mirror of
https://github.com/svpcom/wfb-ng.git
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238 lines
7.7 KiB
Python
238 lines
7.7 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Copyright (C) 2018-2022 Vasily Evseenko <svpcom@p2ptech.org>
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#
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# This program is free software; you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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# the Free Software Foundation; version 3.
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#
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this program; if not, write to the Free Software Foundation, Inc.,
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# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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#
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import struct
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import os
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from contextlib import closing
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from twisted.python import log
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from twisted.internet import reactor, defer
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from twisted.internet.protocol import DatagramProtocol, Protocol
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from . import mavlink, mavlink_protocol
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from .conf import settings
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class ProxyProtocol:
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def __init__(self, agg_max_size, agg_timeout):
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self.peer = None
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self.agg_max_size = agg_max_size
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self.agg_timeout = agg_timeout
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self.agg_queue = []
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self.agg_queue_size = 0
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self.agg_queue_timer = None
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def _cleanup(self):
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if(self.agg_queue_timer):
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self.agg_queue_timer.cancel()
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def flush_queue(self):
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if self.agg_queue_size > 0:
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if self.agg_queue_timer is not None \
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and not self.agg_queue_timer.called:
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self.agg_queue_timer.cancel()
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self.agg_queue_timer = None
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self._send_to_peer(b''.join(self.agg_queue))
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self.agg_queue = []
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self.agg_queue_size = 0
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# call from peer and from mavlink rssi injector only!
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def write(self, msg):
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raise NotImplementedError()
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def _send_to_peer(self, data):
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if self.peer is not None:
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self.peer.write(data)
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def messageReceived(self, data):
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# send message to local transport
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if self.agg_max_size is None or self.agg_timeout is None:
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return self._send_to_peer(data)
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if len(data) > self.agg_max_size:
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log.msg('Message too big: %d > %d' % (len(data), self.agg_max_size), isError=1)
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return
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if self.agg_queue_size + len(data) > self.agg_max_size:
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# message doesn't fit into agg queue
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if self.agg_queue_timer is not None:
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self.agg_queue_timer.cancel()
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self.agg_queue_timer = None
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self._send_to_peer(b''.join(self.agg_queue))
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self.agg_queue = []
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self.agg_queue_size = 0
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self.agg_queue.append(data)
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self.agg_queue_size += len(data)
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if self.agg_timeout and self.agg_queue_timer is None:
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self.agg_queue_timer = reactor.callLater(self.agg_timeout, self.flush_queue)
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# inject radio rssi info
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def send_rssi(self, rx_id, rssi, rx_errors, rx_fec, flags):
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pass
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class UDPProxyProtocol(DatagramProtocol, ProxyProtocol):
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noisy = False
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def __init__(self, addr=None):
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ProxyProtocol.__init__(self, agg_max_size=None, agg_timeout=None)
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self.reply_addr = addr
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self.fixed_addr = bool(addr)
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def datagramReceived(self, data, addr):
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if settings.common.debug:
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log.msg('Got a message from %s' % (addr,))
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if not self.fixed_addr:
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self.reply_addr = addr
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return self.messageReceived(data)
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def write(self, msg):
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if self.transport is None or self.reply_addr is None:
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return
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self.transport.write(msg, self.reply_addr)
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return
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class MavlinkProxyProtocol(ProxyProtocol):
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def __init__(self, agg_max_size, agg_timeout,
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inject_rssi,
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mavlink_sys_id, mavlink_comp_id):
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ProxyProtocol.__init__(self, agg_max_size, agg_timeout)
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self.radio_stats_d = {}
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if inject_rssi:
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self.radio_mav = mavlink.MAVLink(self, srcSystem=mavlink_sys_id, srcComponent=mavlink_comp_id) # WFB
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else:
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self.radio_mav = None
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def send_rssi(self, rx_id, rssi, rx_errors, rx_fec, flags):
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# Send flags as remnoise, because txbuf value is used by PX4 to throttle bandwidth
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# use self.write to send mavlink message
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if self.radio_mav is not None:
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self.radio_stats_d[rx_id] = (rssi, rx_errors, rx_fec, flags)
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rssi = 0
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rx_errors = 0
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rx_fec = 0
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flags = 0
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for _rssi, _rx_errors, _rx_fec, _flags in self.radio_stats_d.values():
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rssi += _rssi
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rx_errors += _rx_errors
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rx_fec += _rx_fec
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flags |= _flags
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rssi //= len(self.radio_stats_d)
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self.radio_mav.radio_status_send(rssi, rssi, 100, 0, flags, rx_errors, rx_fec)
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class MavlinkUDPProxyProtocol(DatagramProtocol, MavlinkProxyProtocol):
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noisy = False
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def __init__(self, addr,
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agg_max_size, agg_timeout,
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inject_rssi, mirror,
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mavlink_sys_id, mavlink_comp_id,
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rx_hooks=None, tx_hooks=None):
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MavlinkProxyProtocol.__init__(self, agg_max_size, agg_timeout,
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inject_rssi=inject_rssi,
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mavlink_sys_id=mavlink_sys_id, mavlink_comp_id=mavlink_comp_id)
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self.reply_addr = addr
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self.fixed_addr = bool(addr)
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self.mirror = mirror
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self.rx_hooks = list(rx_hooks) if rx_hooks is not None else []
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self.tx_hooks = list(tx_hooks) if tx_hooks is not None else []
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def datagramReceived(self, data, addr):
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if settings.common.debug:
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log.msg('Got a message from %s' % (addr,))
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if not self.fixed_addr:
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self.reply_addr = addr
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for hook in self.rx_hooks:
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hook(data)
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return self.messageReceived(data)
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def write(self, msg):
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for hook in self.tx_hooks:
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hook(msg)
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if self.transport is None or self.reply_addr is None:
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return
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# Mirror packets as is
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if self.mirror:
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self.transport.write(msg, self.mirror)
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# Send non-aggregated packets directly
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if self.agg_max_size is None or self.agg_timeout is None:
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self.transport.write(msg, self.reply_addr)
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return
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# Split batch of mavlink packets due to issues with mavlink-router
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with closing(mavlink_protocol.mavlink_parser_gen()) as mavlink_fsm:
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mavlink_fsm.send(None)
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for m in mavlink_fsm.send(msg):
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self.transport.write(m, self.reply_addr)
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class MavlinkSerialProxyProtocol(Protocol, MavlinkProxyProtocol):
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noisy = False
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def __init__(self, agg_max_size, agg_timeout,
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inject_rssi,
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mavlink_sys_id, mavlink_comp_id,
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rx_hooks = None, tx_hooks = None):
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MavlinkProxyProtocol.__init__(self, agg_max_size, agg_timeout,
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inject_rssi=inject_rssi,
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mavlink_sys_id=mavlink_sys_id, mavlink_comp_id=mavlink_comp_id)
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self.mavlink_fsm = mavlink_protocol.mavlink_parser_gen()
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self.mavlink_fsm.send(None)
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self.rx_hooks = rx_hooks or []
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self.tx_hooks = tx_hooks or []
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def write(self, msg):
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for hook in self.tx_hooks:
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hook(msg)
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if self.transport is not None:
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self.transport.write(msg)
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def dataReceived(self, data):
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for m in self.mavlink_fsm.send(data):
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for hook in self.rx_hooks:
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hook(m)
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self.messageReceived(m)
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