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mavlink: added auto-detection of mavlink protocol version

This commit is contained in:
Andrew Tridgell 2012-06-04 17:21:13 +10:00
parent 9cadd8c1db
commit 830e5997d2
6 changed files with 529 additions and 348 deletions
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7
Tools/autotest/autotest.py
View File

@ -103,16 +103,9 @@ parser.add_option("--skip", type='string', default='', help='list of steps to sk
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
parser.add_option("--viewerip", default=None, help='IP address to send MAVLink and fg packets to')
parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
parser.add_option("--mav09", action='store_true', default=False, help="Use MAVLink protocol 0.9")
opts, args = parser.parse_args()
if not opts.mav09:
os.environ['MAVLINK10'] = '1'
import mavlinkv10 as mavlink
else:
import mavlink as mavlink
import arducopter, arduplane
steps = [

6
Tools/autotest/pymavlink/mavextra.py
View File

@ -17,10 +17,10 @@ def altitude(SCALED_PRESSURE):
'''calculate barometric altitude'''
import mavutil
self = mavutil.mavfile_global
if self.ground_pressure is None or self.ground_temperature is None:
if self.param('GND_ABS_PRESS', None) is None:
return 0
scaling = self.ground_pressure / (SCALED_PRESSURE.press_abs*100.0)
temp = self.ground_temperature + 273.15
scaling = self.param('GND_ABS_PRESS', 1) / (SCALED_PRESSURE.press_abs*100.0)
temp = self.param('GND_TEMP', 0) + 273.15
return log(scaling) * temp * 29271.267 * 0.001

35
Tools/autotest/pymavlink/mavlink.py
View File

@ -10,6 +10,21 @@ import struct, array, mavutil, time
WIRE_PROTOCOL_VERSION = "0.9"
# some base types from mavlink_types.h
MAVLINK_TYPE_CHAR = 0
MAVLINK_TYPE_UINT8_T = 1
MAVLINK_TYPE_INT8_T = 2
MAVLINK_TYPE_UINT16_T = 3
MAVLINK_TYPE_INT16_T = 4
MAVLINK_TYPE_UINT32_T = 5
MAVLINK_TYPE_INT32_T = 6
MAVLINK_TYPE_UINT64_T = 7
MAVLINK_TYPE_INT64_T = 8
MAVLINK_TYPE_FLOAT = 9
MAVLINK_TYPE_DOUBLE = 10
class MAVLink_header(object):
'''MAVLink message header'''
def __init__(self, msgId, mlen=0, seq=0, srcSystem=0, srcComponent=0):
@ -34,7 +49,9 @@ class MAVLink_message(object):
self._type = name
def get_msgbuf(self):
return self._msgbuf
if isinstance(self._msgbuf, str):
return self._msgbuf
return self._msgbuf.tostring()
def get_header(self):
return self._header
@ -2510,7 +2527,7 @@ class MAVLink(object):
msg = MAVLink_ahrs_message(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw)
msg.pack(self)
return msg
def ahrs_send(self, omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw):
'''
Status of DCM attitude estimator
@ -2525,7 +2542,7 @@ class MAVLink(object):
'''
return self.send(self.ahrs_encode(omegaIx, omegaIy, omegaIz, accel_weight, renorm_val, error_rp, error_yaw))
def simstate_encode(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
'''
Status of simulation environment, if used
@ -2544,7 +2561,7 @@ class MAVLink(object):
msg = MAVLink_simstate_message(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro)
msg.pack(self)
return msg
def simstate_send(self, roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro):
'''
Status of simulation environment, if used
@ -2561,7 +2578,7 @@ class MAVLink(object):
'''
return self.send(self.simstate_encode(roll, pitch, yaw, xacc, yacc, zacc, xgyro, ygyro, zgyro))
def hwstatus_encode(self, Vcc, I2Cerr):
'''
Status of key hardware
@ -2573,7 +2590,7 @@ class MAVLink(object):
msg = MAVLink_hwstatus_message(Vcc, I2Cerr)
msg.pack(self)
return msg
def hwstatus_send(self, Vcc, I2Cerr):
'''
Status of key hardware
@ -2583,7 +2600,7 @@ class MAVLink(object):
'''
return self.send(self.hwstatus_encode(Vcc, I2Cerr))
def radio_encode(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
'''
Status generated by radio
@ -2600,7 +2617,7 @@ class MAVLink(object):
msg = MAVLink_radio_message(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed)
msg.pack(self)
return msg
def radio_send(self, rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed):
'''
Status generated by radio
@ -2615,7 +2632,7 @@ class MAVLink(object):
'''
return self.send(self.radio_encode(rssi, remrssi, txbuf, noise, remnoise, rxerrors, fixed))
def heartbeat_encode(self, type, autopilot, mavlink_version=2):
'''
The heartbeat message shows that a system is present and responding.

662
Tools/autotest/pymavlink/mavlinkv10.py
View File

File diff suppressed because it is too large Load Diff

158
Tools/autotest/pymavlink/mavutil.py
View File

@ -6,7 +6,7 @@ Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
import socket, math, struct, time, os, fnmatch, array, sys, errno
import socket, math, struct, time, os, fnmatch, array, sys, errno, fcntl
from math import *
from mavextra import *
@ -47,9 +47,10 @@ class location(object):
class mavfile(object):
'''a generic mavlink port'''
def __init__(self, fd, address, source_system=255, notimestamps=False):
def __init__(self, fd, address, source_system=255, notimestamps=False, input=True):
global mavfile_global
mavfile_global = self
if input:
mavfile_global = self
self.fd = fd
self.address = address
self.messages = { 'MAV' : self }
@ -59,11 +60,13 @@ class mavfile(object):
else:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
self.params = {}
self.mav = None
self.target_system = 0
self.target_component = 0
self.mav = mavlink.MAVLink(self, srcSystem=source_system)
self.mav.robust_parsing = True
self.source_system = source_system
self.first_byte = True
self.robust_parsing = True
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.logfile = None
self.logfile_raw = None
self.param_fetch_in_progress = False
@ -80,6 +83,36 @@ class mavfile(object):
self.ground_temperature = None
self.altitude = 0
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
self.last_seq = -1
self.mav_loss = 0
self.mav_count = 0
self.stop_on_EOF = False
def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink
if len(buf) == 0:
return
if not ord(buf[0]) in [ 85, 254 ]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and ord(buf[0]) == 254:
import mavlinkv10 as mavlink
os.environ['MAVLINK10'] = '1'
elif self.WIRE_PROTOCOL_VERSION == "1.0" and ord(buf[0]) == 85:
import mavlink as mavlink
else:
return
# switch protocol
(callback, callback_args, callback_kwargs) = (self.mav.callback,
self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
callback_args,
callback_kwargs)
def recv(self, n=None):
'''default recv method'''
@ -99,6 +132,9 @@ class mavfile(object):
def post_message(self, msg):
'''default post message call'''
if '_posted' in msg.__dict__:
return
msg._posted = True
msg._timestamp = time.time()
type = msg.get_type()
self.messages[type] = msg
@ -112,6 +148,19 @@ class mavfile(object):
else:
msg._timestamp = self._timestamp
if not (
# its the radio or planner
(msg.get_srcSystem() == ord('3') and msg.get_srcComponent() == ord('D')) or
msg.get_srcSystem() == 255 or
msg.get_type() == 'BAD_DATA'):
seq = (self.last_seq+1) % 256
seq2 = msg.get_seq()
if seq != seq2 and self.last_seq != -1:
diff = (seq2 - seq) % 256
self.mav_loss += diff
self.last_seq = seq2
self.mav_count += 1
self.timestamp = msg._timestamp
if type == 'HEARTBEAT':
self.target_system = msg.get_srcSystem()
@ -119,33 +168,42 @@ class mavfile(object):
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
self.flightmode = mode_string_v10(msg)
elif type == 'PARAM_VALUE':
s = str(msg.param_id)
self.params[str(msg.param_id)] = msg.param_value
if msg.param_index+1 == msg.param_count:
self.param_fetch_in_progress = False
self.param_fetch_complete = True
if str(msg.param_id) == 'GND_ABS_PRESS':
self.ground_pressure = msg.param_value
if str(msg.param_id) == 'GND_TEMP':
self.ground_temperature = msg.param_value
elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
self.flightmode = mode_string_v09(msg)
elif type == 'GPS_RAW':
if self.messages['HOME'].fix_type < 2:
self.messages['HOME'] = msg
elif type == 'GPS_RAW_INT':
if self.messages['HOME'].fix_type < 3:
self.messages['HOME'] = msg
for hook in self.message_hooks:
hook(self, msg)
def packet_loss(self):
'''packet loss as a percentage'''
if self.mav_count == 0:
return 0
return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss)
def recv_msg(self):
'''message receive routine'''
self.pre_message()
while True:
n = self.mav.bytes_needed()
s = self.recv(n)
if len(s) == 0 and len(self.mav.buf) == 0:
if len(s) == 0 and (len(self.mav.buf) == 0 or self.stop_on_EOF):
return None
if self.logfile_raw:
self.logfile_raw.write(str(s))
if self.first_byte:
self.auto_mavlink_version(s)
msg = self.mav.parse_char(s)
if msg:
self.post_message(msg)
@ -168,6 +226,10 @@ class mavfile(object):
continue
return m
def mavlink10(self):
'''return True if using MAVLink 1.0'''
return self.WIRE_PROTOCOL_VERSION == "1.0"
def setup_logfile(self, logfile, mode='w'):
'''start logging to the given logfile, with timestamps'''
self.logfile = open(logfile, mode=mode)
@ -197,9 +259,9 @@ class mavfile(object):
def param_set_send(self, parm_name, parm_value, parm_type=None):
'''wrapper for parameter set'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
if parm_type == None:
parm_type = mavlink.MAV_VAR_FLOAT
parm_type = mavlink.MAVLINK_TYPE_FLOAT
self.mav.param_set_send(self.target_system, self.target_component,
parm_name, parm_value, parm_type)
else:
@ -208,35 +270,35 @@ class mavfile(object):
def waypoint_request_list_send(self):
'''wrapper for waypoint_request_list_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.mission_request_list_send(self.target_system, self.target_component)
else:
self.mav.waypoint_request_list_send(self.target_system, self.target_component)
def waypoint_clear_all_send(self):
'''wrapper for waypoint_clear_all_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.mission_clear_all_send(self.target_system, self.target_component)
else:
self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
def waypoint_request_send(self, seq):
'''wrapper for waypoint_request_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.mission_request_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
def waypoint_set_current_send(self, seq):
'''wrapper for waypoint_set_current_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
def waypoint_current(self):
'''return current waypoint'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
m = self.recv_match(type='MISSION_CURRENT', blocking=True)
else:
m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
@ -244,14 +306,14 @@ class mavfile(object):
def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.mission_count_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
def set_mode_auto(self):
'''enter auto mode'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
else:
@ -260,7 +322,7 @@ class mavfile(object):
def set_mode_rtl(self):
'''enter RTL mode'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
else:
@ -269,7 +331,7 @@ class mavfile(object):
def set_mode_loiter(self):
'''enter LOITER mode'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
else:
@ -278,7 +340,7 @@ class mavfile(object):
def calibrate_imu(self):
'''calibrate IMU'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
1, 1, 1, 1, 0, 0, 0)
@ -288,7 +350,7 @@ class mavfile(object):
def calibrate_level(self):
'''calibrate accels'''
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
1, 1, 1, 1, 0, 0, 0)
@ -298,7 +360,7 @@ class mavfile(object):
def wait_gps_fix(self):
self.recv_match(type='VFR_HUD', blocking=True)
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
if self.mavlink10():
self.recv_match(type='GPS_RAW_INT', blocking=True,
condition='GPS_RAW_INT.fix_type==3 and GPS_RAW_INT.lat != 0 and GPS_RAW_INT.alt != 0')
else:
@ -308,7 +370,9 @@ class mavfile(object):
def location(self):
'''return current location'''
self.wait_gps_fix()
if mavlink.WIRE_PROTOCOL_VERSION == '1.0':
# wait for another VFR_HUD, to ensure we have correct altitude
self.recv_match(type='VFR_HUD', blocking=True)
if self.mavlink10():
return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
self.messages['GPS_RAW_INT'].lon*1.0e-7,
self.messages['VFR_HUD'].alt,
@ -319,6 +383,19 @@ class mavfile(object):
self.messages['VFR_HUD'].alt,
self.messages['VFR_HUD'].heading)
def field(self, type, field, default=None):
'''convenient function for returning an arbitrary MAVLink
field with a default'''
if not type in self.messages:
return default
return getattr(self.messages[type], field, default)
def param(self, name, default=None):
'''convenient function for returning an arbitrary MAVLink
parameter with a default'''
if not name in self.params:
return default
return self.params[name]
class mavserial(mavfile):
'''a serial mavlink port'''
@ -329,9 +406,11 @@ class mavserial(mavfile):
self.autoreconnect = autoreconnect
self.port = serial.Serial(self.device, self.baud, timeout=0,
dsrdtr=False, rtscts=False, xonxoff=False)
try:
fd = self.port.fileno()
flags = fcntl.fcntl(fd, fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(fd, fcntl.F_SETFD, flags)
except Exception:
fd = None
mavfile.__init__(self, fd, device, source_system=source_system)
@ -351,7 +430,7 @@ class mavserial(mavfile):
def write(self, buf):
try:
return self.port.write(buf)
except OSError:
except Exception:
if self.autoreconnect:
self.reset()
return -1
@ -370,7 +449,7 @@ class mavserial(mavfile):
return
except Exception:
print("Failed to reopen %s" % self.device)
time.sleep(1)
time.sleep(0.5)
class mavudp(mavfile):
@ -383,12 +462,16 @@ class mavudp(mavfile):
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_server = input
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]))
flags = fcntl.fcntl(self.port.fileno(), fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(self.port.fileno(), fcntl.F_SETFD, flags)
self.port.setblocking(0)
self.last_address = None
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, input=input)
def close(self):
self.port.close()
@ -397,7 +480,7 @@ class mavudp(mavfile):
try:
data, self.last_address = self.port.recvfrom(300)
except socket.error as e:
if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK, errno.ECONNREFUSED ]:
return ""
raise
return data
@ -418,6 +501,8 @@ class mavudp(mavfile):
s = self.recv()
if len(s) == 0:
return None
if self.first_byte:
self.auto_mavlink_version(s)
msg = self.mav.parse_buffer(s)
if msg is not None:
for m in msg:
@ -437,6 +522,9 @@ class mavtcp(mavfile):
self.destination_addr = (a[0], int(a[1]))
self.port.connect(self.destination_addr)
self.port.setblocking(0)
flags = fcntl.fcntl(self.port.fileno(), fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(self.port.fileno(), fcntl.F_SETFD, flags)
self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system)
@ -485,6 +573,7 @@ class mavlogfile(mavfile):
self._timestamp = 0
else:
self._timestamp = time.time()
self.stop_on_EOF = True
def close(self):
self.f.close()
@ -500,7 +589,8 @@ class mavlogfile(mavfile):
def pre_message(self):
'''read timestamp if needed'''
# read the timestamp
self.percent = (100.0 * self.f.tell()) / self.filesize
if self.filesize != 0:
self.percent = (100.0 * self.f.tell()) / self.filesize
if self.notimestamps:
return
if self.planner_format:
@ -510,12 +600,14 @@ class mavlogfile(mavfile):
hnsec = self._two64 + float(tbuf[0:20])
t = hnsec * 1.0e-7 # convert to seconds
t -= 719163 * 24 * 60 * 60 # convert to 1970 base
self._link = 0
else:
tbuf = self.f.read(8)
if len(tbuf) != 8:
return
(tusec,) = struct.unpack('>Q', tbuf)
t = tusec * 1.0e-6
self._link = tusec & 0x3
self._timestamp = t
def post_message(self, msg):
@ -586,7 +678,7 @@ class periodic_event(object):
def force(self):
'''force immediate triggering'''
self.last_time = 0
def trigger(self):
'''return True if we should trigger now'''
tnow = time.time()

9
Tools/autotest/pymavlink/mavwp.py
View File

@ -36,6 +36,15 @@ class MAVWPLoader(object):
w.seq = self.count()
self.wpoints.append(w)
def set(self, w, idx):
'''set a waypoint'''
w.seq = idx
if w.seq == self.count():
return self.add(w)
if self.count() <= idx:
raise MAVWPError('adding waypoint at idx=%u past end of list (count=%u)' % (idx, self.count()))
self.wpoints[idx] = w
def remove(self, w):
'''remove a waypoint'''
self.wpoints.remove(w)