core: ardupilot-manager: Add support for UDP Server endpoints on Mavl…

…inkRouter
bluerobotics · May 19, 2021 · 2515366 · 2515366
1 parent 6dff6f2
commit 2515366
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Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py b/core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py
@@ -29,6 +29,8 @@ def convert_endpoint(endpoint: Endpoint) -> str:
                 return f"--tcp-port {endpoint.argument}"
             if endpoint.connection_type == EndpointType.TCPClient:
                 return f"--tcp-endpoint {endpoint.place}:{endpoint.argument}"
+            if endpoint.connection_type == EndpointType.UDPServer:
+                return f"{endpoint.place}:{endpoint.argument}"
             if endpoint.connection_type == EndpointType.UDPClient:
                 return f"--endpoint {endpoint.place}:{endpoint.argument}"
             raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MavlinkRouter.")
@@ -61,6 +63,7 @@ def binary_name() -> str:
     def _validate_endpoint(endpoint: Endpoint) -> None:
         valid_connection_types = [
             EndpointType.UDPClient,
+            EndpointType.UDPServer,
             EndpointType.TCPServer,
             EndpointType.TCPClient,
         ]

diff --git a/core/services/ardupilot_manager/mavlink_proxy/test_all.py b/core/services/ardupilot_manager/mavlink_proxy/test_all.py
@@ -113,7 +113,12 @@ def test_mavlink_router(valid_output_endpoints: Set[Endpoint], valid_master_endp
     assert mavlink_router.name() == "MAVLinkRouter", "Name does not match."
     assert re.search(r"\d+", str(mavlink_router.version())) is not None, "Version does not follow pattern."
 
-    allowed_output_types = [EndpointType.UDPClient, EndpointType.TCPServer, EndpointType.TCPClient]
+    allowed_output_types = [
+        EndpointType.UDPServer, 
+        EndpointType.UDPClient, 
+        EndpointType.TCPServer, 
+        EndpointType.TCPClient
+    ]
     allowed_master_types = [EndpointType.UDPServer, EndpointType.Serial, EndpointType.TCPServer]
     run_common_routing_tests(
         mavlink_router, allowed_output_types, allowed_master_types, valid_output_endpoints, valid_master_endpoints