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system: allow setting sysid/compid #407

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Merged
merged 1 commit into from
Nov 30, 2021
Merged

system: allow setting sysid/compid #407

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21 changes: 16 additions & 5 deletions mavsdk/system.py
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,18 @@ class System:
Port of the running mavsdk_server instance specified by
mavsdk_server_address.

sysid: int
MAVLink system ID of the mavsdk_server (1..255).

compid: int
MAVLink component ID of the mavsdk_server (1..255).

"""
def __init__(self, mavsdk_server_address=None, port=50051):
def __init__(self, mavsdk_server_address=None, port=50051, sysid=245, compid=190):
self._mavsdk_server_address = mavsdk_server_address
self._port = port
self._sysid = sysid
self._compid = compid

self._plugins = {}
self._server_process = None
Expand Down Expand Up @@ -94,7 +102,7 @@ async def connect(self, system_address=None):

if self._mavsdk_server_address is None:
self._mavsdk_server_address = 'localhost'
self._server_process = self._start_mavsdk_server(system_address,self._port)
self._server_process = self._start_mavsdk_server(system_address,self._port, self._sysid, self._compid)

await self._init_plugins(self._mavsdk_server_address, self._port)

Expand Down Expand Up @@ -168,7 +176,7 @@ def failure(self) -> failure.Failure:
if "failure" not in self._plugins:
raise RuntimeError(self.error_uninitialized("Failure"))
return self._plugins["failure"]

@property
def follow_me(self) -> follow_me.FollowMe:
if "follow_me" not in self._plugins:
Expand Down Expand Up @@ -272,7 +280,7 @@ def tune(self) -> tune.Tune:
return self._plugins["tune"]

@staticmethod
def _start_mavsdk_server(system_address=None,port=50051):
def _start_mavsdk_server(system_address, port, sysid, compid):
"""
Starts the gRPC server in a subprocess, listening on localhost:port
port parameter can be specified now to allow multiple mavsdk servers to be spawned via code
Expand All @@ -289,7 +297,10 @@ def _start_mavsdk_server(system_address=None,port=50051):

try:
with path(bin, 'mavsdk_server') as backend:
bin_path_and_args = [os.fspath(backend), "-p", str(port)]
bin_path_and_args = [os.fspath(backend),
"-p", str(port),
"--sysid", str(sysid),
"--compid", str(compid)]
if system_address:
bin_path_and_args.append(system_address)
p = subprocess.Popen(bin_path_and_args,
Expand Down