added dronecan_tcplink.py

tools/dronecan_tcplink.py

@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+'''
+map between a TCP port and a DroneCAN serial port tunnel
+'''
+
+import time
+import sys
+import dronecan
+import socket
+
+if __name__ == "__main__":
+    import progressbar
+    from argparse import ArgumentParser
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument("--baud", default=0, help="remote baudrate", type=int)
+    parser.add_argument("--listen-port", default=2001, help="TCP listen port", type=int)
+    parser.add_argument("--listen-address", default='0.0.0.0', help="TCP listen port")
+    parser.add_argument("--lock", action='store_true', default=False, help="lock remote serial port")
+    parser.add_argument("--can-target-node", type=int, default=None, help='target CAN node')
+    parser.add_argument("--can-local-node", type=int, default=100, help='local CAN node')
+    parser.add_argument("--can-serial-dev", type=int, default=-1, help='target serial device')
+    parser.add_argument("--logfile", default=None, help='log data to file')
+    parser.add_argument("uri", default=None, help="DroneCAN URI")
+
+    args = parser.parse_args()
+
+    port = dronecan.DroneCANSerial(args.uri, args.can_target_node, args.can_serial_dev,
+                                   lock_port=args.lock, baudrate=args.baud, node_id=args.can_local_node)
+
+    listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    listen_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+    listen_sock.bind((args.listen_address, args.listen_port))
+    listen_sock.listen(1)
+
+    print("Waiting for connection on %s:%u" % (args.listen_address, args.listen_port))
+    sock, addr = listen_sock.accept()
+    sock.setblocking(0)
+
+    last_print = time.time()
+    sock_recv_count = 0
+    dronecan_recv_count = 0
+    logfile = None if args.logfile is None else open(args.logfile,'wb')
+
+    while True:
+        buf = None
+        try:
+            buf = sock.recv(1024)
+        except socket.error:
+            pass
+        if buf:
+            sock_recv_count += len(buf)
+            port.write(buf)
+            if logfile is not None:
+                logfile.write(buf)
+        buf = port.read(1024)
+        if buf:
+            dronecan_recv_count += len(buf)
+            if logfile is not None:
+                logfile.write(buf)
+            sock.send(buf)
+
+        now = time.time()
+        dt = now - last_print
+        if dt >= 1.0:
+            print("%.2f/%.2f bytes/sec" % (sock_recv_count/dt, dronecan_recv_count/dt))
+            sock_recv_count = 0
+            dronecan_recv_count = 0
+            last_print = now