#!/usr/bin/env python # -*- coding: utf-8 -*- # Copyright (C) 2018-2021 Vasily Evseenko # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; version 3. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License along # with this program; if not, write to the Free Software Foundation, Inc., # 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. # from __future__ import absolute_import from __future__ import unicode_literals from __future__ import print_function from __future__ import division from future import standard_library standard_library.install_aliases() from builtins import * import struct from . import mavlink from twisted.python import log from twisted.internet import reactor, defer from twisted.internet.protocol import DatagramProtocol, Protocol from telemetry.conf import settings class ProxyProtocol: def __init__(self, agg_max_size=None, agg_timeout=None, inject_rssi=False): # use self.write to send mavlink message if inject_rssi: self.radio_mav = mavlink.MAVLink(self, srcSystem=3, srcComponent=242) # WFB else: self.radio_mav = None self.peer = None self.agg_max_size = agg_max_size self.agg_timeout = agg_timeout self.agg_queue = [] self.agg_queue_size = 0 self.agg_queue_timer = None def _cleanup(self): if(self.agg_queue_timer): self.agg_queue_timer.cancel() def flush_queue(self): if self.agg_queue_size > 0: if self.agg_queue_timer is not None \ and not self.agg_queue_timer.called: self.agg_queue_timer.cancel() self.agg_queue_timer = None self._send_to_peer(b''.join(self.agg_queue)) self.agg_queue = [] self.agg_queue_size = 0 # call from peer and from mavlink rssi injector only! def write(self, msg): raise NotImplementedError() def _send_to_peer(self, data): if self.peer is not None: self.peer.write(data) def messageReceived(self, data): # send message to local transport if self.agg_max_size is None or self.agg_timeout is None: return self._send_to_peer(data) if len(data) > self.agg_max_size: log.msg('Message too big: %d > %d' % (len(data), self.agg_max_size), isError=1) return if self.agg_queue_size + len(data) > self.agg_max_size: # message doesn't fit into agg queue if self.agg_queue_timer is not None: self.agg_queue_timer.cancel() self.agg_queue_timer = None self._send_to_peer(b''.join(self.agg_queue)) self.agg_queue = [] self.agg_queue_size = 0 self.agg_queue.append(data) self.agg_queue_size += len(data) if self.agg_timeout and self.agg_queue_timer is None: self.agg_queue_timer = reactor.callLater(self.agg_timeout, self.flush_queue) def send_rssi(self, rssi, rx_errors, rx_fec, flags): # Send flags as remnoise, because txbuf value is used by PX4 to throttle bandwidth if self.radio_mav is not None: self.radio_mav.radio_status_send(rssi, rssi, 100, 0, flags, rx_errors, rx_fec) class UDPProxyProtocol(DatagramProtocol, ProxyProtocol): noisy = False def __init__(self, addr=None, agg_max_size=None, agg_timeout=None, inject_rssi=False, mirror=None): ProxyProtocol.__init__(self, agg_max_size, agg_timeout, inject_rssi) self.reply_addr = addr self.fixed_addr = bool(addr) self.mirror = mirror def datagramReceived(self, data, addr): if settings.common.debug: log.msg('Got a message from %s' % (addr,)) if not self.fixed_addr: self.reply_addr = addr return self.messageReceived(data) def write(self, msg): if self.transport is None or self.reply_addr is None: return # Mirror packets as is if self.mirror: self.transport.write(msg, self.mirror) # Send non-aggregated packets directly if self.agg_max_size is None or self.agg_timeout is None: self.transport.write(msg, self.reply_addr) return # Split batch of mavlink packets due to issues with mavlink-router i = 0 while i < len(msg): if len(msg) - i < 8: log.msg('Too short mavlink packet: %r' % (msg[i:],)) break version = struct.unpack('B', msg[i : i + 1])[0] # mavlink 1 if version == 0xfe: mlen = 8 + struct.unpack('B', msg[i + 1 : i + 2])[0] self.transport.write(msg[i: i + mlen], self.reply_addr) i += mlen # mavlink 2 elif version == 0xfd: mlen, flags = struct.unpack('BB', msg[i + 1 : i + 3]) if flags & ~0x01: log.msg('Unsupported mavlink flags: 0x%x' % (flags,)) self.transport.write(msg[i:], self.reply_addr) break mlen += (25 if flags & 0x01 else 12) self.transport.write(msg[i : i + mlen], self.reply_addr) i += mlen else: log.msg('Unsupported mavlink version: 0x%x' % (version,)) self.transport.write(msg[i:], self.reply_addr) break class SerialProxyProtocol(Protocol, ProxyProtocol): noisy = False def __init__(self, agg_max_size=None, agg_timeout=None, inject_rssi=False): ProxyProtocol.__init__(self, agg_max_size, agg_timeout, inject_rssi) self.mavlink_fsm = self.mavlink_parser() self.mavlink_fsm.send(None) def mavlink_parser(self): buffer = bytearray() mlist = [] skip = 0 while True: # GC if skip > 4096: buffer = buffer[skip:] skip = 0 data = yield mlist mlist = [] if not data: continue buffer.extend(data) while len(buffer) - skip >= 8: version = buffer[skip] # mavlink 1 if version == 0xfe: mlen = 8 + buffer[skip + 1] # mavlink 2 elif version == 0xfd: mlen, flags = struct.unpack('BB', buffer[skip + 1 : skip + 3]) if flags & ~0x01: log.msg('Unsupported mavlink flags: 0x%x' % (flags,)) mlen += (25 if flags & 0x01 else 12) else: log.msg('skip bad byte %x' % (version,)) skip += 1 continue if len(buffer) - skip < mlen: break mlist.append(bytes(buffer[skip: skip + mlen])) skip += mlen def write(self, msg): if self.transport is not None: self.transport.write(msg) def dataReceived(self, data): m_list = self.mavlink_fsm.send(data) for m in m_list: self.messageReceived(m)