Re: [Paparazzi-devel] 24c3-telemetry-protocoll

[Pascal Brisset]

Hi Marcus,
> On the 24c3 I saw telemetry being passed via TCP/IP
> ove the internet. Where can I find the protocoll-specification
> and the ground-station -code for it, so I can use the existing
> ground-station-code and just implement the airborne-code
> to directly speak this protocoll?
You cannot directly use this code which was designed to route the 
messages through a server.
What kind of message do you plan to use ? TCP or UDP ?

The attached code (to be compiled in the sw/ground_segment/tmtc 
directory) forwards binary paparazzi telemetry messages received on port 
4242 to the ivy bus.

--Pascal

(* -*-compile-command: "ocamlc -custom -I ../../lib/ocaml -I +lablgtk2 -I 
+xml-light -o udp2ivy unix.cma str.cma xml-light.cma lablgtk.cma 
glibivy-ocaml.cma lib-pprz.cma udp2ivy.ml"; -*- *)

open Printf

module Tm_Pprz = Pprz.Messages(struct let name = "telemetry" end)

let () =
  let ivy_bus = ref "127.255.255.255:2010" in
  let port = ref 4242 in

  let options = [
    "-b", Arg.Set_string ivy_bus, (sprintf "<ivy bus> Default is %s" !ivy_bus);
    "-p", Arg.Set_int port, (sprintf "<remote port> Default is %d" !port)
  ] in
  Arg.parse
    options
    (fun x -> fprintf stderr "Warning: Discarding '%s'" x)
    "Usage: ";
  
  let sockaddr = Unix.ADDR_INET (Unix.inet_addr_any, !port)
  and socket = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0 in
  Unix.bind socket sockaddr;
  
  Ivy.init "udp2ivy" "READY" (fun _ _ -> ());
  Ivy.start !ivy_bus;

  let buffer_size = 256 in
  let buffer = String.create buffer_size in
  let get_udp_message = fun _ ->
    let (n, _from) = Unix.recvfrom socket buffer 0 buffer_size [] in
    let payload = Pprz.Transport.payload (String.sub buffer 0 n) in
    Debug.trace 'x' (Debug.xprint (Serial.string_of_payload payload));
    begin
      try
        let (msg_id, ac_id, values) = Tm_Pprz.values_of_payload payload in
        let msg = Tm_Pprz.message_of_id msg_id in
        Tm_Pprz.message_send (string_of_int ac_id) msg.Pprz.name values
      with
        exc ->
          prerr_endline (Printexc.to_string exc)
    end;
    true in

  ignore (Glib.Io.add_watch [`IN] get_udp_message (GMain.Io.channel_of_descr 
socket));

  (* Main Loop *)
  GMain.main ()