[payload] Payload Forward over UDP.

sw/ground_segment/python/payload_forward/README.md

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+PAYLOAD
+=======
+
+PAYLOAD (downlink) and PAYLOAD_COMMAND (uplink) messages in the pprzlink telemetry act as easy pass-through of information from an autopilot subsystem like a computer vision board to ground station payload control system.
+
+The paparazzi autopilot does not need to understand the data, but just needs to relay it. Payload is typically highly compressed information and only piggy-backs on telemetry when it needs to be transferred over the same long-range low bitrate datalink such as the autopilot telemetry. PAYLOAD is typically used by an external application and needs to be forwarded. ```payload_forward.py``` will forward only the PAYLOAD from IVY to an IP:PORT.
+
+The PAYLOAD sender (typically a paparazzi module) must make sure the telemetry datalink does not get flooded with payload.
+
+
+Over the years some standards have developed for payload. One is sending jpeg-thumbnails-chunks. A decoder for this 'jpeg100' is added to the forwarding program. For convenience and debugging, the payload_forward program also contains some standard decoders.
+
+Use ```payload.py --help``` to find currently supported options.

sw/ground_segment/python/payload_forward/payload.py

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+#!/usr/bin/env python
+#
+# Copyright (C) 2016 TUDelft
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi.  If not, see <http://www.gnu.org/licenses/>.
+#
+
+import wx
+import sys
+import argparse
+import payload_forward
+
+parser = argparse.ArgumentParser(description='Capture PAYLOAD messages over the IVY bus and forward to a remote application.', epilog='payload.py is part of the paparazzi-uav project.')
+parser.add_argument('--ip', '-i', default="127.0.0.1", help='Destination IP ADDRESS (default=127.0.0.1)')
+parser.add_argument('--port','-p', type=int, default=32000, help='Destination PORT (default=32000)')
+parser.add_argument('--decoder','-d', default='jpeg100', help='Payload decoder. (default=jpeg100)', choices=['none', 'jpeg100'])
+settings = parser.parse_args()
+
+print(settings)
+
+class PayloadFrame(wx.App):
+    def OnInit(self):
+        self.main = payload_forward.PayloadForwarderFrame(settings)
+        self.main.Show()
+        self.SetTopWindow(self.main)
+        return True
+
+def main():
+    application = PayloadFrame(0)
+    application.MainLoop()
+
+if __name__ == '__main__':
+    main()

sw/ground_segment/python/payload_forward/payload_forward.py

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+#
+# Copyright (C) 2016 TUDelft
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi.  If not, see <http://www.gnu.org/licenses/>.
+#
+
+import wx
+import sys
+import os
+import threading
+import socket
+import array
+import jpeg100_decoder
+from cStringIO import StringIO
+
+
+PPRZ_SRC = os.getenv("PAPARAZZI_SRC", os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)), '../../../..')))
+
+sys.path.append(PPRZ_SRC + "/sw/ext/pprzlink/lib/v1.0/python")
+
+from pprzlink.ivy import IvyMessagesInterface
+
+WIDTH = 300
+
+
+# Minimal Decoder
+class MinimalDecoder:
+    def __init__(self):
+        self.data = []
+    def add_payload(self,bytes):
+        self.data = bytes
+
+    def draw(self,dc,x,y):
+        dc.DrawText( "Payload: " + str(self.data),x,y)
+
+
+class PayloadForwarderFrame(wx.Frame):
+
+    def message_recv(self, ac_id, msg):
+        if msg.name == "PAYLOAD":
+            # convert text to binary
+            pld = msg.get_field(0).split(",")
+            b = []
+            for p in pld:
+                b.append(int(p))
+
+            # forward over UDP
+            self.data['packets'] = self.data['packets'] + 1
+            self.data['bytes'] = self.data['bytes'] + len(b)
+            self.sock.sendto(bytearray(b), (self.settings.ip, self.settings.port))
+
+            # send to decoder
+            self.decoder.add_payload(b)
+
+            # graphical update
+            wx.CallAfter(self.update)
+
+    def update(self):
+        self.Refresh()
+
+    def OnSize(self, event):
+        self.w = event.GetSize()[0]
+        self.h = event.GetSize()[1]
+        self.Refresh()
+
+    def OnPaint(self, e):
+        # Paint Area
+        dc = wx.PaintDC(self)
+        brush = wx.Brush("white")
+        dc.SetBackground(brush)
+        dc.Clear()
+
+        # Background
+        dc.SetBrush(wx.Brush(wx.Colour(0,0,0), wx.TRANSPARENT))
+        font = wx.Font(11, wx.ROMAN, wx.BOLD, wx.NORMAL)
+        dc.SetFont(font)
+        dc.DrawText("UDP: " + self.settings.ip + ":" + str(self.settings.port),2,2)
+        dc.DrawText("Data: " + str(self.data['packets']) + " packets, " + str(round(float(self.data['bytes'])/1024.0,2)) + "kb)",2,22)
+        dc.DrawText("Decoder: " + self.settings.decoder ,2,42)
+
+        # Payload visual representation
+        self.decoder.draw(dc, 2, 62)
+
+
+    def __init__(self, _settings):
+
+        # Command line arguments
+        self.settings = _settings
+
+        # Statistics
+        self.data = { 'packets': 0, 'bytes': 0}
+
+        # Decoder
+        if (self.settings.decoder is 'jpeg100'):
+            self.decoder = jpeg100_decoder.ThumbNailFromPayload()
+        else:
+            self.decoder = MinimalDecoder()
+
+        self.w = WIDTH
+        self.h = WIDTH
+
+        # Socket
+        self.sock = socket.socket(socket.AF_INET, # Internet
+socket.SOCK_DGRAM) # UDP
+
+        # Frame
+        wx.Frame.__init__(self, id=-1, parent=None, name=u'Payload Forwarding',
+                          size=wx.Size(self.w, self.h), title=u'Payload Forwarding')
+        ico = wx.Icon(os.path.normpath(os.path.join(os.path.dirname(os.path.abspath(__file__)))) + "/payload.ico", wx.BITMAP_TYPE_ICO)
+        self.SetIcon(ico)
+
+        self.Bind(wx.EVT_PAINT, self.OnPaint)
+        self.Bind(wx.EVT_SIZE, self.OnSize)
+        self.Bind(wx.EVT_CLOSE, self.OnClose)
+
+        # IVY
+        self.interface = IvyMessagesInterface("PayloadForwarder")
+        self.interface.subscribe(self.message_recv)
+
+    def OnClose(self, event):
+        self.interface.shutdown()
+        self.Destroy()