Skip to content

driver: Allow user to specify the source system, rather than assume a default value #94

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
joshanne wants to merge 1 commit into
base: master
Choose a base branch
from
Open

driver: Allow user to specify the source system, rather than assume a default value #94

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion dronecan/driver/__init__.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,8 @@ def is_mavlink_port(device_name, **kwargs):
if not have_mavcan:
return False
baudrate = kwargs.get('baudrate', 115200)
return MAVCAN.is_mavlink_port(device_name, baudrate)
source_system = kwargs.get('mavlink_source_system', 250)
return MAVCAN.is_mavlink_port(device_name, baudrate, source_system)

def make_driver(device_name, **kwargs):
"""Creates an instance of CAN driver.
Expand Down
13 changes: 7 additions & 6 deletions dronecan/driver/mavcan.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def __init__(self, command, data):
self.command = command
self.data = data

def io_process(url, bus, target_system, baudrate, tx_queue, rx_queue, exit_queue, parent_pid):
def io_process(url, bus, source_system, target_system, baudrate, tx_queue, rx_queue, exit_queue, parent_pid):
os.environ['MAVLINK20'] = '1'

target_component = 0
Expand All @@ -47,8 +47,8 @@ def io_process(url, bus, target_system, baudrate, tx_queue, rx_queue, exit_queue
readonly = False

def connect():
nonlocal conn, baudrate, readonly
conn = mavutil.mavlink_connection(url, baud=baudrate, source_system=250,
nonlocal conn, baudrate, readonly, source_system
conn = mavutil.mavlink_connection(url, baud=baudrate, source_system=source_system,
source_component=mavutil.mavlink.MAV_COMP_ID_MAVCAN,
dialect='ardupilotmega')
if conn is None:
Expand Down Expand Up @@ -203,6 +203,7 @@ def __init__(self, url, **kwargs):
super(MAVCAN, self).__init__()
self.bus = kwargs.get('bus_number', 1) - 1
self.target_system = kwargs.get('mavlink_target_system', 0)
self.source_system = kwargs.get('mavlink_source_system', 250)
self.filter_list = None
baudrate = kwargs.get('baudrate', 115200)

Expand All @@ -211,7 +212,7 @@ def __init__(self, url, **kwargs):
self.exit_queue = multiprocessing.Queue(maxsize=1)

self.proc = multiprocessing.Process(target=io_process, name='mavcan_io_process',
args=(url, self.bus, self.target_system, baudrate,
args=(url, self.bus, self.source_system, self.target_system, baudrate,
self.tx_queue, self.rx_queue, self.exit_queue, os.getpid()))
self.proc.daemon = True
self.proc.start()
Expand Down Expand Up @@ -248,10 +249,10 @@ def send_frame(self, frame):
self._tx_hook(frame)
self.tx_queue.put_nowait(frame)

def is_mavlink_port(device_name, baudrate):
def is_mavlink_port(device_name, baudrate, source_system):
'''check if a device is sending mavlink'''
os.environ['MAVLINK20'] = '1'
conn = mavutil.mavlink_connection(device_name, baud=baudrate, source_system=250, source_component=mavutil.mavlink.MAV_COMP_ID_MAVCAN)
conn = mavutil.mavlink_connection(device_name, baud=baudrate, source_system=source_system, source_component=mavutil.mavlink.MAV_COMP_ID_MAVCAN)
if not conn:
return False
m = conn.recv_match(blocking=True, type=['HEARTBEAT','ATTITUDE', 'SYS_STATUS'], timeout=1.1)
Expand Down