def __init__(self, comPort, moIP, moPort, mtPort, delay): Thread.__init__(self) self.udpMavlink = mavlink.MAVLink(0) self.serialMavlink = mavlink.MAVLink(0) self.udpRx = [] self.serialRx = None self.ipLock = Lock() self.serialLock = Lock() self.ipTransport = None self.status = SatcomStatus.idle self.serialTime = 0 self.delay = delay self.terminate = False # serial interface to PX4 self.serialInterface = SerialPort(PX4UartInterface(self.receivedPX4), comPort, reactor, baudrate = 115200) self.serialInterface.flushInput() self.serialInterface.flushOutput() # enpoint for sending MO messages from PX to the relay self.relayMoEndpoint = TCP4ClientEndpoint(reactor, moIP, moPort) # enpoint receiving MT messages coming from the relay self.relayMtEndpoint = TCP4ServerEndpoint(reactor, mtPort) self.relayMtEndpoint.listen(relay.IridiumMtReceiverFactory(self.receivedRelay))
def __init__(self): # endpoint sending MT messages to the Iridium gateway self.mtIridiumEndpoint = TCP4ClientEndpoint(reactor, 'localhost', 10800) # enpoint receiving MO messages coming from the Iridium network iridiumServerEndpoint = TCP4ServerEndpoint(reactor, 34567) iridiumServerEndpoint.listen(IridiumMoReceiverFactory(self.moMsgCallback)) # interface to QGC #self.qgcInterface = reactor.listenUDP(0, QgcUdpProtocol(self.mtMsgCallback)) qgcInterfaceEndpoint = TCP4ServerEndpoint(reactor, 34568) self.qgcInterface = QgcTcpFactory(self.mtMsgCallback) qgcInterfaceEndpoint.listen(self.qgcInterface) self.mav = mavlink.MAVLink(0)
import tornado.web
import tornado.ioloop
import tornado.httpclient
import tornado.httputil
import serial
from enum import Enum
from pymavlink import mavlink
import configparser
import time
import random
ideal_sim = True
fraction_good_signal = 1.0
MAV = mavlink.MAVLink(0)
def printmsg(direction, data):
m = None
try:
m = MAV.parse_buffer(data)
except:
pass
if m is not None:
for msg in m:
print('%s MAV MSG %3d %s' %
(direction, msg.get_msgId(), msg.get_type()))
#if (msg.get_msgId() == 76):
print(msg)
def __init__(self, msgRcvCallback): self.setRawMode() self.parseState = ParseState.start self.satcomMsg = SatcomMessage() self.msgCallback = msgRcvCallback self.mav = mavlink.MAVLink(0)