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Dzollo/python sender id whitelist #813

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Merged
merged 4 commits into from
Jun 8, 2020
Merged

Dzollo/python sender id whitelist #813

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8c2da7d
add framer constructor arg to add a sender_id filter list
denniszollo Jun 8, 2020
5aee1a5
explicitely return None if sender-id doesn't match
denniszollo Jun 8, 2020
4fbc20e
Add complete help string to Framer
denniszollo Jun 8, 2020
3d17d5f
Explicitely name arg sender_id_filter_list for clarity
denniszollo Jun 8, 2020
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27 changes: 20 additions & 7 deletions python/sbp/client/framer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,14 @@ class Framer(six.Iterator):
Stream of bytes to read from.
write : port
Stream of bytes to write to.
verbose: boolean
verbosify stdout / stderr. Default False
dispatcher: function
function to call on each deframed message
skip_medata: boolean
do not add "time" and "session-uuid" metadata
sender_id_filter: list
list of integer sender_ids to frame, with the exlusion of all others
"""

def __init__(self,
Expand All @@ -42,7 +50,8 @@ def __init__(self,
verbose=False,
dispatcher=dispatch,
into_buffer=True,
skip_metadata=False):
skip_metadata=False,
sender_id_filter_list=[]):
self._read = read
self._write = write
self._verbose = verbose
Expand All @@ -52,6 +61,7 @@ def __init__(self,
self._buffer = np.zeros(16*1024, dtype=np.uint8)
self._into_buffer = into_buffer
self._skip_metadata = skip_metadata
self._sender_id_filter_list = sender_id_filter_list

def __iter__(self):
self._broken = False
Expand Down Expand Up @@ -135,12 +145,15 @@ def _receive(self):
if self._verbose:
print("crc mismatch: 0x%04X 0x%04X" % (msg_crc, crc))
return None
msg = SBP(msg_type, sender, msg_len, data, crc)
try:
msg = self._dispatch(msg)
except Exception as exc:
warnings.warn("SBP dispatch error: %s" % (exc,))
return msg
if (len(self._sender_id_filter_list) == 0 or sender in self._sender_id_filter_list):
msg = SBP(msg_type, sender, msg_len, data, crc)
try:
msg = self._dispatch(msg)
except Exception as exc:
warnings.warn("SBP dispatch error: %s" % (exc,))
return msg
else:
return None

def __call__(self, *msgs, **metadata):
"""
Expand Down