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())