mavgps.py
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00001 #!/usr/bin/python
00002 """
00003 Allows connection of the uBlox u-Center software to
00004 a uBlox GPS device connected to a PX4 or Pixhawk device,
00005 using Mavlink's SERIAL_CONTROL support to route serial
00006 traffic to/from the GPS, and exposing the data to u-Center
00007 via a local TCP connection.
00008 
00009 @author: Matthew Lloyd (github@matthewlloyd.net)
00010 """
00011 
00012 from pymavlink import mavutil
00013 from argparse import ArgumentParser
00014 import socket
00015 
00016 
00017 def main():
00018     parser = ArgumentParser(description=__doc__)
00019     parser.add_argument("--mavport", required=True,
00020                       help="Mavlink port name")
00021     parser.add_argument("--mavbaud", type=int,
00022                       help="Mavlink port baud rate", default=115200)
00023     parser.add_argument("--devnum", default=2, type=int,
00024                       help="PX4 UART device number (defaults to GPS port)")
00025     parser.add_argument("--devbaud", default=38400, type=int,
00026                       help="PX4 UART baud rate (defaults to u-Blox GPS baud)")
00027     parser.add_argument("--tcpport", default=1001, type=int,
00028                       help="local TCP port (defaults to %(default)s)")
00029     parser.add_argument("--tcpaddr", default='127.0.0.1', type=str,
00030                       help="local TCP address (defaults to %(default)s)")
00031     parser.add_argument("--debug", default=0, type=int,
00032                       help="debug level")
00033     parser.add_argument("--buffsize", default=128, type=int,
00034                       help="buffer size")
00035     args = parser.parse_args()
00036 
00037     print("Connecting to MAVLINK...")
00038     mav_serialport = mavutil.MavlinkSerialPort(
00039         args.mavport, args.mavbaud,
00040         devnum=args.devnum, devbaud=args.devbaud, debug=args.debug)
00041 
00042     listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
00043     listen_sock.bind((args.tcpaddr, args.tcpport))
00044     listen_sock.listen(1)
00045 
00046     print("Waiting for a TCP connection.")
00047     print("Use tcp://%s:%d in u-Center." % (args.tcpaddr, args.tcpport))
00048     conn_sock, addr = listen_sock.accept()
00049     conn_sock.setblocking(0)  # non-blocking mode
00050     print("TCP connection accepted. Use Ctrl+C to exit.")
00051 
00052     while True:
00053         try:
00054             data = conn_sock.recv(args.buffsize)
00055             if data:
00056                 if args.debug >= 1:
00057                     print '>', len(data)
00058                 mav_serialport.write(data)
00059         except socket.error:
00060             pass
00061 
00062         data = mav_serialport.read(args.buffsize)
00063         if data:
00064             if args.debug >= 1:
00065                 print '<', len(data)
00066             conn_sock.send(data)
00067 
00068 
00069 if __name__ == '__main__':
00070     main()


mavlink
Author(s): Lorenz Meier
autogenerated on Thu Jun 6 2019 19:01:57