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https://github.com/wuespace/telestion-extension-mavlink
The MAVLink parser for the Telestion backend.
https://github.com/wuespace/telestion-extension-mavlink
telestion telestion-extension
Last synced: about 2 months ago
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The MAVLink parser for the Telestion backend.
- Host: GitHub
- URL: https://github.com/wuespace/telestion-extension-mavlink
- Owner: wuespace
- License: mit
- Created: 2021-05-02T15:07:52.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-05-01T19:57:34.000Z (over 1 year ago)
- Last Synced: 2024-05-19T00:18:10.950Z (8 months ago)
- Topics: telestion, telestion-extension
- Language: Java
- Homepage: https://wuespace.github.io/telestion-extension-mavlink/
- Size: 381 KB
- Stars: 4
- Watchers: 4
- Forks: 0
- Open Issues: 16
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
README
# telestion-extension-mavlink
A Mavlink message parser for the Telestion backend.
## Install
First, add the extension package registry to your gradle repositories:
```groovy
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:
```groovy
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](https://wuespace.github.io/telestion-extension-mavlink/de/wuespace/telestion/extension/mavlink/ValidatorMavlink2.html)
- [Mavlink Message Registrar](https://wuespace.github.io/telestion-extension-mavlink/de/wuespace/telestion/extension/mavlink/MavlinkRegistrar.html)
- [Payload Parser](https://wuespace.github.io/telestion-extension-mavlink/de/wuespace/telestion/extension/mavlink/PayloadParser.html)
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:
```json
{
"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:
```json
{
"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:
```json
{
"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:
```json
{
"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`](scripts/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:
```shell
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](./CONTRIBUTING.md).
## About
This is part of [Telestion](https://telestion.wuespace.de/), a project by [WüSpace e.V.](https://www.wuespace.de/).