blauret / pyg5 Goto Github PK

Args:
    parent: Parent Widget

Returns:
    self
"""
xpInstance = pyqtSignal(QHostAddress, int)
drefUpdate = pyqtSignal(dict) # will only bind if in a class and is instantiated

def __init__(self, parent=None):
    print("inside class pyG5_PX4_UDPListener(QObject): __init__")
    """Object constructor.
    
    Args:
        parent: Parent Widget

    Returns:
        self
    """
    QObject.__init__(self, parent)

    self.logger = logging.getLogger(self.__class__.__name__)

    self.XPAddr = QHostAddress("127.0.0.1") #"239.255.1.1")
    self.XPPort = 65432 #49707

    # create the socket
    self.udpSock = QUdpSocket(self)

    self.udpSock.stateChanged.connect(self.stateChangedSlot)
    self.udpSock.readyRead.connect(self.udpData)
    self.udpSock.connected.connect(self.connectedSlot)
    self.udpSock.bind(QHostAddress.Null, self.XPPort, QUdpSocket.ShareAddress) #self.udpSock.bind(QHostAddress.AnyIPv4, self.XPPort, QUdpSocket.ShareAddress)
    #if not self.udpSock.joinMulticastGroup(self.XPAddr):
    #    logging.error("Failed to join multicast group")

@pyqtSlot(QAbstractSocket.SocketState)
def stateChangedSlot(self, state):
    """stateChangedSlot."""
    self.logger.debug("Sock new state: {}".format(state))

@pyqtSlot()
def connectedSlot(self):
    """connectedSlot."""
    self.logger.debug("udp connected: {}".format(self.udpSock.state()))

@pyqtSlot()
def udpData(self):
    """udpData."""
    print("inside class pyG5NetWorkManager(QObject): udpData())")
    while self.udpSock.hasPendingDatagrams():
        data = self.udpSock.receiveDatagram()
        print("inside class pyG5NetWorkManager(QObject): len(data), data= ", len(data.data()), " , ", data.data() )
        if (len(data.data()) < 5):
            return
        data_dict = pickle.loads(data.data())
        # if data_dict has entries then emit
        print("Received data_dict= ", data_dict )   
        for k, v in data_dict.items():
            print(k, v)
        print("Received len(data_dict), len(data_dict.keys(), data_dict.keys()=", len(data_dict), len(data_dict.keys()), data_dict.keys() )
        print("data_dict=", data_dict["'roll'"])
        print("data_dict=", data_dict["'pitch'"])
        print("data_dict=", data_dict["'yaw'"])
        retvalues = {}
        datarefs = [
            # ( dataref, frequency, unit, description, num decimals to display in formatted output )
            (
                "sim/flightmodel/position/mag_psi",
                30,
                "°",
                "Magnetic heading of the aircraft",
                0,
                "_magHeading",
            ),
            (
                "sim/flightmodel/position/phi",
                30,
                "°",
                "Roll of the aircraft",
                0,
                "_rollAngle",
            ),
            (
                "sim/flightmodel/position/theta",
                30,
                "°",
                "Pitch of the aircraft",
                0,
                "_pitchAngle",
            ), 
            ]
        numvalues = 1 #test with rollAngle #int(len(values) / lenvalue)
        idx = 0
        value = 0
        for i in range(0, numvalues):
            #singledata = data[(5 + lenvalue * i) : (5 + lenvalue * (i + 1))]
            #(idx, value) = struct.unpack("<if", singledata)
            idx = 1
            value = '10.0' #data_dict["'roll'"]
            retvalues[idx] = (
                value,
                datarefs[idx][1],
                datarefs[idx][0],
                datarefs[idx][5],
                )
        self.drefUpdate.emit(retvalues)
        break
        #if "BECN" in str(datagram.data())[2:6]:
        #    self.xpInstance.emit(
        #        datagram.senderAddress(),
        #        int.from_bytes(bytes(datagram.data())[19:21], byteorder="little"),
        #    )
        #    self.udpSock.leaveMulticastGroup(self.XPAddr)
        #self.udpSock.close()