pyMAVLinCS 1.0.3__tar.gz → 1.0.5__tar.gz

{pymavlincs-1.0.3 → pymavlincs-1.0.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyMAVLinCS
-Version: 1.0.3
+Version: 1.0.5
 Summary: Python API for autonomous drone control based on pymavlink
 Author-email: Noah Redon <redonnoah.cs@gmail.com>
 License: GPL-3.0-or-later

{pymavlincs-1.0.3 → pymavlincs-1.0.5}/pyMAVLinCS/__init__.py

@@ -3130,8 +3130,8 @@ class MAVLinCS:
 
         condition = (
             f"COMMAND_ACK.command == {command} and "
-            f"getattr(COMMAND_ACK, 'target_system', {self.master.target_system}) == {self.master.target_system} and "
-            f"getattr(COMMAND_ACK, 'target_component', {self.master.target_component}) == {self.master.target_component}"
+            f"getattr(COMMAND_ACK, 'target_system', {self.master.source_system}) == {self.master.source_system} and "
+            f"getattr(COMMAND_ACK, 'target_component', {self.master.source_component}) == {self.master.source_component}"
         )
         m = self.recv_match(
             type="COMMAND_ACK",
@@ -3182,8 +3182,8 @@ class MAVLinCS:
 
         condition = (
             f"({mission_type} is None or getattr(MISSION_ACK, 'mission_type', {mission_type}) == {mission_type}) and "
-            f"MISSION_ACK.target_system == {self.master.target_system} and "
-            f"MISSION_ACK.target_component == {self.master.target_component}"
+            f"MISSION_ACK.target_system == {self.master.source_system} and "
+            f"MISSION_ACK.target_component == {self.master.source_component}"
         )
 
         m = self.recv_match(
@@ -3290,6 +3290,12 @@ class MAVLinCS:
             - Starts background MAV thread for message handling.
             - If pos_rate<=0, doesn't request position.
         """
+        self.logger.debug("Loading MAVLink version and dialect..")
+        os.environ['MAVLINK20'] = '1'
+        os.environ.pop('MAVLINK09', None)
+        mavutil.set_dialect(dialect=dialect)
+        self.logger.debug("MAVLink version and dialect loaded")
+
         self.logger.debug("Creating master object..")
         self.master: mavutil.mavfile = mavutil.mavlink_connection(
             device=address,
@@ -3300,11 +3306,15 @@ class MAVLinCS:
         )
 
         try:
-            self.logger.debug("Master object created")
+            self.master.first_byte = False
+            self.master.mav.set_callback(self._recv_msg_callback)
+            self.master.mav.set_send_callback(self._send_callback)
             self.timesync_handler.set_master(self.master)
+            self.mavthread.set_master(self.master)
+
+            self.logger.debug("Master object created")
 
             if timeout_heartbeat != 0:
-                self.master.mav.set_callback(self._recv_msg_callback)
                 self.logger.info("Waiting for HEARTBEAT%s", f" from ({target_system}:1)" if target_system else "")
                 start_time = time.time()
                 while True:
@@ -3326,19 +3336,9 @@ class MAVLinCS:
                         break
             else:
                 self.logger.info("No timeout for HEARTBEAT specified")
-                self.master.first_byte = False
-                self.master.WIRE_PROTOCOL_VERSION = "2.0"
-                os.environ['MAVLINK20'] = '1'
-                mavutil.set_dialect(dialect=dialect)
-                self.master.mav = mavutil.mavlink.MAVLink(self.master, srcSystem=self.master.source_system, srcComponent=self.master.source_component)
-                self.master.mav.robust_parsing = self.master.robust_parsing
-                self.master.WIRE_PROTOCOL_VERSION = mavutil.mavlink.WIRE_PROTOCOL_VERSION
-                self.master.mav.set_callback(self._recv_msg_callback)
                 self.master.target_system = 1 if target_system is None else target_system
                 self.master.target_component = mavutil.mavlink.MAV_COMP_ID_AUTOPILOT1
 
-            self.master.mav.set_send_callback(self._send_callback)
-
             self._sysid_to_request_home.clear()
             sysid_to_request_home = self.data_init.get("sysid_to_request_home", None)
             if isinstance(sysid_to_request_home, int):
@@ -3374,7 +3374,6 @@ class MAVLinCS:
                 self.logger.warning("%s is not a MAV_CMD", cmd)
 
             # Start MAV thread
-            self.mavthread.set_master(self.master)
             self.mavthread.start_thread()
 
             if timeout_heartbeat != 0 and pos_rate>0:

{pymavlincs-1.0.3 → pymavlincs-1.0.5}/pyMAVLinCS/setup_logger.py

@@ -20,6 +20,7 @@ try:
     colorama_init()
     _ENABLE_COLORS = True
 except ImportError:
+    print("Warning: colorama isn't installed. No logging color available")
     _ENABLE_COLORS = False
 
 _COLORS = {
@@ -28,7 +29,7 @@ _COLORS = {
     logging.WARNING: Fore.YELLOW,
     logging.ERROR: Fore.RED,
     logging.CRITICAL: Fore.RED + Style.BRIGHT,
-}
+} if _ENABLE_COLORS else {}
 _RESET = Style.RESET_ALL if _ENABLE_COLORS else ""
 
 

{pymavlincs-1.0.3 → pymavlincs-1.0.5}/pyMAVLinCS.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: pyMAVLinCS
-Version: 1.0.3
+Version: 1.0.5
 Summary: Python API for autonomous drone control based on pymavlink
 Author-email: Noah Redon <redonnoah.cs@gmail.com>
 License: GPL-3.0-or-later

{pymavlincs-1.0.3 → pymavlincs-1.0.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "pyMAVLinCS"
-version = "1.0.3"
+version = "1.0.5"
 description = "Python API for autonomous drone control based on pymavlink"
 authors = [
     {name="Noah Redon", email="redonnoah.cs@gmail.com"}