majal-edge 0.1.0__tar.gz

majal_edge-0.1.0/LICENSE

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+
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majal_edge-0.1.0/NOTICE

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+majal-edge
+Copyright 2026 ScaleX Innovation
+
+This product is licensed under the Apache License, Version 2.0 (see LICENSE).
+It depends on pymavlink (LGPL-3.0), pyserial (BSD-3-Clause) and paho-mqtt
+(EPL-2.0 / EDL-1.0), which are installed separately and keep their own licences.

majal_edge-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: majal-edge
+Version: 0.1.0
+Summary: Majal edge agent: connects PX4 and ArduPilot drones to the Majal UTM platform by ScaleX Innovation
+Author-email: ScaleX Innovation <support@scalexi.ai>
+License: Apache-2.0
+Project-URL: Homepage, https://scalexi.ai
+Keywords: UTM,drone,MAVLink,PX4,ArduPilot,telemetry,Majal
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering
+Classifier: Environment :: No Input/Output (Daemon)
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: pymavlink<3,>=2.4.41
+Requires-Dist: pyserial<4,>=3.5
+Requires-Dist: paho-mqtt<3,>=2.1
+Dynamic: license-file
+
+# majal-edge
+
+Connects a PX4 or ArduPilot drone to **Majal**, the UAS traffic management (UTM) platform by
+[ScaleX Innovation](https://scalexi.ai). It runs on the drone's companion computer (Raspberry Pi,
+Jetson, …) or on a ground laptop with a telemetry radio, and sends the vehicle's live MAVLink 2
+telemetry to Majal over MQTT with TLS.
+
+## Connect a drone
+
+1. In Majal, open **Fleet**, choose the aircraft and click **Connect**. You get a one-time code,
+   valid for 15 minutes.
+2. On the companion computer, wired to the flight controller (TELEM2 or USB):
+
+```bash
+pip install majal-edge
+sudo majal-edge enroll https://<your-majal-address> ABCD-2345
+sudo majal-edge install-service        # start now and on every boot (Linux / systemd)
+```
+
+The aircraft appears on the live map once the autopilot has a position fix.
+
+## What it does
+
+- **Finds the flight controller**: USB flight controllers (Pixhawk, Cube, Holybro, CUAV, …), the
+  companion computer's UART (`/dev/serial0`, `/dev/ttyAMA0`, `/dev/ttyTHS1`) at 921600 / 57600 /
+  115200 baud, then MAVLink UDP 14540 / 14550. It only listens while probing.
+  `majal-edge detect` shows what it finds; `enroll --autopilot /dev/ttyACM0` skips detection.
+- **Gets its identity from the server**: the code is exchanged over HTTPS for a device id and a
+  broker login that belong to this device only. The device id, not the MAVLink system id,
+  identifies the aircraft, so drones left on system id 1 never collide.
+- **Sends telemetry only**: position, altitude, speed, heading, battery, mode and armed state
+  (requested at 4 Hz / 1 Hz to save mobile data). Nothing from the platform is forwarded to the
+  autopilot.
+- **Handles weak links**: reconnects by itself; while offline, telemetry is dropped rather than
+  queued, because a stale position is worse than a gap.
+
+## Security
+
+- Enrollment needs `https://` (plain `http://` only for local / private test addresses or with
+  `--allow-http`). Codes are single-use and expire after 15 minutes.
+- The broker login can only publish this device's own telemetry topic. It can be revoked from
+  the Fleet page at any time, which disconnects the device immediately.
+- The configuration file holding the login is readable by its owner only
+  (`/etc/majal-edge/config.json` as root, otherwise `~/.config/majal-edge/config.json`). The
+  systemd service runs as an unprivileged `majal-edge` user with the `dialout` group.
+
+## Commands
+
+| Command | |
+|---|---|
+| `majal-edge enroll <server> <code>` | redeem the code from Fleet → Connect |
+| `majal-edge run` | forward telemetry (what the service runs) |
+| `sudo majal-edge install-service` | install and start the systemd service |
+| `majal-edge detect` | find the flight controller |
+| `majal-edge status` | show the configuration and test the broker login |
+
+Requires Python 3.9+. Licensed under Apache 2.0. © ScaleX Innovation. Support: support@scalexi.ai

majal_edge-0.1.0/PYPI.md

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+# majal-edge
+
+Connects a PX4 or ArduPilot drone to **Majal**, the UAS traffic management (UTM) platform by
+[ScaleX Innovation](https://scalexi.ai). It runs on the drone's companion computer (Raspberry Pi,
+Jetson, …) or on a ground laptop with a telemetry radio, and sends the vehicle's live MAVLink 2
+telemetry to Majal over MQTT with TLS.
+
+## Connect a drone
+
+1. In Majal, open **Fleet**, choose the aircraft and click **Connect**. You get a one-time code,
+   valid for 15 minutes.
+2. On the companion computer, wired to the flight controller (TELEM2 or USB):
+
+```bash
+pip install majal-edge
+sudo majal-edge enroll https://<your-majal-address> ABCD-2345
+sudo majal-edge install-service        # start now and on every boot (Linux / systemd)
+```
+
+The aircraft appears on the live map once the autopilot has a position fix.
+
+## What it does
+
+- **Finds the flight controller**: USB flight controllers (Pixhawk, Cube, Holybro, CUAV, …), the
+  companion computer's UART (`/dev/serial0`, `/dev/ttyAMA0`, `/dev/ttyTHS1`) at 921600 / 57600 /
+  115200 baud, then MAVLink UDP 14540 / 14550. It only listens while probing.
+  `majal-edge detect` shows what it finds; `enroll --autopilot /dev/ttyACM0` skips detection.
+- **Gets its identity from the server**: the code is exchanged over HTTPS for a device id and a
+  broker login that belong to this device only. The device id, not the MAVLink system id,
+  identifies the aircraft, so drones left on system id 1 never collide.
+- **Sends telemetry only**: position, altitude, speed, heading, battery, mode and armed state
+  (requested at 4 Hz / 1 Hz to save mobile data). Nothing from the platform is forwarded to the
+  autopilot.
+- **Handles weak links**: reconnects by itself; while offline, telemetry is dropped rather than
+  queued, because a stale position is worse than a gap.
+
+## Security
+
+- Enrollment needs `https://` (plain `http://` only for local / private test addresses or with
+  `--allow-http`). Codes are single-use and expire after 15 minutes.
+- The broker login can only publish this device's own telemetry topic. It can be revoked from
+  the Fleet page at any time, which disconnects the device immediately.
+- The configuration file holding the login is readable by its owner only
+  (`/etc/majal-edge/config.json` as root, otherwise `~/.config/majal-edge/config.json`). The
+  systemd service runs as an unprivileged `majal-edge` user with the `dialout` group.
+
+## Commands
+
+| Command | |
+|---|---|
+| `majal-edge enroll <server> <code>` | redeem the code from Fleet → Connect |
+| `majal-edge run` | forward telemetry (what the service runs) |
+| `sudo majal-edge install-service` | install and start the systemd service |
+| `majal-edge detect` | find the flight controller |
+| `majal-edge status` | show the configuration and test the broker login |
+
+Requires Python 3.9+. Licensed under Apache 2.0. © ScaleX Innovation. Support: support@scalexi.ai

majal_edge-0.1.0/README.md

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+# majal-edge — edge agent and bridge
+
+Forwards a vehicle's MAVLink telemetry to the UTM. One small Python package
+([`majal-edge` on PyPI](https://pypi.org/project/majal-edge/)), the same in simulation and on a
+real drone.
+
+**Customers: plug and play.** Fleet → *Connect* on the aircraft gives a one-time code, then on the
+companion computer:
+
+```bash
+pip install majal-edge
+sudo majal-edge enroll https://<majal-host> ABCD-2345   # finds the autopilot, gets its own login
+sudo majal-edge install-service                         # systemd, starts on boot
+```
+
+The server assigns the device id (`edge-…`), which identifies the aircraft (`edge_bridge:<device_id>`),
+so the MAVLink system id does not matter. User guide: `PYPI.md`. Release: bump
+`majal_edge/__version__`, `python -m build`, `twine upload dist/*`.
+
+**Developers / operators: the bridge on its own** (`python -m majal_edge.bridge`, configured by
+environment variables). Two uplinks, chosen by `EDGE_UTM`:
+
+| Uplink | `EDGE_UTM` | Use |
+|---|---|---|
+| MQTT over TLS (recommended on the internet) | `mqtts://<utm-host>:8883` | Drone on 4G/LTE. Own broker login per drone, TLS, reconnects by itself |
+| MQTT, plain | `mqtt://rabbitmq:1883` | Inside the stack's network only (the SITL drones use this) |
+| UDP | `udpout:<utm-host>:14560` | LAN, or the internet inside a VPN (no encryption or login of its own) |
+
+| Where | `EDGE_AUTOPILOT` |
+|---|---|
+| SITL container (compose profile `sitl`) | `udpin:0.0.0.0:14540` |
+| Companion computer wired to a Pixhawk (TELEM2) | `/dev/ttyAMA0` + `EDGE_BAUD=921600` |
+| Laptop with a SiK telemetry radio | `/dev/ttyUSB0` + `EDGE_BAUD=57600` |
+
+## A drone over the internet without enrollment (MQTT, manual login)
+
+1. On the UTM host, create the drone's broker login (prints the four settings below once):
+   `scripts/setup/edge-device.sh add <device-id>`. Revoke with `remove`; the drone is cut off at once.
+2. The broker needs the TLS listener: `docker-compose.mqtts.yml` overlay with a certificate in
+   `infra/rabbitmq/certs/` (development: `scripts/setup/mqtt-dev-certs.sh`).
+3. On the companion computer:
+
+```bash
+pip install -r requirements.txt
+EDGE_AUTOPILOT=/dev/ttyAMA0 EDGE_BAUD=921600 \
+EDGE_UTM=mqtts://utm.example.com:8883 EDGE_DEVICE_ID=<device-id> \
+EDGE_MQTT_USERNAME=<device-id> EDGE_MQTT_PASSWORD=<password> \
+python -m majal_edge.bridge
+```
+
+4. Register the aircraft in the Fleet page with its MAVLink system id (connection: MAVLink). The same
+   registration works over UDP or MQTT. Prefer enrollment: manual logins rely on system ids, which
+   collide when two drones keep the factory default.
+
+Frames are published unmodified to `utm/mavlink/<device-id>`, batched every `EDGE_MQTT_BATCH_MS`
+(default 100 ms). While the link is down they are dropped, not queued: a stale position is worse
+than a gap. A drone's login may only publish to its own topic. The gateway also pins each MAVLink
+system id to the first device that sends it, so one drone cannot report as another.
+`EDGE_MQTT_CA` points to a private CA bundle (development certificates); empty uses the system
+trust store.
+
+The bridge is one-way (vehicle → UTM). It requests a small stream set (position 4 Hz, status 1 Hz)
+with `MAV_CMD_SET_MESSAGE_INTERVAL`, which PX4 and ArduPilot both support, and forwards only the
+message types the UTM uses. Nothing from the UTM reaches the autopilot.
+
+## Licence
+
+Apache License 2.0 (`LICENSE`, `NOTICE`). The agent is open source; the Majal cloud service is not.

majal_edge-0.1.0/majal_edge/__init__.py

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+"""Majal edge agent: connects a PX4 / ArduPilot drone to the Majal UTM platform."""
+
+__version__ = "0.1.0"

majal_edge-0.1.0/majal_edge/__main__.py

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+from .cli import main
+
+main()

majal_edge-0.1.0/majal_edge/bridge.py

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+"""
+Majal edge bridge — runs next to the autopilot and forwards its MAVLink to the UTM.
+
+    autopilot (serial / UDP) ──► bridge ──► UTM, over one of two uplinks (EDGE_UTM):
+        udpout:<host>:<port>    raw MAVLink UDP to telemetry-gateway (14550, host 14560 locally);
+                                for a LAN, or the internet inside a VPN
+        mqtts://<host>:8883     MAVLink frames published to utm/mavlink/<EDGE_DEVICE_ID> on the
+        mqtt://<host>:1883      RabbitMQ MQTT plugin, with this drone's own broker login
+                                (EDGE_MQTT_USERNAME / EDGE_MQTT_PASSWORD); TLS for the internet
+
+The same program runs in three places:
+    * SITL       — in the simulator's network namespace (EDGE_AUTOPILOT=udpin:0.0.0.0:14540)
+    * real drone — on a companion computer wired to the flight controller
+                   (EDGE_AUTOPILOT=/dev/ttyAMA0, EDGE_BAUD=921600)
+    * ground     — on a laptop with a telemetry radio (EDGE_AUTOPILOT=/dev/ttyUSB0, EDGE_BAUD=57600)
+
+What it does:
+    1. Asks the autopilot for the streams the UTM needs at a fixed rate (MAV_CMD_SET_MESSAGE_INTERVAL,
+       understood by PX4 and ArduPilot) so the link budget does not depend on autopilot defaults.
+    2. Forwards only those message types, unmodified, so the vehicle's own system id reaches the UTM.
+    3. UDP: re-resolves the UTM host periodically (UDP has no connection to notice a moved endpoint).
+       MQTT: reconnects with back-off; frames produced while the link is down are dropped, not
+       queued (live telemetry: a stale position is worse than a gap). Frames are batched for
+       EDGE_MQTT_BATCH_MS (MAVLink frames are self-delimiting) to save cellular overhead.
+    4. Never forwards anything from the UTM to the autopilot. Uplink (geofence push, return-to-home)
+       is a separate, approved capability (design §uplink) and is not implemented in the bridge.
+"""
+
+from __future__ import annotations
+
+import logging
+import os
+import re
+import ssl
+import time
+from dataclasses import dataclass, field
+from urllib.parse import urlparse
+
+os.environ.setdefault("MAVLINK20", "1")
+from pymavlink import mavutil  # noqa: E402
+
+logger = logging.getLogger("majal_edge.bridge")
+M = mavutil.mavlink
+
+# Message → interval requested from the autopilot (Hz). Kept small for cellular links.
+STREAMS_HZ = {
+    M.MAVLINK_MSG_ID_GLOBAL_POSITION_INT: 4.0,
+    M.MAVLINK_MSG_ID_SYS_STATUS: 1.0,
+    M.MAVLINK_MSG_ID_GPS_RAW_INT: 1.0,
+    M.MAVLINK_MSG_ID_EXTENDED_SYS_STATE: 1.0,
+    M.MAVLINK_MSG_ID_HOME_POSITION: 0.2,
+}
+# Forwarded types: the streams above + identity, events and Remote ID
+FORWARD = {
+    "HEARTBEAT",
+    "GLOBAL_POSITION_INT",
+    "SYS_STATUS",
+    "GPS_RAW_INT",
+    "EXTENDED_SYS_STATE",
+    "HOME_POSITION",
+    "STATUSTEXT",
+    "AUTOPILOT_VERSION",
+    "OPEN_DRONE_ID_BASIC_ID",
+    "OPEN_DRONE_ID_LOCATION",
+    "OPEN_DRONE_ID_SYSTEM",
+    "OPEN_DRONE_ID_OPERATOR_ID",
+}
+DEVICE_ID = re.compile(r"^[A-Za-z0-9_-]{1,64}$")  # MQTT topic level; RabbitMQ maps "." to "/"
+VEHICLE_TYPES_EXCLUDED = {M.MAV_TYPE_GCS, M.MAV_TYPE_ONBOARD_CONTROLLER, M.MAV_TYPE_GIMBAL, M.MAV_TYPE_CAMERA, M.MAV_TYPE_ADSB}
+
+
+@dataclass
+class BridgeConfig:
+    autopilot: str = "udpin:0.0.0.0:14540"
+    baud: int = 57600
+    utm: str = "udpout:telemetry-gateway:14550"
+    resolve_seconds: int = 30
+    stream_request_seconds: int = 10
+    source_system: int = 245  # this bridge's own MAVLink id (onboard computer range)
+    device_id: str = ""  # MQTT: topic utm/mavlink/<device_id>; defaults to the broker username
+    mqtt_username: str = ""
+    mqtt_password: str = ""
+    mqtt_ca: str = ""  # MQTTS: CA bundle for a private CA; empty = system trust store
+    mqtt_batch_ms: int = 100
+
+    @classmethod
+    def from_env(cls) -> "BridgeConfig":
+        username = os.environ.get("EDGE_MQTT_USERNAME", "")
+        return cls(
+            autopilot=os.environ.get("EDGE_AUTOPILOT", cls.autopilot),
+            baud=int(os.environ.get("EDGE_BAUD", cls.baud)),
+            utm=os.environ.get("EDGE_UTM", cls.utm),
+            resolve_seconds=int(os.environ.get("EDGE_RESOLVE_SECONDS", cls.resolve_seconds)),
+            device_id=os.environ.get("EDGE_DEVICE_ID", username),
+            mqtt_username=username,
+            mqtt_password=os.environ.get("EDGE_MQTT_PASSWORD", ""),
+            mqtt_ca=os.environ.get("EDGE_MQTT_CA", ""),
+            mqtt_batch_ms=int(os.environ.get("EDGE_MQTT_BATCH_MS", cls.mqtt_batch_ms)),
+        )
+
+
+@dataclass
+class BridgeStats:
+    received: int = 0
+    forwarded: int = 0
+    dropped: int = 0
+    vehicles: set[int] = field(default_factory=set)
+
+
+def should_forward(msg) -> bool:
+    kind = msg.get_type()
+    if kind not in FORWARD:
+        return False
+    if kind == "HEARTBEAT" and msg.type in VEHICLE_TYPES_EXCLUDED:
+        return False
+    return True
+
+
+def interval_us(rate_hz: float) -> int:
+    return int(1_000_000 / rate_hz)
+
+
+class UdpUplink:
+    """Raw MAVLink over UDP to the telemetry gateway (LAN, or the internet inside a VPN)."""
+
+    def __init__(self, config: BridgeConfig):
+        self.config = config
+        self.conn = self._connect()
+        self.connected_at = time.monotonic()
+
+    def _connect(self):
+        return mavutil.mavlink_connection(self.config.utm, source_system=self.config.source_system, dialect="common")
+
+    def write(self, frame: bytes) -> None:
+        self.conn.write(frame)
+
+    def tick(self) -> None:
+        if time.monotonic() - self.connected_at > self.config.resolve_seconds:
+            self.conn.close()
+            self.conn, self.connected_at = self._connect(), time.monotonic()
+
+    def describe(self) -> str:
+        return self.config.utm
+
+
+class MqttUplink:
+    """MAVLink frames published to the UTM broker (RabbitMQ MQTT plugin), one topic per drone."""
+
+    def __init__(self, config: BridgeConfig):
+        import paho.mqtt.client as mqtt
+
+        url = urlparse(config.utm)
+        if not DEVICE_ID.match(config.device_id):
+            raise SystemExit("EDGE_DEVICE_ID (or EDGE_MQTT_USERNAME) must be 1-64 of A-Z a-z 0-9 _ -")
+        self.topic = f"utm/mavlink/{config.device_id}"
+        self.batch_seconds = config.mqtt_batch_ms / 1000
+        self.buffer = bytearray()
+        self.flushed_at = time.monotonic()
+        self.dropped = 0
+        self.host, self.port = url.hostname, url.port or (8883 if url.scheme == "mqtts" else 1883)
+        self.scheme = url.scheme
+        self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id=f"edge-{config.device_id}", clean_session=True)
+        self.client.username_pw_set(config.mqtt_username or url.username or "", config.mqtt_password or url.password or "")
+        if url.scheme == "mqtts":
+            self.client.tls_set(ca_certs=config.mqtt_ca or None, cert_reqs=ssl.CERT_REQUIRED)
+        self.client.reconnect_delay_set(min_delay=1, max_delay=30)
+        self.client.on_connect = lambda c, u, f, rc, p: logger.info("MQTT %s (%s)", "connected" if not rc.is_failure else "refused", rc)
+        self.client.on_disconnect = lambda c, u, f, rc, p: logger.warning("MQTT disconnected (%s); reconnecting", rc)
+        self.client.connect_async(self.host, self.port, keepalive=30)
+        self.client.loop_start()  # network thread: connects, reconnects with back-off
+
+    def write(self, frame: bytes) -> None:
+        self.buffer += frame
+        self.tick()
+
+    def tick(self) -> None:
+        if not self.buffer or time.monotonic() - self.flushed_at < self.batch_seconds:
+            return
+        if self.client.is_connected():
+            self.client.publish(self.topic, bytes(self.buffer), qos=0)
+        else:
+            self.dropped += 1
+        self.buffer.clear()
+        self.flushed_at = time.monotonic()
+
+    def describe(self) -> str:
+        return f"{self.scheme}://{self.host}:{self.port} {self.topic}"
+
+
+def make_uplink(config: BridgeConfig):
+    return MqttUplink(config) if urlparse(config.utm).scheme in ("mqtt", "mqtts") else UdpUplink(config)
+
+
+class Bridge:
+    def __init__(self, config: BridgeConfig):
+        self.config = config
+        self.stats = BridgeStats()
+        self.autopilot = mavutil.mavlink_connection(
+            config.autopilot, baud=config.baud, source_system=config.source_system,
+            source_component=M.MAV_COMP_ID_ONBOARD_COMPUTER, dialect="common",
+        )
+        self.utm = make_uplink(config)
+        self.last_stream_request: dict[int, float] = {}
+
+    def request_streams(self, sysid: int, compid: int) -> None:
+        """Ask for the UTM stream set; repeated because autopilots forget it after a reboot."""
+        now = time.monotonic()
+        if now - self.last_stream_request.get(sysid, 0) < self.config.stream_request_seconds:
+            return
+        self.last_stream_request[sysid] = now
+        for msg_id, rate in STREAMS_HZ.items():
+            self.autopilot.mav.command_long_send(
+                sysid, compid, M.MAV_CMD_SET_MESSAGE_INTERVAL, 0, msg_id, interval_us(rate), 0, 0, 0, 0, 0
+            )
+
+    def step(self) -> None:
+        msg = self.autopilot.recv_match(blocking=True, timeout=0.1)
+        self.utm.tick()
+        if msg is None or msg.get_type() == "BAD_DATA":
+            return
+        self.stats.received += 1
+        if msg.get_type() == "HEARTBEAT" and msg.type not in VEHICLE_TYPES_EXCLUDED:
+            self.stats.vehicles.add(msg.get_srcSystem())
+            self.request_streams(msg.get_srcSystem(), msg.get_srcComponent())
+        if not should_forward(msg):
+            self.stats.dropped += 1
+            return
+        self.utm.write(msg.get_msgbuf())
+        self.stats.forwarded += 1
+
+    def run(self) -> None:
+        logger.info("Edge bridge %s → %s", self.config.autopilot, self.utm.describe())
+        last_log = time.monotonic()
+        while True:
+            self.step()
+            if time.monotonic() - last_log > 30:
+                last_log = time.monotonic()
+                logger.info(
+                    "vehicles=%s received=%d forwarded=%d dropped=%d uplink_dropped_batches=%d",
+                    sorted(self.stats.vehicles), self.stats.received, self.stats.forwarded, self.stats.dropped,
+                    getattr(self.utm, "dropped", 0),
+                )
+
+
+def main() -> None:
+    logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s %(name)s %(message)s")
+    Bridge(BridgeConfig.from_env()).run()
+
+
+if __name__ == "__main__":
+    main()