Ivy Interface

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

bind_raw(callback, regex='(.*)')

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)

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)

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)

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='(.*)')

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