def init_mavlink(profile, wlans):
cfg = getattr(settings, '%s_mavlink' % (profile,))
cmd_rx = ('%s -p %d -u %d -K %s -k %d -n %d' % \
(os.path.join(settings.path.bin_dir, 'wfb_rx'), cfg.stream_rx,
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), cfg.fec_k, cfg.fec_n)).split() + wlans
cmd_tx = ('%s -p %d -u %d -K %s -B %d -G %s -S %d -L %d -M %d -k %d -n %d' % \
(os.path.join(settings.path.bin_dir, 'wfb_tx'),
cfg.stream_tx, cfg.port_tx, os.path.join(settings.path.conf_dir, cfg.keypair),
cfg.bandwidth, "short" if cfg.short_gi else "long", cfg.stbc, cfg.ldpc, cfg.mcs_index,
cfg.fec_k, cfg.fec_n)).split() + wlans
if connect_re.match(cfg.peer):
m = connect_re.match(cfg.peer)
connect = m.group('addr'), int(m.group('port'))
listen = None
log.msg('Connect telem stream %d(RX), %d(TX) to %s:%d' % (cfg.stream_rx, cfg.stream_tx, connect[0], connect[1]))
elif listen_re.match(cfg.peer):
m = listen_re.match(cfg.peer)
listen = m.group('addr'), int(m.group('port'))
connect = None
log.msg('Listen for telem stream %d(RX), %d(TX) on %s:%d' % (cfg.stream_rx, cfg.stream_tx, listen[0], listen[1]))
else:
raise Exception('Unsupport peer address: %s' % (cfg.peer,))
# The first argument is not None only if we initiate mavlink connection
p_in = UDPProxyProtocol(connect, agg_max_size=settings.common.radio_mtu,
agg_timeout=settings.common.mavlink_agg_timeout,
inject_rssi=cfg.inject_rssi)
p_tx_l = [UDPProxyProtocol(('127.0.0.1', cfg.port_tx + i)) for i, _ in enumerate(wlans)]
p_rx = UDPProxyProtocol()
p_rx.peer = p_in
sockets = [ reactor.listenUDP(listen[1] if listen else 0, p_in),
reactor.listenUDP(cfg.port_rx, p_rx) ]
sockets += [ reactor.listenUDP(0, p_tx) for p_tx in p_tx_l ]
log.msg('Telem RX: %s' % (' '.join(cmd_rx),))
log.msg('Telem TX: %s' % (' '.join(cmd_tx),))
ant_f = AntennaFactory(p_in, p_tx_l)
if cfg.stats_port:
reactor.listenTCP(cfg.stats_port, ant_f)
dl = [RXProtocol(ant_f, cmd_rx, 'telem rx').start(),
TXProtocol(cmd_tx, 'telem tx').start()]
def _cleanup(x):
for s in sockets:
s.stopListening()
return x
return defer.gatherResults(dl, consumeErrors=True).addBoth(_cleanup)\
.addErrback(lambda f: f.trap(defer.FirstError) and f.value.subFailure)
def init_mavlink(profile, wlans):
cfg = getattr(settings, '%s_mavlink' % (profile, ))
cmd_rx = ('%s -p %d -u %d -K %s' % \
(os.path.join(settings.path.bin_dir, 'wfb_rx'), cfg.stream_rx,
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair))).split() + wlans
cmd_tx = ('%s -p %d -u %d -K %s -B %d -G %s -S %d -M %d' % \
(os.path.join(settings.path.bin_dir, 'wfb_tx'),
cfg.stream_tx, cfg.port_tx, os.path.join(settings.path.conf_dir, cfg.keypair),
cfg.bandwidth, "short" if cfg.short_gi else "long", cfg.stbc, cfg.mcs_index)).split() + wlans
if cfg.listen:
connect = None
listen = cfg.listen
else:
connect = ('127.0.0.1', cfg.connect)
listen = 0
p_in = UDPProxyProtocol(connect,
agg_max_size=settings.common.radio_mtu,
agg_timeout=settings.common.mavlink_agg_timeout,
inject_rssi=cfg.inject_rssi)
p_tx_l = [
UDPProxyProtocol(('127.0.0.1', cfg.port_tx + i))
for i, _ in enumerate(wlans)
]
p_rx = UDPProxyProtocol()
p_rx.peer = p_in
sockets = [
reactor.listenUDP(listen, p_in),
reactor.listenUDP(cfg.port_rx, p_rx)
]
sockets += [reactor.listenUDP(0, p_tx) for p_tx in p_tx_l]
log.msg('Telem RX: %s' % (' '.join(cmd_rx), ))
log.msg('Telem TX: %s' % (' '.join(cmd_tx), ))
ant_f = AntennaFactory(p_in, p_tx_l)
if cfg.stats_port:
reactor.listenTCP(cfg.stats_port, ant_f)
dl = [
RXProtocol(ant_f, cmd_rx, 'telem rx').start(),
TXProtocol(cmd_tx, 'telem tx').start()
]
def _cleanup(x):
for s in sockets:
s.stopListening()
return x
return defer.gatherResults(dl, consumeErrors=True).addBoth(_cleanup)\
.addErrback(lambda f: f.trap(defer.FirstError) and f.value.subFailure)
def init_tunnel(profile, wlans):
cfg = getattr(settings, '%s_tunnel' % (profile, ))
cmd_rx = ('%s -p %d -u %d -K %s -k %d -n %d' % \
(os.path.join(settings.path.bin_dir, 'wfb_rx'), cfg.stream_rx,
cfg.port_rx, os.path.join(settings.path.conf_dir, cfg.keypair), cfg.fec_k, cfg.fec_n)).split() + wlans
cmd_tx = ('%s -p %d -u %d -K %s -B %d -G %s -S %d -L %d -M %d -k %d -n %d' % \
(os.path.join(settings.path.bin_dir, 'wfb_tx'),
cfg.stream_tx, cfg.port_tx, os.path.join(settings.path.conf_dir, cfg.keypair),
cfg.bandwidth, "short" if cfg.short_gi else "long", cfg.stbc, cfg.ldpc, cfg.mcs_index,
cfg.fec_k, cfg.fec_n)).split() + wlans
p_in = TUNTAPProtocol()
p_tx_l = [
UDPProxyProtocol(('127.0.0.1', cfg.port_tx + i))
for i, _ in enumerate(wlans)
]
p_rx = UDPProxyProtocol()
p_rx.peer = p_in
tun_ep = TUNTAPTransport(reactor,
p_in,
cfg.ifname,
cfg.ifaddr,
mtu=settings.common.radio_mtu)
sockets = [reactor.listenUDP(cfg.port_rx, p_rx)]
sockets += [reactor.listenUDP(0, p_tx) for p_tx in p_tx_l]
log.msg('Tunnel RX: %s' % (' '.join(cmd_rx), ))
log.msg('Tunnel TX: %s' % (' '.join(cmd_tx), ))
ant_f = AntennaFactory(p_in, p_tx_l)
if cfg.stats_port:
reactor.listenTCP(cfg.stats_port, ant_f)
dl = [
RXProtocol(ant_f, cmd_rx, 'tunnel rx').start(),
TXProtocol(cmd_tx, 'tunnel tx').start()
]
def _cleanup(x):
tun_ep.loseConnection()
for s in sockets:
s.stopListening()
return x
return defer.gatherResults(dl, consumeErrors=True).addBoth(_cleanup)\
.addErrback(lambda f: f.trap(defer.FirstError) and f.value.subFailure)