92 lines
2.9 KiB
Python
92 lines
2.9 KiB
Python
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#!/usr/bin/env python
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'''
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connect as a client to two tcpip ports on localhost with mavlink packets. pass them both directions, and show packets in human-readable format on-screen.
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this is useful if
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* you have two SITL instances you want to connect to each other and see the comms.
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* you have any tcpip based mavlink happening, and want something better than tcpdump
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hint:
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* you can use netcat/nc to do interesting redorection things with each end if you want to.
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Copyright Sept 2012 David "Buzz" Bussenschutt
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Released under GNU GPL version 3 or later
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'''
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from __future__ import print_function
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import time
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from pymavlink import mavutil
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#from pymavlink import mavlinkv10 as mavlink
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("srcport", type=int)
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parser.add_argument("dstport", type=int)
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args = parser.parse_args()
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msrc = mavutil.mavlink_connection('tcp:localhost:{}'.format(args.srcport), planner_format=False,
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notimestamps=True,
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robust_parsing=True)
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mdst = mavutil.mavlink_connection('tcp:localhost:{}'.format(args.dstport), planner_format=False,
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notimestamps=True,
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robust_parsing=True)
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# simple basic byte pass through, no logging or viewing of packets, or analysis etc
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#while True:
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# # L -> R
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# m = msrc.recv();
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# mdst.write(m);
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# # R -> L
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# m2 = mdst.recv();
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# msrc.write(m2);
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# similar to the above, but with human-readable display of packets on stdout.
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# in this use case we abuse the self.logfile_raw() function to allow
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# us to use the recv_match function ( which is then calling recv_msg ) , to still get the raw data stream
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# which we pass off to the other mavlink connection without any interference.
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# because internally it will call logfile_raw.write() for us.
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# here we hook raw output of one to the raw input of the other, and vice versa:
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msrc.logfile_raw = mdst
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mdst.logfile_raw = msrc
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while True:
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# L -> R
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l = msrc.recv_match();
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if l is not None:
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l_last_timestamp = 0
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if l.get_type() != 'BAD_DATA':
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l_timestamp = getattr(l, '_timestamp', None)
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if not l_timestamp:
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l_timestamp = l_last_timestamp
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l_last_timestamp = l_timestamp
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print("--> %s.%02u: %s\n" % (
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time.strftime("%Y-%m-%d %H:%M:%S",
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time.localtime(l._timestamp)),
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int(l._timestamp*100.0)%100, l))
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# R -> L
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r = mdst.recv_match();
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if r is not None:
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r_last_timestamp = 0
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if r.get_type() != 'BAD_DATA':
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r_timestamp = getattr(r, '_timestamp', None)
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if not r_timestamp:
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r_timestamp = r_last_timestamp
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r_last_timestamp = r_timestamp
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print("<-- %s.%02u: %s\n" % (
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time.strftime("%Y-%m-%d %H:%M:%S",
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time.localtime(r._timestamp)),
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int(r._timestamp*100.0)%100, r))
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