mavlink packet inspector

forwarder.py

from pymavlink import mavutil
import threading

connection = mavutil.mavlink_connection("udp:0.0.0.0:14592")
local = mavutil.mavlink_connection("udpout:127.0.0.1:14593")

def on_msg_from_uas(msg):
    buf = msg.get_msgbuf()
    local.write(buf)

def on_msg_from_gcs(msg):
    buf = msg.get_msgbuf()
    connection.write(buf)

def uas_loop():
    while True:
        try:
            msg = connection.recv_msg()
            if msg:
                msg_type = msg.get_type()
                if msg_type.startswith("MISSION_REQUEST"):
                    print "uas: MISSION_REQUEST seq:", msg.seq
                elif msg_type.startswith("MISSION_ITEM"):
                    print "uas: MISSION_ITEM", msg.seq
                elif msg_type.startswith("MISSION") and msg_type != "MISSION_CURRENT":
                    print "uas:", msg_type
                if msg_type.startswith("STATUSTEXT"):
                    print "uas:", msg.text
                on_msg_from_uas(msg)
        except Exception as e:
            pass


def gcs_loop():
    while True:
        try:
            msg = local.recv_msg()
            if msg:
                msg_type = msg.get_type()
                if msg_type.startswith("MISSION"):
                    if msg_type == "MISSION_ITEM":
                        print "gcs:", msg_type, "seq:", msg.seq, "cmd:", msg.command
                    elif msg_type == "MISSION_COUNT":
                        print "gcs:", msg_type, "count:", msg.count
                    else:
                        print "gcs:", msg_type
                if msg_type.startswith("STATUSTEXT"):
                    print "gcs:", msg.text
                on_msg_from_gcs(msg)
        except Exception as e:
            pass


uas_thread = threading.Thread(target=uas_loop)
gcs_thread = threading.Thread(target=gcs_loop)
uas_thread.start()
gcs_thread.start()
uas_thread.join()