Add MAVLinkServer

core/Dockerfile

@@ -87,6 +87,7 @@ COPY --from=downloadBinaries \
     /usr/bin/machineid-cli \
     /usr/bin/mavlink2rest \
     /usr/bin/mavlink-routerd \
+    /usr/bin/mavlink-server \
     /usr/bin/mavp2p \
     /usr/bin/ttyd \
     /usr/bin/

core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py

@@ -0,0 +1,69 @@
+import re
+import subprocess
+from typing import Optional
+
+from mavlink_proxy.AbstractRouter import AbstractRouter
+from mavlink_proxy.Endpoint import Endpoint
+from typedefs import EndpointType
+
+
+class MAVLinkServer(AbstractRouter):
+    def __init__(self) -> None:
+        super().__init__()
+
+    def _get_version(self) -> Optional[str]:
+        binary = self.binary()
+        assert binary is not None
+        for line in subprocess.check_output([binary, "--version"]).decode("utf-8").split("\n"):
+            regex = re.search(r"mavlink-server (?P<version>\S+)\b", line)
+            if regex:
+                return regex.group("version")
+
+        return None
+
+    def assemble_command(self, master_endpoint: Endpoint) -> str:
+        # Convert endpoint format to mavlink-router format
+        def convert_endpoint(endpoint: Endpoint) -> str:
+            if endpoint.connection_type == EndpointType.Serial:
+                return f"serial:{endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.TCPServer:
+                return f"tcps:{endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.TCPClient:
+                return f"tcpc:{endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.UDPServer:
+                return f"udps:{endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.UDPClient:
+                return f"udpc:{endpoint.place}:{endpoint.argument}"
+            raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
+
+        endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *self.endpoints()]])
+
+        return f"{self.binary()} {endpoints}"
+
+    @staticmethod
+    def name() -> str:
+        return "MAVLink-Server"
+
+    @staticmethod
+    def binary_name() -> str:
+        return "mavlink-server"
+
+    @staticmethod
+    def _validate_endpoint(endpoint: Endpoint) -> None:
+        valid_connection_types = [
+            EndpointType.UDPClient,
+            EndpointType.UDPServer,
+            EndpointType.TCPServer,
+            EndpointType.TCPClient,
+            EndpointType.Serial,
+        ]
+        if endpoint.connection_type not in valid_connection_types:
+            raise ValueError(f"Connection_type '{endpoint.connection_type}' not supported by {MAVLinkServer.name()}.")
+
+    @staticmethod
+    def is_ok() -> bool:
+        try:
+            router = MAVLinkServer()
+            return router.binary() is not None and router.version() is not None
+        except Exception as _:
+            return False

core/services/ardupilot_manager/mavlink_proxy/Manager.py

@@ -7,6 +7,7 @@
 # Plugins
 # pylint: disable=unused-import
 import mavlink_proxy.MAVLinkRouter
+import mavlink_proxy.MAVLinkServer
 import mavlink_proxy.MAVP2P
 import mavlink_proxy.MAVProxy
 from exceptions import (

core/tools/install-static-binaries.sh

@@ -12,6 +12,7 @@ TOOLS=(
     machineid
     mavlink2rest
     mavlink_router
+    mavlink_server
     mavp2p
     ttyd
 )

core/tools/mavlink_server/bootstrap.sh

@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+
+# Immediately exit on errors
+set -e
+
+VERSION="master"
+PROJECT_NAME="mavlink-server"
+REPOSITORY_ORG="bluerobotics"
+REPOSITORY_NAME="$PROJECT_NAME"
+REPOSITORY_URL="https://github.com/$REPOSITORY_ORG/$REPOSITORY_NAME"
+
+echo "Installing project $PROJECT_NAME version $VERSION"
+
+# Step 1: Prepare the download URL
+
+ARCH="$(uname -m)"
+case "$ARCH" in
+  x86_64 | amd64)
+    BUILD_NAME="x86_64-unknown-linux-musl"
+    ;;
+  armv7l | armhf)
+    BUILD_NAME="armv7-unknown-linux-musleabihf"
+    ;;
+  aarch64 | arm64)
+    BUILD_NAME="aarch64-unknown-linux-musl"
+    ;;
+  *)
+    echo "Architecture: $ARCH is unsupported, please create a new issue on https://github.com/bluerobotics/BlueOS/issues"
+    exit 1
+    ;;
+esac
+ARTIFACT_NAME="$PROJECT_NAME-$BUILD_NAME"
+echo "For architecture $ARCH, using build $BUILD_NAME"
+
+REMOTE_URL="$REPOSITORY_URL/releases/download/$VERSION/$ARTIFACT_NAME"
+echo "Remote URL is $REMOTE_URL"
+
+# Step 2: Prepare the installation path
+
+if [ -n "$VIRTUAL_ENV" ]; then
+    BIN_DIR="$VIRTUAL_ENV/bin"
+else
+    BIN_DIR="/usr/bin"
+fi
+mkdir -p "$BIN_DIR"
+
+BINARY_PATH="$BIN_DIR/$PROJECT_NAME"
+echo "Installing to $BINARY_PATH"
+
+# Step 3: Download and install
+
+wget -q "$REMOTE_URL" -O "$BINARY_PATH"
+chmod +x "$BINARY_PATH"
+
+echo "Installed binary type: $(file "$(which "$BINARY_PATH")")"
+
+echo "Finished installing $PROJECT_NAME"