Automatically start gps at /dev/pts/1 in px4 service to receive NMEA …

…comms

Ideally we would not hard code the PTY path here but based on testing the /dev/pts/1 port should be the one that socat allocates for bridging incoming communication from TCP port 15000

docker/px4/Dockerfile

@@ -61,8 +61,8 @@ RUN cat 6011_typhoon_h480 >> ROMFS/px4fmu_common/init.d-posix/airframes/6011_gaz
 
 # TODO: configure GPS serial ports in environment variables
 # Cube Orange: GPS 1 -> ttyS2, GPS 2 --> ttyS5
-RUN echo "gps start -d /dev/ttyS2 -e /dev/ttyS5 -p ubx" >> ROMFS/px4fmu_common/init.d-posix/rcS \
-    && echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/pts/0\"" >> boards/px4/sitl/default.px4board  # TODO use dynamically allocated PTY device, not hard-coded pts/0
+RUN echo "gps start -d /dev/pts/1 -b 9600 -p nmea" >> ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator \
+    && echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/pts/1\"" >> boards/px4/sitl/default.px4board  # TODO use dynamically allocated PTY device, not hard-coded pts/1
     #&& echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/ttyS2\"" >> boards/px4/sitl/default.px4board \
     #&& echo "CONFIG_BOARD_SERIAL_GPS2=\"/dev/ttyS5\"" >> boards/px4/sitl/default.px4board
 

docker/px4/entrypoint.sh

@@ -13,17 +13,11 @@ mavlink-routerd -e ${GISNAV_COMPANION_IP:?empty or not set}:${GISNAV_CMP_MAVROS_
 # px4 container (simulation host). Bridging serial ports over TCP is easier with
 # Docker than e.g. bridging via virtual serial ports (pseudo-ttys) on Docker
 # host
-#socat tcp-listen:15000 pty,link=/dev/ACM0 &
 # TODO: do not hard code /dev/ttyS2, use .env file
 echo "Setting up socat bridge at from TCP port ${SOCAT_BRIDGE_PORT:?empty or not set} to /tmp/gisnav-pty-link"
 socat tcp-listen:${SOCAT_BRIDGE_PORT:?empty or not set},reuseaddr,fork pty,raw,echo=0,link=/tmp/gisnav-pty-link &
 echo "PTY device created at (might not show up until client connects at ${SOCAT_BRIDGE_PORT}): $(readlink /tmp/gisnav-pty-link)"
 
-# Start socat and capture the PTY name
-#echo "Setting up socat bridge at from TCP port ${SOCAT_BRIDGE_PORT:?empty or not set} to PTY"
-#socat tcp-listen:${SOCAT_BRIDGE_PORT},reuseaddr,fork pty,link=/tmp/gisnav-pty-link,raw,echo=0 || (echo "Could not establish TCP-to-serial bridge."; exit 1) &
-#echo "PTS device created at (might not show up until client connects at ${SOCAT_BRIDGE_PORT}): $(readlink /tmp/gisnav-pty-link)"
-
 # Setup uXRCE agent IP
 # PX4 needs the IP as int32 - convert_ip.py script does the conversion
 # https://docs.px4.io/main/en/middleware/uxrce_dds.html#starting-the-client