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mavlink / MAVSDK-Java

MAVSDK client for Java.
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Code stops at `MavsdkServer.run(systemAddress)` despite having `Discovered 1 component(s)` #178

Closed Sefibrah closed 2 months ago

Sefibrah commented 2 months ago

This issue may look like #173 on the surface, and this comment may have the same issue like me, but I have a key difference:

My code:

// ...
MavsdkEventQueue
        .executor()
        .execute(
            () -> {
            Log.i(TAG, "anything? 1");
            mMavsdkServer = new MavsdkServer();
            Log.i(TAG, "anything? 2");
            int mavsdkServerPort = mMavsdkServer.run("udp://" + host + ":" + port);
            Log.i(TAG, "anything? 3");
            mRover = new io.mavsdk.System(MAVSDK_SERVER_IP, mavsdkServerPort);
            Log.i(TAG, "anything? 4");
            // ...

My LogCat:

2024-09-15 09:27:13.367 18365-18454 LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 1
2024-09-15 09:27:13.540 18365-18454 LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 2
2024-09-15 09:27:13.541 18365-18454 Mavsdk                  org...escript.karaymobilecontroller  I  MAVSDK version: v2.12.2
2024-09-15 09:27:13.541 18365-18454 MAVSDK-Server           org...escript.karaymobilecontroller  D  Running mavsdk_server with connection url: udp://192.168.1.103:14550
2024-09-15 09:27:13.541 18365-18454 Mavsdk                  org...escript.karaymobilecontroller  I  Waiting to discover system on udp://192.168.1.103:14550...
2024-09-15 09:27:14.219 18365-18458 Mavsdk                  org...escript.karaymobilecontroller  D  New system ID: 42 Comp ID: 190
2024-09-15 09:27:14.219 18365-18458 Mavsdk                  org...escript.karaymobilecontroller  D  Component Ground station (190) added.
2024-09-15 09:27:14.219 18365-18458 Mavsdk                  org...escript.karaymobilecontroller  D  Discovered 1 component(s)

As you can see, it did discover my component! Despite that, it refuses to continue? I tried udp://192.168.1.103:14550 & udp://192.168.1.103:14552, but the results are the same... The SITL simulation works properly, and it got started by doing the following:

sim_vehicle.py --model JSON --map --console -f gazebo-rover -v Rover -D --out udp:192.168.1.103:14550

Yet, it fails to proceed... Why?

P.S. I am using the NativeScript + Java combination to do this, but it doesn't work. However, I managed to get this snippet of code working on my Ionic + Capacitor + Java combination... so what's going on?

Furthermore, I am trying to run this app from a Herelink device, on which my app is residing. My app on Herelink is trying to connect to my SITL on my macOS. And as you can see from the LogCat, it did, but then it still stops... Why??

P.P.S. Here's how my Android Studio debugger looks like:

Screenshot 2024-09-15 at 12 00 07

As you can see, this is what the method gets, and as soon as it continues from the line 59's breakpoint, nothing happens, except the "Discovered 1 component(s)" message, but nothing else...

@JonasVautherin @julianoes, hopefully you can help out 😅

Sefibrah commented 2 months ago

I think I made a mistake on my end, but correcting it wasn't enough.

In the previous examples, 192.168.1.103 was the IP Address of my Herelink, and it obviously could never host the SITL. So I corrected it to my laptop's address which is 192.168.1.100 on which the Rover's SITL is hosted.

I am running my SITL w/: sim_vehicle.py --map --console --mavproxy-args="--master udp:192.168.1.100:14550" -D -f rover

And these are the LogCat messages I receive:

2024-09-16 09:28:22.226 28435-28512 LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 1
2024-09-16 09:28:22.290 28435-28512 LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 2
2024-09-16 09:28:22.290 28435-28512 Mavsdk                  org...escript.karaymobilecontroller  I  MAVSDK version: v2.12.2
2024-09-16 09:28:22.290 28435-28512 MAVSDK-Server           org...escript.karaymobilecontroller  D  Running mavsdk_server with connection url: udp://192.168.1.100:14550
2024-09-16 09:28:22.290 28435-28512 Mavsdk                  org...escript.karaymobilecontroller  I  Waiting to discover system on udp://192.168.1.100:14550...
2024-09-16 09:28:22.423 28435-28517 Mavsdk                  org...escript.karaymobilecontroller  D  New system ID: 255 Comp ID: 230
2024-09-16 09:28:22.424 28435-28517 Mavsdk                  org...escript.karaymobilecontroller  D  Component Unsupported component (230) added.
2024-09-16 09:28:22.424 28435-28517 Mavsdk                  org...escript.karaymobilecontroller  D  Discovered 1 component(s)
2024-09-16 09:28:24.474 28435-28519 ProfileInstaller        org...escript.karaymobilecontroller  D  Installing profile for org.nativescript.karaymobilecontroller
2024-09-16 09:29:08.718 28435-28515 Mavsdk                  org...escript.karaymobilecontroller  I  heartbeats timed out
2024-09-16 09:29:11.458 28435-28517 Mavsdk                  org...escript.karaymobilecontroller  D  Discovered 1 component(s)

Seems that the System ID and Comp ID changed, but still not good enough, as it fails to get to the Log.i(TAG, "anything? 3"); & Log.i(TAG, "anything? 4"); logs...

What could it possibly be?

JonasVautherin commented 2 months ago

New system ID: 255 Comp ID: 230

Are those the sysid/compid sent by the rover? MAVSDK expects the autopilot to be 1/1, I would say

Sefibrah commented 2 months ago

Are those the sysid/compid sent by the rover?

I'd like to believe that they are. On my laptop I run SITL via sim_vehicle.py --map --console --mavproxy-args="--master udp:192.168.1.100:14550" -D -f rover, and my laptop's IP Address is 192.168.1.100 too.

So I imagine it would make sense for the Herelink controller unit to connect to a SITL located on the 192.168.1.100 IP Address.

My laptop and the Herelink share the same WiFi, I think that's important, right?

MAVSDK expects the autopilot to be 1/1, I would say

WDYM 1/1?

Also do you know what does the Component Unsupported component (230) added. mean?

julianoes commented 2 months ago

@JonasVautherin could it be related to the race condition between components in https://github.com/mavlink/MAVSDK/pull/2388?

julianoes commented 2 months ago

@Sefibrah Also do you know what does the Component Unsupported component (230) added. mean?

It means it sees component ID 230, whatever that is, but not component ID which would be the autopilot.

Not sure what 230 is, it's not listed in https://mavlink.io/en/messages/common.html#MAV_COMPONENT.

JonasVautherin commented 2 months ago

Let's try, I updated and pushed mavsdk-server 2.1.1, which will be available through Maven in a couple hours: https://central.sonatype.com/artifact/io.mavsdk/mavsdk-server/versions

@Sefibrah: would you mind trying to update mavsdk-server to 2.1.1 and see if it helps?

Sefibrah commented 2 months ago

I absolutely wouldn't mind at all! I'll let you know as soon as I check it out @JonasVautherin

Sefibrah commented 2 months ago

@JonasVautherin Didn't go as expected unfortunately...

My LogCat:

2024-09-17 11:04:31.380  2049-2138  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 1
2024-09-17 11:04:31.566  2049-2138  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 2
2024-09-17 11:04:31.566  2049-2138  Mavsdk                  org...escript.karaymobilecontroller  I  MAVSDK version: v2.12.6
2024-09-17 11:04:31.567  2049-2138  MAVSDK-Server           org...escript.karaymobilecontroller  D  Running mavsdk_server with connection url: udp://192.168.1.100:14550
2024-09-17 11:04:31.567  2049-2138  Mavsdk                  org...escript.karaymobilecontroller  I  Waiting to discover system on udp://192.168.1.100:14550...
2024-09-17 11:04:32.190  2049-2142  Mavsdk                  org...escript.karaymobilecontroller  D  New system ID: 255 Comp ID: 230
2024-09-17 11:04:32.190  2049-2142  Mavsdk                  org...escript.karaymobilecontroller  D  Component Unsupported component (230) added.
2024-09-17 11:04:32.190  2049-2142  Mavsdk                  org...escript.karaymobilecontroller  D  Discovered 1 component(s)

You can see the MAVSDK version changed from v2.12.2 to v2.12.6, but I guess it wasn't enough.

My dependencies:

dependencies {
  //  other deps...
  implementation 'io.mavsdk:mavsdk:2.1.0'
  implementation 'io.mavsdk:mavsdk-server:2.1.1'
}

I am going to try out my older implementation in Ionic to see if the older versions work...

JonasVautherin commented 2 months ago

Do you have a component that advertises as a MAVLink autopilot? mavsdk_server waits until it discovers an autopilot.

Sefibrah commented 2 months ago

Not sure, maybe the culprit is somewhere in sim_vehicle.py --map --console --mavproxy-args="--master udp:192.168.1.100:14550" -D -f rover, or in sim_vehicle.py --map --console --out udp:192.168.1.100:14550 -D -f rover.

I am trying to allow UDP access to foreign GCS (like my Herelink NativeScript app), but maybe I got it all wrong. I remember it working last time, but now I am not certain why is it refusing...

When I run my SITL, among other logs in the console I get:

// ...
AP: ArduPilot Ready
AP: 192.168.1.100
// ...

It took the --out / --mavproxy-args flags that I provided it and logged them, so it must be emitting some form of UDP data right?

And just to mention this, even my old Ionic implementation stopped working... So it must be something related to SITL... But why is it recognising it then... it could be the SITL after all, I'll investigate some SITL flags to make sure that SITL is emitting stuff to the UDP I need...

Sefibrah commented 2 months ago

I am happy, but feeling dumb at the same time. I found the resolution to the problem:

sim_vehicle.py --map --console --out udpin:192.168.1.100:14550 -D -f rover

Instead of using udp I needed to use udpin...

Sometimes this sh*t drives me nuts 😅

Thank you 2 for helping me out. Btw here are how the logs look now.

My LogCat:

2024-09-17 17:55:58.829  3106-3168  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 1
2024-09-17 17:55:58.974  3106-3168  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 2
2024-09-17 17:55:58.974  3106-3168  Mavsdk                  org...escript.karaymobilecontroller  I  MAVSDK version: v2.12.6
2024-09-17 17:55:58.975  3106-3168  MAVSDK-Server           org...escript.karaymobilecontroller  D  Running mavsdk_server with connection url: udp://192.168.1.100:14550
2024-09-17 17:55:58.975  3106-3168  Mavsdk                  org...escript.karaymobilecontroller  I  Waiting to discover system on udp://192.168.1.100:14550...
2024-09-17 17:55:59.022  3106-3171  Mavsdk                  org...escript.karaymobilecontroller  D  New system ID: 1 Comp ID: 1
2024-09-17 17:55:59.022  3106-3171  Mavsdk                  org...escript.karaymobilecontroller  D  Component Autopilot (1) added.
2024-09-17 17:55:59.076  3106-3168  Mavsdk                  org...escript.karaymobilecontroller  I  System discovered
2024-09-17 17:55:59.080  3106-3168  Mavsdk                  org...escript.karaymobilecontroller  I  Server started
2024-09-17 17:55:59.080  3106-3168  Mavsdk                  org...escript.karaymobilecontroller  I  Server set to listen on 0.0.0.0:41555
2024-09-17 17:55:59.081  3106-3168  MAVSDK-Server           org...escript.karaymobilecontroller  D  mavsdk_server is now running, listening on port 41555
2024-09-17 17:55:59.081  3106-3168  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 3
2024-09-17 17:55:59.083  3106-3168  LOG_Mavsdk...munication org...escript.karaymobilecontroller  I  anything? 4

Thanks once again... 😭