proto msg example

Stream/uav_proto_msg/protomsg/protoMsg.py

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+import proto.flyformatioln_pb2 as flyformatioln_pb2
+import proto.flight_information_pb2 as flight_information_pb2
+import proto.imu_pb2 as imu_pb2
+import proto.odom_pb2 as odom_pb2
+import proto.duration_pb2 as duration_pb2
+import proto.flymode_pb2 as flymode_pb2
+import proto.timestamp_pb2 as timestamp_pb2
+import google.protobuf.json_format as json_format
+
+
+class protoMsgWrapper:
+
+    @staticmethod
+    def flight_information(serialized=False, tojson=False):
+        flight_information_msg = flight_information_pb2.flight_information_message()
+        flight_information_msg.gps.LAT = 34123.1231515
+        flight_information_msg.gps.LON = 23423.1231515
+        flight_information_msg.gps.ALT = 12123.1231515
+        flight_information_msg.heading = 155.12215
+        if serialized:
+            return flight_information_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(flight_information_msg, indent=None, preserving_proto_field_name=True)
+        return flight_information_msg
+
+    @staticmethod
+    def fly_formation(serialized=False, tojson=False):
+        fly_formation_msg = flyformatioln_pb2.fly_formation_message()
+        fly_formation_msg.velocity = 128
+        fly_formation_msg.fly_formation = flyformatioln_pb2.FLY_FORMATION_v
+        if serialized:
+            return fly_formation_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(fly_formation_msg, indent=None, preserving_proto_field_name=True)
+        return fly_formation_msg
+
+    @staticmethod
+    def imu_information(serialized=False, tojson=False):
+        imu_information_msg = imu_pb2.IMU_message()
+        imu_information_msg.IMU_Gyro_msg.Gyro_x = 1.0
+        imu_information_msg.IMU_Gyro_msg.Gyro_y = 2.0
+        imu_information_msg.IMU_Gyro_msg.Gyro_z = 3.0
+        imu_information_msg.IMU_Accel_msg.Accel_x = 4.0
+        imu_information_msg.IMU_Accel_msg.Accel_y = 5.0
+        imu_information_msg.IMU_Accel_msg.Accel_z = 6.0
+        if serialized:
+            return imu_information_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(imu_information_msg, indent=None, preserving_proto_field_name=True)
+        return imu_information_msg
+
+    @staticmethod
+    def odom_information(serialized=False, tojson=False):
+        odom_information_msg = odom_pb2.odem_message()
+        odom_information_msg.odem_msg.ODOM_x = 1.0
+        odom_information_msg.odem_msg.ODOM_y = 2.0
+        odom_information_msg.odem_msg.ODOM_z = 3.0
+        if serialized:
+            return odom_information_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(odom_information_msg, indent=None, preserving_proto_field_name=True)
+        return odom_information_msg
+
+    @staticmethod
+    def flymode_information(serialized=False, tojson=False):
+        flymode_information_msg = flymode_pb2.flymode_message()
+        flymode_information_msg.fly_mode_msg = flymode_pb2.FLY_MODE_STABILIZE
+        if serialized:
+            return flymode_information_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(flymode_information_msg, indent=None, preserving_proto_field_name=True)
+        return flymode_information_msg
+
+    @staticmethod
+    def duration_information(serialized=False, tojson=False):
+        duration_information_msg = duration_pb2.Duration()
+        duration_information_msg.FromNanoseconds(1000000)
+        if serialized:
+            return duration_information_msg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(duration_information_msg, indent=None, preserving_proto_field_name=True)
+        return duration_information_msg
+
+    @staticmethod
+    def timestamp_information(serialized=False, tojson=False):
+        timestamp_meg = timestamp_pb2.Timestamp()
+        timestamp_meg.GetCurrentTime()
+        if serialized:
+            return timestamp_meg.SerializeToString()
+        if tojson:
+            return  json_format.MessageToJson(timestamp_meg, indent=None, preserving_proto_field_name=True)
+        return timestamp_meg