SoloMapper.py 文件源码

def listener(self, name, message):
 if FlagSystem.dateUpdated == False:
  if message.time_unix_usec != 0: #If GPS messages containing actual date/time have already been received by the SOLO
   unix_time = (int) ((message.time_unix_usec)/1000000)   
   try:
    dateUpdate_process = subprocess.Popen('sudo date -s \"'+ str(datetime.datetime.fromtimestamp(unix_time)) +'\"', stdout=subprocess.PIPE, shell=True, preexec_fn=os.setsid)
    logger.info('Date and time updated to: %s',str(datetime.datetime.fromtimestamp(unix_time)))    
    FlagSystem.dateUpdated = True
   except Exception as e:
     logger.error('Error updating Raspi date and time')

 FlagSystem.checkMavlinkMessages += 1 
 if FlagSystem.checkMavlinkMessages >= 20:
  logger.info('MAVLINK messages well received') #Si pas de log pendant plus de 20 secondes, on sait que le lien MAVLINK est perdu...
  FlagSystem.checkMavlinkMessages = 0



# Get gimbal tuning