Service names

apps/netCat.py

@@ -24,15 +24,12 @@ def __init__(self, img_fp, ip_address='127.0.0.1', port='6127'):
         self.pub.bind('tcp://%s:%s' % (self._ip, self._port))
 
     def send(self):
-        try:
-            img = Image.open(self._img_file)
-            img_pickled = pickle.dumps(img)
+        img = Image.open(self._img_file)
+        img_pickled = pickle.dumps(img)
 
-            print("sending {fp}".format(fp=self._img_file))
-            self.pub.send(img_pickled)
-            print("done sending {fp}".format(fp=self._img_file))
-        except:
-            print("failed to send")
+        print("sending {fp}".format(fp=self._img_file))
+        self.pub.send(img_pickled)
+        print("done sending {fp}".format(fp=self._img_file))
 
 class netCatReceiver(netCat):
     def __init__(self, ip_address='127.0.0.1', port='6127'):
@@ -63,35 +60,45 @@ def __init__(self):
             self.receiver = netCatReceiver()
         # usage: netCat.py (image_file)
         elif len(sys.argv) == 2:
-            self.sender = netCatSender(sys.argv[1])
+            self.sender = netCatSender(img_fp=sys.argv[1])
             self.receiver = None
         # usage: netCat.py (ip, port)
         elif len(sys.argv) == 3:
             self.sender = None
-            self.receiver = netCatReceiver()
+            self.receiver = netCatReceiver(\
+                ip_address=sys.argv[1],    \
+                port=sys.argv[2]           \
+            )
         # usage: netCat.py (image_file, ip, port)
         elif len(sys.argv) == 4:
-            self.sender = netCatSender(sys.argv[1])
+            self.sender = netCatSender(\
+                img_fp=sys.argv[1],    \
+                ip_address=sys.argv[2],\
+                port=sys.argv[3]       \
+            )
             self.receiver = None
         else:
             print("receive: ./netCat.py \n transmit: ./netCat.py cat_image")
 
-
     def run(self):
-        if len(sys.argv) > 1:
-            self.sender.send()
-        else:
-            self.receiver.recv()
+        while True:
+            try:
+                if self.sender is not None:
+                    self.sender.send()
+                if self.receiver is not None:
+                    self.receiver.recv()
+            except KeyboardInterrupt:
+                nc.sit()
+                break
+            except:
+                if self.sender is not None:
+                    print "failed to send"
+                if self.receive is not None:
+                    print "failed to receive"
 
     def sit(self):
         print("good kitty!")
 
 if __name__ == "__main__":
     nc = netCatLauncher()
-    while True:
-        try:
-            nc.run()
-        except KeyboardInterrupt:
-            # BUG: sender will not call sit() on SIGINT
-            nc.sit()
-            break
+    nc.run()

apps/run_all.py

@@ -15,7 +15,7 @@ def run(self):
 
         services = {}
         radio = {
-            'service': Service(portIn = 6126, portOut = 6127),
+            'service': Service(portIn = 6126, portOut = 6127, name = 'radio'),
             'type': 'radio',
             'config': None,
         }
@@ -26,7 +26,7 @@ def run(self):
             'ssrc': 0,
         }
         mavlink = {
-            'service': Service(portIn = 6128, portOut = 6131),
+            'service': Service(portIn = 6128, portOut = 6131, name = 'gcs?'),
             'type': 'client',
             'config': mavlink_config,
         }
@@ -37,7 +37,7 @@ def run(self):
             'ssrc': 1,
         }
         cats = {
-            'service': Service(portIn = 5058, portOut = 5059),
+            'service': Service(portIn = 5058, portOut = 5059, name = 'cats'),
             'type': 'client',
             'config': cats_config,
         }
@@ -57,7 +57,7 @@ def run(self):
             'ssrc': 0,
         }
         mavlink = {
-            'service': Service(portIn = 6130, portOut = 6129),
+            'service': Service(portIn = 6130, portOut = 6129, name = 'uav?'),
             'type': 'client',
             'config': mavlink_config,
         }
@@ -68,7 +68,7 @@ def run(self):
             'ssrc': 1,
         }
         cats = {
-            'service': Service(portIn = 5158, portOut = 5159),
+            'service': Service(portIn = 5158, portOut = 5159, name = 'cats?'),
             'type': 'client',
             'config': cats_config,
         }

asl_sdr_hackfest/pmt_mav_dump.py

@@ -0,0 +1,27 @@
+from pymavlink import mavutil
+import pmt
+import numpy
+
+class PMT_MAV_dump(object):
+    # NOTE: default arguments derived from MAVProxy's --master argument
+    def __init__(self, ip = "127.0.0.1", remote_port = 5760, protocol = 'tcp'):
+        print ('connecting to %s:%s:%d' % (protocol, ip, remote_port))
+        self.mc = mavutil.mavlink_connection(device='%s:%s:%d' % (protocol, ip, remote_port), retries = 9000)
+
+    # NOTE: have this method invert ZMQ_pub modules' send method
+    def method(self, pmt_cons):
+        s = pmt.deserialize_str(pmt_cons)
+
+        if pmt.is_pair(s):
+            car = pmt.car(s)
+            cdr = pmt.to_python(pmt.cdr(s))
+            cdr = numpy.getbuffer(cdr)
+
+            meta = car
+            data = self.mc.mav.decode(bytearray(cdr))
+
+            # NOTE: to fully parse fields of message use this for reference:
+            # https://www.samba.org/tridge/UAV/pymavlink/apidocs/classIndex.html
+            return \
+                "gr metadata: %s \
+                message type: %s" % (meta, data.get_type())

asl_sdr_hackfest/postmaster.py

@@ -1,4 +1,7 @@
+#!/usr/bin/python
+
 import threading
+import binascii
 
 from asl_sdr_hackfest.service import Service
 
@@ -49,14 +52,20 @@ def __init__(self, services_config):
         '''
 
         self.frame_rx = NetworkLayerReceiveHandler(output_data_func = self.frameDeframed)
-        self.frame_tx = NetworkLayerTransmitHandler(output_data_func = self.services['radio']['service'].outputData)
+        self.frame_tx = NetworkLayerTransmitHandler(output_data_func = self.debugTxCallback)
 
         self.rtp_handler_rx = RTP_Handler()
         self.rtp_handler_tx = RTP_Handler()
 
         threading.Thread.__init__(self)
 
 
+    def debugTxCallback(self, data):
+        print('Transmitting frame:')
+        print(binascii.hexlify(data))
+        self.services['radio']['service'].outputData(data)
+
+
     def run(self):
         self.running = True
 
@@ -73,10 +82,12 @@ def run(self):
                 if data is None:
                     continue
                 if srv['type'] == 'radio':
+                    print('Receiving frame:')
+                    print(binascii.hexlify(data))
                     self.frame_rx.ingest_data(data)
                 elif srv['type'] == 'client':
-#                    rtp_header = self.rtp_handler_tx.tx(srv['config']['ssrc'], 'gsm') # This is a byte array, not a header class
-#                    data = rtp_header + data
+                    rtp_header = self.rtp_handler_tx.tx(srv['config']['ssrc'], 'gsm') # This is a byte array, not a header class
+                    data = rtp_header + data
                     qos_header = QoS.header_calculate(data) # This is a header class, not a byte array
                     qos_header.set_priority_code(srv['config']['qos'])
                     data = qos_header.to_bytearray() + data
@@ -85,16 +96,20 @@ def run(self):
 
     def frameDeframed(self, data):
         cls, data = QoS.header_consume(data)
+        #rtp_header is an instance of RTP
+        rtp_header_and_validity, data = self.rtp_handler_rx.header_consume(data)
+        rtp_header = rtp_header_and_validity[0]
+        validity = rtp_header_and_validity[1]
+        # Seq number is valid, process data
+        if validity:
+            ssrc = rtp_header.get_ssrc()
+            for srv in self.services:
+                srv = self.services[srv]
+                if srv['type'] == 'client':
+                    conf = srv['config']
+                    if conf is not None and ssrc == conf['ssrc']:
+                        srv['service'].outputData(data)
 
-#        rtp_header, data = self.rtp_handler_rx.header_consume(data)
-#        ssrc = rtp_header.get_ssrc()
-
-        for srv in self.services:
-            srv = self.services[srv]
-            if srv['type'] == 'client':
-#            conf = srv['config']
-#            if conf is not None and ssrc == conf['ssrc']:
-                srv['service'].outputData(data)
 
 
     def stop(self):

asl_sdr_hackfest/protocols/network_layer_handler.py

@@ -108,7 +108,7 @@ def egress_cull(self):
                 if cos > max_cos:
                     max_cos = cos
 
-            for i in reversed(range(0,len(tmp_egress))):
+           for i in reversed(range(0,len(tmp_egress))):
                 if to_drop <= 0:
                     break
 

asl_sdr_hackfest/protocols/protocol.py

@@ -24,7 +24,7 @@ def bin_formater(self, value, length):
             return "0b" + f
         #if (isinstance(value, str) and (length == 32)):
         elif isinstance(value, str):
-            print("Packed str = ", ("0b" + ''.join('{0:08b}'.format(x, 'b') for x in bytearray(value))))
+            #print("Packed str = ", ("0b" + ''.join('{0:08b}'.format(x, 'b') for x in bytearray(value))))
             return ("0b" + ''.join('{0:08b}'.format(x, 'b') for x in bytearray(value)))
         else:
             try:

asl_sdr_hackfest/protocols/rtp.py

@@ -16,7 +16,10 @@ class RTP(Protocol):
         #34 : 'h263'
     }
 
+    # HEADER_SIZE in bits
     HEADER_SIZE = 128
+    # HEADER_LENGTH in bytes
+    HEADER_LENGTH = 16
 
     def __init__(self, *args, **kwargs):
         self.version = kwargs.get('version')
@@ -50,12 +53,18 @@ def to_bitarray(self):
         ba = BitArray(self.TWO2)    
         ba.append(self.TRUE) if self.padding else ba.append(self.FALSE)
         ba.append(self.TRUE) if self.extension else ba.append(self.FALSE)
+        #print("Format csrc_count")
         ba.append(self.bin_formater(self.csrc_count, 4))
         ba.append(self.TRUE) if self.marker else ba.append(self.FALSE)
+        #print("Format payload_type")
         ba.append(self.bin_formater(self.payload_type, 7))
+        #print("Format seq_num")
         ba.append(self.bin_formater(self.seq_num, 16))
+        #print("Format timestamp")
         ba.append(self.bin_formater(self.timestamp, 32))
+        #print("Format ssrc")
         ba.append(self.bin_formater(self.ssrc, 32))
+        #print("Format csrc")
         ba.append(self.bin_formater(self.csrc, 32))
         return ba