Fix socat bridge baudrate and path

Author: hmakelin

docker/px4/Dockerfile

@@ -62,8 +62,9 @@ RUN cat 6011_typhoon_h480 >> ROMFS/px4fmu_common/init.d-posix/airframes/6011_gaz
 # TODO: configure GPS serial ports in environment variables
 # Cube Orange: GPS 1 -> ttyS2, GPS 2 --> ttyS5
 RUN echo "gps start -d /dev/ttyS2 -e /dev/ttyS5 -p ubx" >> ROMFS/px4fmu_common/init.d-posix/rcS \
-    && echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/ttyS2\"" >> boards/px4/sitl/default.px4board \
-    && echo "CONFIG_BOARD_SERIAL_GPS2=\"/dev/ttyS5\"" >> boards/px4/sitl/default.px4board
+    && echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/pts/0\"" >> boards/px4/sitl/default.px4board  # TODO use dynamically allocated PTY device, not hard-coded pts/0
+    #&& echo "CONFIG_BOARD_SERIAL_GPS1=\"/dev/ttyS2\"" >> boards/px4/sitl/default.px4board \
+    #&& echo "CONFIG_BOARD_SERIAL_GPS2=\"/dev/ttyS5\"" >> boards/px4/sitl/default.px4board
 
 # Fix uXRCE-DDS bridge host (uXRCE-DDS middleware not on localhost)
 # GISNAV_COMPANION_IP needs to be set in entrypoint.sh

docker/px4/entrypoint.sh

@@ -14,8 +14,15 @@ mavlink-routerd -e ${GISNAV_COMPANION_IP:?empty or not set}:${GISNAV_CMP_MAVROS_
 # Docker than e.g. bridging via virtual serial ports (pseudo-ttys) on Docker
 # host
 #socat tcp-listen:15000 pty,link=/dev/ACM0 &
-echo "Setting up socat bridge at from TCP port ${SOCAT_BRIDGE_PORT:?empty or not set} to device /dev/ACM0"
-socat tcp-listen:${SOCAT_BRIDGE_PORT:?empty or not set},reuseaddr,fork pty,raw,echo=0,link=/dev/ACM0 &
+# TODO: do not hard code /dev/ttyS2, use .env file
+echo "Setting up socat bridge at from TCP port ${SOCAT_BRIDGE_PORT:?empty or not set} to /tmp/gisnav-pty-link"
+socat tcp-listen:${SOCAT_BRIDGE_PORT:?empty or not set},reuseaddr,fork pty,raw,echo=0,link=/tmp/gisnav-pty-link &
+echo "PTY device created at (might not show up until client connects at ${SOCAT_BRIDGE_PORT}): $(readlink /tmp/gisnav-pty-link)"
+
+# Start socat and capture the PTY name
+#echo "Setting up socat bridge at from TCP port ${SOCAT_BRIDGE_PORT:?empty or not set} to PTY"
+#socat tcp-listen:${SOCAT_BRIDGE_PORT},reuseaddr,fork pty,link=/tmp/gisnav-pty-link,raw,echo=0 || (echo "Could not establish TCP-to-serial bridge."; exit 1) &
+#echo "PTS device created at (might not show up until client connects at ${SOCAT_BRIDGE_PORT}): $(readlink /tmp/gisnav-pty-link)"
 
 # Setup uXRCE agent IP
 # PX4 needs the IP as int32 - convert_ip.py script does the conversion

docker/ubx/opt/colcon_ws/src/ubx_publisher/ubx_publisher/ubx_publisher_node.py

@@ -13,7 +13,7 @@ def __init__(self):
 
         # Declare and get parameters
         self.declare_parameter("serial_port", "/dev/ttyUSB0")
-        self.declare_parameter("baud_rate", 115200)
+        self.declare_parameter("baud_rate", 9600)
 
         self.serial_port = self.get_parameter("serial_port").value
         self.baud_rate = self.get_parameter("baud_rate").value