#!/usr/bin/env python
# -*- coding: utf-8 -*-

"""
    Projet          : ROV Pilot
    Version         : 1.0
    Nom du fichier  : pymavlink.py
    Auteur          : Nicolas GABARRON, AWDRONE
    Date            : 10/05/2020
    Description     : Extraction des données issues d'un fichier logfile Ping1D
                        https://www.ardusub.com/developers/pymavlink.html
                        https://www.ardusub.com/operators-manual/companion-web.html
                        https://mavlink.io/en/messages/common.html
"""

__author__ = "Nicolas GABARRON, AWDRONE"
__copyright__ = "Copyright 2020, ROV Pilot"
__credits__ = "Nicolas GABARRON"
__license__ = "GPL"
__version__ = "1.0"
__maintainer__ = "Nicolas GABARRON"
__email__ = "contact@awdrone.fr"
__status__ = "Developpment"

import time

from pymavlink import mavutil


class ROV_Infos:
    def __init__(self, url: str):
        print("ROV_Infos init")
        self.url = url
        
    def connect(self):
        master = mavutil.mavlink_connection(self.url)
        print(self.url)

        # Get some information !
        while True:
            try:
                msg = master.recv_match().to_dict()
                print(msg)

            except:
                pass
            time.sleep(0.1)
    
    
if __name__ == '__main__':	
    print("ROVPilot.py")
    
    rov = ROV_Infos('udpin:0.0.0.0:14550')
    rov.connect()