mirror of
https://github.com/svpcom/wfb-ng.git
synced 2025-02-24 00:53:49 -04:00
153 lines
5.1 KiB
Python
153 lines
5.1 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Copyright (C) 2018-2021 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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from __future__ import absolute_import
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from __future__ import unicode_literals
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from __future__ import print_function
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from __future__ import division
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from future import standard_library
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standard_library.install_aliases()
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from builtins import *
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import struct
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from . import mavlink
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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
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from telemetry.conf import settings
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class UDPProxyProtocol(DatagramProtocol):
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noisy = False
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def __init__(self, addr=None, agg_max_size=None, agg_timeout=None, inject_rssi=False):
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# use self.write to send mavlink message
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if inject_rssi:
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self.mav = mavlink.MAVLink(self, srcSystem=3, srcComponent=242) # WFB
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else:
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self.mav = None
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self.peer = None
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self.reply_addr = addr
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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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if self.transport is None or self.reply_addr is None:
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return
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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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i = 0
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while i < len(msg):
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if len(msg) - i < 8:
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log.msg('Too short mavlink packet: %r' % (msg[i:],))
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break
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version = struct.unpack('B', msg[i])[0]
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# mavlink 1
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if version == 0xfe:
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mlen = 8 + struct.unpack('B', msg[i + 1])[0]
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self.transport.write(msg[i:i + mlen], self.reply_addr)
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i += mlen
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# mavlink 2
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elif version == 0xfd:
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mlen, flags = struct.unpack('BB', msg[i + 1 : i + 3])
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if flags & ~0x01:
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log.msg('Unsupported mavlink flags: 0x%x' % (flags,))
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self.transport.write(msg[i:], self.reply_addr)
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break
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mlen += (25 if flags & 0x01 else 12)
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self.transport.write(msg[i:i + mlen], self.reply_addr)
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i += mlen
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else:
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log.msg('Unsupported mavlink version: 0x%x' % (version,))
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self.transport.write(msg[i:], self.reply_addr)
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break
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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 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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self.reply_addr = addr
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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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def send_rssi(self, 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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if self.mav is not None:
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self.mav.radio_status_send(rssi, rssi, 100, 0, flags, rx_errors, rx_fec)
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