Merge pull request #1141 from lk-iqt/dev-mavlink

mavlink bug fixes and mqtt-publisher

.github/workflows/docker-extras.yml

@@ -35,7 +35,7 @@ jobs:
       uses: docker/build-push-action@v5
       with:
         context: utils/mavlink-api
-        file: utils/mavlink-api/Dockerfile
+        file: utils/mavlink-api/Dockerfile.mavlink-api
         platforms: linux/amd64
         push: true
         tags: iqtlabs/gamutrf-mavlink-api:${{ steps.change_version.outputs.VERSION }}

.github/workflows/docker-test.yml

@@ -22,7 +22,7 @@ jobs:
     - uses: actions/checkout@v4
     - name: docker build
       run: |
-        docker build -f utils/mavlink-api/Dockerfile utils/mavlink-api -t iqtlabs/gamutrf-mavlink-api:latest
+        docker build -f utils/mavlink-api/Dockerfile.mavlink-api utils/mavlink-api -t iqtlabs/gamutrf-mavlink-api:latest
   test-gamutrf-images:
     runs-on: ubuntu-latest
     steps:

utils/mavlink-api/Dockerfile.mqtt-publisher

@@ -0,0 +1,15 @@
+# nosemgrep:github.workflows.config.dockerfile-source-not-pinned
+FROM python:3.11-slim
+
+WORKDIR /app
+ENV PYTHONPATH=${PYTHONPATH}:${PWD}
+
+RUN pip3 install poetry==1.1.5
+COPY pyproject.toml .
+RUN poetry config virtualenvs.create false
+RUN poetry install --no-dev
+
+COPY mqtt-publisher.py .
+
+# nosemgrep:github.workflows.config.missing-user
+CMD ["python3", "mqtt-publisher.py"]

utils/mavlink-api/docker-compose.yaml

@@ -5,12 +5,28 @@ services:
   mavlink-api:
     image: iqtlabs/gamutrf-mavlink-api:latest
     build:
-      context: utils/mavlink-api
-      dockerfile: utils/mavlink-api/Dockerfile
+      context: .
+      dockerfile: Dockerfile.mavlink-api
     ports:
       - "8888:8888"
     devices:
       - "/dev/pixhawk_serial:/dev/tty.serial1"
     networks:
       - gamutrf
     restart: unless-stopped
+  #mqtt-publisher:
+  #  image: iqtlabs/gamutrf-mavlink-mqtt-publisher:latest
+  #  build:
+  #    context: .
+  #    dockerfile: Dockerfile.mqtt-publisher
+  #  networks:
+  #    - gamutrf
+  #  environment:
+  #    - MQTT_IP=127.0.0.1
+  #    - MQTT_PORT=1883
+  #    - MQTT_TOPIC=gamutrf/targets
+  #    - QUERY_INTERVAL=1
+  #    - URL_LIST=[["drone", "http://127.0.0.1:8888/gps-data"], ["controller", "http://127.0.0.1:8889/gps-data"]] # Example: [["target1", "https://example1.com"], ["target2", "https://example2.com"]]
+  #  restart: unless-stopped
+
+

utils/mavlink-api/mqtt-publisher.py

@@ -0,0 +1,98 @@
+import os
+import time
+import logging
+import json
+import httpx
+from paho.mqtt import client as mqtt_client
+
+MQTT_BROKER = os.environ.get("MQTT_IP", "localhost")
+MQTT_PORT = os.environ.get("MQTT_PORT", "1883")
+MQTT_TOPIC = os.environ.get("MQTT_TOPIC", "/targets")
+QUERY_INTERVAL = int(os.environ.get("QUERY_INTERVAL", 1))
+URL_LIST = json.loads(
+    os.environ.get("URL_LIST", '[["default_target", "http://127.0.0.1:8888/gps-data"]]')
+)
+
+
+def on_connect(client, userdata, flags, rc):
+    if rc == 0:
+        print("Connected to MQTT Broker")
+    else:
+        print(f"Failed to connect, return code {rc}")
+
+
+def publish_data(client, target_name, data):
+    topic = f"{MQTT_TOPIC}"
+    try:
+        client.publish(topic, data)
+        print(f"Published data to {topic}: {data}")
+
+    except Exception as err:
+        print("could not publish data: %s", err)
+
+
+def fetch_and_publish(client, target_name, target_url):
+    try:
+        response = json.loads(httpx.get(f"{target_url}").text)
+
+        data = {
+            "target_name": target_name,
+            "gps_stale": response["gps_stale"],
+            "gps_fix_type": response["gps_fix_type"],
+            "time_boot_ms": response["time_boot_ms"],  # mm
+            "time_usec": response["time_usec"],
+            "latitude": response["latitude"],  # decimal degrees
+            "longitude": response["longitude"],  # decimal degrees
+            "altitude": response["altitude"],  # mm
+            "relative_alt": response["relative_alt"],  # mm
+            "heading": response["heading"],  # decimal degrees
+            "vx": response["vx"],  # meters/second
+            "vy": response["vy"],  # meters/second
+            "vz": response["vz"],  # meters/second
+        }
+
+    except Exception as err:
+        print("could not update with external GPS: %s", err)
+        data = {
+            "target_name": target_name,
+            "gps_stale": None,
+            "gps_fix_type": None,
+            "time_boot_ms": None,  # mm
+            "time_usec": None,
+            "latitude": None,  # decimal degrees
+            "longitude": None,  # decimal degrees
+            "altitude": None,  # mm
+            "relative_alt": None,  # mm
+            "heading": None,  # decimal degrees
+            "vx": None,  # meters/second
+            "vy": None,  # meters/second
+            "vz": None,  # meters/second
+        }
+    publish_data(client, target_name, json.dumps(data))
+
+
+def main():
+    try:
+        client = mqtt_client.Client()
+        client.on_connect = on_connect
+        client.connect(MQTT_BROKER, int(MQTT_PORT))
+        print("Connected to MQTT Broker")
+    except Exception as err:
+        logging.error(
+            f"Could not connect to MQTT broker ({MQTT_BROKER}:{MQTT_PORT}): {err}"
+        )
+
+    while True:
+        for target in URL_LIST:
+            if len(target) == 2:
+                print(f"Attepting to retrieve data from {target}")
+                target_name, target_url = target
+                fetch_and_publish(client, target_name, target_url)
+            else:
+                print("Invalid entry in URL_LIST. Each entry should be a 2-entry list.")
+
+        time.sleep(QUERY_INTERVAL)
+
+
+if __name__ == "__main__":
+    main()

utils/mavlink-api/pyproject.toml

@@ -10,7 +10,8 @@ python = ">=3.10,<3.13"
 Flask = "^3.0.0"
 pymavlink = "^2.4.40"
 pyserial = "^3.5"
-httpx = "0.26.0"
+httpx = "0.25.2"
+paho-mqtt = "^1.6.1"
 
 [build-system]
 requires = ["poetry-core"]