module load cesium - no data

[Ryanf55]

When trying to load this as a mavproxy module, it doesn't get mavlink data.

It only works standalone.
https://github.com/ArduPilot/MAVCesium?tab=readme-ov-file#getting-it-running-standalone

The TCP socket seems to connect and disconnect sometimes, no data arrives.

[Ryanf55]

Traceback (most recent call last):
  File "/home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_link.py", line 1053, in master_callback
    mod.mavlink_packet(m)
  File "/home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_cesium/__init__.py", line 193, in mavlink_packet
    if self.fence_change_time != self.module('fence').fenceloader.last_change:
AttributeError: 'FenceModule' object has no attribute 'fenceloader'

[Ryanf55]

Once I changed to use the wploader object, I then ran into:

Root cause: Tornado update to v5 introduce changes in event loop handling. The proposed solution worked great!
tornadoweb/tornado#2308 (comment)

MANUAL> module load cesium
MANUAL> Using config file at /home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_cesium/app/mavcesium_default.ini
Loaded module cesium
Starting Tornado server: http://0.0.0.0:5000/mavcesium/

MANUAL> websocket opened!
websocket opened!
Traceback (most recent call last):
  File "/home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_link.py", line 1053, in master_callback
    mod.mavlink_packet(m)
  File "/home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_cesium/__init__.py", line 181, in mavlink_packet
    self.send_data({'mav_data':msg_dict})
RuntimeError: There is no current event loop in thread 'main_loop'.

[Ryanf55]

Actually, AnyThreadEventLoopPolicy is now deprecated.... These libraries change faster than I can keep up.

/home/ryan/Dev/ardu_ws/src/MAVProxy/MAVProxy/modules/mavproxy_cesium/app/cesium_web_server.py:170: DeprecationWarning: AnyThreadEventLoopPolicy is deprecated, use asyncio.run or asyncio.new_event_loop instead
  asyncio.set_event_loop_policy(tornado.platform.asyncio.AnyThreadEventLoopPolicy())

The docs say to use asyncio's base functions in tornado 6.
https://www.tornadoweb.org/en/stable/asyncio.html#module-tornado.platform.asyncio

Cesium is using tornado 6.4.1. I don't have much understanding of how these two interract.