def link_add(self, device):
'''add new link'''
try:
print("Connect %s source_system=%d" %
(device, self.settings.source_system))
conn = mavutil.mavlink_connection(
device,
autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (device, msg))
return False
if self.settings.rtscts:
conn.set_rtscts(True)
conn.linknum = len(self.mpstate.mav_master)
conn.mav.set_callback(self.master_callback, conn)
if hasattr(conn.mav, 'set_send_callback'):
conn.mav.set_send_callback(self.master_send_callback, conn)
conn.linknum = len(self.mpstate.mav_master)
conn.linkerror = False
conn.link_delayed = False
conn.last_heartbeat = 0
conn.last_message = 0
conn.highest_msec = 0
self.mpstate.mav_master.append(conn)
self.status.counters['MasterIn'].append(0)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
return True
def link_add(self, device):
'''add new link'''
try:
print("Connect %s source_system=%d" % (device, self.settings.source_system))
conn = mavutil.mavlink_connection(device, autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (device, msg))
return False
if self.settings.rtscts:
conn.set_rtscts(True)
conn.linknum = len(self.mpstate.mav_master)
conn.mav.set_callback(self.master_callback, conn)
if hasattr(conn.mav, 'set_send_callback'):
conn.mav.set_send_callback(self.master_send_callback, conn)
conn.linknum = len(self.mpstate.mav_master)
conn.linkerror = False
conn.link_delayed = False
conn.last_heartbeat = 0
conn.last_message = 0
conn.highest_msec = 0
self.mpstate.mav_master.append(conn)
self.status.counters['MasterIn'].append(0)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
return True
def link_add(self, descriptor, force_connected=False):
'''add new link'''
try:
(device,
optional_attributes) = self.parse_link_descriptor(descriptor)
# if there's only 1 colon for port:baud
# and if the first string is a valid serial port, it's a serial connection
if len(device.split(':')) == 2:
ports = mavutil.auto_detect_serial(
preferred_list=preferred_ports)
for p in ports:
if p.device == device.split(':')[0]:
# it's a valid serial port, reformat arguments to fit
self.settings.baudrate = int(device.split(':')[1])
device = device.split(':')[0]
break
print("Connect %s source_system=%d" %
(device, self.settings.source_system))
try:
conn = mavutil.mavlink_connection(
device,
autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate,
force_connected=force_connected)
except Exception as e:
# try the same thing but without force-connected for
# backwards-compatability
conn = mavutil.mavlink_connection(
device,
autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (descriptor, msg))
return False
if self.settings.rtscts:
conn.set_rtscts(True)
conn.mav.set_callback(self.master_callback, conn)
if hasattr(conn.mav, 'set_send_callback'):
conn.mav.set_send_callback(self.master_send_callback, conn)
conn.linknum = len(self.mpstate.mav_master)
conn.linkerror = False
conn.link_delayed = False
conn.last_heartbeat = 0
conn.last_message = 0
conn.highest_msec = {}
conn.target_system = self.settings.target_system
self.apply_link_attributes(conn, optional_attributes)
self.mpstate.mav_master.append(conn)
self.status.counters['MasterIn'].append(0)
self.status.bytecounters['MasterIn'].append(self.status.ByteCounter())
self.mpstate.vehicle_link_map[conn.linknum] = set(())
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
return True
def handle_remove(self, device):
for i, conn in enumerate(self.mpstate.mav_outputs):
if str(i) == device or conn.address == device:
print(f"Removing breaker {conn.address}")
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
conn.close()
self.mpstate.mav_outputs.pop(i)
self._devices.discard(device)
def cmd_output_remove(self, args):
'''remove an output'''
device = args[0]
for i in range(len(self.mpstate.mav_outputs)):
conn = self.mpstate.mav_outputs[i]
if str(i) == device or conn.address == device:
print("Removing output %s" % conn.address)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
conn.close()
self.mpstate.mav_outputs.pop(i)
return
def cmd_output_remove(self, args):
"""remove an output"""
device = args[0]
for i in range(len(self.mpstate.mav_outputs)):
conn = self.mpstate.mav_outputs[i]
if str(i) == device or conn.address == device:
print("Removing output %s" % conn.address)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
conn.close()
self.mpstate.mav_outputs.pop(i)
return
def cmd_output_add(self, args):
'''add new output'''
device = args[0]
print("Adding output %s" % device)
try:
conn = mavutil.mavlink_connection(device, input=False)
except Exception:
print("Failed to connect to %s" % device)
return
self.mpstate.mav_outputs.append(conn)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
def cmd_output_add(self, args):
'''add new output'''
device = args[0]
print("Adding output %s" % device)
try:
conn = mavutil.mavlink_connection(device, input=False)
except Exception:
print("Failed to connect to %s" % device)
return
self.mpstate.mav_outputs.append(conn)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
def cmd_output_add(self, args):
"""add new output"""
device = args[0]
print("Adding output %s" % device)
try:
conn = mavutil.mavlink_connection(device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print("Failed to connect to %s" % device)
return
self.mpstate.mav_outputs.append(conn)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
def cmd_output_add(self, args):
'''add new output'''
device = args[0]
print(("Adding output %s" % device))
try:
conn = mavutil.mavlink_connection(
device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print(("Failed to connect to %s" % device))
return
self.mpstate.mav_outputs.append(conn)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
def link_add(self, descriptor, force_connected=False):
'''add new link'''
try:
(device,
optional_attributes) = self.parse_link_descriptor(descriptor)
print("Connect %s source_system=%d" %
(device, self.settings.source_system))
try:
conn = mavutil.mavlink_connection(
device,
autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate,
force_connected=force_connected)
except Exception as e:
# try the same thing but without force-connected for
# backwards-compatability
conn = mavutil.mavlink_connection(
device,
autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (descriptor, msg))
return False
if self.settings.rtscts:
conn.set_rtscts(True)
conn.mav.set_callback(self.master_callback, conn)
if hasattr(conn.mav, 'set_send_callback'):
conn.mav.set_send_callback(self.master_send_callback, conn)
conn.linknum = len(self.mpstate.mav_master)
conn.linkerror = False
conn.link_delayed = False
conn.last_heartbeat = 0
conn.last_message = 0
conn.highest_msec = 0
conn.target_system = self.settings.target_system
self.apply_link_attributes(conn, optional_attributes)
self.mpstate.mav_master.append(conn)
self.status.counters['MasterIn'].append(0)
self.status.bytecounters['MasterIn'].append(self.status.ByteCounter())
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
return True
def handle_add(self, device):
print(f"Adding breaker {device}")
try:
conn = mavutil.mavlink_connection(
device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print(f"Breaker failed to connect to {device}")
return
self.mpstate.mav_outputs.append(conn)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
# TODO: Huh? Why is this ignored?
pass
self._devices.add(device)
def cmd_output_sysid(self, args):
'''add new output for a specific MAVLink sysID'''
sysid = int(args[0])
device = args[1]
print("Adding output %s for sysid %u" % (device, sysid))
try:
conn = mavutil.mavlink_connection(device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print("Failed to connect to %s" % device)
return
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
if sysid in self.mpstate.sysid_outputs:
self.mpstate.sysid_outputs[sysid].close()
self.mpstate.sysid_outputs[sysid] = conn
def cmd_output_sysid(self, args):
"""add new output for a specific MAVLink sysID"""
sysid = int(args[0])
device = args[1]
print("Adding output %s for sysid %u" % (device, sysid))
try:
conn = mavutil.mavlink_connection(device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print("Failed to connect to %s" % device)
return
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
if sysid in self.mpstate.sysid_outputs:
self.mpstate.sysid_outputs[sysid].close()
self.mpstate.sysid_outputs[sysid] = conn
def handle_sysid(self, sysid, device):
print(f"Adding breaker {device} for sysid {sysid}")
try:
conn = mavutil.mavlink_connection(
device, input=False, source_system=self.settings.source_system)
conn.mav.srcComponent = self.settings.source_component
except Exception:
print(f"Breaker failed to connect to {device}")
return
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
if sysid in self.mpstate.sysid_outputs:
self.mpstate.sysid_outputs[sysid].close()
self.mpstate.sysid_outputs[sysid] = conn
self._devices.add(device)
def link_add(self, descriptor, force_connected=False):
'''add new link'''
try:
(device, optional_attributes) = self.parse_link_descriptor(descriptor)
print("Connect %s source_system=%d" % (device, self.settings.source_system))
try:
conn = mavutil.mavlink_connection(device, autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate,
force_connected=force_connected)
except Exception as e:
# try the same thing but without force-connected for
# backwards-compatability
conn = mavutil.mavlink_connection(device, autoreconnect=True,
source_system=self.settings.source_system,
baud=self.settings.baudrate)
conn.mav.srcComponent = self.settings.source_component
except Exception as msg:
print("Failed to connect to %s : %s" % (descriptor, msg))
return False
if self.settings.rtscts:
conn.set_rtscts(True)
conn.mav.set_callback(self.master_callback, conn)
if hasattr(conn.mav, 'set_send_callback'):
conn.mav.set_send_callback(self.master_send_callback, conn)
conn.linknum = len(self.mpstate.mav_master)
conn.linkerror = False
conn.link_delayed = False
conn.last_heartbeat = 0
conn.last_message = 0
conn.highest_msec = 0
conn.target_system = self.settings.target_system
self.apply_link_attributes(conn, optional_attributes)
self.mpstate.mav_master.append(conn)
self.status.counters['MasterIn'].append(0)
try:
mp_util.child_fd_list_add(conn.port.fileno())
except Exception:
pass
return True
