Merge pull request #87 from ISSUIUC/comb-fixes-ack

fix

Author: mpkarpov-ui

ground/gss_combiner/main.py

@@ -269,6 +269,11 @@ def parse_params(arguments):
 
         sustainer_commands, booster_commands = broadcast_thread.get_telem_cmds()
 
+        # Handle ack sending
+        for thread in (telem_threads_booster + telem_threads_relay + telem_threads_sustainer):
+            for packet in thread.get_ack_queue():
+                broadcast_thread.send_raw(packet[0], packet[1])
+
         # handle commands 
         # print(sustainer_commands, booster_commands)
 

ground/gss_combiner/util/mqtt.py

@@ -33,6 +33,8 @@ def __init__(self, com_port, log_stream: util.logger.LoggerStream) -> None:
 
         self.__external_commands = []
 
+        self.__ack_queue = []
+
 
     def process_packet(self, packet_json):
         """Append metadata to a packet to conform to GSS v1.1 packet structure"""
@@ -71,6 +73,11 @@ def __read_comport(self):
         else:
             return []
 
+    def get_ack_queue(self):
+        q_copy = copy.deepcopy(self.__ack_queue)
+        self.__ack_queue.clear()
+        return q_copy
+        
     def add_combiner(self, combiner):
         """Add a combiner data sink for this telemetry thread"""
         self.__combiners.append(combiner)
@@ -131,18 +138,23 @@ def run(self) -> None:
 
                         if packet_in['type'] == "command_success":
                             self.__log.console_log("RX: Command good")
+                            self.__ack_queue.append([self.__combiners[0].get_mqtt_control_topic(), packet_in])
                             continue
 
+                        # This is jank but idc
                         if packet_in['type'] == "bad_command":
                             self.__log.console_log("RX: Command bad")
+                            self.__ack_queue.append([self.__combiners[0].get_mqtt_control_topic(), packet_in])
                             continue
 
                         if packet_in['type'] == "command_acknowledge":
                             self.__log.console_log("RX: Command ACK")
+                            self.__ack_queue.append([self.__combiners[0].get_mqtt_control_topic(), packet_in])
                             continue
 
                         if packet_in['type'] == "command_sent":
                             self.__log.console_log("RX: Command send confirmed")
+                            self.__ack_queue.append([self.__combiners[0].get_mqtt_control_topic(), packet_in])
                             continue
 
                         # print(packet_in)
@@ -292,6 +304,11 @@ def publish(self, packet_list, topic) -> None:
                 self.__log.fail()
             self.__log.waiting_delta(-1)
 
+    def send_raw(self, topic, data) -> None:
+        """Publish a set of packets to a `Data` topic"""
+        self.__mqttclient.publish(topic, json.dumps(data).encode("utf-8"))
+        self.__log.console_log(f"Published")
+
     def run(self) -> None:
         self.__mqttclient.loop_start()