senseAndAvoid_json.SwarmSocket Class Reference

Public Member Functions
def	__enter__ (self)
def	__exit__ (self, type, value, traceback)
def	__init__ (self)
def	gpsPosCb (self, data)
def	PoseCb (self, data)
def	publishNavMessage (self, jsonMsg)
def	qv_mult (self, q1, v1)
def	readFile (self, filename)
def	remoteInterfaceModule (self)
def	sendOtherUAVInfo (self)
def	sendToRemote (self, text)
def	senseCb (self, data)
def	swarmCb (self, data)
def	trigger_response (self, request)
def	UDPServerSetup (self, ip_addr="127.0.0.1", port=1234)
def	VelCb (self, data)
def	writeFile (self, filename, text)

Public Attributes
	approachPub
	curSeq
	file
	jsonDic
	jsonSwarmDic
	localIPAddress
	localPort
	onlinePub
	pCmdPub
	preSep
	q
	response
	takeoff_srv
	UDPSock
	vCmdPub

Detailed Description

Definition at line 37 of file senseAndAvoid_json.py.

Constructor & Destructor Documentation

__init__()

def senseAndAvoid_json.SwarmSocket.__init__

(

self

)

Definition at line 71 of file senseAndAvoid_json.py.

Member Function Documentation

__enter__()

def senseAndAvoid_json.SwarmSocket.__enter__

(

self

)

Definition at line 114 of file senseAndAvoid_json.py.

__exit__()

def senseAndAvoid_json.SwarmSocket.__exit__	(		self,
			type,
			value,
			traceback
	)

Definition at line 117 of file senseAndAvoid_json.py.

gpsPosCb()

def senseAndAvoid_json.SwarmSocket.gpsPosCb	(		self,
			data
	)

get global pose from /mavros/global_position/global

Definition at line 208 of file senseAndAvoid_json.py.

PoseCb()

def senseAndAvoid_json.SwarmSocket.PoseCb	(		self,
			data
	)

get position from /task_manager/position_nwu

Definition at line 171 of file senseAndAvoid_json.py.

publishNavMessage()

def senseAndAvoid_json.SwarmSocket.publishNavMessage	(		self,
			jsonMsg
	)

sent all the reqired info to non-ros CA module

Definition at line 219 of file senseAndAvoid_json.py.

qv_mult()

def senseAndAvoid_json.SwarmSocket.qv_mult	(		self,
			q1,
			v1
	)

transform vector v1 through q1

Definition at line 198 of file senseAndAvoid_json.py.

readFile()

def senseAndAvoid_json.SwarmSocket.readFile	(		self,
			filename
	)

read from file

Definition at line 38 of file senseAndAvoid_json.py.

remoteInterfaceModule()

def senseAndAvoid_json.SwarmSocket.remoteInterfaceModule

(

self

)

Info receving and sending

Definition at line 272 of file senseAndAvoid_json.py.

sendOtherUAVInfo()

def senseAndAvoid_json.SwarmSocket.sendOtherUAVInfo

(

self

)

send other uav's info with detection result 

Definition at line 104 of file senseAndAvoid_json.py.

sendToRemote()

def senseAndAvoid_json.SwarmSocket.sendToRemote	(		self,
			text
	)

send text to remote machine 

Definition at line 60 of file senseAndAvoid_json.py.

senseCb()

def senseAndAvoid_json.SwarmSocket.senseCb	(		self,
			data
	)

get detection result from /detector/result

Definition at line 134 of file senseAndAvoid_json.py.

swarmCb()

def senseAndAvoid_json.SwarmSocket.swarmCb	(		self,
			data
	)

get swarm control info from /task_manager/swarm 

Definition at line 121 of file senseAndAvoid_json.py.

trigger_response()

def senseAndAvoid_json.SwarmSocket.trigger_response	(		self,
			request
	)

get notified of taking off status through /takeoffdone

Definition at line 265 of file senseAndAvoid_json.py.

UDPServerSetup()

def senseAndAvoid_json.SwarmSocket.UDPServerSetup	(		self,
			ip_addr = "127.0.0.1",
			port = 1234
	)

Set up a UDP server

Definition at line 53 of file senseAndAvoid_json.py.

VelCb()

def senseAndAvoid_json.SwarmSocket.VelCb	(		self,
			data
	)

get velocity from /mavros/local_position/velocity_local

Definition at line 186 of file senseAndAvoid_json.py.

writeFile()

def senseAndAvoid_json.SwarmSocket.writeFile	(		self,
			filename,
			text
	)

write to file

Definition at line 46 of file senseAndAvoid_json.py.

Member Data Documentation

approachPub

senseAndAvoid_json.SwarmSocket.approachPub

Definition at line 78 of file senseAndAvoid_json.py.

curSeq

senseAndAvoid_json.SwarmSocket.curSeq

Definition at line 73 of file senseAndAvoid_json.py.

file

senseAndAvoid_json.SwarmSocket.file

Definition at line 96 of file senseAndAvoid_json.py.

jsonDic

senseAndAvoid_json.SwarmSocket.jsonDic

Definition at line 98 of file senseAndAvoid_json.py.

jsonSwarmDic

senseAndAvoid_json.SwarmSocket.jsonSwarmDic

Definition at line 95 of file senseAndAvoid_json.py.

localIPAddress

senseAndAvoid_json.SwarmSocket.localIPAddress

Definition at line 74 of file senseAndAvoid_json.py.

localPort

senseAndAvoid_json.SwarmSocket.localPort

Definition at line 75 of file senseAndAvoid_json.py.

onlinePub

senseAndAvoid_json.SwarmSocket.onlinePub

Definition at line 79 of file senseAndAvoid_json.py.

pCmdPub

senseAndAvoid_json.SwarmSocket.pCmdPub

Definition at line 77 of file senseAndAvoid_json.py.

preSep

senseAndAvoid_json.SwarmSocket.preSep

Definition at line 72 of file senseAndAvoid_json.py.

q

senseAndAvoid_json.SwarmSocket.q

Definition at line 99 of file senseAndAvoid_json.py.

response

senseAndAvoid_json.SwarmSocket.response

Definition at line 91 of file senseAndAvoid_json.py.

takeoff_srv

senseAndAvoid_json.SwarmSocket.takeoff_srv

Definition at line 90 of file senseAndAvoid_json.py.

UDPSock

senseAndAvoid_json.SwarmSocket.UDPSock

Definition at line 55 of file senseAndAvoid_json.py.

vCmdPub

senseAndAvoid_json.SwarmSocket.vCmdPub

Definition at line 76 of file senseAndAvoid_json.py.

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The documentation for this class was generated from the following file:

• senseAndAvoid_json.py