telestion-extension-mavlink

A Mavlink message parser for the Telestion backend.

Install

First, add the extension package registry to your gradle repositories:

repositories {
    maven {
        name = "GitHubMavlink"
        url = uri("https://maven.pkg.github.com/wuespace/telestion-extension-mavlink/")
        credentials {
            username = System.getenv("GITHUB_ACTOR") == null ? GITHUB_ACTOR : System.getenv("GITHUB_ACTOR")
            password = System.getenv("GITHUB_TOKEN") == null ? GITHUB_TOKEN : System.getenv("GITHUB_TOKEN")
        }
    }
}

Next, add the extension to the project dependency list:

dependencies {
    // ...
    implementation 'de.wuespace.telestion.extension:mavlink:0.4.0'
    // ...
}

And synchronize gradle.

Finished!

Usage

The extension provides different verticles, that you can use and set up in your project config.json. You will need:

• Mavlink v2 Validator
• Mavlink Message Registrar
• Payload Parser

The Mavlink Validator verticles for Mavlink v1 and Mavlink v2 validate the incoming encoded mavlink message and sends it to the parser on a valid mavlink message. Additionally, all encoded messages can be sent to the Mavlink Logger, if set up, which stores the encoded or raw version in the preconfigured data file.

A Mavlink v2 Validator configuration could look like:

{
  "org.telestion.configuration": {
    "app_name": "Basic Example",
    "verticles": [
      {
        "name": "Mavlink v2 Validator",
        "verticle": "de.wuespace.telestion.extension.mavlink.ValidatorMavlink2",
        "magnitude": 1,
        "config": {
          "inAddress": "nice-serial",
          "packetOutAddress": "mavlink-raw-logger",
          "parserInAddress": "mavlink-payload-parser-in",
          "password": "AQ=="
        }
      }
    ]
  }
}

The mavlink message is received from the nice-serial channel, validated and logged to the Mavlink Raw Logger. If the mavlink is valid, the validated message and metadata are sent to the Payload Parser.

The configuration of the Payload Parser could look like:

{
  "org.telestion.configuration": {
    "app_name": "Basic Example",
    "verticles": [
      {
        "name": "Payload Parser",
        "verticle": "de.wuespace.telestion.extension.mavlink.PayloadParser",
        "magnitude": 1,
        "config": {
          "inAddress": "mavlink-payload-parser-in",
          "outAddress": "parsed-payload"
        }
      }
    ]
  }
}

This verticle parses the encoded mavlink message incoming from the mavlink-payload-parser-in channel and the parsed output are sent onto parsed-payload channel to other verticles.

It can only parse the encoded message to registered mavlink messages. This is done with the Mavlink Message Registrar verticle.

This could look like:

{
  "org.telestion.configuration": {
    "app_name": "Basic Example",
    "verticles": [
      {
        "name": "Mavlink Message Registrar",
        "verticle": "de.wuespace.telestion.project.daedalus2.mavlink.MavlinkRegistrar",
        "magnitude": 1,
        "config": {
          "classNames": [
            "de.wuespace.telestion.project.daedalus2.mavlink.SeedSystemT",
            "de.wuespace.telestion.project.daedalus2.mavlink.ConCmd"
          ]
        }
      }
    ]
  }
}

This verticle registers the de.wuespace.telestion.project.daedalus2.mavlink.SeedSystemT and de.wuespace.telestion.project.daedalus2.mavlink.SeedSystemT mavlink messages to the Payload Parser.

To store all received encoded Mavlink messages, you can use the Mavlink Logger.

For example:

{
  "org.telestion.configuration": {
    "app_name": "Basic Example",
    "verticles": [
      {
        "name": "MavLink Logger",
        "verticle": "de.wuespace.telestion.extension.mavlink.logger.RawLogger",
        "magnitude": 1,
        "config": {
          "inAddress": "mavlink-raw-logger",
          "filePath": "data/mavlink-logger/"
        }
      }
    ]
  }
}

It receives the encoded messages from the Mavlink Validator verticle and stores it in time-tagged files in the predefined path. (here data/mavlink-logger/)

Generating Mavlink Messages

To generate the Mavlink messages from the Mavlink xml definitions, you can use the xml2mav.py python script. It takes one or more definition files and outputs valid Java classes which you can import and them directly in your project.

For example:

python xml2mav.py -f my-definition.xml -o messages

Contributing

For the documentation on contributing to this repository, please take a look at the Contributing Guidelines.

About

This is part of Telestion, a project by WüSpace e.V..