core: tools: mavp2p: Add first version #2072

patrickelectric · 2023-08-28T21:13:34Z

Should helps #2070

How to test:
Terminal -> mv /usr/bin/mavlink-routerd /usr/bin/mavlink-routerd2
Go to autopilot tmux
Restart the service

Williangalvani · 2023-08-28T21:47:01Z

nice

joaoantoniocardoso · 2023-09-04T22:46:30Z

When it's working, it uses ~40% of the CPU on Pi3.

But it is unreliable with this configuration: after some minutes (10?) it lowers to ~2%, and when that happens, all the connections are dropped.

Williangalvani · 2023-09-04T22:54:24Z

at my bench setup it is running at ~10% cpu, which is nice.
I'll let it run for a while.

Williangalvani

looking good and working great so far. I'll leave it connected to qgc overnight, but I had it working for longer than 1h with no issues.

I found some typos and small things that could be changed, no blockers though.

Williangalvani · 2023-09-05T02:01:55Z

core/tools/mavp2p/bootstrap.sh

+fi
+
+ARTIFACT_NAME="mavp2p"
+COMPRESS_FILE="$ARTIFACT_NAME.tar.gz"


I'd call it COMPRESSED_FILE/ TAR_FILE or similar. COMPRESS sounded weird when first read it

Williangalvani · 2023-09-05T02:02:24Z

core/tools/mavp2p/bootstrap.sh

+chmod +x "$LOCAL_BINARY_PATH"
+
+# Remove temporary files
+rm -rf "$COMPRESS_FILE" "${ARTIFACT_NAME}"


newline at end of file, since we're here?

Williangalvani · 2023-09-05T02:05:57Z

core/services/ardupilot_manager/mavlink_proxy/AbstractRouter.py

-        return list(filter(lambda subclass: subclass.is_ok, AbstractRouter.__subclasses__()))
+        logger.debug(f"Possible interfaces: {AbstractRouter.possible_interfaces()}")
+
+        def caller(subclass: Type["AbstractRouter"]) -> bool:


can we use a more meaningfull name than "caller" ?
maybe router_is_ok(), interface_is_ok() or similar?

Williangalvani · 2023-09-05T02:07:58Z

core/tools/install-static-binaries.sh

@@ -4,6 +4,8 @@
 # Immediately exit on errors
 set -e

+# Any changes in this file should reflect in the Dockerfile as well,
+# since we get this binaries from multstage


typo:
multstage -> multistage

joaoantoniocardoso · 2023-09-05T12:00:43Z

looking good and working great so far. I'll leave it connected to qgc overnight, but I had it working for longer than 1h with no issues.

I found some typos and small things that could be changed, no blockers though.

So it fails with Pixhawk only?

Williangalvani · 2023-09-05T14:33:06Z

So it fails with Pixhawk only?

good question. is it easy to replicate? is there anything relevant on dmesg by any chance?

we should log the output of our routers...

joaoantoniocardoso · 2023-09-05T15:55:17Z

So it fails with Pixhawk only?

good question. is it easy to replicate? is there anything relevant on dmesg by any chance?

It's easy to replicate:

Run w/ MAVP2P
Wait (may only happen when not using QGC? Didn't try to use it though)

The dmesg shows the following, which happened some time after I started the MAVP2P, but I don't know if there's any relationship with it.

[ 3470.659434] ------------[ cut here ]------------                                                                                                                                                                                                                                                           
[ 3470.659471] WARNING: CPU: 2 PID: 2363 at drivers/firmware/raspberrypi.c:234 get_throttled_show+0x6c/0x70
[ 3470.659477] deprecated, use hwmon sysfs instead
[ 3470.659483] Modules linked in: tcp_diag inet_diag veth xt_nat xt_tcpudp xt_conntrack nft_chain_nat xt_MASQUERADE nf_nat nf_conntrack_netlink nf_conntrack nf_defrag_ipv6 nf_defrag_ipv4 nft_counter xt_addrtype nft_compat nf_tables nfnetlink br_netfilter bridge cmac algif_hash aes_arm_bs crypto_simd c
ryptd algif_skcipher af_alg bnep hci_uart btbcm bluetooth ecdh_generic ecc overlay 8021q garp stp llc snd_usb_audio snd_hwdep snd_usbmidi_lib snd_rawmidi snd_seq_device uvcvideo cdc_acm brcmfmac brcmutil vc4 sha256_generic cec cfg80211 drm_kms_helper rfkill snd_soc_core snd_compress snd_pcm_dmaengine 
syscopyarea sysfillrect sysimgblt fb_sys_fops raspberrypi_hwmon snd_bcm2835(C) snd_pcm snd_timer snd bcm2835_codec(C) bcm2835_isp(C) v4l2_mem2mem videobuf2_dma_contig fixed uio_pdrv_genirq uio i2c_dev i2c_bcm2835 bcm2835_v4l2(C) bcm2835_mmal_vchiq(C) vc_sm_cma(C) videobuf2_vmalloc videobuf2_memops vid
eobuf2_v4l2 videobuf2_common videodev mc g_ether usb_f_rndis u_ether libcomposite dwc2 udc_core roles
[ 3470.659985]  drm fuse drm_panel_orientation_quirks backlight ip_tables x_tables ipv6
[ 3470.660039] CPU: 2 PID: 2363 Comm: linux2rest Tainted: G         C        5.10.33-v7+ #1415
[ 3470.660043] Hardware name: BCM2835
[ 3470.660048] Backtrace: 
[ 3470.660066] [<809eda64>] (dump_backtrace) from [<809eddf4>] (show_stack+0x20/0x24)
[ 3470.660076]  r7:ffffffff r6:00000000 r5:60000013 r4:80ee5e14
[ 3470.660085] [<809eddd4>] (show_stack) from [<809f1fa0>] (dump_stack+0xcc/0xf8)
[ 3470.660096] [<809f1ed4>] (dump_stack) from [<8011ed1c>] (__warn+0xfc/0x114)
[ 3470.660104]  r10:940edef8 r9:00000009 r8:8082a498 r7:000000ea r6:00000009 r5:8082a498
[ 3470.660109]  r4:80c6c918 r3:80e05050
[ 3470.660117] [<8011ec20>] (__warn) from [<809ee474>] (warn_slowpath_fmt+0xa4/0xd8)
[ 3470.660124]  r7:000000ea r6:80c6c918 r5:80e05008 r4:80c6c9b0
[ 3470.660134] [<809ee3d4>] (warn_slowpath_fmt) from [<8082a498>] (get_throttled_show+0x6c/0x70)
[ 3470.660142]  r9:86fa7b80 r8:816ab610 r7:b45de000 r6:80a48aa4 r5:815b7e40 r4:b45de000
[ 3470.660154] [<8082a42c>] (get_throttled_show) from [<80708abc>] (dev_attr_show+0x28/0x54)
[ 3470.660159]  r5:80f14c48 r4:814ddb40
[ 3470.660172] [<80708a94>] (dev_attr_show) from [<803ea29c>] (sysfs_kf_seq_show+0x98/0x100)
[ 3470.660178]  r5:00001000 r4:814ddb40
[ 3470.660186] [<803ea204>] (sysfs_kf_seq_show) from [<803e8314>] (kernfs_seq_show+0x34/0x38)
[ 3470.660194]  r9:814ddb58 r8:00000000 r7:00000001 r6:00400cc0 r5:00001000 r4:814ddb40
[ 3470.660204] [<803e82e0>] (kernfs_seq_show) from [<8035f56c>] (seq_read_iter+0x188/0x4d4)
[ 3470.660211] [<8035f3e4>] (seq_read_iter) from [<803e8990>] (kernfs_fop_read_iter+0x140/0x188)
[ 3470.660219]  r10:940edee0 r9:00000000 r8:00000000 r7:940edef8 r6:00001000 r5:8553ecc0
[ 3470.660223]  r4:86fa7b80
[ 3470.660234] [<803e8850>] (kernfs_fop_read_iter) from [<8033286c>] (vfs_read+0x218/0x344)
[ 3470.660242]  r10:940edf58 r9:00000000 r8:00000000 r7:80e05008 r6:00001000 r5:8553ecc0
[ 3470.660246]  r4:00000000
[ 3470.660255] [<80332654>] (vfs_read) from [<80332e64>] (ksys_read+0x68/0xe0)
[ 3470.660263]  r10:00001000 r9:76a00ac0 r8:8553ecc0 r7:00000000 r6:00000000 r5:8553ecc3
[ 3470.660267]  r4:80e05008
[ 3470.660276] [<80332dfc>] (ksys_read) from [<80332ef4>] (sys_read+0x18/0x1c)
[ 3470.660284]  r10:00000003 r9:940ec000 r8:80100204 r7:00000003 r6:76d6a590 r5:76a00ac0
[ 3470.660289]  r4:00001000
[ 3470.660298] [<80332edc>] (sys_read) from [<80100040>] (ret_fast_syscall+0x0/0x28)
[ 3470.660303] Exception stack(0x940edfa8 to 0x940edff0)
[ 3470.660311] dfa0:                   00001000 76a00ac0 00000021 76a00ac0 00001000 00000000
[ 3470.660319] dfc0: 00001000 76a00ac0 76d6a590 00000003 00000000 00001000 00001000 00000000
[ 3470.660324] dfe0: 00000003 76d69898 76ef35b9 76ef5676
[ 3470.660330] ---[ end trace 2eca7c32112d51f8 ]---

we should log the output of our routers...

Definitely

joaoantoniocardoso · 2023-09-05T16:37:22Z

The dmesg shows the following, which happened some time after I started the MAVP2P, but I don't know if there's any relationship with it.

Nope, that dmesg message is unrelated.

Williangalvani · 2023-09-13T16:54:52Z

I think we should get this is in for more testing. it won't be easily enabled anyway...

patrickelectric · 2023-09-13T17:04:31Z

Just rebased over master, will test to see if everything is correct before merging

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

… valid routers Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

patrickelectric force-pushed the mavp2p branch 4 times, most recently from 3be4311 to 296ff55 Compare August 28, 2023 21:31

patrickelectric force-pushed the mavp2p branch 11 times, most recently from a4e47f2 to 0c95e29 Compare August 30, 2023 01:32

patrickelectric requested review from Williangalvani, joaoantoniocardoso and rafaellehmkuhl September 2, 2023 11:58

patrickelectric marked this pull request as ready for review September 2, 2023 11:58

Williangalvani approved these changes Sep 5, 2023

View reviewed changes

patrickelectric force-pushed the mavp2p branch from 0c95e29 to ce26eb4 Compare September 13, 2023 17:04

patrickelectric force-pushed the mavp2p branch 2 times, most recently from 140b768 to 94beeb8 Compare September 13, 2023 17:19

patrickelectric added 9 commits September 13, 2023 15:10

core: tools: mavp2p: Add first version

07e6888

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: services: ardupilot_manager: mavlink_proxy: Add MAVP2P

1315879

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: services: ardupilot_manager: mavlink_proxy: Add MAVP2P test

159bd78

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: tools: install-static-binaries: Add mavp2p

6d97c6f

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: services: ardupilot_manager: AbstractRouter: Add debug messages

20da36b

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: services: ardupilot_manager: mavlink_proxy: Register MAVP2P

2cdd324

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: services: ardupilot_manager: AbstractRouter: Fix validation for…

f5dfde7

… valid routers Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

ci: action: Install mavp2p to run tests

65299cb

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

core: Dockerfile: Update to add mavp2p

ca2aadf

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

patrickelectric force-pushed the mavp2p branch from df3f1db to ca2aadf Compare September 13, 2023 18:10

patrickelectric merged commit bbb9c13 into bluerobotics:master Sep 13, 2023
5 checks passed

patrickelectric deleted the mavp2p branch September 13, 2023 18:45

patrickelectric mentioned this pull request Sep 13, 2023

mavp2p fails with pixhawk #2102

Open

ES-Alexander mentioned this pull request Oct 11, 2023

core: ardupilot-manager: Investigate mavp2p as an alternative for mavproxy and mavlink-router #859

Open

patrickelectric mentioned this pull request Mar 22, 2024

ardupilot-manager: Allow users to choose toggle between MavlinkRouter and MavProxy #481

Closed

ES-Alexander added the docs-needed Change needs to be documented label Apr 4, 2024

ES-Alexander mentioned this pull request Apr 4, 2024

[BlueOS] Update docs to match latest state (1.1 / 1.2) bluerobotics/ardusub-zola#151

Merged

16 tasks

ES-Alexander added docs-complete Change documentation has been completed and removed docs-needed Change needs to be documented labels Apr 17, 2024

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

core: tools: mavp2p: Add first version #2072

core: tools: mavp2p: Add first version #2072

patrickelectric commented Aug 28, 2023 •

edited

Williangalvani commented Aug 28, 2023

joaoantoniocardoso commented Sep 4, 2023

Williangalvani commented Sep 4, 2023

Williangalvani left a comment

Williangalvani Sep 5, 2023

Williangalvani Sep 5, 2023

Williangalvani Sep 5, 2023

Williangalvani Sep 5, 2023

joaoantoniocardoso commented Sep 5, 2023

Williangalvani commented Sep 5, 2023

joaoantoniocardoso commented Sep 5, 2023

joaoantoniocardoso commented Sep 5, 2023

Williangalvani commented Sep 13, 2023

patrickelectric commented Sep 13, 2023

core: tools: mavp2p: Add first version #2072

core: tools: mavp2p: Add first version #2072

Conversation

patrickelectric commented Aug 28, 2023 • edited

Williangalvani commented Aug 28, 2023

joaoantoniocardoso commented Sep 4, 2023

Williangalvani commented Sep 4, 2023

Williangalvani left a comment

Choose a reason for hiding this comment

Williangalvani Sep 5, 2023

Choose a reason for hiding this comment

Williangalvani Sep 5, 2023

Choose a reason for hiding this comment

Williangalvani Sep 5, 2023

Choose a reason for hiding this comment

Williangalvani Sep 5, 2023

Choose a reason for hiding this comment

joaoantoniocardoso commented Sep 5, 2023

Williangalvani commented Sep 5, 2023

joaoantoniocardoso commented Sep 5, 2023

joaoantoniocardoso commented Sep 5, 2023

Williangalvani commented Sep 13, 2023

patrickelectric commented Sep 13, 2023

patrickelectric commented Aug 28, 2023 •

edited