mirror of
https://github.com/svpcom/wfb-ng.git
synced 2025-02-21 16:03:49 -04:00
77 lines
2.4 KiB
Python
77 lines
2.4 KiB
Python
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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# Copyright (C) 2018, 2019 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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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 Protocol, DatagramProtocol
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class MAVLinkProtocol(Protocol):
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def __init__(self, src_system, src_component):
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self.mav = mavlink.MAVLink(self, srcSystem=src_system, srcComponent=src_component)
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def write(self, msg):
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raise NotImplementedError
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def messageReceived(self, message):
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raise NotImplementedError
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def dataReceived(self, data):
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try:
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m_list = self.mav.parse_buffer(data)
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except mavlink.MAVError as e:
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log.msg('Mavlink error: %s' % (e,))
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return
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if m_list is not None:
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for m in m_list:
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self.messageReceived(m)
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class MAVLinkUDPProtocol(MAVLinkProtocol, DatagramProtocol):
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def __init__(self, src_system, src_component, peer=None):
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MAVLinkProtocol.__init__(self, src_system, src_component)
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self.reply_addr = peer
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def write(self, msg):
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if self.transport is not None and self.reply_addr is not None:
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self.transport.write(msg, self.reply_addr)
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def datagramReceived(self, data, addr):
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self.reply_addr = addr
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self.dataReceived(data)
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class MAVLinkSerialProtocol(MAVLinkProtocol):
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def write(self, msg):
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if self.transport is not None:
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self.transport.write(msg)
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