amikhalev/uas-ugv
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use base64 encoding in python script

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This commit is contained in:
Alex Mikhalev 2019-05-09 10:22:04 -07:00
parent d07517b2e9
commit 771b98a667
1 changed files with 19 additions and 16 deletions
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35
e32_client/ugv.py
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@ -5,6 +5,8 @@ import serial
import threading import threading
from threading import Thread from threading import Thread
import time import time
import binascii
from base64 import b64decode, b64encode
from e32 import E32 from e32 import E32
import messages_pb2 as messages import messages_pb2 as messages
@ -12,8 +14,8 @@ from google.protobuf.message import Message
class UGVComms(E32): class UGVComms(E32):
MAX_WRITE_RETRY=5 MAX_WRITE_RETRY = 5
RETRY_TIME=1.0 RETRY_TIME = 1.0
def __init__(self, serial_port: serial.Serial): def __init__(self, serial_port: serial.Serial):
E32.__init__(self, serial_port) E32.__init__(self, serial_port)
@ -23,16 +25,15 @@ class UGVComms(E32):
self.last_status = None self.last_status = None
self.rx_thread = None self.rx_thread = None
def write_len_delimited(self, data: bytes): def write_base64(self, data: bytes):
len_data = (len(data)).to_bytes( encoded = b64encode(data)
1, byteorder='big') # TODO: check byte order self.ser.write(encoded)
self.ser.write(len_data) self.ser.write(b'\n')
self.ser.write(data)
def write_message(self, msg: Message): def write_message(self, msg: Message):
print("writing message: ", msg) print("writing message: ", msg)
data = msg.SerializeToString() data = msg.SerializeToString()
self.write_len_delimited(data) self.write_base64(data)
def write_command(self, cmd_type: messages.GroundCommandType, retry=True): def write_command(self, cmd_type: messages.GroundCommandType, retry=True):
cmdid = self.next_command_id cmdid = self.next_command_id
@ -59,17 +60,17 @@ class UGVComms(E32):
self.ack_cv.wait(timeout=time_left) self.ack_cv.wait(timeout=time_left)
def read_message(self): def read_message(self):
len_data = self.ser.read(size=1) data = self.ser.read_until(terminator=b'\n')
if len(len_data) != 1: if len(data) is 0:
return None return None
msg_len = int.from_bytes(len_data, byteorder='big') try:
data = self.ser.read(size=msg_len) decoded = b64decode(data, validate=True)
if len(data) != msg_len: except binascii.Error:
print("read bad data: ", data) print("read bad data: ", data)
self.ser.flush() self.ser.flush()
return None return None
msg = messages.UGV_Message() msg = messages.UGV_Message()
msg.ParseFromString(data) msg.ParseFromString(decoded)
return msg return msg
def process_message(self, msg: messages.UGV_Message): def process_message(self, msg: messages.UGV_Message):
@ -82,7 +83,7 @@ class UGVComms(E32):
self.ack_cv.notify() self.ack_cv.notify()
elif msg.HasField("status"): elif msg.HasField("status"):
self.last_status = msg.status self.last_status = msg.status
def start(self): def start(self):
self.rx_thread = Thread(target=self.__rx_thread_entry, daemon=True) self.rx_thread = Thread(target=self.__rx_thread_entry, daemon=True)
self.rx_thread.start() self.rx_thread.start()
@ -102,6 +103,7 @@ class UGVComms(E32):
print("error reading message: ", e, file=sys.stderr) print("error reading message: ", e, file=sys.stderr)
continue continue
def main(): def main():
if len(sys.argv) >= 2: if len(sys.argv) >= 2:
ser_url = sys.argv[1] ser_url = sys.argv[1]
@ -109,7 +111,7 @@ def main():
ser_url = "hwgrep://" ser_url = "hwgrep://"
ser = serial.serial_for_url(ser_url, baudrate=9600, parity=serial.PARITY_NONE, ser = serial.serial_for_url(ser_url, baudrate=9600, parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS, stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
timeout=1.0) timeout=0.5)
ugv = UGVComms(ser) ugv = UGVComms(ser)
ugv.start() ugv.start()
time.sleep(0.2) time.sleep(0.2)
@ -126,5 +128,6 @@ def main():
ugv.ser.close() ugv.ser.close()
ugv.stop() ugv.stop()
if __name__ == "__main__": if __name__ == "__main__":
main() main()