def __init__(self, GCSport, debug_level):
self._PortGCS = GCSport
self._PortMe = 14555
self._IP = "127.0.0.1"
self._LocalGCSConnection = None
self._DEBUG_LEVEL = debug_level
f = fifo()
self._MavlinkHelperObject = mavlink.MAVLink(f)
def __init__(self, SendToPhoneNumber, LocalModemPath, baud=115200, DEBUG_LEVEL=2):
self._RemotePhoneNumber = SendToPhoneNumber
self._DEBUG_LEVEL = DEBUG_LEVEL
self._ModemLocation = LocalModemPath
f=fifo()
self._MavlinkHelperObject = mavlink.MAVLink(f)
self._ModemLock = multiprocessing.Lock()
self._ModemConnection = gsmmodem.GsmModem(port=LocalModemPath, baudrate=baud)
try:
self._PrepareModem()
except Exception, err:
self.Logger("Modem Init failed"+str(err), message_importance=1)
self._ModemConnection=None
def __init__(self, s_type, zmq_context, port, serial_port, serial_baud,
udp_client, udp_port):
self.s_type = s_type
self.zmq_context = zmq_context
self.server = zmq_context.socket(zmq.REP)
self.data_server = zmq_context.socket(zmq.PUB)
self.data_server.bind('tcp://*:' + port)
self.server.bind('tcp://*:' + str(int(port) + 1))
self.poller = zmq.Poller()
self.poller.register(self.server, zmq.POLLIN)
self.udp_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.addr = (str(udp_client), int(udp_port))
self.marker = zmq_context.socket(zmq.SUB)
self.marker.setsockopt(zmq.SUBSCRIBE, '')
self.marker.connect('tcp://192.168.0.114:4999')
self.mark_poller = zmq.Poller()
self.mark_poller.register(self.marker, zmq.POLLIN)
self.mark = 0.0
self.error_lines = 0
self.sent_lines = 0
self.time = 0
if s_type == 0: # Serial port
self.ser = serial.Serial(port=serial_port,
baudrate=serial_baud,
timeout=0,
xonxoff=False,
rtscts=False,
dsrdtr=False)
elif s_type == 1:
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock.connect(("192.168.0.113", 2000))
elif s_type == 2:
self.subscriber = self.zmq_context.socket(zmq.SUB)
self.subscriber.setsockopt(zmq.SUBSCRIBE, '')
self.subscriber.connect('tcp://192.168.0.150:4002')
self.fifo = fifo()
self.mav = mavlink.MAVLink(self.fifo)
self.buffer = ''
self.log_file = open('ardupilot.log', 'a')
def __init__(self):
self.buf = []
def write(self, data):
self.buf += data
return len(data)
def read(self):
return self.buf.pop(0)
# we will use a fifo as an encode/decode buffer
f = fifo()
# create a mavlink instance, which will do IO on file object 'f'
mav = mavlink.MAVLink(f)
# set the WP_RADIUS parameter on the MAV at the end of the link
mav.param_set_send(7, 1, "WP_RADIUS", 101, mavlink.MAV_PARAM_TYPE_REAL32)
# alternatively, produce a MAVLink_param_set object
# this can be sent via your own transport if you like
m = mav.param_set_encode(7, 1, "WP_RADIUS", 101, mavlink.MAV_PARAM_TYPE_REAL32)
# get the encoded message as a buffer
b = m.get_msgbuf()
# decode an incoming message
m2 = mav.decode(b)
# show what fields it has
def __init__(self, source_system):
self.mav = mavlink.MAVLink(self, srcSystem=source_system)
self.mav.robust_parsing = True