organize files
RangeOfGlitching
3 years ago
parent
690da410e5
commit
fdfe1b1d85
@ -0,0 +1,11 @@
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UAVLINK:
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uavlink_msg_format: Proto
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uav_id: \x01\x01
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baudrate: 250000
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ttyport: /dev/ttyUSB0
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MQTT: "None"
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ROS:
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ROSClientNameSub: Drone550UAVLINKSub
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Dron550_ROStopicName_Flight_Information: Flight_Information_reciver
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LOG:
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logFileName: ProtodelayA_SUB.log
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@ -0,0 +1,3 @@
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python delayClientA_PUB.py -q 0 -p 1884 -f Json
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frequency,packet_loss,percentage_loss
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1hz,0,0.0
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2hz,0,0.0
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3hz,0,0.0
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4hz,0,0.0
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5hz,0,0.0
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6hz,0,0.0
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7hz,0,0.0
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8hz,0,0.0
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9hz,0,0.0
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10hz,0,0.0
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frequency,packet_loss,percentage_loss
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1hz,0,0.0
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2hz,1,1.0
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3hz,6,6.0
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4hz,8,8.0
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5hz,17,17.0
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6hz,32,32.0
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7hz,48,48.0
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8hz,52,52.0
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9hz,52,52.0
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10hz,55,55.00000000000001
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@ -0,0 +1,107 @@
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#!/usr/bin/env python3
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#coding:utf-8
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import paho.mqtt.client as mqtt
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import os
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import sys
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import time
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import utils
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import argparse
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import proto.flyformatioln_pb2 as flyformatioln_pb2
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import logging
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from utils.protoJson_delayClientA_PUB import Json_msg
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from utils.protoJson_delayClientA_PUB import Proto_msg
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def init_dataFormat(cfg:utils.Read_delayA_PUB_Config):
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global pubFun
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if cfg.msg_format == "Proto":
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Proto_msg.client = client
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Proto_msg.qos = cfg.qos
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Proto_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
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cfg.logFileName = "Proto" + cfg.logFileName
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pubFun = Proto_msg.callBack_gps
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elif cfg.msg_format == "Json":
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Json_msg.client = client
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Json_msg.qos = cfg.qos
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Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
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cfg.logFileName = "Json" + cfg.logFileName
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pubFun = Json_msg.callBack_gps
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else:
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logging.debug("msg_format not found")
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def on_connect(self, userdata, flags, rc):
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logger.debug("Connected with result code " + str(rc))
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def on_publish(self, userdata, mid):
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# logger.debug("pub success")
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pass
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if __name__ == '__main__':
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parser = argparse.ArgumentParser()
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parser.add_argument("-q", "--qos", type=int, help="qos")
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parser.add_argument("-p", "--port", type=int, help="port")
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parser.add_argument("-d", "--data_format", type=str, help="data_format")
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parser.add_argument("-f", "--fre", type=str, help="format")
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parser.add_argument("-t", "--delaytime", type=float, default="1.0", help="number of packet", required=True)
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args = parser.parse_args()
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# Read Config
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FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_delayA_PUB.yml")
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cfg = utils.Read_delayA_PUB_Config(FilePath)
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if args.qos != None:
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cfg.qos = args.qos
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if args.port != None:
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cfg.port = args.port
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if args.data_format != None:
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cfg.msg_format = args.data_format
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# Mqtt
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client = utils.MQTTClient(cfg.MQTTClientNamePub)
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pubFun = None
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init_dataFormat(cfg)
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# set log
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log_format = "%(asctime)s - %(levelname)s - %(message)s"
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file_format = "%(message)s"
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file_formatter = logging.Formatter(file_format)
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formatter = logging.Formatter(log_format)
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stream_handler = logging.StreamHandler()
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stream_handler.setFormatter(formatter)
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stream_handler.setLevel(logging.DEBUG)
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file_handler = logging.FileHandler(cfg.logFileName, mode="w")
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file_handler.setFormatter(file_formatter)
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file_handler.setLevel(logging.INFO)
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logger = logging.getLogger("__PUB__")
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logger.setLevel(logging.DEBUG)
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logger.addHandler(file_handler)
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logger.addHandler(stream_handler)
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logger.debug(cfg)
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# Mqtt
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client.on_connect = on_connect
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client.on_publish = on_publish
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client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
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client.loop_start()
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for i in range(cfg.msgAmount):
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try:
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pubFun()
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time.sleep(args.delaytime)
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except KeyboardInterrupt as e:
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client.disconnect()
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logger.debug("Not elegeant of program")
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sys.exit()
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client.disconnect()
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logger.debug(cfg)
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logger.debug("End of program")
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sys.exit()
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@ -0,0 +1,114 @@
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#!/usr/bin/env python3
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#coding:utf-8
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import paho.mqtt.client as mqtt
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import os
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import sys
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import argparse
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import utils
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import proto.flight_information_pb2 as flight_information_pb2
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import proto.flyformatioln_pb2 as flyformatioln_pb2
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import logging
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from utils.protoJson_delayClientB_SUB import Json_msg
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from utils.protoJson_delayClientB_SUB import Proto_msg
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def init_dataFormat(cfg:utils.Read_delayB_SUB_Config):
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if cfg.msg_format == "Proto":
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Proto_msg.qos = cfg.qos
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Proto_msg.flight_information_msg = flight_information_pb2.flight_information_message()
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Proto_msg.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
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Proto_msg.client = client
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client.on_message = Proto_msg.on_message
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cfg.logFileName = "Proto" + cfg.logFileName
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Proto_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
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elif cfg.msg_format == "Json":
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client.on_message = Json_msg.on_message
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Json_msg.qos = cfg.qos
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Json_msg.client = client
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Json_msg.Delay_topicToMqtt_PUB = cfg.Delay_topicToMqtt_PUB
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cfg.logFileName = "Json" + cfg.logFileName
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else:
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logger.debug("msg_format not found")
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def on_connect(self, userdata, flags, rc):
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logger.debug("Connected with result code " + str(rc))
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client.subscribe(cfg.Delay_topicToMqtt_SUB, qos=cfg.qos)
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def on_disconnect(client, userdata, rc):
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# logger.info("disconnecting reason " +str(rc))
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client.connected_flag=False
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client.disconnect_flag=True
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def on_publish(self, userdata, mid):
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pass
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if __name__ == '__main__':
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parser = argparse.ArgumentParser()
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parser.add_argument("-q", "--qos", type=int, help="qos")
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parser.add_argument("-p", "--port", type=int, help="port")
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parser.add_argument("-d", "--data_format", type=str, help="format")
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parser.add_argument("-f", "--frequency", type=str, default="1", help="transmission frequency", required=True)
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args = parser.parse_args()
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# Read Config
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FilePath = os.path.join(os.path.dirname(__file__),"utils","mqttConfig_delayB_SUB.yml")
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cfg = utils.Read_delayB_SUB_Config(FilePath)
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if args.qos != None:
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cfg.qos = args.qos
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if args.port != None:
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cfg.port = args.port
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if args.data_format != None:
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cfg.msg_format = args.data_format
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client = utils.MQTTClient(cfg.MQTTClientNameSub)
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# Mqtt
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client = utils.MQTTClient(cfg.MQTTClientNameSub)
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client.on_connect = on_connect
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client.on_publish = on_publish
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client.on_disconnect = on_disconnect
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client.connect(host=cfg.host, port=cfg.port, keepalive=cfg.keepalive)
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# initialize
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init_dataFormat(cfg)
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# set log
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log_format = "%(asctime)s - %(levelname)s - %(message)s"
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file_foramt = "%(message)s"
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formatter = logging.Formatter(log_format)
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file_formatter = logging.Formatter(file_foramt)
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stream_handler = logging.StreamHandler()
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stream_handler.setFormatter(formatter)
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stream_handler.setLevel(logging.DEBUG)
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file_handler = logging.FileHandler(args.frequency +"hz.log", mode='w')
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file_handler.setFormatter(file_formatter)
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file_handler.setLevel(logging.INFO)
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logger = logging.getLogger("__SUB__")
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logger.setLevel(logging.DEBUG)
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logger.addHandler(file_handler)
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logger.addHandler(stream_handler)
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logger.debug(cfg)
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try:
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client.loop_forever()
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# rospy.spin()
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except KeyboardInterrupt as e:
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client.loop_stop()
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client.disconnect()
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logger.debug("Not elegeant end of program")
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sys.exit()
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client.loop_stop()
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client.disconnect()
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logger.debug("End of program")
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sys.exit()
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import pandas as pd
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import matplotlib.pyplot as plt
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import argparse
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import os
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import fnmatch
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import re
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def check_number_of_lines(df, log_name):
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if df.shape[0] != args.number:
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print(f"Warning: Number of lines in the log file {log_name} is not correct")
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return list(check_continuous_count(df, log_name))
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else:
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return []
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def check_continuous_count(df, log_name):
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duplicates = df[df["count"].duplicated()]["count"]
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if not duplicates.empty:
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print(f"Warning: Non-continuous count in the log file {log_name} at index {duplicates.index.tolist()}")
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max_count = args.number
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all_counts = set(range(1, max_count + 1))
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actual_counts = set(df["count"])
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missing = all_counts - actual_counts
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if missing != set():
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print(f"Warning: missing msg in {log_name} at index {missing}")
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return missing
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else:
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return 0
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def extract_number(filename):
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return int(re.search(r'\d+', filename).group())
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
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parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
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args = parser.parse_args()
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log_files_path = os.listdir(f"loseData/test{args.test}")
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log_files = [file_name for file_name in log_files_path if fnmatch.fnmatch(file_name, '*.log')]
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log_files.sort(key=extract_number)
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frequence = [file_name.replace(".log", "") for file_name in log_files]
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dataframes = []
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missing_counts = []
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for log_file in log_files:
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df = pd.read_csv(f"loseData/test{args.test}/{log_file}", delim_whitespace=True, header=None, names=["count", "time"])
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dataframes.append(df)
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missing_counts.append(check_number_of_lines(df, log_file))
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total_lengths = [len(sublist) for sublist in missing_counts]
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print(total_lengths)
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plt.rcParams["figure.figsize"] = [13, 6]
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plt.rcParams["figure.autolayout"] = True
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bar_plot = plt.bar(frequence, total_lengths, edgecolor='black')
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plt.title("Packet drop")
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plt.xlabel("Frequency")
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plt.ylabel("packet loss rate((%))")
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total_packets = args.number
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for i, bar in enumerate(bar_plot):
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loss_percentage = total_lengths[i] / total_packets * 100
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plt.text(bar.get_x() + bar.get_width() / 2, bar.get_height() + 0.1,
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f"{loss_percentage:.2f}%", ha="center", va="bottom")
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plt.savefig(f"loseData/test{args.test}/test{args.test}.png", dpi=300)
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plt.show()
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# Create a DataFrame with frequency and packet loss data
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results_df = pd.DataFrame({'frequency': frequence, 'packet_loss': total_lengths})
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# Calculate percentage loss for each row
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results_df['percentage_loss'] = results_df['packet_loss'] / total_packets * 100
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# Save the results as a CSV file
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results_df.to_csv(f"loseData/test{args.test}/results.csv", index=False)
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@ -0,0 +1,78 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: duration.proto
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import message as _message
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from google.protobuf import reflection as _reflection
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
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_sym_db = _symbol_database.Default()
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DESCRIPTOR = _descriptor.FileDescriptor(
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name='duration.proto',
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package='google.protobuf',
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syntax='proto3',
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serialized_options=b'\n\023com.google.protobufB\rDurationProtoP\001Z1google.golang.org/protobuf/types/known/durationpb\370\001\001\242\002\003GPB\252\002\036Google.Protobuf.WellKnownTypes',
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create_key=_descriptor._internal_create_key,
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serialized_pb=b'\n\x0e\x64uration.proto\x12\x0fgoogle.protobuf\"*\n\x08\x44uration\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x42\x83\x01\n\x13\x63om.google.protobufB\rDurationProtoP\x01Z1google.golang.org/protobuf/types/known/durationpb\xf8\x01\x01\xa2\x02\x03GPB\xaa\x02\x1eGoogle.Protobuf.WellKnownTypesb\x06proto3'
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)
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_DURATION = _descriptor.Descriptor(
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name='Duration',
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full_name='google.protobuf.Duration',
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filename=None,
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file=DESCRIPTOR,
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containing_type=None,
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create_key=_descriptor._internal_create_key,
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fields=[
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_descriptor.FieldDescriptor(
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name='seconds', full_name='google.protobuf.Duration.seconds', index=0,
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number=1, type=3, cpp_type=2, label=1,
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has_default_value=False, default_value=0,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
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_descriptor.FieldDescriptor(
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name='nanos', full_name='google.protobuf.Duration.nanos', index=1,
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number=2, type=5, cpp_type=1, label=1,
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has_default_value=False, default_value=0,
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message_type=None, enum_type=None, containing_type=None,
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is_extension=False, extension_scope=None,
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serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
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],
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extensions=[
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],
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nested_types=[],
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enum_types=[
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],
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serialized_options=None,
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is_extendable=False,
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syntax='proto3',
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extension_ranges=[],
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oneofs=[
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],
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serialized_start=35,
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serialized_end=77,
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)
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DESCRIPTOR.message_types_by_name['Duration'] = _DURATION
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_sym_db.RegisterFileDescriptor(DESCRIPTOR)
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Duration = _reflection.GeneratedProtocolMessageType('Duration', (_message.Message,), {
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'DESCRIPTOR' : _DURATION,
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'__module__' : 'duration_pb2'
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# @@protoc_insertion_point(class_scope:google.protobuf.Duration)
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})
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_sym_db.RegisterMessage(Duration)
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DESCRIPTOR._options = None
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# @@protoc_insertion_point(module_scope)
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@ -0,0 +1,14 @@
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syntax = 'proto3';
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package flight_information_proto;
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// GPS + compass
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message GPS {
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optional float LAT = 1;
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optional float LON = 2;
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optional float ALT = 3;
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}
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message flight_information_message {
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GPS gps = 1;
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optional float heading = 2;
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}
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@ -0,0 +1,27 @@
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# -*- coding: utf-8 -*-
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# Generated by the protocol buffer compiler. DO NOT EDIT!
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# source: flight_information.proto
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"""Generated protocol buffer code."""
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from google.protobuf.internal import builder as _builder
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from google.protobuf import descriptor as _descriptor
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from google.protobuf import descriptor_pool as _descriptor_pool
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from google.protobuf import symbol_database as _symbol_database
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# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x18\x66light_information.proto\x12\x18\x66light_information_proto\"S\n\x03GPS\x12\x10\n\x03LAT\x18\x01 \x01(\x02H\x00\x88\x01\x01\x12\x10\n\x03LON\x18\x02 \x01(\x02H\x01\x88\x01\x01\x12\x10\n\x03\x41LT\x18\x03 \x01(\x02H\x02\x88\x01\x01\x42\x06\n\x04_LATB\x06\n\x04_LONB\x06\n\x04_ALT\"j\n\x1a\x66light_information_message\x12*\n\x03gps\x18\x01 \x01(\x0b\x32\x1d.flight_information_proto.GPS\x12\x14\n\x07heading\x18\x02 \x01(\x02H\x00\x88\x01\x01\x42\n\n\x08_headingb\x06proto3')
|
||||
|
||||
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
|
||||
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'flight_information_pb2', globals())
|
||||
if _descriptor._USE_C_DESCRIPTORS == False:
|
||||
|
||||
DESCRIPTOR._options = None
|
||||
_GPS._serialized_start=54
|
||||
_GPS._serialized_end=137
|
||||
_FLIGHT_INFORMATION_MESSAGE._serialized_start=139
|
||||
_FLIGHT_INFORMATION_MESSAGE._serialized_end=245
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
@ -0,0 +1,17 @@
|
||||
syntax = "proto3";
|
||||
package fly_formation_proto;
|
||||
// leader only
|
||||
|
||||
enum FLY_FORMATION{
|
||||
FLY_FORMATION_UNSPECIFIED = 0;
|
||||
FLY_FORMATION_v = 1;
|
||||
FLY_FORMATION_X = 2;
|
||||
FLY_FORMATION_O = 3;
|
||||
FLY_FORMATION_LINE = 4;
|
||||
FLY_FORMATION_ROW = 5;
|
||||
FLY_FORMATION_HEX = 6;
|
||||
}
|
||||
message fly_formation_message{
|
||||
optional float velocity = 1;
|
||||
FLY_FORMATION fly_formation= 2;
|
||||
}
|
||||
@ -0,0 +1,27 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
# source: flyformatioln.proto
|
||||
"""Generated protocol buffer code."""
|
||||
from google.protobuf.internal import builder as _builder
|
||||
from google.protobuf import descriptor as _descriptor
|
||||
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||
from google.protobuf import symbol_database as _symbol_database
|
||||
# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x66lyformatioln.proto\x12\x13\x66ly_formation_proto\"v\n\x15\x66ly_formation_message\x12\x15\n\x08velocity\x18\x01 \x01(\x02H\x00\x88\x01\x01\x12\x39\n\rfly_formation\x18\x02 \x01(\x0e\x32\".fly_formation_proto.FLY_FORMATIONB\x0b\n\t_velocity*\xb3\x01\n\rFLY_FORMATION\x12\x1d\n\x19\x46LY_FORMATION_UNSPECIFIED\x10\x00\x12\x13\n\x0f\x46LY_FORMATION_v\x10\x01\x12\x13\n\x0f\x46LY_FORMATION_X\x10\x02\x12\x13\n\x0f\x46LY_FORMATION_O\x10\x03\x12\x16\n\x12\x46LY_FORMATION_LINE\x10\x04\x12\x15\n\x11\x46LY_FORMATION_ROW\x10\x05\x12\x15\n\x11\x46LY_FORMATION_HEX\x10\x06\x62\x06proto3')
|
||||
|
||||
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
|
||||
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'flyformatioln_pb2', globals())
|
||||
if _descriptor._USE_C_DESCRIPTORS == False:
|
||||
|
||||
DESCRIPTOR._options = None
|
||||
_FLY_FORMATION._serialized_start=165
|
||||
_FLY_FORMATION._serialized_end=344
|
||||
_FLY_FORMATION_MESSAGE._serialized_start=44
|
||||
_FLY_FORMATION_MESSAGE._serialized_end=162
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
@ -0,0 +1,6 @@
|
||||
from utils.readConfig import Read_delayA_PUB_Config
|
||||
from utils.readConfig import Read_delayB_SUB_Config
|
||||
from utils.readConfig import Read_delayA_SUB_Config
|
||||
from utils.basicMqtt import MQTTClient
|
||||
|
||||
|
||||
@ -0,0 +1,17 @@
|
||||
import paho.mqtt.client as mqtt
|
||||
import time
|
||||
class MQTTClient(mqtt.Client):
|
||||
|
||||
def __init__(self,cname,**kwargs):
|
||||
super().__init__(cname,**kwargs)
|
||||
self.last_pub_time=time.time()
|
||||
self.topic_ack=[]
|
||||
self.run_flag=True
|
||||
self.subscribe_flag=False
|
||||
self.bad_connection_flag=False
|
||||
self.connected_flag=True
|
||||
self.disconnect_flag=False
|
||||
self.disconnect_time=0.0
|
||||
self.pub_msg_count=0
|
||||
self.devices=[]
|
||||
|
||||
@ -0,0 +1,15 @@
|
||||
MQTT:
|
||||
# msg_format: Proto
|
||||
msg_format: Json
|
||||
qos: 0
|
||||
MQTTClientNamePub: delayA_PUB
|
||||
host: 192.168.50.117
|
||||
port: 1883
|
||||
keepalive: 60
|
||||
msgAmount: 100
|
||||
msgInterval: 0.01
|
||||
# Mqtt topic
|
||||
Delay_topicToMqtt_PUB: delayA_PUB/delay
|
||||
#ROS
|
||||
LOG:
|
||||
logFileName: delayA_PUB.log
|
||||
@ -0,0 +1,12 @@
|
||||
MQTT:
|
||||
# msg_format: Proto
|
||||
msg_format: Json
|
||||
qos: 0
|
||||
MQTTClientNameSub: delayA_SUB
|
||||
host: 192.168.50.117
|
||||
port: 1883
|
||||
keepalive: 60
|
||||
# Mqtt topic
|
||||
Respond_topicToMqtt_SUB: delayB/respond
|
||||
LOG:
|
||||
logFileName: delayA_SUB.log
|
||||
@ -0,0 +1,13 @@
|
||||
MQTT:
|
||||
# msg_format: Proto
|
||||
msg_format: Json
|
||||
qos: 0
|
||||
MQTTClientNameSub: delayB_SUB
|
||||
host: 192.168.50.117
|
||||
port: 1883
|
||||
keepalive: 60
|
||||
# Mqtt topic
|
||||
Delay_topicToMqtt_SUB: delayA_PUB/delay
|
||||
Delay_topicToMqtt_PUB: delayB/respond
|
||||
LOG:
|
||||
logFileName: delayB_SUB.log
|
||||
@ -0,0 +1,77 @@
|
||||
import orjson
|
||||
import time
|
||||
import logging
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
logger = logging.getLogger("__PUB__")
|
||||
|
||||
class Proto_msg:
|
||||
#Protobuf
|
||||
flight_information_msg = flight_information_pb2.flight_information_message()
|
||||
flight_information_msg.gps.LAT = 100000000
|
||||
flight_information_msg.gps.LON = 200000000
|
||||
flight_information_msg.gps.ALT = 300000000
|
||||
timePub = 0
|
||||
#Mqtt
|
||||
client = None
|
||||
Delay_topicToMqtt_PUB = None
|
||||
count = 1
|
||||
qos = None
|
||||
|
||||
@classmethod
|
||||
def callBack_gps(cls):
|
||||
cls.flight_information_msg.heading = cls.count
|
||||
flightInformationMsg = cls.flight_information_msg.SerializeToString()
|
||||
cls.mqtt_Pub(message=flightInformationMsg, topics=cls.Delay_topicToMqtt_PUB)
|
||||
|
||||
|
||||
|
||||
@classmethod
|
||||
# publish a message
|
||||
def mqtt_Pub(cls, message:bytes, topics:str, waitForAck:bool=False)->None:
|
||||
cls.timePub = time.perf_counter_ns()
|
||||
mid = cls.client.publish(topics, message, cls.qos)[1]
|
||||
logger.info("{} {}".format(cls.count,cls.timePub))
|
||||
cls.count += 1
|
||||
# print(f"just published {message} to topic")
|
||||
if waitForAck:
|
||||
while mid not in cls.client.topic_ack:
|
||||
# TODO: logging
|
||||
print("wait for ack")
|
||||
time.sleep(0.25)# You can download security extensions from the HiveMQ Marke
|
||||
cls.client.topic_ack.remove(mid)
|
||||
|
||||
|
||||
|
||||
|
||||
class Json_msg:
|
||||
GPS_Data = {"lat": 100000000, "lon": 200000000, "alt": 300000000, "count":0}
|
||||
count = 0
|
||||
#Mqtt
|
||||
client = None
|
||||
Delay_topicToMqtt_PUB = None
|
||||
timePub = 0
|
||||
qos = None
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@classmethod
|
||||
def callBack_gps(cls):
|
||||
cls.GPS_Data["count"] = cls.count
|
||||
dataJsonFormate = orjson.dumps(cls.GPS_Data)
|
||||
cls.mqtt_Pub(message=dataJsonFormate, topics=cls.Delay_topicToMqtt_PUB)
|
||||
# print ('lat:'+lat+'\n'+'lon:'+lon+'\n')
|
||||
|
||||
|
||||
@classmethod
|
||||
def mqtt_Pub(cls, message:str, topics:str, waitForAck:bool=False):
|
||||
cls.timePub = time.perf_counter_ns()
|
||||
mid = cls.client.publish(topics, message, cls.qos)[1]
|
||||
logger.info("{} {}".format(cls.count,cls.timePub))
|
||||
cls.count += 1
|
||||
# if waitForAck:
|
||||
# while mid not in cls.client.topic_ack:
|
||||
# print("wait for ack")
|
||||
# time.sleep(0.25)
|
||||
# cls.client.topic_ack.remove(mid)
|
||||
@ -0,0 +1,36 @@
|
||||
import orjson
|
||||
import time
|
||||
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import proto.flyformatioln_pb2 as flyformatioln_pb2
|
||||
import google.protobuf.json_format as json_format
|
||||
import logging
|
||||
|
||||
|
||||
logger = logging.getLogger("__delayA_SUB__")
|
||||
|
||||
class Proto_msg:
|
||||
#Protobuf
|
||||
flight_information_msg = None
|
||||
|
||||
timeRcv = 0
|
||||
msgCounter = None
|
||||
|
||||
@classmethod
|
||||
def on_message(cls, client, userdata, msg):
|
||||
cls.timeRcv = time.perf_counter_ns()
|
||||
cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
|
||||
logger.info("{} {}".format(cls.msgCounter, cls.timeRcv))
|
||||
|
||||
|
||||
|
||||
class Json_msg:
|
||||
timeRcv = 0
|
||||
msgCounter = None
|
||||
|
||||
@classmethod
|
||||
def on_message(cls, client, userdata, msg):
|
||||
cls.timeRcv = time.perf_counter_ns()
|
||||
cls.msgCounter = orjson.loads(msg.payload)["count"]
|
||||
logger.info("{} {}".format(cls.msgCounter, cls.timeRcv))
|
||||
|
||||
@ -0,0 +1,53 @@
|
||||
import orjson
|
||||
import time
|
||||
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import proto.flyformatioln_pb2 as flyformatioln_pb2
|
||||
import google.protobuf.json_format as json_format
|
||||
import logging
|
||||
|
||||
# TODO: use native ros type instead of json or str
|
||||
logger = logging.getLogger("__SUB__")
|
||||
|
||||
class Proto_msg:
|
||||
#Protobuf
|
||||
flight_information_msg = None
|
||||
fly_formation_msg = None # delcare in function
|
||||
|
||||
#Mqtt topic: check data from which topic
|
||||
Delay_topicToMqtt_PUB = None
|
||||
qos = None
|
||||
|
||||
client = None
|
||||
timeRcv = 0
|
||||
timeRsp = 0
|
||||
|
||||
msgCounter = None
|
||||
|
||||
|
||||
|
||||
@classmethod
|
||||
def on_message(cls, client, userdata, msg):
|
||||
cls.timeRcv = time.perf_counter_ns()
|
||||
cls.msgCounter = int(cls.flight_information_msg.FromString(msg.payload).heading)
|
||||
logger.info("{} {}".format(cls.msgCounter, cls.timeRcv))
|
||||
|
||||
|
||||
class Json_msg:
|
||||
#Mqtt topic: check data from which topic
|
||||
Delay_topicToMqtt_PUB = None
|
||||
|
||||
qos = None
|
||||
client = None
|
||||
timeRcv = 0
|
||||
timeRsp = 0
|
||||
|
||||
msgCounter = None
|
||||
|
||||
|
||||
|
||||
@classmethod
|
||||
def on_message(cls, client, userdata, msg):
|
||||
cls.timeRcv = time.perf_counter_ns()
|
||||
cls.msgCounter = orjson.loads(msg.payload)["count"]
|
||||
logger.info("{} {}".format(cls.msgCounter, cls.timeRcv))
|
||||
@ -0,0 +1,109 @@
|
||||
import yaml
|
||||
|
||||
class Config:
|
||||
def __init__(self, inFileName):
|
||||
self.sectionNames = ["MQTT", "LOG"]
|
||||
self.options = {}
|
||||
self.inFileName = inFileName
|
||||
|
||||
def setAttribute(self):
|
||||
with open(self.inFileName,"r") as f:
|
||||
self.ymlcfg=yaml.safe_load(f)
|
||||
ecfgs = [self.ymlcfg.get(name) for name in self.sectionNames]
|
||||
if None in ecfgs:
|
||||
nameIndex = ecfgs.index(None)
|
||||
raise Exception("Missing {} section in cfg file".format(self.sectionNames[nameIndex]))
|
||||
#iterate over options
|
||||
for opts, ecfg in zip(self.options, ecfgs):
|
||||
for opt in self.options[opts]:
|
||||
if opt in ecfg:
|
||||
optval=ecfg[opt]
|
||||
#verify parameter type
|
||||
if type(optval) != self.options[opts][opt][0]:
|
||||
raise Exception("Parameter {} has wrong type".format(opt))
|
||||
|
||||
#create attributes on the fly
|
||||
setattr(self,opt,optval)
|
||||
else:
|
||||
if self.options[opts][opt][1]:
|
||||
raise Exception("Missing mandatory parameter {}".format(opt))
|
||||
else:
|
||||
setattr(self,opt,None)
|
||||
|
||||
def __str__(self):
|
||||
return str(yaml.dump(self.ymlcfg, default_flow_style=False))
|
||||
|
||||
|
||||
class Read_delayA_PUB_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,True),
|
||||
"MQTTClientNamePub": (str,True),
|
||||
"host": (str,True),
|
||||
"port": (int,True),
|
||||
"keepalive": (int,True),
|
||||
"Delay_topicToMqtt_PUB": (str,False),
|
||||
"msgInterval": (float,True),
|
||||
"msgAmount": (int,True),
|
||||
"qos": (int,True)},
|
||||
self.sectionNames[1]:{
|
||||
"logFileName":(str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
def __str__(self):
|
||||
return super().__str__()
|
||||
|
||||
class Read_delayB_SUB_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,True),
|
||||
"MQTTClientNameSub": (str,True),
|
||||
"host": (str,True),
|
||||
"port": (int,True),
|
||||
"keepalive": (int,True),
|
||||
"Delay_topicToMqtt_SUB":(str,True),
|
||||
"Delay_topicToMqtt_PUB":(str,True),
|
||||
"qos": (int,True)},
|
||||
self.sectionNames[1]:{
|
||||
"logFileName":(str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
class Read_delayA_SUB_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,True),
|
||||
"MQTTClientNameSub": (str,True),
|
||||
"host": (str,True),
|
||||
"port": (int,True),
|
||||
"keepalive": (int,True),
|
||||
"Respond_topicToMqtt_SUB":(str,True),
|
||||
"qos": (int,True)},
|
||||
self.sectionNames[1]:{
|
||||
"logFileName":(str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
def __str__(self):
|
||||
return super().__str__()
|
||||
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
cfg=Read_delayA_SUB_Config("mqttConfig_CMD.yml")
|
||||
print(cfg)
|
||||
|
||||
|
||||
@ -0,0 +1,4 @@
|
||||
frequency,packet_loss,percentage_loss
|
||||
1hz,0,0.0
|
||||
2hz,0,0.0
|
||||
5hz,15,15.0
|
||||
|
@ -0,0 +1,11 @@
|
||||
frequency,packet_loss,percentage_loss
|
||||
1hz,0,0.0
|
||||
2hz,1,1.0
|
||||
3hz,6,6.0
|
||||
4hz,8,8.0
|
||||
5hz,17,17.0
|
||||
6hz,32,32.0
|
||||
7hz,48,48.0
|
||||
8hz,52,52.0
|
||||
9hz,52,52.0
|
||||
10hz,55,55.00000000000001
|
||||
|
@ -0,0 +1,82 @@
|
||||
#!/usr/bin/env python3
|
||||
#coding:utf-8
|
||||
import serial
|
||||
import time
|
||||
import sys
|
||||
import os
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import logging
|
||||
from utils.readConfig import Read_PUB_Config
|
||||
from utils.proto_delayClientA_PUB import Proto_msg_from_ros
|
||||
import random
|
||||
import time
|
||||
import argparse
|
||||
|
||||
class fakeGps():
|
||||
def __init__(self):
|
||||
self.latitude = 8.0
|
||||
self.longitude = 8.1
|
||||
self.altitude = 8.88
|
||||
|
||||
class fake_hdg():
|
||||
def __init__(self):
|
||||
self.data = 1
|
||||
|
||||
def init_dataFormat(cfg:Read_PUB_Config):
|
||||
|
||||
Proto_msg_from_ros.sel = sel
|
||||
Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
|
||||
cfg = Read_PUB_Config(FilePath)
|
||||
gps = fakeGps()
|
||||
hdg = fake_hdg()
|
||||
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("-t", "--delaytime", type=float, default="1.0", help="1/frequence", required=True)
|
||||
args = parser.parse_args()
|
||||
|
||||
# set log
|
||||
stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
|
||||
file_log_format = "%(message)s"
|
||||
file_formatter = logging.Formatter(file_log_format)
|
||||
stream_formatter = logging.Formatter(stream_log_format)
|
||||
|
||||
stream_handler = logging.StreamHandler()
|
||||
stream_handler.setFormatter(stream_formatter)
|
||||
stream_handler.setLevel(logging.DEBUG)
|
||||
|
||||
file_handler = logging.FileHandler(cfg.logFileName, mode='w')
|
||||
file_handler.setFormatter(file_formatter)
|
||||
file_handler.setLevel(logging.INFO)
|
||||
|
||||
logger = logging.getLogger("__UAVLINKSUBPUB__")
|
||||
logger.setLevel(logging.DEBUG)
|
||||
logger.addHandler(file_handler)
|
||||
logger.addHandler(stream_handler)
|
||||
logger.debug(cfg)
|
||||
|
||||
sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
|
||||
init_dataFormat(cfg)
|
||||
|
||||
|
||||
while hdg.data <= 100:
|
||||
gps.latitude = random.uniform(10, 100)
|
||||
gps.longitude = random.uniform(10, 100)
|
||||
gps.altitude = random.uniform(10, 100)
|
||||
|
||||
|
||||
try:
|
||||
# test json
|
||||
Proto_msg_from_ros.callBack_gps(gps)
|
||||
Proto_msg_from_ros.callBack_compass_hdg(hdg)
|
||||
time.sleep(args.delaytime)
|
||||
hdg.data += 1
|
||||
except KeyboardInterrupt as e:
|
||||
sel.write(b'\xf2' + b'......................' + b'\x0d\x2a')
|
||||
readTenByte = sel.read_until(size=5)
|
||||
|
||||
print("End of program")
|
||||
sys.exit()
|
||||
@ -0,0 +1,69 @@
|
||||
#!/usr/bin/env python3
|
||||
#coding:utf-8
|
||||
import serial
|
||||
import time
|
||||
import sys
|
||||
import os
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import logging
|
||||
from utils.readConfig import Read_SUB_Config
|
||||
from utils.proto_delayClientB_SUB import Proto_msg_to_ros
|
||||
import google.protobuf.message
|
||||
import argparse
|
||||
|
||||
def init_dataFormat(cfg:Read_SUB_Config):
|
||||
Proto_msg_to_ros.sel = sel
|
||||
Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("-f", "--frequency", type=str, default="1", help="transmission frequency", required=True)
|
||||
args = parser.parse_args()
|
||||
FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
|
||||
cfg = Read_SUB_Config(FilePath)
|
||||
|
||||
# set log
|
||||
stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
|
||||
file_log_format = "%(message)s"
|
||||
file_formatter = logging.Formatter(file_log_format)
|
||||
stream_formatter = logging.Formatter(stream_log_format)
|
||||
|
||||
stream_handler = logging.StreamHandler()
|
||||
stream_handler.setFormatter(stream_formatter)
|
||||
stream_handler.setLevel(logging.DEBUG)
|
||||
|
||||
file_handler = logging.FileHandler(args.frequency +"hz.log", mode='w')
|
||||
file_handler.setFormatter(file_formatter)
|
||||
file_handler.setLevel(logging.INFO)
|
||||
|
||||
logger = logging.getLogger("__UAVLINKSUB__")
|
||||
logger.setLevel(logging.DEBUG)
|
||||
logger.addHandler(file_handler)
|
||||
logger.addHandler(stream_handler)
|
||||
logger.debug(cfg)
|
||||
last_packet = None
|
||||
count = 0
|
||||
sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
|
||||
init_dataFormat(cfg)
|
||||
|
||||
while True:
|
||||
try:
|
||||
# test json
|
||||
if sel.in_waiting >= 25:
|
||||
readTenByte = sel.read_until(expected= b'\x01\x17', size=25)
|
||||
if readTenByte == last_packet:
|
||||
count += 1
|
||||
continue
|
||||
last_packet = readTenByte
|
||||
timeSub = time.perf_counter_ns()
|
||||
Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
|
||||
except google.protobuf.message.DecodeError as e:
|
||||
logger.debug(readTenByte)
|
||||
logger.debug(len(readTenByte))
|
||||
logger.debug(e)
|
||||
logger.debug(count)
|
||||
except KeyboardInterrupt as e:
|
||||
Proto_msg_to_ros.turnOffUavlink()
|
||||
logger.debug("End of program")
|
||||
sys.exit()
|
||||
@ -0,0 +1,85 @@
|
||||
import pandas as pd
|
||||
import matplotlib.pyplot as plt
|
||||
import argparse
|
||||
import os
|
||||
import fnmatch
|
||||
import re
|
||||
|
||||
|
||||
def check_number_of_lines(df, log_name):
|
||||
if df.shape[0] != args.number:
|
||||
print(f"Warning: Number of lines in the log file {log_name} is not correct")
|
||||
return list(check_continuous_count(df, log_name))
|
||||
else:
|
||||
return []
|
||||
|
||||
|
||||
def check_continuous_count(df, log_name):
|
||||
duplicates = df[df["count"].duplicated()]["count"]
|
||||
if not duplicates.empty:
|
||||
print(f"Warning: Non-continuous count in the log file {log_name} at index {duplicates.index.tolist()}")
|
||||
max_count = args.number
|
||||
all_counts = set(range(1, max_count + 1))
|
||||
actual_counts = set(df["count"])
|
||||
missing = all_counts - actual_counts
|
||||
if missing != set():
|
||||
print(f"Warning: missing msg in {log_name} at index {missing}")
|
||||
return missing
|
||||
else:
|
||||
return 0
|
||||
|
||||
|
||||
def extract_number(filename):
|
||||
return int(re.search(r'\d+', filename).group())
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
parser = argparse.ArgumentParser()
|
||||
parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
|
||||
parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
|
||||
args = parser.parse_args()
|
||||
|
||||
log_files_path = os.listdir(f"loseData/test{args.test}")
|
||||
log_files = [file_name for file_name in log_files_path if fnmatch.fnmatch(file_name, '*.log')]
|
||||
log_files.sort(key=extract_number)
|
||||
|
||||
frequence = [file_name.replace(".log", "") for file_name in log_files]
|
||||
|
||||
dataframes = []
|
||||
missing_counts = []
|
||||
for log_file in log_files:
|
||||
df = pd.read_csv(f"loseData/test{args.test}/{log_file}", delim_whitespace=True, header=None, names=["count", "time"])
|
||||
dataframes.append(df)
|
||||
missing_counts.append(check_number_of_lines(df, log_file))
|
||||
|
||||
total_lengths = [len(sublist) for sublist in missing_counts]
|
||||
print(total_lengths)
|
||||
|
||||
plt.rcParams["figure.figsize"] = [13, 6]
|
||||
plt.rcParams["figure.autolayout"] = True
|
||||
|
||||
bar_plot = plt.bar(frequence, total_lengths, edgecolor='black')
|
||||
|
||||
plt.title("Packet drop")
|
||||
plt.xlabel("Frequency")
|
||||
plt.ylabel("packet loss rate((%))")
|
||||
|
||||
total_packets = args.number
|
||||
for i, bar in enumerate(bar_plot):
|
||||
loss_percentage = total_lengths[i] / total_packets * 100
|
||||
plt.text(bar.get_x() + bar.get_width() / 2, bar.get_height() + 0.1,
|
||||
f"{loss_percentage:.2f}%", ha="center", va="bottom")
|
||||
|
||||
|
||||
plt.savefig(f"loseData/test{args.test}/test{args.test}.png", dpi=300)
|
||||
plt.show()
|
||||
|
||||
# Create a DataFrame with frequency and packet loss data
|
||||
results_df = pd.DataFrame({'frequency': frequence, 'packet_loss': total_lengths})
|
||||
|
||||
# Calculate percentage loss for each row
|
||||
results_df['percentage_loss'] = results_df['packet_loss'] / total_packets * 100
|
||||
|
||||
# Save the results as a CSV file
|
||||
results_df.to_csv(f"loseData/test{args.test}/results.csv", index=False)
|
||||
|
||||
@ -0,0 +1,78 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
# source: duration.proto
|
||||
|
||||
from google.protobuf import descriptor as _descriptor
|
||||
from google.protobuf import message as _message
|
||||
from google.protobuf import reflection as _reflection
|
||||
from google.protobuf import symbol_database as _symbol_database
|
||||
# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor.FileDescriptor(
|
||||
name='duration.proto',
|
||||
package='google.protobuf',
|
||||
syntax='proto3',
|
||||
serialized_options=b'\n\023com.google.protobufB\rDurationProtoP\001Z1google.golang.org/protobuf/types/known/durationpb\370\001\001\242\002\003GPB\252\002\036Google.Protobuf.WellKnownTypes',
|
||||
create_key=_descriptor._internal_create_key,
|
||||
serialized_pb=b'\n\x0e\x64uration.proto\x12\x0fgoogle.protobuf\"*\n\x08\x44uration\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x42\x83\x01\n\x13\x63om.google.protobufB\rDurationProtoP\x01Z1google.golang.org/protobuf/types/known/durationpb\xf8\x01\x01\xa2\x02\x03GPB\xaa\x02\x1eGoogle.Protobuf.WellKnownTypesb\x06proto3'
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
_DURATION = _descriptor.Descriptor(
|
||||
name='Duration',
|
||||
full_name='google.protobuf.Duration',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
create_key=_descriptor._internal_create_key,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='seconds', full_name='google.protobuf.Duration.seconds', index=0,
|
||||
number=1, type=3, cpp_type=2, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='nanos', full_name='google.protobuf.Duration.nanos', index=1,
|
||||
number=2, type=5, cpp_type=1, label=1,
|
||||
has_default_value=False, default_value=0,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR, create_key=_descriptor._internal_create_key),
|
||||
],
|
||||
extensions=[
|
||||
],
|
||||
nested_types=[],
|
||||
enum_types=[
|
||||
],
|
||||
serialized_options=None,
|
||||
is_extendable=False,
|
||||
syntax='proto3',
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=35,
|
||||
serialized_end=77,
|
||||
)
|
||||
|
||||
DESCRIPTOR.message_types_by_name['Duration'] = _DURATION
|
||||
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
|
||||
|
||||
Duration = _reflection.GeneratedProtocolMessageType('Duration', (_message.Message,), {
|
||||
'DESCRIPTOR' : _DURATION,
|
||||
'__module__' : 'duration_pb2'
|
||||
# @@protoc_insertion_point(class_scope:google.protobuf.Duration)
|
||||
})
|
||||
_sym_db.RegisterMessage(Duration)
|
||||
|
||||
|
||||
DESCRIPTOR._options = None
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
@ -0,0 +1,17 @@
|
||||
syntax = "proto3";
|
||||
package fly_formation_proto;
|
||||
// leader only
|
||||
|
||||
enum FLY_FORMATION{
|
||||
FLY_FORMATION_UNSPECIFIED = 0;
|
||||
FLY_FORMATION_v = 1;
|
||||
FLY_FORMATION_X = 2;
|
||||
FLY_FORMATION_O = 3;
|
||||
FLY_FORMATION_LINE = 4;
|
||||
FLY_FORMATION_ROW = 5;
|
||||
FLY_FORMATION_HEX = 6;
|
||||
}
|
||||
message fly_formation_message{
|
||||
optional float velocity = 1;
|
||||
FLY_FORMATION fly_formation= 2;
|
||||
}
|
||||
@ -0,0 +1,27 @@
|
||||
# -*- coding: utf-8 -*-
|
||||
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
# source: flyformatioln.proto
|
||||
"""Generated protocol buffer code."""
|
||||
from google.protobuf.internal import builder as _builder
|
||||
from google.protobuf import descriptor as _descriptor
|
||||
from google.protobuf import descriptor_pool as _descriptor_pool
|
||||
from google.protobuf import symbol_database as _symbol_database
|
||||
# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x66lyformatioln.proto\x12\x13\x66ly_formation_proto\"v\n\x15\x66ly_formation_message\x12\x15\n\x08velocity\x18\x01 \x01(\x02H\x00\x88\x01\x01\x12\x39\n\rfly_formation\x18\x02 \x01(\x0e\x32\".fly_formation_proto.FLY_FORMATIONB\x0b\n\t_velocity*\xb3\x01\n\rFLY_FORMATION\x12\x1d\n\x19\x46LY_FORMATION_UNSPECIFIED\x10\x00\x12\x13\n\x0f\x46LY_FORMATION_v\x10\x01\x12\x13\n\x0f\x46LY_FORMATION_X\x10\x02\x12\x13\n\x0f\x46LY_FORMATION_O\x10\x03\x12\x16\n\x12\x46LY_FORMATION_LINE\x10\x04\x12\x15\n\x11\x46LY_FORMATION_ROW\x10\x05\x12\x15\n\x11\x46LY_FORMATION_HEX\x10\x06\x62\x06proto3')
|
||||
|
||||
_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
|
||||
_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'flyformatioln_pb2', globals())
|
||||
if _descriptor._USE_C_DESCRIPTORS == False:
|
||||
|
||||
DESCRIPTOR._options = None
|
||||
_FLY_FORMATION._serialized_start=165
|
||||
_FLY_FORMATION._serialized_end=344
|
||||
_FLY_FORMATION_MESSAGE._serialized_start=44
|
||||
_FLY_FORMATION_MESSAGE._serialized_end=162
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
@ -0,0 +1,17 @@
|
||||
import paho.mqtt.client as mqtt
|
||||
import time
|
||||
class MQTTClient(mqtt.Client):
|
||||
|
||||
def __init__(self,cname,**kwargs):
|
||||
super().__init__(cname,**kwargs)
|
||||
self.last_pub_time=time.time()
|
||||
self.topic_ack=[]
|
||||
self.run_flag=True
|
||||
self.subscribe_flag=False
|
||||
self.bad_connection_flag=False
|
||||
self.connected_flag=True
|
||||
self.disconnect_flag=False
|
||||
self.disconnect_time=0.0
|
||||
self.pub_msg_count=0
|
||||
self.devices=[]
|
||||
|
||||
@ -0,0 +1,28 @@
|
||||
import orjson
|
||||
import time
|
||||
import logging
|
||||
|
||||
logger = logging.getLogger("__UAVLINKSUBPUB__")
|
||||
|
||||
class Proto_msg_from_ros:
|
||||
#Protobuf
|
||||
flight_information_msg = None
|
||||
sel = None
|
||||
|
||||
|
||||
@classmethod
|
||||
def callBack_gps(cls, GPS):
|
||||
cls.flight_information_msg.gps.LAT = GPS.latitude
|
||||
cls.flight_information_msg.gps.LON = GPS.longitude
|
||||
cls.flight_information_msg.gps.ALT = GPS.altitude
|
||||
|
||||
|
||||
@classmethod
|
||||
def callBack_compass_hdg(cls, Compass):
|
||||
cls.flight_information_msg.heading = Compass.data
|
||||
flightInformationMsg = cls.flight_information_msg.SerializeToString()
|
||||
cls.sel.write(b'\xf2' + flightInformationMsg + b'\x0d\x0a')
|
||||
timePub = time.perf_counter_ns()
|
||||
logger.info("{} {}".format(Compass.data,timePub))
|
||||
|
||||
|
||||
@ -0,0 +1,25 @@
|
||||
import time
|
||||
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import google.protobuf.json_format as json_format
|
||||
import logging
|
||||
|
||||
# TODO: use native ros type instead of json or str
|
||||
logger = logging.getLogger("__UAVLINKSUB__")
|
||||
|
||||
class Proto_msg_to_ros:
|
||||
#Protobuf
|
||||
flight_information_msg = None
|
||||
|
||||
#Ros publisher
|
||||
rate = None
|
||||
publisher_Flight_Information = None
|
||||
|
||||
|
||||
#Proto
|
||||
@classmethod
|
||||
def on_message_Flight_Information(cls, msg, timeSub):
|
||||
proto = msg[1:-2]
|
||||
proto_msg = cls.flight_information_msg.FromString(proto)
|
||||
count = proto_msg.heading
|
||||
logger.info("{} {}".format(count,timeSub))
|
||||
@ -0,0 +1,47 @@
|
||||
import time
|
||||
|
||||
import proto.flight_information_pb2 as flight_information_pb2
|
||||
import google.protobuf.json_format as json_format
|
||||
import logging
|
||||
|
||||
# TODO: use native ros type instead of json or str
|
||||
logger = logging.getLogger("__UAVLINKSUB__")
|
||||
|
||||
class Proto_msg_to_ros:
|
||||
#Protobuf
|
||||
flight_information_msg = None
|
||||
|
||||
#Ros publisher
|
||||
rate = None
|
||||
publisher_Flight_Information = None
|
||||
#uavlink
|
||||
sel = None
|
||||
payload = b"......................"
|
||||
noEcho_code = b"\x0d\x0a"
|
||||
echo_code = b"\x0d\x1a"
|
||||
close_code = b"\x0d\x2a"
|
||||
f1_code = b"\xf1"
|
||||
f2_code = b"\xf2"
|
||||
f1_close_code = f1_code + payload + close_code
|
||||
f2_close_code = f2_code + payload + close_code
|
||||
|
||||
# count = None
|
||||
|
||||
#Proto
|
||||
@classmethod
|
||||
def on_message_Flight_Information(cls, msg, timeSub):
|
||||
proto = msg[1:-2]
|
||||
proto_msg = cls.flight_information_msg.FromString(proto)
|
||||
# cls.sel.write(b'\xf2' + proto + b'\x0d\x0a')
|
||||
timePub = time.perf_counter_ns()
|
||||
# readTenByte = cls.sel.read_until(size=5)
|
||||
timeDiff = timePub - timeSub
|
||||
# cls.count = proto_msg.heading
|
||||
logger.info("{} {}".format(proto_msg.heading, timeDiff))
|
||||
|
||||
@classmethod
|
||||
def turnOffUavlink(cls):
|
||||
time.sleep(0.5)
|
||||
cls.sel.write(cls.f1_close_code)
|
||||
time.sleep(0.5)
|
||||
cls.sel.write(cls.f2_close_code)
|
||||
@ -0,0 +1,152 @@
|
||||
import yaml
|
||||
|
||||
class Config:
|
||||
def __init__(self, inFileName):
|
||||
self.sectionNames = ["MQTT","ROS", "LOG", "UAVLINK"]
|
||||
self.options = {}
|
||||
self.inFileName = inFileName
|
||||
|
||||
def setAttribute(self):
|
||||
with open(self.inFileName,"r") as f:
|
||||
self.ymlcfg=yaml.safe_load(f)
|
||||
|
||||
ecfgs = [self.ymlcfg.get(name) for name in self.sectionNames]
|
||||
if None in ecfgs:
|
||||
nameIndex = ecfgs.index(None)
|
||||
raise Exception("Missing {} section in cfg file".format(self.sectionNames[nameIndex]))
|
||||
#iterate over options
|
||||
for opts, ecfg in zip(self.options, ecfgs):
|
||||
for opt in self.options[opts]:
|
||||
if opt in ecfg:
|
||||
optval=ecfg[opt]
|
||||
#verify parameter type
|
||||
if type(optval) != self.options[opts][opt][0]:
|
||||
raise Exception("Parameter {} has wrong type".format(self.opt))
|
||||
|
||||
#create attributes on the fly
|
||||
setattr(self,opt,optval)
|
||||
else:
|
||||
if self.options[opts][opt][1]:
|
||||
raise Exception("Missing mandatory parameter {}".format(self.opt))
|
||||
else:
|
||||
setattr(self,opt,None)
|
||||
|
||||
def __str__(self):
|
||||
return str(yaml.dump(self.ymlcfg, default_flow_style=False))
|
||||
|
||||
|
||||
class Read_PUB_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,False),
|
||||
"MQTTClientNamePub": (str,False),
|
||||
"host": (str,False),
|
||||
"port": (int,False),
|
||||
"keepalive": (int,False),
|
||||
"willTopic":(str,False),
|
||||
"lwt":(str, False),
|
||||
"willRetain":(bool,False),
|
||||
"willTopicQOS":(int,False),
|
||||
"Flight_Information_topicToMqtt": (str,False),
|
||||
"Fly_Formation_topicToMqtt": (str,False),
|
||||
"Fly_Formation_topicToMqtt_QOS":(int,False)},
|
||||
self.sectionNames[1]:{
|
||||
"ROSClientNamePub": (str,True),
|
||||
"ROStopicName_Flight_Information": (str,False),
|
||||
"ROStopicName_Fly_Formation": (str,False)},
|
||||
self.sectionNames[2]:{
|
||||
"logFileName":(str,True)},
|
||||
self.sectionNames[3]:{
|
||||
"uavlink_msg_format": (str,False),
|
||||
"uav_id": (str,False),
|
||||
"baudrate": (int,False),
|
||||
"ttyport": (str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
def __str__(self):
|
||||
return super().__str__()
|
||||
|
||||
class Read_SUB_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,False),
|
||||
"MQTTClientNameSub": (str,False),
|
||||
"host": (str,False),
|
||||
"port": (int,False),
|
||||
"keepalive": (int,False),
|
||||
"willTopic":(str,False),
|
||||
"lwt":(str, False),
|
||||
"willRetain":(bool,False),
|
||||
"willTopicQOS":(int,False),
|
||||
"Drone550_Flight_Information_topicToMqtt": (str,False),
|
||||
"Drone380_Flight_Information_topicToMqtt":(str,False),
|
||||
"Drone650_Flight_Information_topicToMqtt":(str,False),
|
||||
"Drone888_Flight_Information_topicToMqtt":(str,False),
|
||||
"Drone555_Flight_Information_topicToMqtt":(str,False),
|
||||
"Fly_Formation_topicToMqtt": (str,False),
|
||||
"Fly_Formation_topicToMqtt_QOS":(int,False)},
|
||||
self.sectionNames[1]:{
|
||||
"ROSClientNameSub": (str,True),
|
||||
"Dron550_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron380_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron380_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron650_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron888_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron555_ROStopicName_Flight_Information": (str,False),
|
||||
"Dron_ROStopicName_Flight_Information": (str,False),
|
||||
"ROStopicName_Fly_Formation": (str,False)},
|
||||
self.sectionNames[2]:{
|
||||
"logFileName":(str,False)},
|
||||
self.sectionNames[3]:{
|
||||
"uavlink_msg_format": (str,False),
|
||||
"uav_id": (str,False),
|
||||
"baudrate": (int,False),
|
||||
"ttyport": (str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
def __str__(self):
|
||||
return super().__str__()
|
||||
|
||||
class Read_CMD_Config(Config):
|
||||
def setAttribute(self):
|
||||
super().setAttribute()
|
||||
|
||||
def __init__(self, inFileName):
|
||||
super().__init__(inFileName)
|
||||
self.options = {
|
||||
self.sectionNames[0]:{
|
||||
"msg_format": (str,True),
|
||||
"MQTTClientNameCmd": (str,True),
|
||||
"host": (str,True),
|
||||
"port": (int,True),
|
||||
"keepalive": (int,True),
|
||||
"Cmd_Broadcast_topicToMqtt": (str,True),
|
||||
"Cmd_Direct_topicToMqtt": (str,False),
|
||||
"Cmd_Broadcast_topicToMqtt_QOS":(int,True),
|
||||
"Cmd_Direct_topicToMqtt_QOS":(int,False)},
|
||||
self.sectionNames[1]:{
|
||||
"ROSClientNameCmd": (str,True),
|
||||
"ROStopicName_Cmd_Broadcast_Receiver": (str,True),
|
||||
"ROStopicName_Cmd_Direct_Receiver": (str,False)},
|
||||
self.sectionNames[2]:{
|
||||
"logFileName":(str,False)}}
|
||||
self.setAttribute()
|
||||
|
||||
def __str__(self):
|
||||
return super().__str__()
|
||||
|
||||
if __name__ == "__main__":
|
||||
cfg=Read_CMD_Config("mqttConfig_CMD.yml")
|
||||
print(cfg)
|
||||
|
||||
|
||||
@ -0,0 +1,12 @@
|
||||
UAVLINK:
|
||||
uavlink_msg_format: Proto
|
||||
uav_id: \x01\x01
|
||||
baudrate: 250000
|
||||
ttyport: /dev/ttyUSB0
|
||||
MQTT: "None"
|
||||
#ROS
|
||||
ROS:
|
||||
ROSClientNamePub: Drone550UAVLINKPub
|
||||
ROStopicName_Flight_Information: Flight_Information_reciver
|
||||
LOG:
|
||||
logFileName: ProtodelayA_PUB.log
|
||||
@ -0,0 +1 @@
|
||||
{"serialize":{"json":0.34479037301207427,"proto":1.0475460140005453},"deserializ":{"json":0.42335569999704603,"proto":0.5118989990005502}}
|
||||
@ -0,0 +1,14 @@
|
||||
syntax = 'proto3';
|
||||
|
||||
// GPS + compass
|
||||
|
||||
message GPS {
|
||||
float LAT = 1;
|
||||
float LON = 2;
|
||||
float ALT = 3;
|
||||
}
|
||||
|
||||
message flight_information_message {
|
||||
GPS gps = 1;
|
||||
float heading = 2;
|
||||
}
|
||||
@ -0,0 +1,130 @@
|
||||
# Generated by the protocol buffer compiler. DO NOT EDIT!
|
||||
# source: flight_information.proto
|
||||
|
||||
import sys
|
||||
_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
|
||||
from google.protobuf import descriptor as _descriptor
|
||||
from google.protobuf import message as _message
|
||||
from google.protobuf import reflection as _reflection
|
||||
from google.protobuf import symbol_database as _symbol_database
|
||||
# @@protoc_insertion_point(imports)
|
||||
|
||||
_sym_db = _symbol_database.Default()
|
||||
|
||||
|
||||
|
||||
|
||||
DESCRIPTOR = _descriptor.FileDescriptor(
|
||||
name='flight_information.proto',
|
||||
package='',
|
||||
syntax='proto3',
|
||||
serialized_options=None,
|
||||
serialized_pb=_b('\n\x18\x66light_information.proto\",\n\x03GPS\x12\x0b\n\x03LAT\x18\x01 \x01(\x02\x12\x0b\n\x03LON\x18\x02 \x01(\x02\x12\x0b\n\x03\x41LT\x18\x03 \x01(\x02\"@\n\x1a\x66light_information_message\x12\x11\n\x03gps\x18\x01 \x01(\x0b\x32\x04.GPS\x12\x0f\n\x07heading\x18\x02 \x01(\x02\x62\x06proto3')
|
||||
)
|
||||
|
||||
|
||||
|
||||
|
||||
_GPS = _descriptor.Descriptor(
|
||||
name='GPS',
|
||||
full_name='GPS',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='LAT', full_name='GPS.LAT', index=0,
|
||||
number=1, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='LON', full_name='GPS.LON', index=1,
|
||||
number=2, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='ALT', full_name='GPS.ALT', index=2,
|
||||
number=3, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
],
|
||||
extensions=[
|
||||
],
|
||||
nested_types=[],
|
||||
enum_types=[
|
||||
],
|
||||
serialized_options=None,
|
||||
is_extendable=False,
|
||||
syntax='proto3',
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=28,
|
||||
serialized_end=72,
|
||||
)
|
||||
|
||||
|
||||
_FLIGHT_INFORMATION_MESSAGE = _descriptor.Descriptor(
|
||||
name='flight_information_message',
|
||||
full_name='flight_information_message',
|
||||
filename=None,
|
||||
file=DESCRIPTOR,
|
||||
containing_type=None,
|
||||
fields=[
|
||||
_descriptor.FieldDescriptor(
|
||||
name='gps', full_name='flight_information_message.gps', index=0,
|
||||
number=1, type=11, cpp_type=10, label=1,
|
||||
has_default_value=False, default_value=None,
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
_descriptor.FieldDescriptor(
|
||||
name='heading', full_name='flight_information_message.heading', index=1,
|
||||
number=2, type=2, cpp_type=6, label=1,
|
||||
has_default_value=False, default_value=float(0),
|
||||
message_type=None, enum_type=None, containing_type=None,
|
||||
is_extension=False, extension_scope=None,
|
||||
serialized_options=None, file=DESCRIPTOR),
|
||||
],
|
||||
extensions=[
|
||||
],
|
||||
nested_types=[],
|
||||
enum_types=[
|
||||
],
|
||||
serialized_options=None,
|
||||
is_extendable=False,
|
||||
syntax='proto3',
|
||||
extension_ranges=[],
|
||||
oneofs=[
|
||||
],
|
||||
serialized_start=74,
|
||||
serialized_end=138,
|
||||
)
|
||||
|
||||
_FLIGHT_INFORMATION_MESSAGE.fields_by_name['gps'].message_type = _GPS
|
||||
DESCRIPTOR.message_types_by_name['GPS'] = _GPS
|
||||
DESCRIPTOR.message_types_by_name['flight_information_message'] = _FLIGHT_INFORMATION_MESSAGE
|
||||
_sym_db.RegisterFileDescriptor(DESCRIPTOR)
|
||||
|
||||
GPS = _reflection.GeneratedProtocolMessageType('GPS', (_message.Message,), dict(
|
||||
DESCRIPTOR = _GPS,
|
||||
__module__ = 'flight_information_pb2'
|
||||
# @@protoc_insertion_point(class_scope:GPS)
|
||||
))
|
||||
_sym_db.RegisterMessage(GPS)
|
||||
|
||||
flight_information_message = _reflection.GeneratedProtocolMessageType('flight_information_message', (_message.Message,), dict(
|
||||
DESCRIPTOR = _FLIGHT_INFORMATION_MESSAGE,
|
||||
__module__ = 'flight_information_pb2'
|
||||
# @@protoc_insertion_point(class_scope:flight_information_message)
|
||||
))
|
||||
_sym_db.RegisterMessage(flight_information_message)
|
||||
|
||||
|
||||
# @@protoc_insertion_point(module_scope)
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue