Add Example of MAVLink Proxy Using MavlinkPassthrough Plugin #2467
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| queue_cvs[PX4_NAME] = std::make_unique<std::condition_variable>(); | ||
| queue_cvs[QGC_NAME] = std::make_unique<std::condition_variable>(); | ||
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| for (uint16_t msg_id = 0; msg_id < 500; ++msg_id) { |
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Are you sure that you want to subscribe 500 times? Shouldn't you subscribe just once for each? 🤔
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Hm, and why 500? That seems somewhat arbitrary, as message IDs go up to 43000, with mostly gaps in-between.
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If we want to enable this, should we maybe have something like a subscribe_all_messages in passthrough?
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As a Proxy, the correct thing to do is to subscribe to all message IDs. So a subscribe_all_messages might help. Another option is to create a list of message ID constants. I even went as far as manually importing the ID constants into a list. However, I'm open to suggestions.
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Oh, I see the problem.
I see that Mavsdk::intercept_messages_async offers that but MavlinkPassthrough does not. It would probably be a good idea to add that.
| // Thread-safe logging | ||
| void log_message(const std::string& level, const std::string& message) { | ||
| static std::mutex log_mutex; | ||
| std::lock_guard<std::mutex> lock(log_mutex); | ||
| std::cout << "[" << level << "] " << message << std::endl; | ||
| } |
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Maybe we should actually do this within MAVSDK, right?
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How can to do this with MAVSDK ? Is there a function to this ?
| queue_cvs[PX4_NAME] = std::make_unique<std::condition_variable>(); | ||
| queue_cvs[QGC_NAME] = std::make_unique<std::condition_variable>(); | ||
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| for (uint16_t msg_id = 0; msg_id < 500; ++msg_id) { |
There was a problem hiding this comment.
Hm, and why 500? That seems somewhat arbitrary, as message IDs go up to 43000, with mostly gaps in-between.
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Thanks for the changes and comment on the top. Out of curiosity, what is the use case for queuing? Like why do you need archived messages? Are the momentary ones not enough? |
This pull request introduces an example demonstrating how to implement a MAVLink proxy using the MAVSDK
MavlinkPassthroughplugin. The proxy facilitates communication between two MAVLink components (e.g., PX4 and QGroundControl) by intercepting and forwarding messages.Key Features
Use Cases
Execution Command
To run the example, use the following command:
Important Note: To avoid conflicts, the PX4 SITL instance must not run on the default port
14550. Adjust the PX4 configuration to use a different port (e.g.,14050in this example).