class UdpNmeaProtocol(asyncio.DatagramProtocol):
def __init__(self, component_id: int) -> None:
self.mavlink2rest = MavlinkMessenger()
self.mavlink2rest.set_component_id(component_id)
def connection_made(self, transport: asyncio.BaseTransport) -> None:
"""Behavior when a new connection is stablished."""
logger.debug(
f"New UDP connection with {transport.get_extra_info('peername')}.")
self.transport = transport
def datagram_received(self, data: bytes, addr: Tuple[str, int]) -> None:
"""What happens when data is received from a client socket."""
message = data.decode()
logger.info(
f"Message received for component {self.mavlink2rest.component_id}: {message}"
)
mavlink_package = TrafficController.parse_mavlink_package(message)
asyncio.create_task(
TrafficController.forward_message(mavlink_package,
self.mavlink2rest))
logger.info("Successfully forwarded mavlink coordinates package.")
def forward_message(message: MavlinkGpsInput, component_id: int) -> None:
"""Forward Mavlink message package to Mavlink2Rest, on the specified component ID."""
mavlink2rest = MavlinkMessenger()
mavlink2rest.set_component_id(component_id)
mavlink2rest.send_mavlink_message(message.dict())
def __init__(self) -> None:
self.mavlink2rest = MavlinkMessenger()
self.target_system = 1
self.target_component = 1
self.confirmation = 0
class VehicleManager:
def __init__(self) -> None:
self.mavlink2rest = MavlinkMessenger()
self.target_system = 1
self.target_component = 1
self.confirmation = 0
def set_target_system(self, target_system: int) -> None:
self.target_system = target_system
def set_target_component(self, target_component: int) -> None:
self.target_component = target_component
def set_confirmation(self, confirmation: int) -> None:
self.confirmation = confirmation
def command_long_message(self, command_type: str, params: List[float]) -> Dict[str, Any]:
return {
"type": "COMMAND_LONG",
"param1": params[0] if len(params) > 0 else 0,
"param2": params[1] if len(params) > 1 else 0,
"param3": params[2] if len(params) > 2 else 0,
"param4": params[3] if len(params) > 3 else 0,
"param5": params[4] if len(params) > 4 else 0,
"param6": params[5] if len(params) > 5 else 0,
"param7": params[6] if len(params) > 6 else 0,
"command": {"type": command_type},
"target_system": self.target_system,
"target_component": self.target_component,
"confirmation": self.confirmation,
}
def reboot_vehicle(self) -> None:
message = self.command_long_message("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", [1.0])
self.mavlink2rest.send_mavlink_message(message)
def shutdown_vehicle(self) -> None:
shutdown_message = self.command_long_message("MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN", [2.0])
self.mavlink2rest.send_mavlink_message(shutdown_message)
def is_vehicle_armed(self) -> bool:
get_response = self.mavlink2rest.get_updated_mavlink_message("HEARTBEAT")
base_mode_bits = get_response["message"]["base_mode"]["bits"]
if not isinstance(base_mode_bits, int):
raise ValueError("Got unexpected HEARTBEAT message from Autopilot.")
# Check if bit representing an armed vehicle is on base_mode bit array
return bool(base_mode_bits & MAV_MODE_FLAG_SAFETY_ARMED)
def disarm_vehicle(self) -> None:
if not self.is_vehicle_armed():
logger.debug("Vehicle already disarmed.")
return
logger.debug("Trying to disarm vehicle.")
disarm_message = self.command_long_message("MAV_CMD_COMPONENT_ARM_DISARM", [])
self.mavlink2rest.send_mavlink_message(disarm_message)
if self.is_vehicle_armed():
raise VehicleDisarmFail("Failed to disarm vehicle. Please try a manual disarm.")
logger.debug("Successfully disarmed vehicle.")
def __init__(self, component_id: int) -> None:
self.mavlink2rest = MavlinkMessenger()
self.mavlink2rest.set_component_id(component_id)