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IQTLabs · Jan 23, 2024 · be8ef38 · be8ef38
1 parent 5a0735e
commit be8ef38
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Showing 4 changed files with 170 additions and 143 deletions.
diff --git a/birdseye/mqtt.py b/birdseye/mqtt.py
@@ -12,9 +12,9 @@ def __init__(self, mqtt_host, mqtt_port, topics):
         try:
             self.client = paho.mqtt.client.Client()
             self.client.on_connect = self.on_connect
-            #self.client.on_message = self.on_message
+            # self.client.on_message = self.on_message
             self.client.on_publish = self.on_publish
-            #self.message_handler = message_handler
+            # self.message_handler = message_handler
             self.client.connect(mqtt_host, mqtt_port, 60)
             self.client.loop_start()
 
@@ -31,14 +31,15 @@ def on_message_func(self, message_handler):
         def on_message(client, userdata, json_message):
             json_data = json.loads(json_message.payload)
             message_handler(json_data)
+
         return on_message
 
     def on_connect(self, client, userdata, flags, result_code):
         logging.info(
             f"Connected to MQTT broker {self.mqtt_host}:{self.mqtt_port} with result code {result_code}"
         )
         for topic, handler in self.topics:
-            self.client.subscribe(topic) 
+            self.client.subscribe(topic)
             self.client.message_callback_add(topic, self.on_message_func(handler))
 
     def on_publish(self, client, userdata, mid):

diff --git a/birdseye/mqtt_fake.py b/birdseye/mqtt_fake.py
@@ -20,86 +20,96 @@
     def message_handler(data):
         logging.info("Message handler received data: {}".format(data))
 
-    mqtt_client = BirdsEyeMQTT("localhost", 1883, [("gamutrf/inference",message_handler),("gamutrf/targets", message_handler)])
+    mqtt_client = BirdsEyeMQTT(
+        "localhost",
+        1883,
+        [("gamutrf/inference", message_handler), ("gamutrf/targets", message_handler)],
+    )
 
     sensor_data = {
         "metadata": {
-            "image_path": "/logs/inference/image_1700632876.885_640x640_2408895999Hz.png", 
-            "orig_rows": "28897", 
-            "rssi_max": "-46.058800", 
-            "rssi_mean": "-69.604271", 
-            "rssi_min": "-117.403526", 
-            "rx_freq": "2408895999", 
-            "ts": "1700632876.885"
-        }, 
+            "image_path": "/logs/inference/image_1700632876.885_640x640_2408895999Hz.png",
+            "orig_rows": "28897",
+            "rssi_max": "-46.058800",
+            "rssi_mean": "-69.604271",
+            "rssi_min": "-117.403526",
+            "rx_freq": "2408895999",
+            "ts": "1700632876.885",
+        },
         "predictions": {
             "mini2_telem": [
                 {
-                    "rssi": "-40", 
-                    "conf": "0.33034399151802063", 
-                    "xywh": [609.8685302734375, 250.76278686523438, 20.482666015625, 7.45684814453125]
+                    "rssi": "-40",
+                    "conf": "0.33034399151802063",
+                    "xywh": [
+                        609.8685302734375,
+                        250.76278686523438,
+                        20.482666015625,
+                        7.45684814453125,
+                    ],
                 }
             ],
             "mini2_video": [
                 {
-                    "rssi": "-80", 
-                    "conf": "0.33034399151802063", 
-                    "xywh": [609.8685302734375, 250.76278686523438, 20.482666015625, 7.45684814453125]
+                    "rssi": "-80",
+                    "conf": "0.33034399151802063",
+                    "xywh": [
+                        609.8685302734375,
+                        250.76278686523438,
+                        20.482666015625,
+                        7.45684814453125,
+                    ],
                 }
-            ]
-        }, 
+            ],
+        },
         "position": [32.922651, -117.120815],
         "heading": 0,
         "rssi": [-40, -60],
-        "gps": "fix"
+        "gps": "fix",
     }
     target_data = {
-
-        "altitude":4700,
-        "gps_fix_type":2,
-        "gps_stale":"false",
-        "heading":174.15,
-        "latitude":32.922651,
-        "longitude":-117.120815,
-        "relative_alt":4703,
-        "target_name":"drone1",
-        "time_boot_ms":904414,
-        "time_usec":None,
-        "vx":0.0,
-        "vy":0.0,
-        "vz":0.0
-
+        "altitude": 4700,
+        "gps_fix_type": 2,
+        "gps_stale": "false",
+        "heading": 174.15,
+        "latitude": 32.922651,
+        "longitude": -117.120815,
+        "relative_alt": 4703,
+        "target_name": "drone1",
+        "time_boot_ms": 904414,
+        "time_usec": None,
+        "vx": 0.0,
+        "vy": 0.0,
+        "vz": 0.0,
     }
 
-    control_options = {
-        "sensor": sensor_data, 
-        "target": target_data
-    }
-    control_map = {i:k for (i,k) in enumerate(control_options)}
+    control_options = {"sensor": sensor_data, "target": target_data}
+    control_map = {i: k for (i, k) in enumerate(control_options)}
     control_key = None
 
     def on_key_release(key):
-
-        global control_key 
+        global control_key
 
         if key == Key.esc:
             exit()
 
         try:
-            if key.char == '0': 
+            if key.char == "0":
                 print(f"\nSelected sensor. Up/Down/Left/Right will control sensor.")
                 control_key = "sensor"
-            elif key.char == '1':
+            elif key.char == "1":
                 print(f"\nSelected target 1. Up/Down/Left/Right will control target 1.")
                 control_key = "target"
             return
         except:
             pass
 
         if control_key is None:
-            print(f"\nPlease select the device to control by pressing a number from {list(range(len(control_options)))}.")
+            print(
+                f"\nPlease select the device to control by pressing a number from {list(range(len(control_options)))}."
+            )
             print(f"{control_map}")
-            return 
+            return
 
         if key == Key.right:
             print("\nRight key pressed\n")
@@ -126,16 +136,13 @@ def on_key_release(key):
             elif control_key == "target":
                 target_data["latitude"] -= 0.0001
 
-
         if control_key == "sensor":
             mqtt_client.client.publish(
                 "gamutrf/inference", json.dumps(sensor_data)
             )  # also tried qos = 1 and 2
             logging.info("Started transmission to broker: {}".format(sensor_data))
         elif control_key == "target":
-            mqtt_client.client.publish(
-                "gamutrf/targets", json.dumps(target_data)
-            )
+            mqtt_client.client.publish("gamutrf/targets", json.dumps(target_data))
             logging.info("Started transmission to broker: {}".format(target_data))
 
     with keyboard.Listener(on_release=on_key_release) as listener: