rtl uavlink

Stream/RTL_test/MQTT_measure_rtl/utils/protoJson_delayClientA_PUB.py

@@ -55,7 +55,7 @@ class Proto_msg:
             while mid not in cls.client.topic_ack:
                 # TODO: logging
                 print("wait for ack")
-                time.sleep(0.25)
+                time.sleep(0.25)# You can download security extensions from the HiveMQ Marke
             cls.client.topic_ack.remove(mid)
 
 

Stream/RTL_test/uavlink_measrue_rtl/delayClientA_PUB.py

@@ -0,0 +1,77 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_PUB_Config
+from utils.proto_delayClientA_PUB import Proto_msg_from_ros
+import random
+import time
+
+class fakeGps():
+    def __init__(self):
+        self.latitude = 8.0
+        self.longitude = 8.1
+        self.altitude = 8.88
+
+class fake_hdg():
+    def __init__(self):
+        self.data = 1
+
+def init_dataFormat(cfg:Read_PUB_Config):
+    
+    Proto_msg_from_ros.sel = sel
+    Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+
+
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
+    cfg = Read_PUB_Config(FilePath)
+    gps = fakeGps()
+    hdg = fake_hdg()
+
+    # set log
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(stream_formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler.setFormatter(file_formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__UAVLINKSUBPUB__")
+    logger.setLevel(logging.DEBUG)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.debug(cfg)
+
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
+    init_dataFormat(cfg)
+
+
+    while hdg.data <= 100:
+        gps.latitude = random.uniform(10, 100)
+        gps.longitude = random.uniform(10, 100)
+        gps.altitude = random.uniform(10, 100)
+
+        
+        try:
+            # test json
+            Proto_msg_from_ros.callBack_gps(gps)
+            Proto_msg_from_ros.callBack_compass_hdg(hdg)
+            time.sleep(0.5)
+            hdg.data += 1
+        except KeyboardInterrupt as e:
+            sel.write(b'\xf2' + b'......................' + b'\x0d\x2a')
+            readTenByte = sel.read_until(size=5)
+
+            print("End of program")
+            sys.exit()

Stream/RTL_test/uavlink_measrue_rtl/delayClientA_SUB.py

@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_SUB_Config
+from utils.proto_delayClientA_SUB import Proto_msg_to_ros
+import google.protobuf.message
+
+
+def init_dataFormat(cfg:Read_SUB_Config):
+    # ros_namespace="/drone1"
+    # deviceData = b'\xf12222222222222222222222\r\x1a'
+
+    # sel.write(deviceData)
+    # time.sleep(1)
+    # readTenByte = sel.read(size=5)
+    # print(readTenByte)
+
+
+    Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+
+    
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
+    cfg = Read_SUB_Config(FilePath)
+    
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
+    # set log
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(stream_formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler.setFormatter(file_formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__UAVLINKSUB__")
+    logger.setLevel(logging.DEBUG)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.debug(cfg)
+
+    init_dataFormat(cfg)
+ 
+    while True:
+        try:
+            # test json
+            if sel.in_waiting >= 25:
+                readTenByte = sel.read_until(expected= b'\x01\x18', size=25)
+                timeSub = time.perf_counter_ns()
+                Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
+                # time.sleep(3)
+
+        except google.protobuf.message.DecodeError as e:
+            print(readTenByte)
+            print(e)
+
+
+
+
+

Stream/RTL_test/uavlink_measrue_rtl/delayClientB.py

@@ -0,0 +1,76 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_SUB_Config
+from utils.proto_delayClientB_SUB import Proto_msg_to_ros
+import google.protobuf.message
+
+
+def init_dataFormat(cfg:Read_SUB_Config):
+    # ros_namespace="/drone1"
+    # deviceData = b'\xf12222222222222222222222\r\x1a'
+
+    # sel.write(deviceData)
+    # time.sleep(1)
+    # readTenByte = sel.read(size=5)
+    # print(readTenByte)
+
+    Proto_msg_to_ros.sel = sel
+    Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+
+    
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
+    cfg = Read_SUB_Config(FilePath)
+    
+    # set log
+    stream_log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    file_log_format = "%(message)s"
+    file_formatter = logging.Formatter(file_log_format)
+    stream_formatter = logging.Formatter(stream_log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(stream_formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName, mode='w')
+    file_handler.setFormatter(file_formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__UAVLINKSUB__")
+    logger.setLevel(logging.DEBUG)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.debug(cfg)
+    last_packet = None
+    count = 0
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
+    init_dataFormat(cfg)
+ 
+    while True:
+        try:
+            # test json
+            if sel.in_waiting >= 25:
+                readTenByte = sel.read_until(expected= b'\x01\x17', size=25)
+                if readTenByte == last_packet:
+                    count += 1
+                    continue
+                last_packet = readTenByte
+                timeSub = time.perf_counter_ns()
+                Proto_msg_to_ros.on_message_Flight_Information(readTenByte, timeSub)
+        except google.protobuf.message.DecodeError as e:
+            logger.debug(readTenByte)
+            logger.debug(len(readTenByte))
+            logger.debug(e)
+            logger.debug(count)
+
+
+
+
+
+

Stream/RTL_test/uavlink_measrue_rtl/delayData/measureDelay.py

@@ -0,0 +1,72 @@
+import pandas as pd
+import matplotlib.pyplot as plt
+import numpy as np
+import argparse
+import sys
+
+def checkNumberofLines(df, log_name):
+    if df.shape[0] != args.number:
+        print(f"Warning: Number of lines in the log file {log_name} is not correct")
+        # check if the count is continuous
+        checkContinuousCount(df, log_file)
+        return False
+    else:
+        return True
+
+def checkContinuousCount(df, log_name):
+    duplicates = df[df["count"].duplicated()]["count"]
+    if not duplicates.empty:
+        print(f"Warning: Non-continuous count in the log file {log_name} at index {duplicates.index.tolist()}")
+    max_count = args.number
+    all_counts = set(range(1, max_count + 1))
+    actual_counts = set(df["count"])
+    missing = all_counts - actual_counts
+    if missing != set():
+        print(f"Warning: missing msg in {log_name} at index {missing}")
+
+def filter_dataframes(dataframes):
+    common_counts = set(dataframes[0]["count"]) & set(dataframes[1]["count"]) & set(dataframes[2]["count"])
+    return [df[df["count"].isin(common_counts)].reset_index(drop=True) for df in dataframes]
+'''
+df["count"].isin(common_counts): This part creates a boolean Series where each value is True if the corresponding "count" value is present in common_counts, and False otherwise.
+
+df[df["count"].isin(common_counts)]: This part filters the DataFrame df using the boolean Series created in the previous step, keeping only the rows where the "count" value is present in common_counts.
+
+df[df["count"].isin(common_counts)].reset_index(drop=True): This part resets the index of the filtered DataFrame, dropping the old index and creating a new one with default values (0, 1, 2, ...). The drop=True argument ensures that the old index is not added as a new column in the resulting DataFrame.
+'''
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-n", "--number", type=int, default="1000", help="number of packet", required=True)
+    parser.add_argument("-t", "--test", type=str, default="1", help="number of test", required=True)
+    args = parser.parse_args() 
+
+    log_files = [f"rtl/test{args.test}/ProtodelayA_PUB.log", f"rtl/test{args.test}/ProtodelayA_SUB.log", f"rtl/test{args.test}/ProtodelayB_SUB.log"]
+    dataframes = []
+    dataerrorFlag = []
+    for log_file in log_files:
+        df = pd.read_csv(log_file, delim_whitespace=True, header=None, names=["count", "time"])
+        dataframes.append(df)
+
+        # check if the number of lines is correct
+        dataerrorFlag.append(checkNumberofLines(df, log_file))
+
+    if all(dataerrorFlag) == False:
+        dataframes = filter_dataframes(dataframes)
+
+    df_Proto_delayA_PUB, df_Proto_delayA_SUB, df_Proto_delayB_SUB = dataframes
+
+    # print the resulting DataFrame
+    diff_Proto_df = pd.DataFrame({"Difftime":(df_Proto_delayA_SUB["time"] - df_Proto_delayA_PUB["time"] - df_Proto_delayB_SUB["time"])/1e9/2})
+
+    array_Proto = diff_Proto_df["Difftime"].to_numpy()
+
+    avg_Proto = np.average(array_Proto)
+
+    fig = plt.figure()
+    plt.plot(array_Proto, color="blue", label=f"Avg_delay: {avg_Proto}")
+
+    plt.legend()
+    plt.xlabel("Number of messages")
+    plt.ylabel("Delay (s)")
+    plt.savefig(f"rtl/test{args.test}/test{args.test}.png", dpi=100)

Stream/RTL_test/uavlink_measrue_rtl/proto/duration_pb2.py

@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: duration.proto
+
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='duration.proto',
+  package='google.protobuf',
+  syntax='proto3',
+  serialized_options=b'\n\023com.google.protobufB\rDurationProtoP\001Z1google.golang.org/protobuf/types/known/durationpb\370\001\001\242\002\003GPB\252\002\036Google.Protobuf.WellKnownTypes',
+  create_key=_descriptor._internal_create_key,
+  serialized_pb=b'\n\x0e\x64uration.proto\x12\x0fgoogle.protobuf\"*\n\x08\x44uration\x12\x0f\n\x07seconds\x18\x01 \x01(\x03\x12\r\n\x05nanos\x18\x02 \x01(\x05\x42\x83\x01\n\x13\x63om.google.protobufB\rDurationProtoP\x01Z1google.golang.org/protobuf/types/known/durationpb\xf8\x01\x01\xa2\x02\x03GPB\xaa\x02\x1eGoogle.Protobuf.WellKnownTypesb\x06proto3'
+)
+
+
+
+
+_DURATION = _descriptor.Descriptor(
+  name='Duration',
+  full_name='google.protobuf.Duration',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  create_key=_descriptor._internal_create_key,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='seconds', full_name='google.protobuf.Duration.seconds', index=0,
+      number=1, type=3, cpp_type=2, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+    _descriptor.FieldDescriptor(
+      name='nanos', full_name='google.protobuf.Duration.nanos', index=1,
+      number=2, type=5, cpp_type=1, label=1,
+      has_default_value=False, default_value=0,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR,  create_key=_descriptor._internal_create_key),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=35,
+  serialized_end=77,
+)
+
+DESCRIPTOR.message_types_by_name['Duration'] = _DURATION
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+Duration = _reflection.GeneratedProtocolMessageType('Duration', (_message.Message,), {
+  'DESCRIPTOR' : _DURATION,
+  '__module__' : 'duration_pb2'
+  # @@protoc_insertion_point(class_scope:google.protobuf.Duration)
+  })
+_sym_db.RegisterMessage(Duration)
+
+
+DESCRIPTOR._options = None
+# @@protoc_insertion_point(module_scope)

Stream/RTL_test/uavlink_measrue_rtl/proto/flight_information.proto

@@ -0,0 +1,14 @@
+syntax = 'proto3';
+
+// GPS + compass
+
+message GPS {
+    float LAT = 1;
+    float LON = 2;
+    float ALT = 3;
+}
+
+message flight_information_message {
+    GPS gps = 1;
+    float heading = 2;
+}

Stream/RTL_test/uavlink_measrue_rtl/proto/flight_information_pb2.py

@@ -0,0 +1,130 @@
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: flight_information.proto
+
+import sys
+_b=sys.version_info[0]<3 and (lambda x:x) or (lambda x:x.encode('latin1'))
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from google.protobuf import reflection as _reflection
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor.FileDescriptor(
+  name='flight_information.proto',
+  package='',
+  syntax='proto3',
+  serialized_options=None,
+  serialized_pb=_b('\n\x18\x66light_information.proto\",\n\x03GPS\x12\x0b\n\x03LAT\x18\x01 \x01(\x02\x12\x0b\n\x03LON\x18\x02 \x01(\x02\x12\x0b\n\x03\x41LT\x18\x03 \x01(\x02\"@\n\x1a\x66light_information_message\x12\x11\n\x03gps\x18\x01 \x01(\x0b\x32\x04.GPS\x12\x0f\n\x07heading\x18\x02 \x01(\x02\x62\x06proto3')
+)
+
+
+
+
+_GPS = _descriptor.Descriptor(
+  name='GPS',
+  full_name='GPS',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='LAT', full_name='GPS.LAT', index=0,
+      number=1, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='LON', full_name='GPS.LON', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='ALT', full_name='GPS.ALT', index=2,
+      number=3, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=28,
+  serialized_end=72,
+)
+
+
+_FLIGHT_INFORMATION_MESSAGE = _descriptor.Descriptor(
+  name='flight_information_message',
+  full_name='flight_information_message',
+  filename=None,
+  file=DESCRIPTOR,
+  containing_type=None,
+  fields=[
+    _descriptor.FieldDescriptor(
+      name='gps', full_name='flight_information_message.gps', index=0,
+      number=1, type=11, cpp_type=10, label=1,
+      has_default_value=False, default_value=None,
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+    _descriptor.FieldDescriptor(
+      name='heading', full_name='flight_information_message.heading', index=1,
+      number=2, type=2, cpp_type=6, label=1,
+      has_default_value=False, default_value=float(0),
+      message_type=None, enum_type=None, containing_type=None,
+      is_extension=False, extension_scope=None,
+      serialized_options=None, file=DESCRIPTOR),
+  ],
+  extensions=[
+  ],
+  nested_types=[],
+  enum_types=[
+  ],
+  serialized_options=None,
+  is_extendable=False,
+  syntax='proto3',
+  extension_ranges=[],
+  oneofs=[
+  ],
+  serialized_start=74,
+  serialized_end=138,
+)
+
+_FLIGHT_INFORMATION_MESSAGE.fields_by_name['gps'].message_type = _GPS
+DESCRIPTOR.message_types_by_name['GPS'] = _GPS
+DESCRIPTOR.message_types_by_name['flight_information_message'] = _FLIGHT_INFORMATION_MESSAGE
+_sym_db.RegisterFileDescriptor(DESCRIPTOR)
+
+GPS = _reflection.GeneratedProtocolMessageType('GPS', (_message.Message,), dict(
+  DESCRIPTOR = _GPS,
+  __module__ = 'flight_information_pb2'
+  # @@protoc_insertion_point(class_scope:GPS)
+  ))
+_sym_db.RegisterMessage(GPS)
+
+flight_information_message = _reflection.GeneratedProtocolMessageType('flight_information_message', (_message.Message,), dict(
+  DESCRIPTOR = _FLIGHT_INFORMATION_MESSAGE,
+  __module__ = 'flight_information_pb2'
+  # @@protoc_insertion_point(class_scope:flight_information_message)
+  ))
+_sym_db.RegisterMessage(flight_information_message)
+
+
+# @@protoc_insertion_point(module_scope)

Stream/RTL_test/uavlink_measrue_rtl/proto/flyformatioln.proto

@@ -0,0 +1,17 @@
+syntax = "proto3";
+package fly_formation_proto;
+// leader only
+
+enum FLY_FORMATION{
+    FLY_FORMATION_UNSPECIFIED = 0;
+    FLY_FORMATION_v = 1;
+    FLY_FORMATION_X = 2;
+    FLY_FORMATION_O = 3;
+    FLY_FORMATION_LINE = 4;
+    FLY_FORMATION_ROW = 5;
+    FLY_FORMATION_HEX = 6;
+  }
+  message fly_formation_message{
+    optional float velocity = 1;
+    FLY_FORMATION fly_formation= 2;
+  }

Stream/RTL_test/uavlink_measrue_rtl/proto/flyformatioln_pb2.py

@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: flyformatioln.proto
+"""Generated protocol buffer code."""
+from google.protobuf.internal import builder as _builder
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x66lyformatioln.proto\x12\x13\x66ly_formation_proto\"v\n\x15\x66ly_formation_message\x12\x15\n\x08velocity\x18\x01 \x01(\x02H\x00\x88\x01\x01\x12\x39\n\rfly_formation\x18\x02 \x01(\x0e\x32\".fly_formation_proto.FLY_FORMATIONB\x0b\n\t_velocity*\xb3\x01\n\rFLY_FORMATION\x12\x1d\n\x19\x46LY_FORMATION_UNSPECIFIED\x10\x00\x12\x13\n\x0f\x46LY_FORMATION_v\x10\x01\x12\x13\n\x0f\x46LY_FORMATION_X\x10\x02\x12\x13\n\x0f\x46LY_FORMATION_O\x10\x03\x12\x16\n\x12\x46LY_FORMATION_LINE\x10\x04\x12\x15\n\x11\x46LY_FORMATION_ROW\x10\x05\x12\x15\n\x11\x46LY_FORMATION_HEX\x10\x06\x62\x06proto3')
+
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, globals())
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'flyformatioln_pb2', globals())
+if _descriptor._USE_C_DESCRIPTORS == False:
+
+  DESCRIPTOR._options = None
+  _FLY_FORMATION._serialized_start=165
+  _FLY_FORMATION._serialized_end=344
+  _FLY_FORMATION_MESSAGE._serialized_start=44
+  _FLY_FORMATION_MESSAGE._serialized_end=162
+# @@protoc_insertion_point(module_scope)

Stream/RTL_test/uavlink_measrue_rtl/utils/basicMqtt.py

@@ -0,0 +1,17 @@
+import paho.mqtt.client as mqtt
+import time
+class MQTTClient(mqtt.Client):
+   
+   def __init__(self,cname,**kwargs):
+      super().__init__(cname,**kwargs)
+      self.last_pub_time=time.time()
+      self.topic_ack=[]
+      self.run_flag=True
+      self.subscribe_flag=False
+      self.bad_connection_flag=False
+      self.connected_flag=True
+      self.disconnect_flag=False
+      self.disconnect_time=0.0
+      self.pub_msg_count=0
+      self.devices=[]
+

Stream/RTL_test/uavlink_measrue_rtl/utils/proto_delayClientA_PUB.py

@@ -0,0 +1,28 @@
+import orjson
+import time
+import logging
+
+logger = logging.getLogger("__UAVLINKSUBPUB__")
+
+class Proto_msg_from_ros:
+    #Protobuf
+    flight_information_msg = None
+    sel = None
+
+
+    @classmethod
+    def callBack_gps(cls, GPS):
+        cls.flight_information_msg.gps.LAT = GPS.latitude
+        cls.flight_information_msg.gps.LON = GPS.longitude
+        cls.flight_information_msg.gps.ALT = GPS.altitude
+
+
+    @classmethod
+    def callBack_compass_hdg(cls, Compass):
+        cls.flight_information_msg.heading = Compass.data
+        flightInformationMsg = cls.flight_information_msg.SerializeToString()
+        cls.sel.write(b'\xf2' + flightInformationMsg + b'\x0d\x0a')
+        timePub = time.perf_counter_ns()
+        logger.info("{}  {}".format(Compass.data,timePub))
+
+

Stream/RTL_test/uavlink_measrue_rtl/utils/proto_delayClientA_SUB.py

@@ -0,0 +1,25 @@
+import time
+
+import proto.flight_information_pb2 as flight_information_pb2
+import google.protobuf.json_format as json_format
+import logging
+
+# TODO: use native ros type instead of json or str
+logger = logging.getLogger("__UAVLINKSUB__")
+
+class Proto_msg_to_ros:
+    #Protobuf
+    flight_information_msg = None
+
+    #Ros publisher
+    rate = None
+    publisher_Flight_Information = None
+
+
+    #Proto
+    @classmethod
+    def on_message_Flight_Information(cls, msg, timeSub):
+        proto = msg[1:-2]
+        proto_msg = cls.flight_information_msg.FromString(proto)
+        count = proto_msg.heading
+        logger.info("{}  {}".format(count,timeSub))

Stream/RTL_test/uavlink_measrue_rtl/utils/proto_delayClientB_SUB.py

@@ -0,0 +1,32 @@
+import time
+
+import proto.flight_information_pb2 as flight_information_pb2
+import google.protobuf.json_format as json_format
+import logging
+
+# TODO: use native ros type instead of json or str
+logger = logging.getLogger("__UAVLINKSUB__")
+
+class Proto_msg_to_ros:
+    #Protobuf
+    flight_information_msg = None
+
+    #Ros publisher
+    rate = None
+    publisher_Flight_Information = None
+    sel = None
+    # count = None
+
+    #Proto
+    @classmethod
+    def on_message_Flight_Information(cls, msg, timeSub):
+        proto = msg[1:-2]
+        proto_msg = cls.flight_information_msg.FromString(proto)
+        # cls.sel.write(b'\xf2' + proto + b'\x0d\x0a')
+        timePub = time.perf_counter_ns()
+        # readTenByte = cls.sel.read_until(size=5)
+        timeDiff = timePub - timeSub
+        # cls.count = proto_msg.heading
+        logger.info("{}  {}".format(proto_msg.heading, timeDiff))
+
+        

Stream/RTL_test/uavlink_measrue_rtl/utils/readConfig.py

@@ -0,0 +1,152 @@
+import yaml
+
+class Config:
+    def __init__(self, inFileName):
+        self.sectionNames = ["MQTT","ROS", "LOG", "UAVLINK"]
+        self.options = {}
+        self.inFileName = inFileName
+
+    def setAttribute(self):
+        with open(self.inFileName,"r") as f:
+            self.ymlcfg=yaml.safe_load(f)
+        
+        ecfgs = [self.ymlcfg.get(name) for name in self.sectionNames]
+        if None in ecfgs:
+            nameIndex = ecfgs.index(None)
+            raise Exception("Missing {} section in cfg file".format(self.sectionNames[nameIndex]))
+        #iterate over options
+        for opts, ecfg in zip(self.options, ecfgs):
+            for opt in self.options[opts]:
+                if opt in ecfg:
+                    optval=ecfg[opt]
+                    #verify parameter type
+                    if type(optval) != self.options[opts][opt][0]:
+                        raise Exception("Parameter {} has wrong type".format(self.opt))
+                     
+                    #create attributes on the fly
+                    setattr(self,opt,optval)
+                else:
+                    if self.options[opts][opt][1]:
+                        raise Exception("Missing mandatory parameter {}".format(self.opt))
+                    else:
+                        setattr(self,opt,None)
+         
+    def __str__(self):
+        return str(yaml.dump(self.ymlcfg, default_flow_style=False))
+
+
+class Read_PUB_Config(Config):
+    def setAttribute(self):
+        super().setAttribute()
+
+    def __init__(self, inFileName):      
+        super().__init__(inFileName)  
+        self.options = {
+            self.sectionNames[0]:{
+                            "msg_format": (str,False),
+                            "MQTTClientNamePub": (str,False),
+                            "host": (str,False),
+                            "port": (int,False),
+                            "keepalive": (int,False),
+                            "willTopic":(str,False),
+                            "lwt":(str, False),
+                            "willRetain":(bool,False),
+                            "willTopicQOS":(int,False),
+                            "Flight_Information_topicToMqtt": (str,False),
+                            "Fly_Formation_topicToMqtt": (str,False),
+                            "Fly_Formation_topicToMqtt_QOS":(int,False)},
+            self.sectionNames[1]:{
+                            "ROSClientNamePub": (str,True),
+                            "ROStopicName_Flight_Information": (str,False),
+                            "ROStopicName_Fly_Formation": (str,False)},
+            self.sectionNames[2]:{
+                            "logFileName":(str,True)},
+            self.sectionNames[3]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,False)}}
+        self.setAttribute()
+
+    def __str__(self):
+        return super().__str__()
+
+class Read_SUB_Config(Config):
+    def setAttribute(self):
+        super().setAttribute()
+
+    def __init__(self, inFileName):      
+        super().__init__(inFileName)  
+        self.options = {
+            self.sectionNames[0]:{
+                            "msg_format": (str,False),
+                            "MQTTClientNameSub": (str,False),
+                            "host": (str,False),
+                            "port": (int,False),
+                            "keepalive": (int,False),
+                            "willTopic":(str,False),
+                            "lwt":(str, False),
+                            "willRetain":(bool,False),
+                            "willTopicQOS":(int,False),
+                            "Drone550_Flight_Information_topicToMqtt": (str,False),
+                            "Drone380_Flight_Information_topicToMqtt":(str,False),
+                            "Drone650_Flight_Information_topicToMqtt":(str,False),
+                            "Drone888_Flight_Information_topicToMqtt":(str,False),
+                            "Drone555_Flight_Information_topicToMqtt":(str,False),
+                            "Fly_Formation_topicToMqtt": (str,False),
+                            "Fly_Formation_topicToMqtt_QOS":(int,False)},
+            self.sectionNames[1]:{
+                            "ROSClientNameSub": (str,True),
+                            "Dron550_ROStopicName_Flight_Information": (str,False),
+                            "Dron380_ROStopicName_Flight_Information": (str,False),
+                            "Dron380_ROStopicName_Flight_Information": (str,False),
+                            "Dron650_ROStopicName_Flight_Information": (str,False),
+                            "Dron888_ROStopicName_Flight_Information": (str,False),
+                            "Dron555_ROStopicName_Flight_Information": (str,False),
+                            "Dron_ROStopicName_Flight_Information": (str,False),
+                            "ROStopicName_Fly_Formation": (str,False)},
+            self.sectionNames[2]:{
+                            "logFileName":(str,False)},
+            self.sectionNames[3]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,False)}}
+        self.setAttribute()
+
+    def __str__(self):
+        return super().__str__()
+
+class Read_CMD_Config(Config):
+    def setAttribute(self):
+        super().setAttribute()
+
+    def __init__(self, inFileName):      
+        super().__init__(inFileName)  
+        self.options = {
+            self.sectionNames[0]:{
+                            "msg_format": (str,True),
+                            "MQTTClientNameCmd": (str,True),
+                            "host": (str,True),
+                            "port": (int,True),
+                            "keepalive": (int,True),
+                            "Cmd_Broadcast_topicToMqtt": (str,True),
+                            "Cmd_Direct_topicToMqtt": (str,False),
+                            "Cmd_Broadcast_topicToMqtt_QOS":(int,True),
+                            "Cmd_Direct_topicToMqtt_QOS":(int,False)},
+            self.sectionNames[1]:{
+                            "ROSClientNameCmd": (str,True),
+                            "ROStopicName_Cmd_Broadcast_Receiver": (str,True),
+                            "ROStopicName_Cmd_Direct_Receiver": (str,False)},
+            self.sectionNames[2]:{
+                            "logFileName":(str,False)}}
+        self.setAttribute()
+
+    def __str__(self):
+        return super().__str__()
+
+if __name__ == "__main__":
+    cfg=Read_CMD_Config("mqttConfig_CMD.yml")
+    print(cfg)
+
+

Stream/RTL_test/uavlink_measrue_rtl/utils/uavlinkConfig_PUB.yml

@@ -0,0 +1,12 @@
+UAVLINK:
+  uavlink_msg_format: Proto
+  uav_id: \x01\x01
+  baudrate: 250000
+  ttyport: /dev/ttyUSB3
+MQTT: "None"
+#ROS
+ROS:
+  ROSClientNamePub: Drone550UAVLINKPub
+  ROStopicName_Flight_Information: Flight_Information_reciver
+LOG:
+  logFileName: ProtodelayA_PUB.log

Stream/RTL_test/uavlink_measrue_rtl/utils/uavlinkConfig_SUB.yml

@@ -0,0 +1,11 @@
+UAVLINK:
+  uavlink_msg_format: Proto
+  uav_id: \x01\x01
+  baudrate: 250000
+  ttyport: /dev/ttyUSB3
+MQTT: "None"
+ROS:
+  ROSClientNameSub: Drone550UAVLINKSub
+  Dron550_ROStopicName_Flight_Information: Flight_Information_reciver
+LOG:
+  logFileName: ProtodelayA_SUB.log

Stream/uav_proto_msg/mqttSubMain.py

@@ -20,20 +20,20 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
         utils.Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
         utils.Proto_msg_to_ros.fly_formation_msg = flyformatioln_pb2.fly_formation_message()
         
-        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Proto_msg_to_ros.on_message_Flight_Information)
+        client.message_callback_add(cfg.Drone550_Flight_Information_topicToMqtt, utils.Proto_msg_to_ros.on_message_Flight_Information)
         client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Proto_msg_to_ros.on_message_Fly_Formation)
 
-        utils.Proto_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
+        utils.Proto_msg_to_ros.Drone550_Flight_Information_topicToMqtt = cfg.Drone550_Flight_Information_topicToMqtt
         utils.Proto_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     elif cfg.msg_format == "Json":
         # utils.Json_msg_to_ros.rate = rospy.Rate(10)
         # utils.Json_msg_to_ros.publisher_Flight_Information = rospy.Publisher(cfg.ROStopicName_Flight_Information,String,queue_size=10)
         # utils.Json_msg_to_ros.publisher_Fly_Formation = rospy.Publisher(cfg.ROStopicName_Fly_Formation,String,queue_size=10)
-    
-        client.message_callback_add(cfg.Flight_Information_topicToMqtt, utils.Json_msg_to_ros.on_message_Flight_Information)
+
+        client.message_callback_add(cfg.Drone550_Flight_Information_topicToMqtt, utils.Json_msg_to_ros.on_message_Flight_Information)
         client.message_callback_add(cfg.Fly_Formation_topicToMqtt, utils.Json_msg_to_ros.on_message_Fly_Formation)
         
-        utils.Json_msg_to_ros.Flight_Information_topicToMqtt = cfg.Flight_Information_topicToMqtt
+        utils.Json_msg_to_ros.Drone550_Flight_Information_topicToMqtt = cfg.Drone550_Flight_Information_topicToMqtt
         utils.Json_msg_to_ros.Fly_Formation_topicToMqtt = cfg.Fly_Formation_topicToMqtt
     else:
         logging.debug("msg_format not found")
@@ -41,7 +41,7 @@ def init_dataFormat(cfg:utils.Read_SUB_Config):
 
 def on_connect(self, userdata, flags, rc):
     logger.info("Connected with result code " + str(rc))
-    client.subscribe(cfg.Flight_Information_topicToMqtt)
+    client.subscribe(cfg.Drone550_Flight_Information_topicToMqtt)
     client.subscribe(cfg.Fly_Formation_topicToMqtt)
     
 

Stream/uav_proto_msg/uavlinkPubMain.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_PUB_Config
+from utils.proto_uavlink_sub_data_from_ros import Proto_msg_from_ros
+import random
+
+class fakeGps():
+    def __init__(self):
+        self.latitude = 8.0
+        self.longitude = 8.1
+        self.altitude = 8.88
+
+class fake_hdg():
+    def __init__(self):
+        self.data = 40
+
+
+def init_dataFormat(cfg:Read_PUB_Config):
+    # f1data = b'\xf1drone550pub...........\r\n'
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout=0.3)
+    # sel.write(f1data)
+    # readTenByte = sel.readline()
+    # print(readTenByte)
+    Proto_msg_from_ros.sel = sel
+    Proto_msg_from_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_PUB.yml")
+    cfg = Read_PUB_Config(FilePath)
+    gps = fakeGps()
+    hdg = fake_hdg()
+
+    # set log
+    log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    formatter = logging.Formatter(log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName)
+    file_handler.setFormatter(formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__UAVLINKSUBPUB__")
+    logger.setLevel(logging.INFO)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.info(cfg)    
+
+
+    init_dataFormat(cfg)
+    while True:
+
+        gps.latitude = random.uniform(10, 100)
+        gps.longitude = random.uniform(10, 100)
+        gps.altitude = random.uniform(10, 100)
+
+        hdg.data = random.uniform(0, 10)
+        try:
+            # test json
+            Proto_msg_from_ros.callBack_gps(gps)
+            Proto_msg_from_ros.callBack_compass_hdg(hdg)
+            time.sleep(0.3)
+
+
+        except KeyboardInterrupt as e:
+            print("End of program")
+            sys.exit()
+
+
+

Stream/uav_proto_msg/uavlinkSubMain.py

@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+#coding:utf-8
+import serial
+import time
+import sys
+import os
+import proto.flight_information_pb2 as flight_information_pb2
+import logging
+from utils.readConfig import Read_SUB_Config
+from utils.proto_uavlink_pub_data_to_ros import Proto_msg_to_ros
+
+
+
+def init_dataFormat(cfg:Read_SUB_Config):
+    ros_namespace="/drone1"
+    deviceData = b'\xf12222222222222222222222\r\x1a'
+
+    sel.write(deviceData)
+    time.sleep(1)
+    readTenByte = sel.read(size=5)
+    print(readTenByte)
+
+
+    Proto_msg_to_ros.flight_information_msg = flight_information_pb2.flight_information_message()
+
+    
+if __name__ == '__main__':
+    FilePath = os.path.join(os.path.dirname(__file__),"utils","uavlinkConfig_SUB.yml")
+    cfg = Read_SUB_Config(FilePath)
+    
+    sel = serial.Serial(cfg.ttyport, cfg.baudrate, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE, timeout = 0.5)
+    # set log
+    log_format = "%(asctime)s - %(levelname)s - %(message)s"
+    formatter = logging.Formatter(log_format)
+
+    stream_handler = logging.StreamHandler()
+    stream_handler.setFormatter(formatter)
+    stream_handler.setLevel(logging.DEBUG)
+
+    file_handler = logging.FileHandler(cfg.logFileName)
+    file_handler.setFormatter(formatter)
+    file_handler.setLevel(logging.INFO)
+
+    logger = logging.getLogger("__UAVLINKSUB__")
+    logger.setLevel(logging.INFO)
+    logger.addHandler(file_handler)
+    logger.addHandler(stream_handler)
+    logger.info(cfg)
+
+    init_dataFormat(cfg)
+ 
+    while True:
+        try:
+            # test json
+            if sel.in_waiting >= 25:
+                readTenByte = sel.read_until(expected= b'\x01\x01', size=25)
+                # print(readTenByte)
+                if b"drone550" in readTenByte:
+                    print(readTenByte)
+                    print("radar")
+                    continue
+                
+                Proto_msg_to_ros.on_message_Flight_Information(readTenByte)
+
+        except Exception as e:
+            print("End of program")
+            print(readTenByte)
+            pass
+
+
+
+

Stream/uav_proto_msg/utils/mqttConfig_CMD.yml

@@ -13,3 +13,4 @@ ROS:
   ROStopicName_Cmd_Broadcast_Receiver: cmd_receiver
 LOG:
   logFileName: cmd.log
+UAVLINK: "None"

Stream/uav_proto_msg/utils/mqttConfig_PUB.yml

@@ -20,3 +20,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: pub.log
+UAVLINK: "None"

Stream/uav_proto_msg/utils/mqttConfig_SUB.yml

@@ -9,7 +9,7 @@ MQTT:
   lwt: Dron550 Gone Offline
   willRetain: False
   # Mqtt topic
-  Flight_Information_topicToMqtt: Drone550/Flight_Information
+  Drone550_Flight_Information_topicToMqtt: Drone550/Flight_Information
   Fly_Formation_topicToMqtt: Drone550/Formation
   # Change formate qos
   Fly_Formation_topicToMqtt_QOS: 2
@@ -19,3 +19,4 @@ ROS:
   ROStopicName_Fly_Formation: Fly_Formation_reciver
 LOG:
   logFileName: sub.log
+UAVLINK: "None"

Stream/uav_proto_msg/utils/proto_uavlink_pub_data_to_ros.py

@@ -0,0 +1,31 @@
+import time
+
+import proto.flight_information_pb2 as flight_information_pb2
+import google.protobuf.json_format as json_format
+import logging
+
+# TODO: use native ros type instead of json or str
+logger = logging.getLogger("__SUB__")
+
+class Proto_msg_to_ros:
+    #Protobuf
+    flight_information_msg = None
+
+    #Ros publisher
+    rate = None
+    publisher_Flight_Information = None
+
+
+    #Proto
+    @classmethod
+    def on_message_Flight_Information(cls, msg):
+        proto = msg[1:-2]
+
+        proto_msg = cls.flight_information_msg.FromString(proto)
+        protoTOJson_msg = json_format.MessageToJson(proto_msg, indent=None, preserving_proto_field_name=True)
+        logger.info(protoTOJson_msg)
+        print(protoTOJson_msg)
+        cls.publisher_Flight_Information.publish(protoTOJson_msg)
+        cls.rate.sleep()
+
+        

Stream/uav_proto_msg/utils/proto_uavlink_sub_data_from_ros.py

@@ -0,0 +1,27 @@
+import orjson
+import time
+import logging
+
+logger = logging.getLogger("__UAVLINKSUBPUB__")
+
+class Proto_msg_from_ros:
+    #Protobuf
+    flight_information_msg = None
+    sel = None
+
+
+    @classmethod
+    def callBack_gps(cls, GPS):
+        cls.flight_information_msg.gps.LAT = GPS.latitude
+        cls.flight_information_msg.gps.LON = GPS.longitude
+        cls.flight_information_msg.gps.ALT = GPS.altitude
+
+
+    @classmethod
+    def callBack_compass_hdg(cls, Compass):
+        cls.flight_information_msg.heading = Compass.data
+        flightInformationMsg = cls.flight_information_msg.SerializeToString()
+        cls.sel.write(b'\xf2' + flightInformationMsg + b'\r\n')
+        print(len(b'\xf2' + flightInformationMsg + b'\r\n'))
+        readTenByte = cls.sel.readline()
+        print(readTenByte)

Stream/uav_proto_msg/utils/readConfig.py

@@ -2,13 +2,14 @@ import yaml
 
 class Config:
     def __init__(self, inFileName):
-        self.sectionNames = ["MQTT","ROS", "LOG"]
+        self.sectionNames = ["MQTT","ROS", "LOG", "UAVLINK"]
         self.options = {}
         self.inFileName = inFileName
 
     def setAttribute(self):
         with open(self.inFileName,"r") as f:
             self.ymlcfg=yaml.safe_load(f)
+        
         ecfgs = [self.ymlcfg.get(name) for name in self.sectionNames]
         if None in ecfgs:
             nameIndex = ecfgs.index(None)
@@ -20,13 +21,13 @@ class Config:
                     optval=ecfg[opt]
                     #verify parameter type
                     if type(optval) != self.options[opts][opt][0]:
-                        raise Exception("Parameter {} has wrong type".format(opt))
+                        raise Exception("Parameter {} has wrong type".format(self.opt))
                      
                     #create attributes on the fly
                     setattr(self,opt,optval)
                 else:
                     if self.options[opts][opt][1]:
-                        raise Exception("Missing mandatory parameter {}".format(opt))
+                        raise Exception("Missing mandatory parameter {}".format(self.opt))
                     else:
                         setattr(self,opt,None)
          
@@ -42,24 +43,29 @@ class Read_PUB_Config(Config):
         super().__init__(inFileName)  
         self.options = {
             self.sectionNames[0]:{
-                            "msg_format": (str,True),
-                            "MQTTClientNamePub": (str,True),
-                            "host": (str,True),
-                            "port": (int,True),
-                            "keepalive": (int,True),
-                            "willTopic":(str,True),
-                            "lwt":(str, True),
+                            "msg_format": (str,False),
+                            "MQTTClientNamePub": (str,False),
+                            "host": (str,False),
+                            "port": (int,False),
+                            "keepalive": (int,False),
+                            "willTopic":(str,False),
+                            "lwt":(str, False),
                             "willRetain":(bool,False),
-                            "willTopicQOS":(int,True),
+                            "willTopicQOS":(int,False),
                             "Flight_Information_topicToMqtt": (str,False),
                             "Fly_Formation_topicToMqtt": (str,False),
                             "Fly_Formation_topicToMqtt_QOS":(int,False)},
             self.sectionNames[1]:{
-                            "ROSClientNamePub": (str,False),
+                            "ROSClientNamePub": (str,True),
                             "ROStopicName_Flight_Information": (str,False),
                             "ROStopicName_Fly_Formation": (str,False)},
             self.sectionNames[2]:{
-                            "logFileName":(str,False)}}
+                            "logFileName":(str,True)},
+            self.sectionNames[3]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,False)}}
         self.setAttribute()
 
     def __str__(self):
@@ -73,26 +79,44 @@ class Read_SUB_Config(Config):
         super().__init__(inFileName)  
         self.options = {
             self.sectionNames[0]:{
-                            "msg_format": (str,True),
-                            "MQTTClientNameSub": (str,True),
-                            "host": (str,True),
-                            "port": (int,True),
-                            "keepalive": (int,True),
-                            "willTopic":(str,True),
-                            "lwt":(str, True),
+                            "msg_format": (str,False),
+                            "MQTTClientNameSub": (str,False),
+                            "host": (str,False),
+                            "port": (int,False),
+                            "keepalive": (int,False),
+                            "willTopic":(str,False),
+                            "lwt":(str, False),
                             "willRetain":(bool,False),
-                            "willTopicQOS":(int,True),
-                            "Flight_Information_topicToMqtt": (str,False),
+                            "willTopicQOS":(int,False),
+                            "Drone550_Flight_Information_topicToMqtt": (str,False),
+                            "Drone380_Flight_Information_topicToMqtt":(str,False),
+                            "Drone650_Flight_Information_topicToMqtt":(str,False),
+                            "Drone888_Flight_Information_topicToMqtt":(str,False),
+                            "Drone555_Flight_Information_topicToMqtt":(str,False),
                             "Fly_Formation_topicToMqtt": (str,False),
                             "Fly_Formation_topicToMqtt_QOS":(int,False)},
             self.sectionNames[1]:{
-                            "ROSClientNameSub": (str,False),
-                            "ROStopicName_Flight_Information": (str,False),
+                            "ROSClientNameSub": (str,True),
+                            "Dron550_ROStopicName_Flight_Information": (str,False),
+                            "Dron380_ROStopicName_Flight_Information": (str,False),
+                            "Dron380_ROStopicName_Flight_Information": (str,False),
+                            "Dron650_ROStopicName_Flight_Information": (str,False),
+                            "Dron888_ROStopicName_Flight_Information": (str,False),
+                            "Dron555_ROStopicName_Flight_Information": (str,False),
+                            "Dron_ROStopicName_Flight_Information": (str,False),
                             "ROStopicName_Fly_Formation": (str,False)},
             self.sectionNames[2]:{
-                            "logFileName":(str,False)}}
+                            "logFileName":(str,False)},
+            self.sectionNames[3]:{
+                            "uavlink_msg_format": (str,False),
+                            "uav_id": (str,False),
+                            "baudrate": (int,False),
+                            "ttyport": (str,False)}}
         self.setAttribute()
 
+    def __str__(self):
+        return super().__str__()
+
 class Read_CMD_Config(Config):
     def setAttribute(self):
         super().setAttribute()
@@ -121,8 +145,6 @@ class Read_CMD_Config(Config):
     def __str__(self):
         return super().__str__()
 
-
-
 if __name__ == "__main__":
     cfg=Read_CMD_Config("mqttConfig_CMD.yml")
     print(cfg)

Stream/uav_proto_msg/utils/uavlinkConfig_PUB.yml

@@ -0,0 +1,12 @@
+UAVLINK:
+  uavlink_msg_format: Proto
+  uav_id: \x01\x01
+  baudrate: 250000
+  ttyport: /dev/ttyUSB1
+MQTT: "None"
+#ROS
+ROS:
+  ROSClientNamePub: Drone550UAVLINKPub
+  ROStopicName_Flight_Information: Flight_Information_reciver
+LOG:
+  logFileName: UAVLINKpub.log

Stream/uav_proto_msg/utils/uavlinkConfig_SUB.yml

@@ -0,0 +1,11 @@
+UAVLINK:
+  uavlink_msg_format: Proto
+  uav_id: \x01\x01
+  baudrate: 250000
+  ttyport: /dev/ttyUSB1
+MQTT: "None"
+ROS:
+  ROSClientNameSub: Drone550UAVLINKSub
+  Dron550_ROStopicName_Flight_Information: Flight_Information_reciver
+LOG:
+  logFileName: UAVLINKsub.log