Python Messages¶

Paparazzi message representation

class pprzlink.message.PprzMessage(class_name, msg)[source]¶

base Paparazzi message class

fieldbintypes(t)[source]¶

Get type and length for binary format

fieldcoefs¶

Get list of field coefs.

fieldnames¶

Get list of field names.

fieldtypes¶

Get list of field types.

fieldvalues¶

Get list of field values.

get_field(idx)[source]¶

Get field value by index.

msg_class¶

Get the message class.

msg_id¶

Get the message id.

name¶

Get the message name.

to_csv(payload_only=False)[source]¶

return message as CSV string for use with RAW_DATALINK msg_name;field1;field2;

Transport¶

Paparazzi transport encoding utilities

class pprzlink.pprz_transport.PprzTransport(msg_class='telemetry')[source]¶

parser for binary Paparazzi messages

parse_byte(c)[source]¶

parse new byte, return True when a new full message is available

unpack()[source]¶

Unpack the last received message

unpack_pprz_msg(msg_class, data)[source]¶

Unpack a raw PPRZ message

Ivy Interface¶

class pprzlink.ivy.IvyMessagesInterface(agent_name=None, start_ivy=True, verbose=False, ivy_bus='')[source]¶

bind_raw(callback, regex='(.*)')[source]¶

Bind callback to Ivy messages matching regex (without any extra parsing)

Parameters:	callback – function called on new message with agent, message, from as params regex – regular expression for matching message

static parse_pprz_msg(callback, ivy_msg)[source]¶

Parse an Ivy message into a PprzMessage. Basically parts/args in string are separated by space, but char array can also contain a space: |f,o,o, ,b,a,r| in old format or "foo bar" in new format

Parameters:	callback – function to call with ac_id and parsed PprzMessage as params ivy_msg – Ivy message string to parse into PprzMessage

send(msg, ac_id=None)[source]¶

Send a message

Parameters:	msg – PprzMessage or simple string ac_id – Needed if sending a PprzMessage of telemetry msg_class
Returns:	Number of clients the message sent to, None if msg was invalid

send_raw_datalink(msg)[source]¶

Send a PprzMessage of datalink msg_class embedded in RAW_DATALINK message

Parameters:	msg – PprzMessage
Returns:	Number of clients the message sent to, None if msg was invalid

subscribe(callback, regex='(.*)')[source]¶

Subscribe to Ivy message matching regex and call callback with ac_id and PprzMessage TODO: possibility to directly specify PprzMessage instead of regex

Parameters:	callback – function called on new message with ac_id and PprzMessage as params regex – regular expression for matching message

Serial Interface¶

class pprzlink.serial.SerialMessagesInterface(callback, verbose=False, device='/dev/ttyUSB0', baudrate=115200, msg_class='telemetry')[source]¶

run()[source]¶

Thread running function

send(msg, sender_id)[source]¶

Send a message over a serial link