diff --git a/MAVProxy/mavproxy.py b/MAVProxy/mavproxy.py index f5787b35d3..4a1bf8769f 100644 --- a/MAVProxy/mavproxy.py +++ b/MAVProxy/mavproxy.py @@ -1202,7 +1202,7 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg): parser.add_option("--profile", action='store_true', help="run the Yappi python profiler") parser.add_option("--state-basedir", default=None, help="base directory for logs and aircraft directories") parser.add_option("--version", action='store_true', help="version information") - parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout", help='default module list') + parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout,webserver", help='default module list') (opts, args) = parser.parse_args() if len(args) != 0: diff --git a/MAVProxy/modules/mavproxy_webserver/__init__.py b/MAVProxy/modules/mavproxy_webserver/__init__.py new file mode 100644 index 0000000000..7165ea5b7d --- /dev/null +++ b/MAVProxy/modules/mavproxy_webserver/__init__.py @@ -0,0 +1,65 @@ +""" +Server for serving data to the frontend GCS. Websocket communication to send +telemetry data and support different routes. +""" +import asyncio +import websockets +from threading import Thread +import time +import json +from collections import namedtuple + +from MAVProxy.modules.lib import mp_module + +messages = [] + +async def producer_handler(websocket, path): + print("Initiated Websocket Connection.") + while True: + try: + if len(messages) > 0: + message = messages.pop() + await websocket.send(json.dumps(message)) + except: + print("Closed Websocket Connection.") + break + +def start_loop(loop, server): + loop.run_until_complete(server) + loop.run_forever() + +class WebServerModule(mp_module.MPModule): + def __init__(self, mpstate): + super(WebServerModule, self).__init__(mpstate, "webserver") + self.mpstate = mpstate + + self.GPS_INT = namedtuple('GlobalPositionInt', ['time', 'rel_alt', 'asl_alt', 'lat', 'lon', 'heading', 'groundvx', 'groundvy', 'groundvz']) + self.global_position_int = self.GPS_INT(0, 0, 0, 0, 0, 0, 0, 0, 0) + + new_loop = asyncio.new_event_loop() + start_server = websockets.serve(producer_handler, "localhost", 5000 ,loop=new_loop) + t = Thread(target=start_loop, args=(new_loop, start_server)) + t.start() + + def handle_gps_int(self, msg): + self.global_position_int = self.GPS_INT( + int(time.time()), # seconds + float(msg.relative_alt) / 1000, # meters + float(msg.alt) / 1000, # meters + float(msg.lat) / pow(10, 7), # decimal + float(msg.lon) / pow(10, 7), # decimal + msg.hdg / float(100), # degrees + msg.vx / float(100), # m/s + msg.vy / float(100), # m/s + msg.vz / float(100) # m/s + ) + messages.append({"gps": self.global_position_int._asdict()}) + + def mavlink_packet(self, msg): + msgt = msg.get_type() + if msgt == "GLOBAL_POSITION_INT": + self.handle_gps_int(msg) + + +def init(mpstate): + return WebServerModule(mpstate) diff --git a/frontend/package-lock.json b/frontend/package-lock.json index fc526727cc..009b7282de 100644 --- a/frontend/package-lock.json +++ b/frontend/package-lock.json @@ -1089,6 +1089,15 @@ "resolve": "^1.11.0" } }, + "@rollup/plugin-json": { + "version": "4.1.0", + "resolved": "https://registry.npmjs.org/@rollup/plugin-json/-/plugin-json-4.1.0.tgz", + "integrity": "sha512-yfLbTdNS6amI/2OpmbiBoW12vngr5NW2jCJVZSBEz+H5KfUJZ2M7sDjk0U6GOOdCWFVScShte29o9NezJ53TPw==", + "dev": true, + "requires": { + "@rollup/pluginutils": "^3.0.8" + } + }, "@rollup/plugin-node-resolve": { "version": "8.4.0", "resolved": "https://registry.npmjs.org/@rollup/plugin-node-resolve/-/plugin-node-resolve-8.4.0.tgz", @@ -1155,6 +1164,11 @@ "negotiator": "0.6.2" } }, + "after": { + "version": "0.8.2", + "resolved": "https://registry.npmjs.org/after/-/after-0.8.2.tgz", + "integrity": "sha1-/ts5T58OAqqXaOcCvaI7UF+ufh8=" + }, "ansi-styles": { "version": "3.2.1", "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-3.2.1.tgz", @@ -1164,6 +1178,16 @@ "color-convert": "^1.9.0" } }, + "arraybuffer.slice": { + "version": "0.0.7", + "resolved": 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"resolved": "https://registry.npmjs.org/yaeti/-/yaeti-0.0.6.tgz", + "integrity": "sha1-8m9ITXJoTPQr7ft2lwqhYI+/lXc=" + }, + "yeast": { + "version": "0.1.2", + "resolved": "https://registry.npmjs.org/yeast/-/yeast-0.1.2.tgz", + "integrity": "sha1-AI4G2AlDIMNy28L47XagymyKxBk=" } } } diff --git a/frontend/package.json b/frontend/package.json index 7e3f428f00..597eb0977c 100644 --- a/frontend/package.json +++ b/frontend/package.json @@ -1,36 +1,43 @@ { - "name": "TODO", - "description": "TODO", - "version": "0.0.1", - "scripts": { - "dev": "sapper dev", - "build": "sapper build --legacy", - "export": "sapper export --legacy", - "start": "node __sapper__/build", - "cy:run": "cypress run", - "cy:open": "cypress open", - "test": "run-p --race dev cy:run" - }, - "dependencies": { - "compression": "^1.7.1", - "polka": "next", - "sirv": "^1.0.0" - }, - "devDependencies": { - "npm-run-all": "^4.1.5", - "sapper": "^0.28.0", - "svelte": "^3.17.3", - "@babel/core": "^7.0.0", - "@babel/plugin-syntax-dynamic-import": "^7.0.0", - "@babel/plugin-transform-runtime": "^7.0.0", - "@babel/preset-env": "^7.0.0", - "@babel/runtime": "^7.0.0", - "@rollup/plugin-babel": "^5.0.0", - "@rollup/plugin-commonjs": "^14.0.0", - "@rollup/plugin-node-resolve": "^8.0.0", - "@rollup/plugin-replace": "^2.2.0", - "rollup": "^2.3.4", - "rollup-plugin-svelte": "^6.0.0", - "rollup-plugin-terser": "^7.0.0" - } + "name": "TODO", + "description": "TODO", + "version": "0.0.1", + "scripts": { + "dev": "sapper dev", + "build": "sapper build --legacy", + "export": "sapper export --legacy", + "start": "node __sapper__/build", + "cy:run": "cypress run", + "cy:open": "cypress open", + "test": "run-p --race dev cy:run" + }, + "dependencies": { + "bufferutil": "^4.0.1", + "compression": "^1.7.1", + "polka": "next", + "sirv": "^1.0.0", + "socket.io-client": "^2.3.0", + "utf-8-validate": "^5.0.2", + "websocket": "^1.0.31" + }, + "devDependencies": { + "@babel/core": "^7.0.0", + "@babel/plugin-syntax-dynamic-import": "^7.0.0", + "@babel/plugin-transform-runtime": "^7.0.0", + "@babel/preset-env": "^7.0.0", + "@babel/runtime": "^7.0.0", + "@rollup/plugin-babel": "^5.0.0", + "@rollup/plugin-commonjs": "^14.0.0", + "@rollup/plugin-json": "^4.1.0", + "@rollup/plugin-node-resolve": "^8.4.0", + "@rollup/plugin-replace": "^2.2.0", + "i": "^0.3.6", + "npm": "^6.14.8", + "npm-run-all": "^4.1.5", + "rollup": "^2.3.4", + "rollup-plugin-svelte": "^6.0.0", + "rollup-plugin-terser": "^7.0.0", + "sapper": "^0.28.0", + "svelte": "^3.17.3" + } } diff --git a/frontend/rollup.config.js b/frontend/rollup.config.js index 9aaa40c854..9ced34f94e 100644 --- a/frontend/rollup.config.js +++ b/frontend/rollup.config.js @@ -3,6 +3,7 @@ import replace from '@rollup/plugin-replace'; import commonjs from '@rollup/plugin-commonjs'; import svelte from 'rollup-plugin-svelte'; import babel from '@rollup/plugin-babel'; +import json from '@rollup/plugin-json'; import { terser } from 'rollup-plugin-terser'; import config from 'sapper/config/rollup.js'; import pkg from './package.json'; @@ -12,94 +13,102 @@ const dev = mode === 'development'; const legacy = !!process.env.SAPPER_LEGACY_BUILD; const onwarn = (warning, onwarn) => - (warning.code === 'MISSING_EXPORT' && /'preload'/.test(warning.message)) || - (warning.code === 'CIRCULAR_DEPENDENCY' && /[/\\]@sapper[/\\]/.test(warning.message)) || - onwarn(warning); + (warning.code === 'MISSING_EXPORT' && /'preload'/.test(warning.message)) || + (warning.code === 'CIRCULAR_DEPENDENCY' && /[/\\]@sapper[/\\]/.test(warning.message)) || + onwarn(warning); export default { - client: { - input: config.client.input(), - output: config.client.output(), - plugins: [ - replace({ - 'process.browser': true, - 'process.env.NODE_ENV': JSON.stringify(mode) - }), - svelte({ - dev, - hydratable: true, - emitCss: true - }), - resolve({ - browser: true, - dedupe: ['svelte'] - }), - commonjs(), + client: { + input: config.client.input(), + output: config.client.output(), + plugins: [ + replace({ + 'process.browser': true, + 'process.env.NODE_ENV': JSON.stringify(mode) + }), + svelte({ + dev, + hydratable: true, + emitCss: true + }), + resolve({ + browser: true, + dedupe: ['svelte'] + }), + json({ + include: 'node_modules/**', + exclude: ['node_modules/foo/**', 'node_modules/bar/**'], + preferConst: true, // Default: false + indent: ' ', + compact: true, // Default: false + namedExports: true // Default: true + }), + commonjs(), - legacy && babel({ - extensions: ['.js', '.mjs', '.html', '.svelte'], - babelHelpers: 'runtime', - exclude: ['node_modules/@babel/**'], - presets: [ - ['@babel/preset-env', { - targets: '> 0.25%, not dead' - }] - ], - plugins: [ - '@babel/plugin-syntax-dynamic-import', - ['@babel/plugin-transform-runtime', { - useESModules: true - }] - ] - }), + legacy && babel({ + extensions: ['.js', '.mjs', '.html', '.svelte'], + babelHelpers: 'runtime', + exclude: ['node_modules/@babel/**'], + presets: [ + ['@babel/preset-env', { + targets: '> 0.25%, not dead' + }] + ], + plugins: [ + '@babel/plugin-syntax-dynamic-import', + ['@babel/plugin-transform-runtime', { + useESModules: true + }] + ] + }), - !dev && terser({ - module: true - }) - ], + !dev && terser({ + module: true + }) + ], - preserveEntrySignatures: false, - onwarn, - }, + preserveEntrySignatures: false, + onwarn, + }, - server: { - input: config.server.input(), - output: config.server.output(), - plugins: [ - replace({ - 'process.browser': false, - 'process.env.NODE_ENV': JSON.stringify(mode) - }), - svelte({ - generate: 'ssr', - hydratable: true, - dev - }), - resolve({ - dedupe: ['svelte'] - }), - commonjs() - ], - external: Object.keys(pkg.dependencies).concat(require('module').builtinModules), + server: { + input: config.server.input(), + output: config.server.output(), + plugins: [ + replace({ + 'process.browser': false, + 'process.env.NODE_ENV': JSON.stringify(mode) + }), + svelte({ + generate: 'ssr', + hydratable: true, + dev + }), + resolve({ + dedupe: ['svelte'] + }), + commonjs() + ], + external: Object.keys(pkg.dependencies).concat(require('module').builtinModules), - preserveEntrySignatures: 'strict', - onwarn, - }, + preserveEntrySignatures: 'strict', + onwarn, + }, - serviceworker: { - input: config.serviceworker.input(), - output: config.serviceworker.output(), - plugins: [ - resolve(), - replace({ - 'process.browser': true, - 'process.env.NODE_ENV': JSON.stringify(mode) - }), - commonjs(), - !dev && terser() - ], + serviceworker: { + input: config.serviceworker.input(), + output: config.serviceworker.output(), + plugins: [ + resolve(), + replace({ + 'process.browser': true, + 'process.env.NODE_ENV': JSON.stringify(mode) + }), + commonjs(), + !dev && terser() + ], - preserveEntrySignatures: false, - onwarn, - } + preserveEntrySignatures: false, + onwarn, + } }; diff --git a/frontend/src/client.js b/frontend/src/client.js index cec91725f0..700c9bb1d7 100644 --- a/frontend/src/client.js +++ b/frontend/src/client.js @@ -1,5 +1,12 @@ import * as sapper from '@sapper/app'; +import { w3cwebsocket as W3CWebSocket } from "websocket"; + +const client = new W3CWebSocket("ws://127.0.0.1:5000"); + +client.onmessage = message => { + console.log(JSON.parse(message.data)); +}; sapper.start({ - target: document.querySelector('#sapper') + target: document.querySelector('#sapper') }); \ No newline at end of file diff --git a/frontend/src/server.js b/frontend/src/server.js index c77f593b3d..1bb7176a82 100644 --- a/frontend/src/server.js +++ b/frontend/src/server.js @@ -3,15 +3,17 @@ import polka from 'polka'; import compression from 'compression'; import * as sapper from '@sapper/server'; + const { PORT, NODE_ENV } = process.env; const dev = NODE_ENV === 'development'; + polka() // You can also use Express - .use( - compression({ threshold: 0 }), - sirv('static', { dev }), - sapper.middleware() - ) - .listen(PORT, err => { - if (err) console.log('error', err); - }); + .use( + compression({ threshold: 0 }), + sirv('static', { dev }), + sapper.middleware() + ) + .listen(PORT, err => { + if (err) console.log('error', err); + }); diff --git a/requirements.txt b/requirements.txt index b18af91f65..a76c482986 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,2 +1,24 @@ -pymavlink>=2.2.8 -pyserial>=3.0 +asyncio==3.4.3 +billiard==3.6.3.0 +click==7.1.2 +dnspython==1.16.0 +Flask==1.1.2 +future==0.18.2 +gnureadline==8.0.0 +greenlet==0.4.16 +itsdangerous==1.1.0 +Jinja2==2.11.2 +lxml==4.5.2 +MarkupSafe==1.1.1 +monotonic==1.5 +numpy==1.19.1 +pymavlink==2.4.9 +pyparsing==2.4.7 +pyserial==3.4 +python-engineio==3.13.2 +python-socketio==4.6.0 +six==1.15.0 +websockets==8.1 +Werkzeug==1.0.1 +zope.event==4.4 +zope.interface==5.1.0