/** Read a control message
* @param[in] a packed control message
*/
static PyObject * unpack_control(PyObject *self, PyObject *args){
const char* byt;
int len = MSG_CONTROL_LEN;
if (!PyArg_ParseTuple(args,"s#",(&byt),&len)){
return NULL;
}
else{
// unpack message
float rudd=0.0, thro=0.0;
if ( len < MSG_CONTROL_LEN){
// return fail condition
return Py_BuildValue("ffi",rudd,thro,-3);
}
int8_t len2 = esp_unpack_control((uint8_t*)byt,&rudd,&thro);
return Py_BuildValue("ffi",rudd,thro,len2);
}
}
int test_control(int n){
int counter = 0;
for (int k = 0;k<n;k++){
uint8_t msg[256];
float t1 = gen_random(0.0,1.0),
h1 = gen_random(-1.0,1.0),
t=0,
h=0;
int8_t flag;
flag = esp_pack_control(msg,h1,t1);
printf("Raw: rudder = %g, speed = %g\n",h1,t1);
printf("Packed %d bytes into message\n",flag);
if (esp_unpack_control(msg,&h,&t) > 0){
printf("Message: rudder = %g, speed = %g\n",h,t);
counter++;
}
}
return counter;
}
void commParser::handleMsg(){
//increment the counter
received_messages++;
//switch based on the message ID
switch (msg[2]){
case MSG_GPS:
float t;
int32_t lon,lat;
if (esp_unpack_gps(msg,&lon, &lat, &t) > 0){
//set status
status->gpsCmd.set(lat,lon,t);
}
else//increment the bad packet counter
bad_packets++;
break;
case MSG_CONTROL:/** Direct control of rudder/throttle */
float rudd,thro;
if (esp_unpack_control(msg,&rudd, &thro) > 0){
//set status rudder, throttle, and mode
status->control_rudder = rudd;
status->control_throttle = thro;
status->control_mode = CONTROL_MODE_DIRECT;
}
else//increment the bad packet counter
bad_packets++;
break;
case MSG_COMMAND:
break;
case MSG_SET_PID:
//uint8_t*msg,uint8_t* ch,float* KP, float* KI, float* KD
uint8_t ch;
float Kp, Kd, Ki;
if (esp_unpack_set_pid(msg,&ch,&Kp,&Ki,&Kd) > 0){
// set the gains in the status variable
status->Kp[ch] = Kp;
status->Ki[ch] = Ki;
status->Kd[ch] = Kd;
}
break;
}
}
