22 additions & 2 deletions droneapi/module/api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -98,6 +98,24 @@ def add(self, cmd):
self.__wp.wploader.add(cmd, comment = 'Added by DroneAPI')
self.__module.vehicle.wpts_dirty = True

def command_ack(self, timeout = 0.5):
#wait indefinitely
if timeout is None:
while self.__module.command_ack is None:
pass
result = self.__module.command_ack
self.__module.command_ack = None #reset cmd_ack
return result

#wait for timeout
start = time.time()
while (time.time() - start) < timeout and self.__module.command_ack is None:
pass
result = self.__module.command_ack
self.__module.command_ack = None #reset cmd_ack
return result


@property
def __wp(self):
return self.__module.module('wp')
Expand Down Expand Up @@ -310,7 +328,6 @@ def __init__(self, module, fn, description):

# DroneAPI might generate many commands, which in turn generate ots of acks and status text, in the interest of speed we ignore processing those messages
try:
self.module.mpstate.rx_blacklist.add('COMMAND_ACK')
self.module.mpstate.rx_blacklist.add('STATUSTEXT')
except:
pass # Silently work with old mavproxies
Expand All @@ -329,7 +346,6 @@ def run(self):
traceback.print_exc()

try:
self.module.mpstate.rx_blacklist.remove('COMMAND_ACK')
self.module.mpstate.rx_blacklist.remove('STATUSTEXT')
except:
pass # Silently work with old mavproxies
Expand Down Expand Up @@ -382,6 +398,8 @@ def __init__(self, mpstate):
self.satellites_visible = None
self.fix_type = None # FIXME support multiple GPSs per vehicle - possibly by using componentId

self.command_ack = None

self.next_thread_num = 0 # Monotonically increasing
self.threads = {} # A map from int ID to thread object

Expand Down Expand Up @@ -472,6 +490,8 @@ def set(chnum, v):
self.mount_roll = m.pointing_b / 100
self.mount_yaw = m.pointing_c / 100
self.__on_change('mount')
elif typ == "COMMAND_ACK":
self.command_ack = m.result


if (self.vehicle is not None) and hasattr(self.vehicle, 'mavrx_callback'):
Expand Down