Merge pull request #1 from unl-nimbus-lab/develop

Release 0.0.1

Author: evan-palmer

README.md

@@ -1,2 +1,48 @@
 # pymavswarm
-Python library used to communicate with robotic swarms over MAVLink
+
+## Introduction
+`pymavswarm` is a Python library implemented to enable interaction with robotic swarms using the MAVLink protocol. This library supports reading MAVLink messages sent from multiple agents in a swarm and sending MAVLink messages to agents within the swarm. Such functionality ultimately enables development of new swarm applications such as ground control stations.
+
+
+## Installation
+`pymavswarm` must currently be installed manually. To do so, refer to the steps below:
+1. Navigate to the `pymavswarm/` repository directory
+```bash
+cd path/to/pymavswarm/
+```
+2. Install the `pymavswarm` Python package
+```bash
+pip3 install .
+```
+
+## Getting Started
+`pymavswarm` has been implemented to enable easy interfacing with robotic swarms. Refer to the following code snippet for a simple example to get started with the library. For more comprehensive documentation and examples, checkout the project Wiki.
+
+```python
+from pymavswarm import MavSwarm, OutgoingMsg, MsgMap
+
+# Create a new pymavswarm interface
+mavswarm = MavSwarm()
+
+# Establish a connection with a USB telemetry device
+mavswarm.connect('/dev/ttyUSB0', 115200, 255, 0)
+
+# Create a list of messages to send to the respective agents
+msgs = []
+
+# Send an arming message to Agent (2, 1)
+msgs.append(OutgoingMsg(MsgMap().system_commands.arm, 2, 1))
+
+# Send the desired messages and check for message acknowledgement
+mavswarm.send_msg(msgs, ack=True)
+
+# Read the current state of the swarm agents
+for agent in mavswarm.get_agents():
+    print(f'Latitude: {agent.location.latitude} Longitude: {agent.location.longitude}')
+
+# Close the pymavswarm connection
+mavswarm.disconnect()
+```
+
+## License
+SwarmPlanner is released under the GNU General Public License v3 or later

pymavswarm/Agent.py

@@ -0,0 +1,28 @@
+import monotonic
+from .state import *
+
+
+class Agent:
+    """
+    Agent represents and stores the state of an agent in the network. The
+    agent's state is updated as new MAVLink messages are received from the
+    associated message
+    """
+    def __init__(self, sys_id, comp_id, timeout_period=30) -> None:
+        self.sys_id: int = sys_id
+        self.comp_id: int = comp_id
+        self.attitude: Attitude = Attitude()
+        self.battery: Battery = Battery()
+        self.docker_info: DockerInfo = DockerInfo()
+        self.gps_info: GPSInfo = GPSInfo()
+        self.location: Location = Location()
+        self.ekf: EKFStatus = EKFStatus()
+        self.telemetry: Telemetry = Telemetry()
+        self.velocity: Velocity = Velocity()
+        self.armed: bool = False
+        self.flight_mode: str = 'None'
+        self.system_status = 'None'
+        self.vehicle_type = 'None'
+        self.last_heartbeat: int = monotonic.monotonic()
+        self.timeout_period: int = timeout_period
+        self.timeout: bool = False