def __init__(self, mpstate):
super(GPSInputModule, self).__init__(mpstate, "GPSInput", "GPS_INPUT message support")
self.add_command('GPSInput.port', self.cmd_port, 'Port selection', ['<25100>'])
self.data = {
'time_usec' : 0, # (uint64_t) Timestamp (micros since boot or Unix epoch)
'gps_id' : 0, # (uint8_t) ID of the GPS for multiple GPS inputs
'ignore_flags' : self.IGNORE_FLAG_ALL, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided.
'time_week_ms' : 0, # (uint32_t) GPS time (milliseconds from start of GPS week)
'time_week' : 0, # (uint16_t) GPS week number
'fix_type' : 0, # (uint8_t) 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
'lat' : 0, # (int32_t) Latitude (WGS84), in degrees * 1E7
'lon' : 0, # (int32_t) Longitude (WGS84), in degrees * 1E7
'alt' : 0, # (float) Altitude (AMSL, not WGS84), in m (positive for up)
'hdop' : 0, # (float) GPS HDOP horizontal dilution of position in m
'vdop' : 0, # (float) GPS VDOP vertical dilution of position in m
'vn' : 0, # (float) GPS velocity in m/s in NORTH direction in earth-fixed NED frame
've' : 0, # (float) GPS velocity in m/s in EAST direction in earth-fixed NED frame
'vd' : 0, # (float) GPS velocity in m/s in DOWN direction in earth-fixed NED frame
'speed_accuracy' : 0, # (float) GPS speed accuracy in m/s
'horiz_accuracy' : 0, # (float) GPS horizontal accuracy in m
'vert_accuracy' : 0, # (float) GPS vertical accuracy in m
'satellites_visible' : 0 # (uint8_t) Number of satellites visible.
}
self.BUFFER_SIZE = 4096
self.ip="127.0.0.1"
self.portnum = 25100
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((self.ip, self.portnum))
self.port.setblocking(0)
mavutil.set_close_on_exec(self.port.fileno())
print("Listening for GPS Input packets on UDP://%s:%s" % (self.ip, self.portnum))
def __init__(self,
device,
baud=None,
input=True,
broadcast=False,
source_system=255,
use_native=mavutil.default_native):
a = device.split(':')
if len(a) != 2:
print("UDP ports must be specified as host:port")
sys.exit(1)
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_server = input
self.broadcast = False
self.addresses = set()
if input:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((a[0], int(a[1])))
else:
self.destination_addr = (a[0], int(a[1]))
if broadcast:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.broadcast = True
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
mavutil.mavfile.__init__(self,
self.port.fileno(),
device,
source_system=source_system,
input=input,
use_native=use_native)
def __init__(self, mpstate):
super(GPSInputModule, self).__init__(mpstate, "GPSInput", "GPS_INPUT message support")
self.add_command('GPSInput.port', self.cmd_port, 'Port selection', ['<25100>'])
self.data = {
'time_usec' : 0, # (uint64_t) Timestamp (micros since boot or Unix epoch)
'gps_id' : 0, # (uint8_t) ID of the GPS for multiple GPS inputs
'ignore_flags' : self.IGNORE_FLAG_ALL, # (uint16_t) Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided.
'time_week_ms' : 0, # (uint32_t) GPS time (milliseconds from start of GPS week)
'time_week' : 0, # (uint16_t) GPS week number
'fix_type' : 0, # (uint8_t) 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
'lat' : 0, # (int32_t) Latitude (WGS84), in degrees * 1E7
'lon' : 0, # (int32_t) Longitude (WGS84), in degrees * 1E7
'alt' : 0, # (float) Altitude (AMSL, not WGS84), in m (positive for up)
'hdop' : 0, # (float) GPS HDOP horizontal dilution of position in m
'vdop' : 0, # (float) GPS VDOP vertical dilution of position in m
'vn' : 0, # (float) GPS velocity in m/s in NORTH direction in earth-fixed NED frame
've' : 0, # (float) GPS velocity in m/s in EAST direction in earth-fixed NED frame
'vd' : 0, # (float) GPS velocity in m/s in DOWN direction in earth-fixed NED frame
'speed_accuracy' : 0, # (float) GPS speed accuracy in m/s
'horiz_accuracy' : 0, # (float) GPS horizontal accuracy in m
'vert_accuracy' : 0, # (float) GPS vertical accuracy in m
'satellites_visible' : 0 # (uint8_t) Number of satellites visible.
}
self.BUFFER_SIZE = 4096
self.ip="127.0.0.1"
self.portnum = 25100
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((self.ip, self.portnum))
self.port.setblocking(0)
mavutil.set_close_on_exec(self.port.fileno())
print "Listening for GPS Input packets on UDP://%s:%s" % (self.ip, self.portnum)
def __init__(self, mpstate):
super(DepthOutputModule, self).__init__(mpstate, "DepthOutput",
"Depth output support")
self.add_command('DepthOutput.port', self.cmd_port, 'Port selection',
['<25102>'])
self.add_command('DepthOutput.depthSource', self.cmd_depth_source,
'Depth source selection', ['<bar30|filtered>'])
self.add_command('DepthOutput.tempSource', self.cmd_temp_source,
'Temperature source selection', ['<sp2|sp3>'])
self.last_update = 0
self.depth_source = 'bar30'
self.temp_source = 'sp2'
self.data = {
'depth': 0, # Depth in meters
'temp': 0 # Water temperature in degrees Celsius
}
self.ip = "0.0.0.0"
self.portnum = 25102
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
mavutil.set_close_on_exec(self.port.fileno())
print "Outputting depth on UDP://%s:%s" % (self.ip, self.portnum)
def __init__(self, mpstate):
super(DGPSModule, self).__init__(mpstate, "DGPS", "DGPS injection support")
self.portnum = 13320
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind(("127.0.0.1", self.portnum))
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
def __init__(self, mpstate):
super(DGPSModule, self).__init__(mpstate, "DGPS", "DGPS injection support")
self.portnum = 13320
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind(("127.0.0.1", self.portnum))
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
print ("Listening for DGPS packets on UDP://%s:%s" % ("127.0.0.1", self.portnum))
def __init__(self, mpstate):
super(DGPSModule, self).__init__(mpstate, "DGPS", "DGPS injection support for SBP/RTCP/UBC")
self.portnum = 13320
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind(("127.0.0.1", self.portnum))
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
self.inject_seq_nr = 0
print "DGPS: Listening for RTCM packets on UDP://%s:%s" % ("127.0.0.1", self.portnum)
def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
state = dgps_state()
mpstate.dgps_state = state
state.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
state.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
state.port.bind(("127.0.0.1", state.portnum))
mavutil.set_close_on_exec(state.port.fileno())
state.port.setblocking(0)
def init(_mpstate):
'''initialise module'''
global mpstate
mpstate = _mpstate
state = dgps_state()
mpstate.dgps_state = state
state.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
state.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
state.port.bind(("127.0.0.1", state.portnum))
mavutil.set_close_on_exec(state.port.fileno())
state.port.setblocking(0)
def cmd_port(self, args):
'handle port selection'
if len(args) != 1:
print("Usage: port <number>")
return
self.port.close()
self.portnum = int(args[0])
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
mavutil.set_close_on_exec(self.port.fileno())
print "Outputting depth on UDP://%s:%s" % (self.ip, self.portnum)
def cmd_port(self, args):
"""Handle port selection."""
if len(args) != 1:
print("Usage: port <number>")
return
self.port.close() # close current port
self.portnum = int(args[0])
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((self.ip, self.portnum)) # bind new port
self.port.setblocking(0)
mavutil.set_close_on_exec(self.port.fileno())
print("Listening for INPUT packets on UDP://%s:%s" %
(self.ip, self.portnum))
def cmd_port(self, args):
'handle port selection'
if len(args) != 1:
print("Usage: port <number>")
return
self.port.close()
self.portnum = int(args[0])
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((self.ip, self.portnum))
self.port.setblocking(0)
mavutil.set_close_on_exec(self.port.fileno())
print "Listening for GPS INPUT packets on UDP://%s:%s" % (self.ip, self.portnum)
def __init__(self, mpstate):
super(DGPSModule,
self).__init__(mpstate, "DGPS",
"DGPS injection support for SBP/RTCP/UBC")
#self.ipaddress = 192.168.42.1
#self.ipaddress = 127.0.0.1
self.portnum = 9000
#self.portnum = 13320
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind(("0.0.0.0", self.portnum))
#self.port.bind((self.ipaddress, self.portnum))
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
self.inject_seq_nr = 0
print("DGPS_dove: Listening for RTCM packets on ://%s:%s" %
("127.0.0.1", self.portnum))
def __init__(self, mpstate):
super(position_ft_sensor_module, self).__init__(
mpstate, "position_ft_sensor", "position ft sensor support"
) # the callable module name is defined in the second init arg
self.add_command("port", self.cmd_port, "port selection",
["<5006>"]) # UDP port selection
self.last_time = time.clock()
# UDP setup
self.ip = "127.0.0.1" # localhost
self.portnum = 5010 # default UDP port
self.buffer_size = 1024
self.port = socket.socket(
socket.AF_INET, # internet
socket.SOCK_DGRAM) # UDP
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((self.ip, self.portnum)) # bind port
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
print("Listening for input packets on UDP://%s:%s" %
(self.ip, self.portnum))
def __init__(self, device, baud=None, input=True, broadcast=False, source_system=255, use_native=mavutil.default_native):
a = device.split(':')
if len(a) != 2:
print("UDP ports must be specified as host:port")
sys.exit(1)
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_server = input
self.broadcast = False
self.addresses = set()
if input:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((a[0], int(a[1])))
else:
self.destination_addr = (a[0], int(a[1]))
if broadcast:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.broadcast = True
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
mavutil.mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, input=input, use_native=use_native)
def connect_dgps(self):
if self.port is not None:
self.port.close()
print("Restarting DGPS")
self.port = None
try:
address = (self.dgps_settings.host, self.dgps_settings.port)
if self.dgps_settings.type == 'tcp_client':
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.port.connect(address)
print("DGPS: Connecting for RTCM packets to TCP://%s:%s" %
address)
elif self.dgps_settings.type == 'udp_client':
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.connect(address)
print("DGPS: Connecting for RTCM packets to UDP://%s:%s" %
address)
elif self.dgps_settings.type == 'udp_host':
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind(address)
print("DGPS: Listening for RTCM packets on UDP://%s:%s" %
address)
else:
print("DGPS: Unknown connection type: %s" %
self.dgps_settings.type)
return False
mavutil.set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
except Exception as e:
print("DGPS: Error starting DGPS: %s" % str(e))
self.port = None
return False
self.inject_seq_nr = 0
self.reset_stats()
return True
