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Server json stream (#2792)

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* [server] stream telemetry messages as JSON string
can be used by external plotter like PlotJuggler (default port)
always enabled by default

* update pprzlink

Co-authored-by: Fabien-B <fabien.bonneval@gmail.com>
This commit is contained in:
Gautier Hattenberger
2021-11-02 18:51:07 +01:00
committed by GitHub
parent abaf60b29d
commit ce706bcd04
2 changed files with 28 additions and 10 deletions
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sw/ext/pprzlink
+1 -1
Submodule sw/ext/pprzlink updated: bd13ad8da2...e2e248d518
sw/ground_segment/tmtc/server.ml
+27 -9
View File
@@ -27,7 +27,9 @@ let gps_mode_3D = 3
let no_md5_check = ref false
let replay_old_log = ref false
let log_name_arg = ref ""
let udp_json_stream_addr = ref "127.0.0.1"
let udp_json_stream_port = ref 9870
let udp_json_stream_disable = ref false
open Printf
open Latlong
@@ -139,23 +141,23 @@ let logger = fun () ->
close_out f;
open_out (logs_path // data_name)
let time_of_timestamp = function
| Some x -> x
| None -> U.gettimeofday() -. start_time
let log = fun ?timestamp logging ac_name msg_name values ->
match logging with
Some log ->
let s = string_of_values values in
let t =
match timestamp with
Some x -> x
| None -> U.gettimeofday () -. start_time in
let t = time_of_timestamp timestamp in
fprintf log "%.3f %s %s %s\n" t ac_name msg_name s; flush log
| None -> ()
(* Socket configuration for streaming *)
let udp_fd = Unix.socket Unix.PF_INET Unix.SOCK_DGRAM 0
let udp_sockaddr = Unix.ADDR_INET (Unix.inet_addr_of_string !udp_json_stream_addr, !udp_json_stream_port)
(** Callback for a message from a registered A/C *)
let ac_msg = fun messages_xml logging ac_name ac ->
let module Tele_Pprz = PprzLink.MessagesOfXml(struct let xml = messages_xml let name="telemetry" end) in
@@ -165,6 +167,19 @@ let ac_msg = fun messages_xml logging ac_name ac ->
let (msg_id, values) = Tele_Pprz.values_of_string m in
let msg = Tele_Pprz.message_of_id msg_id in
log ?timestamp logging ac_name msg.PprzLink.name values;
if not !udp_json_stream_disable then begin
let json_name =
try
let a = Hashtbl.find aircrafts ac_name in
sprintf "%s (%s)" a.name ac_name
with _ -> ac_name
in
let t = time_of_timestamp timestamp in
let json_msg = sprintf "{ \"%s\": %s, \"timestamp\": %f }" json_name (Tele_Pprz.json_of_message msg values) t in
let len = String.length json_msg in
let n = Unix.sendto udp_fd (Bytes.of_string json_msg) 0 len [] udp_sockaddr in
assert(n = len)
end;
Parse_messages_v1.log_and_parse ac_name ac msg values
with
Telemetry_error (ac_name, msg) ->
@@ -925,6 +940,9 @@ let () =
"-timestamp", Arg.Set timestamp, "Bind on timestampped messages";
"-no_md5_check", Arg.Set no_md5_check, "Disable safety matching of live and current configurations";
"-log_name", Arg.Set_string log_name_arg, "Name for output log (Time stamp will be";
"-udp_json_stream_addr", Arg.Set_string udp_json_stream_addr, "Address of the server to stream udp JSON telemetry messages (default is localhost)";
"-udp_json_stream_port", Arg.Set_int udp_json_stream_port, "Port of the server to stream udp JSON telemetry messages (default is 9870)";
"-udp_json_stream_disable", Arg.Set udp_json_stream_disable, "Disable udp JSON stream";
"-replay_old_log", Arg.Set replay_old_log, "Enable aircraft registering on PPRZ_MODE messages"] in
Arg.parse