improved networking

README.md

@@ -30,6 +30,9 @@ Parameters:
 * `$ rosdep install tello_driver`
 * `$ catkin build tello_driver`
 
+Optionally, install the [following udev rules](https://github.com/anqixu/sixad_rumble/blob/master/misc/10-gamepads.rules) for PS3 gamepads; see instructions in comments on top of file.
+
+
 ## Running the driver
 
 * turn on drone and wait for its front lights to blink amber

launch/logger.launch

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="bag.name" default="/home/mimic/tello"/>
+  <arg name="bag.name" default="$(env HOME)/tello"/>
   <arg name="bag.topics" default="
 /diagnostics
 /joy

launch/tello_node.launch

@@ -1,19 +1,20 @@
 <?xml version="1.0"?>
 <launch>
     <arg name="tello_ip" default="192.168.10.1" />
-    <!-- arg name="tello_ip" default="172.17.0.2" / -->
-    <arg name="tello_cmd_port" default="8889" />
-    <arg name="client_port" default="8890" />
+    <arg name="tello_cmd_server_port" default="8889" />
+    <arg name="local_cmd_client_port" default="8890" />
+    <arg name="local_vid_server_port" default="6038" />
     <arg name="namespace" default="tello" />
 
     <group ns="$(arg namespace)">
         <node pkg="tello_driver" name="tello" type="tello_driver_node.py" output="screen">
-            <param name="client_port" value="$(arg client_port)" />
+            <param name="local_cmd_client_port" value="$(arg local_cmd_client_port)" />
+            <param name="local_vid_server_port" value="$(arg local_vid_server_port)" />
             <param name="tello_ip" value="$(arg tello_ip)" />
-            <param name="tello_cmd_port" value="$(arg tello_cmd_port)" />
+            <param name="tello_cmd_server_port" value="$(arg tello_cmd_server_port)" />
             <param name="connect_timeout_sec" value="10.0" />
         </node>
 
         <node pkg="image_transport" name="image_compressed" type="republish" args="raw in:=image_raw compressed out:=image_raw" />
     </group>
-</launch>
+</launch>

src/tello_driver_node.py

@@ -54,9 +54,13 @@ def notify_cmd_success(cmd, success):
 
 class TelloNode(tello.Tello):
     def __init__(self):
-        self.client_port = int(rospy.get_param('~client_port', 8890))
+        self.local_cmd_client_port = int(
+            rospy.get_param('~local_cmd_client_port', 8890))
+        self.local_vid_server_port = int(
+            rospy.get_param('~local_vid_server_port', 6038))
         self.tello_ip = rospy.get_param('~tello_ip', '192.168.10.1')
-        self.tello_cmd_port = int(rospy.get_param('~tello_cmd_port', 8889))
+        self.tello_cmd_server_port = int(
+            rospy.get_param('~tello_cmd_server_port', 8889))
         self.connect_timeout_sec = float(
             rospy.get_param('~connect_timeout_sec', 10.0))
         self.bridge = CvBridge()
@@ -65,9 +69,10 @@ def __init__(self):
         log = RospyLogger('Tello')
         log.set_level(self.LOG_WARN)
         super(TelloNode, self).__init__(
-            client_port=self.client_port,
+            local_cmd_client_port=self.local_cmd_client_port,
+            local_vid_server_port=self.local_vid_server_port,
             tello_ip=self.tello_ip,
-            tello_cmd_port=self.tello_cmd_port,
+            tello_cmd_server_port=self.tello_cmd_server_port,
             log=log)
         rospy.loginfo('Connecting to drone @ %s:%d' % self.tello_addr)
         self.connect()

wifi_docker_proxy/config.ini.dist

@@ -5,4 +5,6 @@ image_name=wifiproxy
 ; may be updated by go.py
 container_name=proxy1
 wifi_dev=wlan1
-drone_ap=TELLO-C62D82
+drone_ap=TELLO-C62D82
+local_cmd_client_port=8890
+local_vid_server_port=6038

wifi_docker_proxy/get_phyid.py

@@ -0,0 +1,24 @@
+#!/usr/bin/env python
+
+# Script to parse output from `iw dev`, and returns the physical device
+# listed above an user-specified wifi network device
+
+import os
+import sys
+
+if len(sys.argv) < 2:
+    sys.stderr.write('Usage: %s <WIFI_DEV>\n' % sys.argv[0])
+    sys.exit(1)
+
+wifi_dev = sys.argv[1]
+phyid = None
+for line in os.popen('iw dev').readlines():
+    if len(line) <= 0:
+        continue
+    elif line.find('phy#') == 0:
+        phyid = 'phy'+line.strip()[4:]
+    elif line.find(wifi_dev) > 0:
+        print(phyid)
+        sys.exit(0)
+print('')
+sys.exit(1)

wifi_docker_proxy/go.py

@@ -77,14 +77,23 @@ def parse_args():
                         help='Drone\'s access point name '
                         '[retrieved from config.ini]',
                         type=str, default='')
+    parser.add_argument('--local_cmd_client_port', dest='LOCAL_CMD_CLIENT_PORT',
+                        help='Local port bound to Drone\'s command server '
+                        '[retrieved from config.ini]',
+                        type=str, default='')
+    parser.add_argument('--local_vid_server_port', dest='LOCAL_VID_SERVER_PORT',
+                        help='Local port for video stream server from Drone '
+                        '[retrieved from config.ini]',
+                        type=str, default='')
     args = parser.parse_args()
     return args, parser
 
 
 def merge_args(cfg, args):
     if 'Session' not in cfg:
         cfg['Session'] = {}
-    for key in ['CONTAINER_NAME', 'WIFI_DEV', 'DRONE_AP']:
+    for key in ('CONTAINER_NAME', 'WIFI_DEV', 'DRONE_AP',
+                'LOCAL_CMD_CLIENT_PORT', 'LOCAL_VID_SERVER_PORT'):
         if not hasattr(args, key):
             continue
         val = getattr(args, key)
@@ -114,11 +123,15 @@ def dispatcher():
         container_name = cfg['Session']['CONTAINER_NAME']
         wifi_dev = cfg['Session']['WIFI_DEV']
         drone_ap = cfg['Session']['DRONE_AP']
+        local_cmd_client_port = cfg['Session']['LOCAL_CMD_CLIENT_PORT']
+        local_vid_server_port = cfg['Session']['LOCAL_VID_SERVER_PORT']
 
         cmds.append(['docker', 'run',
                      '-d', '--rm', '--privileged',
                      '--env', 'DRONE_AP='+drone_ap,
                      '--env', 'WIFI_DEV='+wifi_dev,
+                     '--env', 'LOCAL_CMD_CLIENT_PORT='+local_cmd_client_port,
+                     '--env', 'LOCAL_VID_SERVER_PORT='+local_vid_server_port,
                      '--name', container_name,
                      image_name])
         cmds.append(['./setup_network.sh', container_name, wifi_dev])

wifi_docker_proxy/payload/connect_drone.sh

@@ -14,19 +14,25 @@ pkill dhclient
 
 # Verify if device is connected to wifi (a.k.a. is allocated an IP)
 WIFI_IP=$(ip a | grep $WIFI_DEV | pcregrep -o1 'inet ([0-9]+.[0-9]+.[0-9]+.[0-9]+)')
-if [ -z '$WIFI_IP' ]
+if [ -z "$WIFI_IP" ]
 then
     # Warn user
     echo '! proxy container did not get IP from drone wifi (is drone turned on?)'
     iwconfig $WIFI_DEV
     ifconfig $WIFI_DEV
     exit 1
 else
+    DOCKER_VETH_HOST_IP='172.17.0.1' # Hardcoded by Docker
+    DRONE_IP='192.168.10.1'          # Hardcoded by drone
+    DRONE_CMD_SERVER_PORT=8889       # Hardcoded by drone's UDP protocol
+    PROXY_CMD_CLIENT_PORT=$LOCAL_CMD_CLIENT_PORT
+    PROXY_VID_CLIENT_PORT=$((LOCAL_VID_SERVER_PORT+1))
+
     # Setup socat UDP port forwarding
     # CMD   SERVER: drone (192.168.10.1:8889) <-> docker (192.168.10.2:8890 / 172.17.0.XYZ:8889) <-> host  (  172.17.0.1:port)
     # VIDEO SERVER: host  (  172.17.0.1:6038) <-> docker (172.17.0.XYZ:6039 / 192.168.10.2:6038) <-> drone (192.168.10.1:port)
-    nohup /usr/bin/socat UDP4-LISTEN:8889,fork UDP4:192.168.10.1:8889,bind=:8890 &>/dev/null &
-    nohup /usr/bin/socat UDP4-LISTEN:6038,fork UDP4:172.17.0.1:6038,bind=:6039 &>/dev/null &
+    nohup /usr/bin/socat UDP4-LISTEN:$DRONE_CMD_SERVER_PORT,fork UDP4:$DRONE_IP:$DRONE_CMD_SERVER_PORT,bind=:$PROXY_CMD_CLIENT_PORT &>/dev/null &
+    nohup /usr/bin/socat UDP4-LISTEN:$LOCAL_VID_SERVER_PORT,fork UDP4:$DOCKER_VETH_HOST_IP:$LOCAL_VID_SERVER_PORT,bind=:$PROXY_VID_CLIENT_PORT &>/dev/null &
 
     # Notify user
     echo '- proxy container connected to drone wifi via '$WIFI_IP
@@ -35,4 +41,4 @@ else
     echo ''
     echo $CONTAINER_IP
     exit 0
-fi
+fi

wifi_docker_proxy/setup_network.sh

@@ -19,7 +19,16 @@ for path in /var/run/netns/*; do if [ -L "$path" ] && ! [ -e "$path" ]; then sud
 sudo ln -s /proc/$PID/ns/net /var/run/netns/$PID
 
 # Assign physical device for wifi dongle to container's network namespace
-PHYID=phy$(iw dev | grep -B 1 $WIFI_DEV | pcregrep -o1 'phy\#([0-9]+)')
-sudo iw phy $PHYID set netns $PID
+#PHYID=phy$(iw dev | grep -B 1 $WIFI_DEV | pcregrep -o1 'phy\#([0-9]+)') # doesn't work in all cases
+PHYID=$(./get_phyid.py $WIFI_DEV)
+if [ -z "$PHYID" ]
+then
+    echo "! could not find physical device for $WIFI_DEV"
+    iw dev
+    exit 1
+else
+    sudo iw phy $PHYID set netns $PID
+    echo "- SUCCESS! Wifi device $WIFI_DEV ($PHYID) now accessible by container $CONTAINER_NAME"
+fi
 
 # From now on, assuming the container is '--privileged', it will be able to interact with the wifi dongle