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