#!/usr/bin/env python3
import asyncio
from mavsdk import System
from mavsdk.telemetry_server import (StatusText,StatusTextType,Battery,Position,VelocityNed, Heading,RawGps,GpsInfo,FixType)
import random
async def run():
 
    drone = System(port=50053)
    print("456")
    
    await drone.connect(system_address="udp://:14550")
    print("123")
    await drone.telemetry_server.publish_status_text(StatusText(StatusTextType.ALERT,"Check"))


    while True:

        remaining_percent = random.uniform(0.0, 1.0)
        voltage_v = random.uniform(0.0, 20.0)

        latitude_deg = random.uniform(0.0, 50.0)
        longitude_deg = random.uniform(0.0, 180.0)
        absolute_altitude_m = random.uniform(0.0, 50.0)
        relative_altitude_m = random.uniform(0.0, 50.0)
        heading_deg = random.uniform(0.0, 360.0)
        position = Position(latitude_deg, longitude_deg,absolute_altitude_m,relative_altitude_m)
        velocity_ned = VelocityNed(north_m_s=0.0, east_m_s=0.0, down_m_s=0.0)
        heading = Heading(heading_deg)
        
        raw_gps = RawGps(
        timestamp_us=123456789, # 当前时间戳，以微秒为单位
        latitude_deg=47.3977418, # 纬度
        longitude_deg=8.5455934, # 经度
        absolute_altitude_m=500, # 绝对海拔高度（米）
        hdop=1.0, # 水平精度因子
        vdop=1.0, # 垂直精度因子
        velocity_m_s=random.uniform(0.0,50.0), # 速度（米/秒）
        cog_deg=90.0, # 航向（度）
        altitude_ellipsoid_m=510.0, # 大地水准面上的高度（米）
        horizontal_uncertainty_m=1.000000000000, # 水平准确性（米）
        vertical_uncertainty_m=1.00000000, 
        velocity_uncertainty_m_s=0.0000000000000000 ,# 垂直准确性（米）
        heading_uncertainty_deg=1.0000000, # 速度准确性（米/秒）
        yaw_deg=180.5# 是否已定位的标志
)
        gps_info = GpsInfo(
            num_satellites=10,  # 卫星数量
            fix_type=FixType.RTK_FIXED  # GPS 修复类型
        ) 
        await drone.telemetry_server.publish_battery(Battery(voltage_v,remaining_percent))
        await drone.telemetry_server.publish_position(position,velocity_ned,heading)
        await drone.telemetry_server.publish_raw_gps(raw_gps,gps_info)
        await asyncio.sleep(1)
    
        #print("remaining_percent: ",remaining_percent)
if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(run())