plexus-python 0.1.0__py3-none-any.whl

plexus/adapters/mavlink_detect.py

@@ -0,0 +1,192 @@
+"""
+MAVLink auto-detection.
+
+Scans for MAVLink-capable connections: UDP ports, serial flight controllers,
+and TCP endpoints.
+
+Usage:
+    from plexus.adapters.mavlink_detect import scan_mavlink
+
+    connections = scan_mavlink()
+    for conn in connections:
+        print(f"{conn.connection_string} ({conn.transport})")
+"""
+
+import glob
+import logging
+import os
+import socket
+from dataclasses import dataclass
+from typing import List
+
+logger = logging.getLogger(__name__)
+
+# Common MAVLink UDP ports
+MAVLINK_UDP_PORTS = [14550, 14551]
+
+# Common MAVLink TCP ports (SITL, companion computers)
+MAVLINK_TCP_PORTS = [5760, 5762]
+
+# Known flight controller USB vendor IDs
+FC_USB_VIDS = {
+    "2dae": "Holybro (Pixhawk)",
+    "1209": "ArduPilot / Generic FC",
+    "26ac": "3DR (Pixhawk 1)",
+    "0483": "STMicro (many FCs)",
+    "1fc9": "NXP (FMUK66)",
+    "3162": "CubePilot",
+}
+
+
+@dataclass
+class DetectedMAVLink:
+    """Information about a detected MAVLink connection."""
+    connection_string: str
+    transport: str       # "udp", "tcp", "serial"
+    description: str
+    is_available: bool   # True if the connection was verified
+
+
+def _scan_udp() -> List[DetectedMAVLink]:
+    """Scan for MAVLink UDP listeners on standard ports."""
+    detected = []
+
+    for port in MAVLINK_UDP_PORTS:
+        sock = None
+        try:
+            sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+            sock.settimeout(0.1)
+            sock.bind(("0.0.0.0", port))
+            # Port is free — no one is sending here yet, but it's available
+            detected.append(DetectedMAVLink(
+                connection_string=f"udpin:0.0.0.0:{port}",
+                transport="udp",
+                description=f"UDP port {port} (available to listen)",
+                is_available=True,
+            ))
+        except OSError:
+            # Port in use — something may already be sending MAVLink here
+            detected.append(DetectedMAVLink(
+                connection_string=f"udpin:0.0.0.0:{port}",
+                transport="udp",
+                description=f"UDP port {port} (in use — possible MAVLink source)",
+                is_available=True,
+            ))
+        finally:
+            if sock:
+                sock.close()
+
+    return detected
+
+
+def _scan_tcp() -> List[DetectedMAVLink]:
+    """Scan for MAVLink TCP endpoints on localhost."""
+    detected = []
+
+    for port in MAVLINK_TCP_PORTS:
+        sock = None
+        try:
+            sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            sock.settimeout(0.5)
+            result = sock.connect_ex(("127.0.0.1", port))
+            if result == 0:
+                detected.append(DetectedMAVLink(
+                    connection_string=f"tcp:127.0.0.1:{port}",
+                    transport="tcp",
+                    description=f"TCP port {port} (SITL or companion)",
+                    is_available=True,
+                ))
+        except (OSError, socket.error):
+            pass
+        finally:
+            if sock:
+                sock.close()
+
+    return detected
+
+
+def _scan_serial() -> List[DetectedMAVLink]:
+    """Scan serial ports for known flight controller USB VIDs."""
+    detected = []
+
+    # Check /sys/bus/usb for known FC vendor IDs (Linux)
+    usb_path = "/sys/bus/usb/devices"
+    fc_serial_paths = set()
+
+    if os.path.isdir(usb_path):
+        try:
+            for entry in os.listdir(usb_path):
+                vid_path = os.path.join(usb_path, entry, "idVendor")
+                try:
+                    with open(vid_path, "r") as f:
+                        vid = f.read().strip().lower()
+                except (OSError, IOError):
+                    continue
+
+                if vid in FC_USB_VIDS:
+                    # Look for tty sub-device
+                    dev_dir = os.path.join(usb_path, entry)
+                    for tty in glob.glob(os.path.join(dev_dir, "**", "tty", "tty*"), recursive=True):
+                        tty_name = os.path.basename(tty)
+                        dev_path = f"/dev/{tty_name}"
+                        if os.path.exists(dev_path):
+                            fc_serial_paths.add((dev_path, FC_USB_VIDS[vid]))
+        except OSError:
+            pass
+
+    for dev_path, fc_name in sorted(fc_serial_paths):
+        detected.append(DetectedMAVLink(
+            connection_string=dev_path,
+            transport="serial",
+            description=f"Flight controller: {fc_name}",
+            is_available=True,
+        ))
+
+    # Fallback: check common serial paths for FC-like devices
+    if not detected:
+        fc_patterns = ["/dev/ttyACM*", "/dev/ttyUSB*"]
+        for pattern in fc_patterns:
+            for device_path in sorted(glob.glob(pattern)):
+                detected.append(DetectedMAVLink(
+                    connection_string=device_path,
+                    transport="serial",
+                    description="Serial port (possible flight controller)",
+                    is_available=False,  # Not verified
+                ))
+
+    return detected
+
+
+def scan_mavlink() -> List[DetectedMAVLink]:
+    """
+    Scan for MAVLink connections on the system.
+
+    Checks:
+    1. UDP ports 14550, 14551
+    2. TCP ports 5760, 5762 on localhost
+    3. Serial ports with known flight controller USB VIDs
+
+    Returns:
+        List of detected MAVLink connections
+    """
+    detected = []
+
+    # UDP ports
+    try:
+        detected.extend(_scan_udp())
+    except Exception as e:
+        logger.debug(f"Error scanning MAVLink UDP ports: {e}")
+
+    # TCP ports
+    try:
+        detected.extend(_scan_tcp())
+    except Exception as e:
+        logger.debug(f"Error scanning MAVLink TCP ports: {e}")
+
+    # Serial ports
+    try:
+        detected.extend(_scan_serial())
+    except Exception as e:
+        logger.debug(f"Error scanning MAVLink serial ports: {e}")
+
+    return detected