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mavutil.py
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#!/usr/bin/env python
'''
mavlink python utility functions
Copyright Andrew Tridgell 2011
Released under GNU GPL version 3 or later
'''
from __future__ import print_function
from builtins import object
import socket, math, struct, time, os, fnmatch, array, sys, errno
import select
from pymavlink import mavexpression
# adding these extra imports allows pymavlink to be used directly with pyinstaller
# without having complex spec files. To allow for installs that don't have ardupilotmega
# at all we avoid throwing an exception if it isn't installed
try:
import json
from pymavlink.dialects.v10 import ardupilotmega
except Exception:
pass
# maximum packet length for a single receive call - use the UDP limit
UDP_MAX_PACKET_LEN = 65535
# Store the MAVLink library for the currently-selected dialect
# (set by set_dialect())
mavlink = None
# Store the mavlink file currently being operated on
# (set by mavlink_connection())
mavfile_global = None
# If the caller hasn't specified a particular native/legacy version, use this
default_native = False
# link_id used for signing
global_link_id = 0
# Use a globally-set MAVLink dialect if one has been specified as an environment variable.
if not 'MAVLINK_DIALECT' in os.environ:
os.environ['MAVLINK_DIALECT'] = 'ardupilotmega'
def mavlink10():
'''return True if using MAVLink 1.0 or later'''
return not 'MAVLINK09' in os.environ
def mavlink20():
'''return True if using MAVLink 2.0'''
return 'MAVLINK20' in os.environ
def evaluate_expression(expression, vars):
'''evaluation an expression'''
return mavexpression.evaluate_expression(expression, vars)
def evaluate_condition(condition, vars):
'''evaluation a conditional (boolean) statement'''
if condition is None:
return True
v = evaluate_expression(condition, vars)
if v is None:
return False
return v
class location(object):
'''represent a GPS coordinate'''
def __init__(self, lat, lng, alt=0, heading=0):
self.lat = lat
self.lng = lng
self.alt = alt
self.heading = heading
def __str__(self):
return "lat=%.6f,lon=%.6f,alt=%.1f" % (self.lat, self.lng, self.alt)
def set_dialect(dialect):
'''set the MAVLink dialect to work with.
For example, set_dialect("ardupilotmega")
'''
global mavlink, current_dialect
from .generator import mavparse
if 'MAVLINK20' in os.environ:
wire_protocol = mavparse.PROTOCOL_2_0
modname = "pymavlink.dialects.v20." + dialect
elif mavlink is None or mavlink.WIRE_PROTOCOL_VERSION == "1.0" or not 'MAVLINK09' in os.environ:
wire_protocol = mavparse.PROTOCOL_1_0
modname = "pymavlink.dialects.v10." + dialect
else:
wire_protocol = mavparse.PROTOCOL_0_9
modname = "pymavlink.dialects.v09." + dialect
try:
mod = __import__(modname)
except Exception:
# auto-generate the dialect module
from .generator.mavgen import mavgen_python_dialect
mavgen_python_dialect(dialect, wire_protocol)
mod = __import__(modname)
components = modname.split('.')
for comp in components[1:]:
mod = getattr(mod, comp)
current_dialect = dialect
mavlink = mod
# Set the default dialect. This is done here as it needs to be after the function declaration
set_dialect(os.environ['MAVLINK_DIALECT'])
class mavfile(object):
'''a generic mavlink port'''
def __init__(self, fd, address, source_system=255, source_component=0, notimestamps=False, input=True, use_native=default_native):
global mavfile_global
if input:
mavfile_global = self
self.fd = fd
self.address = address
self.messages = { 'MAV' : self }
if float(mavlink.WIRE_PROTOCOL_VERSION) >= 1:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_int_message(0,0,0,0,0,0,0,0,0,0)
mavlink.MAVLink_waypoint_message = mavlink.MAVLink_mission_item_message
else:
self.messages['HOME'] = mavlink.MAVLink_gps_raw_message(0,0,0,0,0,0,0,0,0)
self.params = {}
self.target_system = 0
self.target_component = 0
self.source_system = source_system
self.source_component = source_component
self.first_byte = True
self.robust_parsing = True
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system, srcComponent=self.source_component, use_native=use_native)
self.mav.robust_parsing = self.robust_parsing
self.logfile = None
self.logfile_raw = None
self.param_fetch_in_progress = False
self.param_fetch_complete = False
self.start_time = time.time()
self.flightmode = "UNKNOWN"
self.vehicle_type = "UNKNOWN"
self.mav_type = mavlink.MAV_TYPE_FIXED_WING
self.base_mode = 0
self.timestamp = 0
self.message_hooks = []
self.idle_hooks = []
self.uptime = 0.0
self.notimestamps = notimestamps
self._timestamp = None
self.ground_pressure = None
self.ground_temperature = None
self.altitude = 0
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
self.last_seq = {}
self.mav_loss = 0
self.mav_count = 0
self.stop_on_EOF = False
self.portdead = False
def auto_mavlink_version(self, buf):
'''auto-switch mavlink protocol version'''
global mavlink
if len(buf) == 0:
return
try:
magic = ord(buf[0])
except:
magic = buf[0]
if not magic in [ 85, 254, 253 ]:
return
self.first_byte = False
if self.WIRE_PROTOCOL_VERSION == "0.9" and magic == 254:
self.WIRE_PROTOCOL_VERSION = "1.0"
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION == "1.0" and magic == 85:
self.WIRE_PROTOCOL_VERSION = "0.9"
os.environ['MAVLINK09'] = '1'
set_dialect(current_dialect)
elif self.WIRE_PROTOCOL_VERSION != "2.0" and magic == 253:
self.WIRE_PROTOCOL_VERSION = "2.0"
os.environ['MAVLINK20'] = '1'
set_dialect(current_dialect)
else:
return
# switch protocol
(callback, callback_args, callback_kwargs) = (self.mav.callback,
self.mav.callback_args,
self.mav.callback_kwargs)
self.mav = mavlink.MAVLink(self, srcSystem=self.source_system, srcComponent=self.source_component)
self.mav.robust_parsing = self.robust_parsing
self.WIRE_PROTOCOL_VERSION = mavlink.WIRE_PROTOCOL_VERSION
(self.mav.callback, self.mav.callback_args, self.mav.callback_kwargs) = (callback,
callback_args,
callback_kwargs)
def recv(self, n=None):
'''default recv method'''
raise RuntimeError('no recv() method supplied')
def close(self, n=None):
'''default close method'''
raise RuntimeError('no close() method supplied')
def write(self, buf):
'''default write method'''
raise RuntimeError('no write() method supplied')
def select(self, timeout):
'''wait for up to timeout seconds for more data'''
if self.fd is None:
time.sleep(min(timeout,0.5))
return True
try:
(rin, win, xin) = select.select([self.fd], [], [], timeout)
except select.error:
return False
return len(rin) == 1
def pre_message(self):
'''default pre message call'''
return
def set_rtscts(self, enable):
'''enable/disable RTS/CTS if applicable'''
return
def probably_vehicle_heartbeat(self, msg):
if msg.get_srcComponent() == mavlink.MAV_COMP_ID_GIMBAL:
return False
if msg.type in (mavlink.MAV_TYPE_GCS,
mavlink.MAV_TYPE_GIMBAL,
mavlink.MAV_TYPE_ONBOARD_CONTROLLER):
return False
return True
def post_message(self, msg):
'''default post message call'''
if '_posted' in msg.__dict__:
return
msg._posted = True
msg._timestamp = time.time()
type = msg.get_type()
if type != 'HEARTBEAT' or self.probably_vehicle_heartbeat(msg):
self.messages[type] = msg
if 'usec' in msg.__dict__:
self.uptime = msg.usec * 1.0e-6
if 'time_boot_ms' in msg.__dict__:
self.uptime = msg.time_boot_ms * 1.0e-3
if self._timestamp is not None:
if self.notimestamps:
msg._timestamp = self.uptime
else:
msg._timestamp = self._timestamp
src_system = msg.get_srcSystem()
src_component = msg.get_srcComponent()
src_tuple = (src_system, src_component)
radio_tuple = (ord('3'), ord('D'))
if not (src_tuple == radio_tuple or msg.get_type() == 'BAD_DATA'):
if not src_tuple in self.last_seq:
last_seq = -1
else:
last_seq = self.last_seq[src_tuple]
seq = (last_seq+1) % 256
seq2 = msg.get_seq()
if seq != seq2 and last_seq != -1:
diff = (seq2 - seq) % 256
self.mav_loss += diff
#print("lost %u seq=%u seq2=%u last_seq=%u src_system=%u %s" % (diff, seq, seq2, last_seq, src_system, msg.get_type()))
self.last_seq[src_tuple] = seq2
self.mav_count += 1
self.timestamp = msg._timestamp
if type == 'HEARTBEAT' and self.probably_vehicle_heartbeat(msg):
self.target_system = msg.get_srcSystem()
self.target_component = msg.get_srcComponent()
if float(mavlink.WIRE_PROTOCOL_VERSION) >= 1:
self.flightmode = mode_string_v10(msg)
self.mav_type = msg.type
self.base_mode = msg.base_mode
elif type == 'PARAM_VALUE':
self.params[msg.param_id] = msg.param_value
if msg.param_index+1 == msg.param_count:
self.param_fetch_in_progress = False
self.param_fetch_complete = True
elif type == 'SYS_STATUS' and mavlink.WIRE_PROTOCOL_VERSION == '0.9':
self.flightmode = mode_string_v09(msg)
elif type == 'GPS_RAW':
if self.messages['HOME'].fix_type < 2:
self.messages['HOME'] = msg
elif type == 'GPS_RAW_INT':
if self.messages['HOME'].fix_type < 3:
self.messages['HOME'] = msg
for hook in self.message_hooks:
hook(self, msg)
if (msg.get_signed() and
self.mav.signing.link_id == 0 and
msg.get_link_id() != 0 and
self.target_system == msg.get_srcSystem() and
self.target_component == msg.get_srcComponent()):
# change to link_id from incoming packet
self.mav.signing.link_id = msg.get_link_id()
def packet_loss(self):
'''packet loss as a percentage'''
if self.mav_count == 0:
return 0
return (100.0*self.mav_loss)/(self.mav_count+self.mav_loss)
def recv_msg(self):
'''message receive routine'''
self.pre_message()
while True:
n = self.mav.bytes_needed()
s = self.recv(n)
numnew = len(s)
if numnew != 0:
if self.logfile_raw:
self.logfile_raw.write(str(s))
if self.first_byte:
self.auto_mavlink_version(s)
# We always call parse_char even if the new string is empty, because the existing message buf might already have some valid packet
# we can extract
msg = self.mav.parse_char(s)
if msg:
if self.logfile and msg.get_type() != 'BAD_DATA' :
usec = int(time.time() * 1.0e6) & ~3
self.logfile.write(str(struct.pack('>Q', usec) + msg.get_msgbuf()))
self.post_message(msg)
return msg
else:
# if we failed to parse any messages _and_ no new bytes arrived, return immediately so the client has the option to
# timeout
if numnew == 0:
return None
def recv_match(self, condition=None, type=None, blocking=False, timeout=None):
'''recv the next MAVLink message that matches the given condition
type can be a string or a list of strings'''
if type is not None and not isinstance(type, list):
type = [type]
start_time = time.time()
while True:
if timeout is not None:
now = time.time()
if now < start_time:
start_time = now # If an external process rolls back system time, we should not spin forever.
if start_time + timeout < time.time():
return None
m = self.recv_msg()
if m is None:
if blocking:
for hook in self.idle_hooks:
hook(self)
if timeout is None:
self.select(0.05)
else:
self.select(timeout/2)
continue
return None
if type is not None and not m.get_type() in type:
continue
if not evaluate_condition(condition, self.messages):
continue
return m
def check_condition(self, condition):
'''check if a condition is true'''
return evaluate_condition(condition, self.messages)
def mavlink10(self):
'''return True if using MAVLink 1.0 or later'''
return float(self.WIRE_PROTOCOL_VERSION) >= 1
def mavlink20(self):
'''return True if using MAVLink 2.0 or later'''
return float(self.WIRE_PROTOCOL_VERSION) >= 2
def setup_logfile(self, logfile, mode='w'):
'''start logging to the given logfile, with timestamps'''
self.logfile = open(logfile, mode=mode)
def setup_logfile_raw(self, logfile, mode='w'):
'''start logging raw bytes to the given logfile, without timestamps'''
self.logfile_raw = open(logfile, mode=mode)
def wait_heartbeat(self, blocking=True):
'''wait for a heartbeat so we know the target system IDs'''
return self.recv_match(type='HEARTBEAT', blocking=blocking)
def param_fetch_all(self):
'''initiate fetch of all parameters'''
if time.time() - getattr(self, 'param_fetch_start', 0) < 2.0:
# don't fetch too often
return
self.param_fetch_start = time.time()
self.param_fetch_in_progress = True
self.mav.param_request_list_send(self.target_system, self.target_component)
def param_fetch_one(self, name):
'''initiate fetch of one parameter'''
try:
idx = int(name)
self.mav.param_request_read_send(self.target_system, self.target_component, "", idx)
except Exception:
self.mav.param_request_read_send(self.target_system, self.target_component, name, -1)
def time_since(self, mtype):
'''return the time since the last message of type mtype was received'''
if not mtype in self.messages:
return time.time() - self.start_time
return time.time() - self.messages[mtype]._timestamp
def param_set_send(self, parm_name, parm_value, parm_type=None):
'''wrapper for parameter set'''
if self.mavlink10():
if parm_type == None:
parm_type = mavlink.MAVLINK_TYPE_FLOAT
self.mav.param_set_send(self.target_system, self.target_component,
parm_name.encode('utf8'), parm_value, parm_type)
else:
self.mav.param_set_send(self.target_system, self.target_component,
parm_name.encode('utf8'), parm_value)
def waypoint_request_list_send(self):
'''wrapper for waypoint_request_list_send'''
if self.mavlink10():
self.mav.mission_request_list_send(self.target_system, self.target_component)
else:
self.mav.waypoint_request_list_send(self.target_system, self.target_component)
def waypoint_clear_all_send(self):
'''wrapper for waypoint_clear_all_send'''
if self.mavlink10():
self.mav.mission_clear_all_send(self.target_system, self.target_component)
else:
self.mav.waypoint_clear_all_send(self.target_system, self.target_component)
def waypoint_request_send(self, seq):
'''wrapper for waypoint_request_send'''
if self.mavlink10():
self.mav.mission_request_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_request_send(self.target_system, self.target_component, seq)
def waypoint_set_current_send(self, seq):
'''wrapper for waypoint_set_current_send'''
if self.mavlink10():
self.mav.mission_set_current_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_set_current_send(self.target_system, self.target_component, seq)
def waypoint_current(self):
'''return current waypoint'''
if self.mavlink10():
m = self.recv_match(type='MISSION_CURRENT', blocking=True)
else:
m = self.recv_match(type='WAYPOINT_CURRENT', blocking=True)
return m.seq
def waypoint_count_send(self, seq):
'''wrapper for waypoint_count_send'''
if self.mavlink10():
self.mav.mission_count_send(self.target_system, self.target_component, seq)
else:
self.mav.waypoint_count_send(self.target_system, self.target_component, seq)
def set_mode_flag(self, flag, enable):
'''
Enables/ disables MAV_MODE_FLAG
@param flag The mode flag,
see MAV_MODE_FLAG enum
@param enable Enable the flag, (True/False)
'''
if self.mavlink10():
mode = self.base_mode
if (enable == True):
mode = mode | flag
elif (enable == False):
mode = mode & ~flag
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mode,
0, 0, 0, 0, 0, 0)
else:
print("Set mode flag not supported")
def set_mode_auto(self):
'''enter auto mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_MISSION_START, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_AUTO = 13
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_AUTO)
def mode_mapping(self):
'''return dictionary mapping mode names to numbers, or None if unknown'''
mav_type = self.field('HEARTBEAT', 'type', self.mav_type)
mav_autopilot = self.field('HEARTBEAT', 'autopilot', None)
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
return px4_map
if mav_type is None:
return None
map = None
if mav_type in [mavlink.MAV_TYPE_QUADROTOR,
mavlink.MAV_TYPE_HELICOPTER,
mavlink.MAV_TYPE_HEXAROTOR,
mavlink.MAV_TYPE_OCTOROTOR,
mavlink.MAV_TYPE_COAXIAL,
mavlink.MAV_TYPE_TRICOPTER]:
map = mode_mapping_acm
if mav_type == mavlink.MAV_TYPE_FIXED_WING:
map = mode_mapping_apm
if mav_type == mavlink.MAV_TYPE_GROUND_ROVER:
map = mode_mapping_rover
if mav_type == mavlink.MAV_TYPE_SURFACE_BOAT:
map = mode_mapping_rover # for the time being
if mav_type == mavlink.MAV_TYPE_ANTENNA_TRACKER:
map = mode_mapping_tracker
if mav_type == mavlink.MAV_TYPE_SUBMARINE:
map = mode_mapping_sub
if map is None:
return None
inv_map = dict((a, b) for (b, a) in map.items())
return inv_map
def set_mode_apm(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''enter arbitrary mode'''
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
return
mode = mode_map[mode]
# set mode by integer mode number for ArduPilot
self.mav.set_mode_send(self.target_system,
mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
mode)
def set_mode_px4(self, mode, custom_mode, custom_sub_mode):
'''enter arbitrary mode'''
if isinstance(mode, str):
mode_map = self.mode_mapping()
if mode_map is None or mode not in mode_map:
print("Unknown mode '%s'" % mode)
return
# PX4 uses two fields to define modes
mode, custom_mode, custom_sub_mode = px4_map[mode]
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0, mode, custom_mode, custom_sub_mode, 0, 0, 0, 0)
def set_mode(self, mode, custom_mode = 0, custom_sub_mode = 0):
'''set arbitrary flight mode'''
mav_autopilot = self.field('HEARTBEAT', 'autopilot', None)
if mav_autopilot == mavlink.MAV_AUTOPILOT_PX4:
self.set_mode_px4(mode, custom_mode, custom_sub_mode)
else:
self.set_mode_apm(mode)
def set_mode_rtl(self):
'''enter RTL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_RETURN = 3
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_RETURN)
def set_mode_manual(self):
'''enter MANUAL mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_MANUAL_ARMED,
0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_SET_MANUAL = 12
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_SET_MANUAL)
def set_mode_fbwa(self):
'''enter FBWA mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_MODE, 0,
mavlink.MAV_MODE_STABILIZE_ARMED,
0, 0, 0, 0, 0, 0)
else:
print("Forcing FBWA not supported")
def set_mode_loiter(self):
'''enter LOITER mode'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_NAV_LOITER_UNLIM, 0, 0, 0, 0, 0, 0, 0, 0)
else:
MAV_ACTION_LOITER = 27
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_LOITER)
def set_servo(self, channel, pwm):
'''set a servo value'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_DO_SET_SERVO, 0,
channel, pwm,
0, 0, 0, 0, 0)
def set_relay(self, relay_pin=0, state=True):
'''Set relay_pin to value of state'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component, # target_component
mavlink.MAV_CMD_DO_SET_RELAY, # command
0, # Confirmation
relay_pin, # Relay Number
int(state), # state (1 to indicate arm)
0, # param3 (all other params meaningless)
0, # param4
0, # param5
0, # param6
0) # param7
else:
print("Setting relays not supported.")
def calibrate_level(self):
'''calibrate accels (1D version)'''
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
1, 1, 0, 0, 0, 0, 0)
def calibrate_pressure(self):
'''calibrate pressure'''
if self.mavlink10():
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
0, 0, 1, 0, 0, 0, 0)
else:
MAV_ACTION_CALIBRATE_PRESSURE = 20
self.mav.action_send(self.target_system, self.target_component, MAV_ACTION_CALIBRATE_PRESSURE)
def reboot_autopilot(self, hold_in_bootloader=False):
'''reboot the autopilot'''
if self.mavlink10():
if hold_in_bootloader:
param1 = 3
else:
param1 = 1
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
param1, 0, 0, 0, 0, 0, 0)
# send an old style reboot immediately afterwards in case it is an older firmware
# that doesn't understand the new convention
self.mav.command_long_send(self.target_system, self.target_component,
mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 0,
1, 0, 0, 0, 0, 0, 0)
def wait_gps_fix(self):
self.recv_match(type='VFR_HUD', blocking=True)
if self.mavlink10():
self.recv_match(type='GPS_RAW_INT', blocking=True,
condition='GPS_RAW_INT.fix_type>=3 and GPS_RAW_INT.lat != 0')
else:
self.recv_match(type='GPS_RAW', blocking=True,
condition='GPS_RAW.fix_type>=2 and GPS_RAW.lat != 0')
def location(self, relative_alt=False):
'''return current location'''
self.wait_gps_fix()
# wait for another VFR_HUD, to ensure we have correct altitude
self.recv_match(type='VFR_HUD', blocking=True)
self.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if relative_alt:
alt = self.messages['GLOBAL_POSITION_INT'].relative_alt*0.001
else:
alt = self.messages['VFR_HUD'].alt
return location(self.messages['GPS_RAW_INT'].lat*1.0e-7,
self.messages['GPS_RAW_INT'].lon*1.0e-7,
alt,
self.messages['VFR_HUD'].heading)
def arducopter_arm(self):
'''arm motors (arducopter only)'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component,
mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
1, # param1 (1 to indicate arm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0) # param7
def arducopter_disarm(self):
'''calibrate pressure'''
if self.mavlink10():
self.mav.command_long_send(
self.target_system, # target_system
self.target_component,
mavlink.MAV_CMD_COMPONENT_ARM_DISARM, # command
0, # confirmation
0, # param1 (0 to indicate disarm)
0, # param2 (all other params meaningless)
0, # param3
0, # param4
0, # param5
0, # param6
0) # param7
def motors_armed(self):
'''return true if motors armed'''
if not 'HEARTBEAT' in self.messages:
return False
m = self.messages['HEARTBEAT']
return (m.base_mode & mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
def motors_armed_wait(self):
'''wait for motors to be armed'''
while True:
m = self.wait_heartbeat()
if self.motors_armed():
return
def motors_disarmed_wait(self):
'''wait for motors to be disarmed'''
while True:
m = self.wait_heartbeat()
if not self.motors_armed():
return
def field(self, type, field, default=None):
'''convenient function for returning an arbitrary MAVLink
field with a default'''
if not type in self.messages:
return default
return getattr(self.messages[type], field, default)
def param(self, name, default=None):
'''convenient function for returning an arbitrary MAVLink
parameter with a default'''
if not name in self.params:
return default
return self.params[name]
def setup_signing(self, secret_key, sign_outgoing=True, allow_unsigned_callback=None, initial_timestamp=None, link_id=None):
'''setup for MAVLink2 signing'''
self.mav.signing.secret_key = secret_key
self.mav.signing.sign_outgoing = sign_outgoing
self.mav.signing.allow_unsigned_callback = allow_unsigned_callback
if link_id is None:
# auto-increment the link_id for each link
global global_link_id
link_id = global_link_id
global_link_id = min(global_link_id + 1, 255)
self.mav.signing.link_id = link_id
if initial_timestamp is None:
# timestamp is time since 1/1/2015
epoch_offset = 1420070400
now = max(time.time(), epoch_offset)
initial_timestamp = now - epoch_offset
initial_timestamp = int(initial_timestamp * 100 * 1000)
# initial_timestamp is in 10usec units
self.mav.signing.timestamp = initial_timestamp
def disable_signing(self):
'''disable MAVLink2 signing'''
self.mav.signing.secret_key = None
self.mav.signing.sign_outgoing = False
self.mav.signing.allow_unsigned_callback = None
self.mav.signing.link_id = 0
self.mav.signing.timestamp = 0
def set_close_on_exec(fd):
'''set the clone on exec flag on a file descriptor. Ignore exceptions'''
try:
import fcntl
flags = fcntl.fcntl(fd, fcntl.F_GETFD)
flags |= fcntl.FD_CLOEXEC
fcntl.fcntl(fd, fcntl.F_SETFD, flags)
except Exception:
pass
class mavserial(mavfile):
'''a serial mavlink port'''
def __init__(self, device, baud=115200, autoreconnect=False, source_system=255, source_component=0, use_native=default_native):
import serial
if ',' in device and not os.path.exists(device):
device, baud = device.split(',')
self.baud = baud
self.device = device
self.autoreconnect = autoreconnect
# we rather strangely set the baudrate initially to 1200, then change to the desired
# baudrate. This works around a kernel bug on some Linux kernels where the baudrate
# is not set correctly
self.port = serial.Serial(self.device, 1200, timeout=0,
dsrdtr=False, rtscts=False, xonxoff=False)
try:
fd = self.port.fileno()
set_close_on_exec(fd)
except Exception:
fd = None
self.set_baudrate(self.baud)
mavfile.__init__(self, fd, device, source_system=source_system, source_component=source_component, use_native=use_native)
self.rtscts = False
def set_rtscts(self, enable):
'''enable/disable RTS/CTS if applicable'''
try:
self.port.setRtsCts(enable)
except Exception:
self.port.rtscts = enable
self.rtscts = enable
def set_baudrate(self, baudrate):
'''set baudrate'''
try:
self.port.setBaudrate(baudrate)
except Exception:
# for pySerial 3.0, which doesn't have setBaudrate()
self.port.baudrate = baudrate
def close(self):
self.port.close()
def recv(self,n=None):
if n is None:
n = self.mav.bytes_needed()
if self.fd is None:
waiting = self.port.inWaiting()
if waiting < n:
n = waiting
ret = self.port.read(n)
return ret
def write(self, buf):
try:
return self.port.write(bytes(buf))
except Exception:
if not self.portdead:
print("Device %s is dead" % self.device)
self.portdead = True
if self.autoreconnect:
self.reset()
return -1
def reset(self):
import serial
try:
newport = serial.Serial(self.device, self.baud, timeout=0,
dsrdtr=False, rtscts=False, xonxoff=False)
self.port.close()
self.port = newport
print("Device %s reopened OK" % self.device)
self.portdead = False
try:
self.fd = self.port.fileno()
except Exception:
self.fd = None
if self.rtscts:
self.set_rtscts(self.rtscts)
return True
except Exception:
return False
class mavudp(mavfile):
'''a UDP mavlink socket'''
def __init__(self, device, input=True, broadcast=False, source_system=255, source_component=0, use_native=default_native):
a = device.split(':')
if len(a) != 2:
print("UDP ports must be specified as host:port")
sys.exit(1)
self.port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_server = input
self.broadcast = False
if input:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
self.port.bind((a[0], int(a[1])))
else:
self.destination_addr = (a[0], int(a[1]))
if broadcast:
self.port.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
self.broadcast = True
set_close_on_exec(self.port.fileno())
self.port.setblocking(0)
self.last_address = None
mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, source_component=source_component, input=input, use_native=use_native)
def close(self):
self.port.close()
def recv(self,n=None):
try:
data, new_addr = self.port.recvfrom(UDP_MAX_PACKET_LEN)
except socket.error as e:
if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK, errno.ECONNREFUSED ]:
return ""
raise
if self.udp_server or self.broadcast:
self.last_address = new_addr
return data
def write(self, buf):
try:
if self.udp_server:
if self.last_address:
self.port.sendto(buf, self.last_address)
else:
if self.last_address and self.broadcast:
self.destination_addr = self.last_address
self.broadcast = False
self.port.connect(self.destination_addr)
self.port.sendto(buf, self.destination_addr)
except socket.error:
pass
def recv_msg(self):
'''message receive routine for UDP link'''
self.pre_message()
s = self.recv()
if len(s) > 0:
if self.first_byte:
self.auto_mavlink_version(s)
m = self.mav.parse_char(s)
if m is not None:
self.post_message(m)
return m
class mavtcp(mavfile):
'''a TCP mavlink socket'''
def __init__(self,
device,
autoreconnect=False,
source_system=255,
source_component=0,
retries=3,
use_native=default_native):
a = device.split(':')
if len(a) != 2:
print("TCP ports must be specified as host:port")
sys.exit(1)
self.destination_addr = (a[0], int(a[1]))
self.autoreconnect = autoreconnect
self.do_connect(retries)
mavfile.__init__(self, self.port.fileno(), "tcp:" + device, source_system=source_system, source_component=source_component, use_native=use_native)
def do_connect(self, retries=3):
self.port = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
if retries <= 0:
# try to connect at least once:
retries = 1
while retries >= 0:
retries -= 1
try:
self.port.connect(self.destination_addr)
break
except Exception as e:
if retries == 0:
raise e
print(e, "sleeping")
time.sleep(1)
self.port.setblocking(0)
set_close_on_exec(self.port.fileno())
self.port.setsockopt(socket.SOL_TCP, socket.TCP_NODELAY, 1)
def close(self):
self.port.close()
def recv(self,n=None):
if n is None:
n = self.mav.bytes_needed()
try:
data = self.port.recv(n)
except socket.error as e:
if e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
return ""
raise
if len(data) == 0:
# EOF
print("EOF on TCP socket")
if self.autoreconnect:
print("Attempting reconnect")
self.port.close()
self.do_connect()