msgIntersect.py

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# The script can be run on either PC running V2X Hub or CARMA Messenger. The following configurations must be made:
# ip_listen, port_listen: IPv4 Address and Port where messages will be received. Must match IP:Port set in Immediate Forward Plugin.
# ip_send, port_send: IPv4 Address and Port where payload will be sent. Must match IP, Port set in carma-cohda-dsrc-driver dsrc_driver/config/params.yaml.
# This script assumes both V2X Hub and CARMA Messenger are running on either the same PC or two separate PCs within the same local network. 
 
 
import socket
from binascii import unhexlify
 
 
def send(msg, ip_send, port_send):
    sk_send = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    sk_send.sendto(msg, (ip_send, port_send))
    # print("Sent: ", msg)
    sk_send.close()
 
def listen(ip_listen, port_listen):
    listen_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
    listen_socket.bind((ip_listen, port_listen))
 
    return listen_socket
 
 
def main():
    # declarations
    print('Starting intersect.')
    ip_listen = '127.0.0.1'
    ip_send = '192.168.0.146'
    port_listen = 1516  # listen to Immediate Forward Plugin
    port_send = 5398    # send to CARMA listening_port
 
    sk_listen = listen(ip_listen, port_listen)
 
    print("Waiting to receive data\n")
    while(1):
        data = sk_listen.recvfrom(10000)[0]
        data = data.decode('ascii')
        # print(data)
 
        idx = data.find("Payload=")
        payload = data[idx+8:-1]
        encoded = payload.encode('utf-8')
        msgBytes = unhexlify(encoded)
 
        # send
        send(msgBytes, ip_send, port_send)
 
if __name__=="__main__":
    main()