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translated_sandbox/mavfwd/mavfwd.c

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+#include <getopt.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <unistd.h>
+#include <signal.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <stdbool.h>
+#include <termios.h>
+#include <assert.h>
+
+#include <event2/event.h>
+#include <event2/util.h>
+#include <event2/buffer.h>
+#include <event2/bufferevent.h>
+
+#define MAX_MTU 9000
+
+bool verbose = false;
+
+const char *default_master = "/dev/ttyAMA0";
+const int default_baudrate = 115200;
+const char *defualt_out_addr = "127.0.0.1:14600";
+const char *default_in_addr = "127.0.0.1:14601";
+
+uint8_t ch_count = 0;
+uint16_t ch[14];
+
+struct bufferevent *serial_bev;
+struct sockaddr_in sin_out = {
+	.sin_family = AF_INET,
+};
+int out_sock;
+
+static void print_usage()
+{
+	printf("Usage: mavfwd [OPTIONS]\n"
+	       "Where:\n"
+	       "  --master        Local MAVLink master port (%s by default)\n"
+	       "  --baudrate      Serial port baudrate (%d by default)\n"
+	       "  --out           Remote output port (%s by default)\n"
+	       "  --in            Remote input port (%s by default)\n"
+	       "  --channels      RC override channels to parse after first 4 and call /root/channels.sh $ch $val, default 0\n"
+	       "  --verbose       display each packet, default not\n"	       
+	       "  --help          Display this help\n",
+	       default_master, default_baudrate, defualt_out_addr,
+	       default_in_addr);
+}
+
+static speed_t speed_by_value(int baudrate)
+{
+	switch (baudrate) {
+	case 9600:
+		return B9600;
+	case 19200:
+		return B19200;
+	case 38400:
+		return B38400;
+	case 57600:
+		return B57600;
+	case 115200:
+		return B115200;
+	case 230400:
+		return B230400;
+	case 460800:
+		return B460800;
+	case 500000:
+		return B500000;
+	case 921600:
+		return B921600;
+	case 1500000:
+		return B1500000;
+	default:
+		printf("Not implemented baudrate %d\n", baudrate);
+		exit(EXIT_FAILURE);
+	}
+}
+
+static bool parse_host_port(const char *s, struct in_addr *out_addr,
+			    in_port_t *out_port)
+{
+	char host_and_port[32] = { 0 };
+	strncpy(host_and_port, s, sizeof(host_and_port) - 1);
+
+	char *colon = strchr(host_and_port, ':');
+	if (NULL == colon) {
+		return -1;
+	}
+
+	*colon = '\0';
+	const char *host = host_and_port, *port_ptr = colon + 1;
+
+	const bool is_valid_addr = inet_aton(host, out_addr) != 0;
+	if (!is_valid_addr) {
+		printf("Cannot parse host `%s'.\n", host);
+		return false;
+	}
+
+	int port;
+	if (sscanf(port_ptr, "%d", &port) != 1) {
+		printf("Cannot parse port `%s'.\n", port_ptr);
+		return false;
+	}
+	*out_port = htons(port);
+
+	return true;
+}
+
+static void signal_cb(evutil_socket_t fd, short event, void *arg)
+{
+	struct event_base *base = arg;
+	(void)event;
+
+	printf("%s signal received\n", strsignal(fd));
+	event_base_loopbreak(base);
+}
+
+static void dump_mavlink_packet(unsigned char *data, const char *direction)
+{
+  uint8_t seq;
+  uint8_t sys_id;
+  uint8_t comp_id;
+  uint32_t msg_id;
+
+  if(data[0] == 0xFE) { //mavlink 1
+      seq = data[2];
+      sys_id = data[3];
+      comp_id = data[4];
+      msg_id = data[5];
+  } else { //mavlink 2
+      seq = data[4];
+      sys_id = data[5];
+      comp_id = data[6];
+      msg_id = data[7];
+  }
+
+	if (verbose) printf("%s %#02x sender %d/%d\t%d\t%d\n", direction, data[0], sys_id, comp_id, seq, msg_id);
+  
+  uint16_t val;
+  
+	//RC_CHANNELS ( #65 ) hook
+	if(msg_id == 65 && ch_count > 0) {
+      uint8_t offset = 18; //15 = 1ch;
+      for(uint8_t i=0; i < ch_count; i++) {
+          val = data[offset] | (data[offset+1] << 8);
+          if(ch[i] != val) {
+              ch[i] = val;
+              char buff[44];
+              sprintf(buff, "/root/channels.sh %d %d &", i+5, val);
+              system(buff);
+              if (verbose) printf("called /root/channels.sh %d %d\n", i+5, val);
+           }
+      offset = offset + 2;
+	    } //for
+	} //msg_id
+}
+
+/* https://discuss.ardupilot.org/uploads/short-url/vS0JJd3BQfN9uF4DkY7bAeb6Svd.pdf
+ * 0. Message header, always 0xFE
+ * 1. Message length
+ * 2. Sequence number -- rolls around from 255 to 0 (0x4e, previous was 0x4d)
+ * 3. System ID - what system is sending this message
+ * 4. Component ID- what component of the system is sending the message
+ * 5. Message ID (e.g. 0 = heartbeat and many more! Don’t be shy, you can add too..)
+ */
+static bool get_mavlink_packet(unsigned char *in_buffer, int buf_len,
+			       int *packet_len)
+{
+	if (buf_len < 6 /* header */) {
+		return false;
+	}
+	assert(in_buffer[0] == 0xFE || in_buffer[0] == 0xFD); //mavlink 1 or 2
+
+	uint8_t msg_len = in_buffer[1];
+	if (in_buffer[0] == 0xFE)
+    *packet_len = 6 /* header */ + msg_len + 2 /* crc */; //mavlink 1
+  else
+    *packet_len = 10 /* header */ + msg_len + 2 /* crc */; //mavlink 2
+	if (buf_len < *packet_len)
+		return false;
+
+	dump_mavlink_packet(in_buffer, ">>");
+
+	return true;
+}
+
+// Returns num bytes before first occurrence of 0xFE or full data length
+static size_t until_first_fe(unsigned char *data, size_t len)
+{
+	for (size_t i = 1; i < len; i++) {
+		if (data[i] == 0xFE || data[i] == 0xFD) {
+			return i;
+		}
+	}
+	return len;
+}
+
+static void serial_read_cb(struct bufferevent *bev, void *arg)
+{
+	struct evbuffer *input = bufferevent_get_input(bev);
+	int packet_len, in_len;
+	struct event_base *base = arg;
+
+	while ((in_len = evbuffer_get_length(input))) {
+		unsigned char *data = evbuffer_pullup(input, in_len);
+		if (data == NULL) {
+			return;
+		}
+
+		// find first 0xFE and skip everything before it
+		if (*data != 0xFE && *data != 0xFD) {
+			int bad_len = until_first_fe(data, in_len);
+			if (verbose) printf(">> Skipping %d bytes of unknown data\n",
+			       bad_len);
+			evbuffer_drain(input, bad_len);
+			continue;
+		}
+
+		if (!get_mavlink_packet(data, in_len, &packet_len))
+			return;
+
+		// TODO: check CRC correctness and skip bad packets
+
+		if (sendto(out_sock, data, packet_len, 0,
+			   (struct sockaddr *)&sin_out,
+			   sizeof(sin_out)) == -1) {
+			perror("sendto()");
+			event_base_loopbreak(base);
+		}
+
+		evbuffer_drain(input, packet_len);
+	}
+}
+
+static void serial_event_cb(struct bufferevent *bev, short events, void *arg)
+{
+	(void)bev;
+	struct event_base *base = arg;
+
+	if (events & (BEV_EVENT_EOF | BEV_EVENT_ERROR | BEV_EVENT_TIMEOUT)) {
+		printf("Serial connection closed\n");
+		event_base_loopbreak(base);
+	}
+}
+
+static void in_read(evutil_socket_t sock, short event, void *arg)
+{
+	(void)event;
+	unsigned char buf[MAX_MTU];
+	struct event_base *base = arg;
+	ssize_t nread;
+
+	nread = recvfrom(sock, &buf, sizeof(buf) - 1, 0, NULL, NULL);
+	if (nread == -1) {
+		perror("recvfrom()");
+		event_base_loopbreak(base);
+	}
+
+	assert(nread > 6);
+
+	dump_mavlink_packet(buf, "<<");
+
+	bufferevent_write(serial_bev, buf, nread);
+}
+
+static int handle_data(const char *port_name, int baudrate,
+		       const char *out_addr, const char *in_addr)
+{
+	struct event_base *base = NULL;
+	struct event *sig_int = NULL, *in_ev = NULL;
+	int ret = EXIT_SUCCESS;
+
+	int serial_fd = open(port_name, O_RDWR | O_NOCTTY);
+	if (serial_fd < 0) {
+		printf("Error while openning port %s: %s\n", port_name,
+		       strerror(errno));
+		return EXIT_FAILURE;
+	};
+	evutil_make_socket_nonblocking(serial_fd);
+
+	struct termios options;
+	tcgetattr(serial_fd, &options);
+	cfsetspeed(&options, speed_by_value(baudrate));
+
+	options.c_cflag &= ~CSIZE; // Mask the character size bits
+	options.c_cflag |= CS8; // 8 bit data
+	options.c_cflag &= ~PARENB; // set parity to no
+	options.c_cflag &= ~PARODD; // set parity to no
+	options.c_cflag &= ~CSTOPB; // set one stop bit
+
+	options.c_cflag |= (CLOCAL | CREAD);
+
+	options.c_oflag &= ~OPOST;
+
+	options.c_lflag &= 0;
+	options.c_iflag &= 0; // disable software flow controll
+	options.c_oflag &= 0;
+
+	cfmakeraw(&options);
+	tcsetattr(serial_fd, TCSANOW, &options);
+
+	out_sock = socket(AF_INET, SOCK_DGRAM, 0);
+	int in_sock = socket(AF_INET, SOCK_DGRAM, 0);
+	struct sockaddr_in sin_in = {
+		.sin_family = AF_INET,
+	};
+	if (!parse_host_port(in_addr, (struct in_addr *)&sin_in.sin_addr.s_addr,
+			     &sin_in.sin_port))
+		goto err;
+	if (!parse_host_port(out_addr,
+			     (struct in_addr *)&sin_out.sin_addr.s_addr,
+			     &sin_out.sin_port))
+		goto err;
+
+	if (bind(in_sock, (struct sockaddr *)&sin_in, sizeof(sin_in))) {
+		perror("bind()");
+		exit(EXIT_FAILURE);
+	}
+	printf("Listening on %s...\n", in_addr);
+
+	base = event_base_new();
+
+	sig_int = evsignal_new(base, SIGINT, signal_cb, base);
+	event_add(sig_int, NULL);
+	// it's recommended by libevent authors to ignore SIGPIPE
+	signal(SIGPIPE, SIG_IGN);
+
+	serial_bev = bufferevent_socket_new(base, serial_fd, 0);
+	bufferevent_setcb(serial_bev, serial_read_cb, NULL, serial_event_cb,
+			  base);
+	bufferevent_enable(serial_bev, EV_READ);
+
+	in_ev = event_new(base, in_sock, EV_READ | EV_PERSIST, in_read, NULL);
+	event_add(in_ev, NULL);
+
+	event_base_dispatch(base);
+
+err:
+	if (serial_fd >= 0)
+		close(serial_fd);
+
+	if (serial_bev)
+		bufferevent_free(serial_bev);
+
+	if (in_ev) {
+		event_del(in_ev);
+		event_free(in_ev);
+	}
+
+	if (sig_int)
+		event_free(sig_int);
+
+	if (base)
+		event_base_free(base);
+
+	libevent_global_shutdown();
+
+	return ret;
+}
+
+int main(int argc, char **argv)
+{
+	const struct option long_options[] = {
+		{ "master", required_argument, NULL, 'm' },
+		{ "baudrate", required_argument, NULL, 'b' },
+		{ "out", required_argument, NULL, 'o' },
+		{ "in", required_argument, NULL, 'i' },
+		{ "channels", required_argument, NULL, 'c' },
+		{ "verbose", no_argument, NULL, 'v' },
+		{ "help", no_argument, NULL, 'h' },
+		{ NULL, 0, NULL, 0 }
+	};
+
+	const char *port_name = default_master;
+	int baudrate = default_baudrate;
+	const char *out_addr = defualt_out_addr;
+	const char *in_addr = default_in_addr;
+
+	int opt;
+	int long_index = 0;
+	while ((opt = getopt_long_only(argc, argv, "", long_options,
+				       &long_index)) != -1) {
+		switch (opt) {
+		case 'm':
+			port_name = optarg;
+			break;
+		case 'b':
+			baudrate = atoi(optarg);
+			break;
+		case 'o':
+			out_addr = optarg;
+			break;
+		case 'i':
+			in_addr = optarg;
+			break;
+		case 'c':
+			ch_count = atoi(optarg);
+			if(ch_count == 0) printf("rc_channels_override monitoring disabled\n");
+			else printf("rc_channels_override monitoring %d channels after first 4\n", ch_count);
+			break;
+		case 'v':
+			verbose = true;
+			break;
+		case 'h':
+		default:
+			print_usage();
+			return EXIT_SUCCESS;
+		}
+	}
+
+	return handle_data(port_name, baudrate, out_addr, in_addr);
+}

translated_sandbox/mavfwd/readme.md

@@ -0,0 +1,13 @@
+### Зачем нужен mavfwd
+`mavfwd` в первую очередь необходим для связи телеметрийного потока wifibroadcast, 
+разделенного на входящий и исходящий на разных udp-портах, с uart камеры, который 
+подключен к uart полетного контроллера UAV, настроенного на обмен телеметрией. 
+Поддерживается mavlink 1 и 2 версий. Подробности о параметрах доступны по `mavfwd --help`.
+
+Во вторую очередь, mavfwd способен мониторить передаваемые в mavlink-пакете [RC_CHANNELS #65](https://mavlink.io/en/messages/common.html#RC_CHANNELS) 
+значения каналов с 4-го и выше, указанное в параметре --channels числом. По изменению значений каналов вызывается bash-скрипт /root/channels.sh, 
+передавая ему параметрами номер канала и его значение. Это нужно, чтобы организовать какое-то управление хост-системой (камерой), например ее перезагрузку 
+или настройку каких-то параметров стримера. В приложенном примере производятся:
+* переключение разрешений 1080p / 720p;
+* включение и отключение ircut камеры;
+* пороговое изменение яркости, три режима, для подбора нужного под текущие условия освещённости (яркий день, обычный день, ночь).

translated_sandbox/mavfwd/translated_readme.md

@@ -0,0 +1,13 @@
+### Why you need mavfwd
+`mavfwd` is primarily necessary for the connection of the telemetry stream wifibroadcast, 
+divided into incoming and outgoing on different udp ports, from a uart camera, which 
+connected to the uart flight controller UAV, configured to exchange telemetry. 
+maxlink 1 and 2 versions are supported. Details of the parameters are available for `mavfwd --help`.
+
+In the second place, mavfwd is able to monitor transmitted in the mavlink-pack [RC_CHANNELS #65](htts://mavlink.io/en/messages/common.html#RC_CHANNELS) 
+the channel value with 4 and above, specified in the --channels number parameter. By changing the values of the channels, the bash-script /root/channels.sh is called, 
+passing the channel number and its value. This is necessary to organize some kind of control of the host system (camera), for example, its reboot 
+or setting up some streamer parameters. The attached example makes:
+* 180p / 720p resolution switching;
+* Turning on and off the ircut camera;
+* threshold change of brightness, three modes, for selecting the necessary under current conditions of illumination (strong day, ordinary day, night).

translated_sandbox/notes_files/OpenIPC_telemetry.csv

@@ -0,0 +1,27 @@
+text,type,typeId,Description
+​,Rectangle,creately.basic.rectangle,
+GROUND (NVR),Text,creately.basic.text,
+WIFI,WiFi,creately.material-icons.wifi_twotone_2,
+rtl8812au,Rectangle,creately.basic.rectangle,
+wifi adapter driver in monitor mode,Rectangle,creately.basic.rectangle,
+wfb-rx,Rectangle,creately.basic.rectangle,
+LAN / WLAN or usb network,Ellipse,creately.basic.ellipse,
+​,Rectangle,creately.basic.rectangle,
+PC or Pocket,Text,creately.basic.text,
+GS telemetry program,Computer,creately.material-icons.computer_twotone_2,
+udp:14551,Text,creately.basic.text,
+udp:14550,Text,creately.basic.text,
+​,Rectangle,creately.basic.rectangle,
+CAM,Text,creately.basic.text,
+mavfwd,Rectangle,creately.basic.rectangle,
+wfb-tx,Rectangle,creately.basic.rectangle,
+wfb-rx,Rectangle,creately.basic.rectangle,
+udp:14550,Text,creately.basic.text,
+udp:14551,Text,creately.basic.text,
+FC > cam uart,Rectangle,creately.basic.rectangle,
+wifi adapter driver in monitor mode,Rectangle,creately.basic.rectangle,
+rtl8812au,Rectangle,creately.basic.rectangle,
+WIFI,WiFi,creately.material-icons.wifi_twotone_2,
+wfb-rx,Rectangle,creately.basic.rectangle,
+mavlink-routerd,Rectangle,creately.basic.rectangle,
+udp:14550,Text,creately.basic.text,

translated_sandbox/notes_files/OpenIPC_video.csv

@@ -0,0 +1,29 @@
+text,type,typeId,Description
+​,Rectangle,creately.basic.rectangle,
+sensor,Rectangle,creately.basic.rectangle,
+CAM,Text,creately.basic.text,
+majestic or vencoder,Rectangle,creately.basic.rectangle,
+wfb-tx,Rectangle,creately.basic.rectangle,
+wifi adapter driver in monitor mode,Rectangle,creately.basic.rectangle,
+isp,Text,creately.basic.text,
+rtp:5600,Text,creately.basic.text,
+rtl8812au,Rectangle,creately.basic.rectangle,
+WIFI,WiFi,creately.material-icons.wifi_twotone_2,
+​,Rectangle,creately.basic.rectangle,
+GROUND (NVR),Text,creately.basic.text,
+WIFI,WiFi,creately.material-icons.wifi_twotone_2,
+rtl8812au,Rectangle,creately.basic.rectangle,
+wifi adapter driver in monitor mode,Rectangle,creately.basic.rectangle,
+wfb-rx,Rectangle,creately.basic.rectangle,
+LAN / WLAN or usb network,Ellipse,creately.basic.ellipse,
+​,Rectangle,creately.basic.rectangle,
+PC or Pocket,Text,creately.basic.text,
+videoplayer or GS program,Computer,creately.material-icons.computer_twotone_2,
+,To Right Arrow,creately.arrows.torightarrow,
+,To Right Arrow,creately.arrows.torightarrow,
+rtp:5600,Text,creately.basic.text,
+rtp:5600,Text,creately.basic.text,
+wfb-rx,Rectangle,creately.basic.rectangle,
+vdecoder,Rectangle,creately.basic.rectangle,
+HDMI,Rectangle,creately.basic.rectangle,
+udp:5000,Text,creately.basic.text,