Adding Websocket Server for telemetry and status

MAVProxy/mavproxy.py

@@ -1202,7 +1202,7 @@ def set_mav_version(mav10, mav20, autoProtocol, mavversionArg):
     parser.add_option("--profile", action='store_true', help="run the Yappi python profiler")
     parser.add_option("--state-basedir", default=None, help="base directory for logs and aircraft directories")
     parser.add_option("--version", action='store_true', help="version information")
-    parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout", help='default module list')
+    parser.add_option("--default-modules", default="log,signing,wp,rally,fence,ftp,param,relay,tuneopt,arm,mode,calibration,rc,auxopt,misc,cmdlong,battery,terrain,output,adsb,layout,webserver", help='default module list')
 
     (opts, args) = parser.parse_args()
     if len(args) != 0:

MAVProxy/modules/mavproxy_webserver/__init__.py

@@ -0,0 +1,65 @@
+"""
+Server for serving data to the frontend GCS. Websocket communication to send
+telemetry data and support different routes.
+"""
+import asyncio
+import websockets
+from threading import Thread
+import time
+import json
+from collections import namedtuple
+
+from MAVProxy.modules.lib import mp_module
+
+messages = []
+
+async def producer_handler(websocket, path):
+    print("Initiated Websocket Connection.")
+    while True:
+        try:
+            if len(messages) > 0:
+                message = messages.pop()
+                await websocket.send(json.dumps(message))
+        except:
+            print("Closed Websocket Connection.")
+            break
+
+def start_loop(loop, server):
+    loop.run_until_complete(server)
+    loop.run_forever()
+
+class WebServerModule(mp_module.MPModule):
+    def __init__(self, mpstate):
+        super(WebServerModule, self).__init__(mpstate, "webserver")
+        self.mpstate = mpstate
+
+        self.GPS_INT = namedtuple('GlobalPositionInt', ['time', 'rel_alt', 'asl_alt', 'lat', 'lon', 'heading', 'groundvx', 'groundvy', 'groundvz'])
+        self.global_position_int = self.GPS_INT(0, 0, 0, 0, 0, 0, 0, 0, 0)
+
+        new_loop = asyncio.new_event_loop()
+        start_server = websockets.serve(producer_handler, "localhost", 5000 ,loop=new_loop)
+        t = Thread(target=start_loop, args=(new_loop, start_server))
+        t.start()
+
+    def handle_gps_int(self, msg):
+        self.global_position_int = self.GPS_INT(
+            int(time.time()),                  # seconds
+            float(msg.relative_alt) / 1000,    # meters
+            float(msg.alt) / 1000,             # meters
+            float(msg.lat) / pow(10, 7),       # decimal
+            float(msg.lon) / pow(10, 7),       # decimal
+            msg.hdg / float(100),              # degrees
+            msg.vx / float(100),               # m/s
+            msg.vy / float(100),               # m/s
+            msg.vz / float(100)                # m/s
+        )
+        messages.append({"gps": self.global_position_int._asdict()})
+
+    def mavlink_packet(self, msg):
+        msgt = msg.get_type()
+        if msgt == "GLOBAL_POSITION_INT":
+            self.handle_gps_int(msg)
+
+
+def init(mpstate):
+    return WebServerModule(mpstate)