DrTon/jMAVSim

can't communcate through udp port

alsadi007 opened this issue · 9 comments

alsadi007 commented

I am trying to communicate to vagrant through udp , but I get the below message:

FAHADs-MacBook-Pro:jMAVSim fahadkhamis$ java -Djava.ext.dirs= -cp lib/*:out/production/jmavsim.jar me.drton.jmavsim.Simulator -udp 127.0.0.1:14560
3D [dev] 1.6.0-pre12-daily-experimental daily

Exception in thread "main" java.io.IOException: jssc.SerialPortException: Port name - /dev/tty.usbmodem1; Method name - openPort(); Exception type - Port not found.
at me.drton.jmavsim.SerialMAVLinkPort.open(SerialMAVLinkPort.java:38)
at me.drton.jmavsim.Simulator.(Simulator.java:110)
at me.drton.jmavsim.Simulator.main(Simulator.java:146)
Caused by: jssc.SerialPortException: Port name - /dev/tty.usbmodem1; Method name - openPort(); Exception type - Port not found.
at jssc.SerialPort.openPort(SerialPort.java:165)
at me.drton.jmavsim.SerialMAVLinkPort.open(SerialMAVLinkPort.java:35)
... 2 more

bidai541 commented

hill man, I met this question too, how did you deal with this problem?

alsadi007 commented

Hi mate,
I tried different things but I couldn't make it run. The software needs to be modified.Just decided then to use hardware in loop simulation

bidai541 commented

Is it essential in HITL mode that all the sensors should be connected to px4?

alsadi007 commented

I have done the simulation once and I don't really remember if I had the sensors connected. I believe All the sensors data will be simulated.

bidai541 commented

OK. Thanks very much! ^-^

bidai541 commented

Hi, I have know the reason why sitl cannot connected by jmavsim. You should clone the jmavsim project from this web https://github.com/PX4/jMAVSim.git (not https://github.com/DrTon/jMAVSim). So the readme file is wrong.

alsadi007 commented

was you able to compile it ?
I have tried this before but I got this error when I tried to compile it :

compile:
[javac] Compiling 58 source files to /Users/fahadkhamis/git_folder/jMAVSim/out/production/jMAVSim
[javac] /Users/fahadkhamis/git_folder/jMAVSim/src/me/drton/jmavsim/UDPMavLinkPort.java:99: cannot find symbol
[javac] symbol : method getLoopbackAddress()
[javac] location: class java.net.InetAddress
[javac] possibleAddress = InetAddress.getLoopbackAddress();
[javac] ^
[javac] /Users/fahadkhamis/git_folder/jMAVSim/src/me/drton/jmavsim/UDPMavLinkPort.java:129: cannot find symbol
[javac] symbol : method getRemoteAddress()
[javac] location: class java.nio.channels.DatagramChannel
[javac] SocketAddress remote = channel.getRemoteAddress();
[javac] ^
[javac] 2 errors

BUILD FAILED
/Users/fahadkhamis/git_folder/jMAVSim/build.xml:20: Compile failed; see the compiler error output for details.

bidai541 commented

May be your jdk version is not right. I installed "jdk-8u60-linux-x64.tar.gz" from here http://www.oracle.com/technetwork/java/javase/downloads/jdk8-downloads-2133151.html

docHell commented

I've created a virtual machine running Xubuntu 18.04.
I've correctly ( I suppose ) installed jmavsim and px4.
When I digit "sudo make posix_sitl_default jmavsim" the simulator starts correctly and I can run some commands succesfully like "commander takeoff".

According to the instructions, to connect to the wifi I must run the simulator using a different command :

sudo make broadcast jmavsim

Then I've to set manually a parmeter in the consolle the firtst time.

param set MAV_BROADCAST 1

The screen log is this :

ninja: Entering directory `/home/dronetest/Firmware/build/posix_sitl_broadcast'
[0/1] cd /home/dronetest/Firmware/buil...st/Firmware/build/posix_sitl_broadcast
SITL ARGS
sitl_bin: /home/dronetest/Firmware/build/posix_sitl_broadcast/bin/px4
rcS_path: posix-configs/SITL/init/ekf2
debugger: none
program: jmavsim
model: none
src_path: /home/dronetest/Firmware
build_path: /home/dronetest/Firmware/build/posix_sitl_broadcast
empty model, setting iris as default
SITL COMMAND: /home/dronetest/Firmware/build/posix_sitl_broadcast/bin/px4 /home/dronetest/Firmware/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t /home/dronetest/Firmware/test_data
INFO [Unknown] Creating symlink /home/dronetest/Firmware/ROMFS/px4fmu_common -> /home/dronetest/Firmware/build/posix_sitl_broadcast/tmp/rootfs/etc

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
| / / |/

px4 starting.

INFO [Unknown] Calling startup script: bash etc/init.d-posix/rcS 0
INFO [dataman] Unknown restart, data manager file './dataman' size is 11405132 bytes
INFO [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
Buildfile: /home/dronetest/Firmware/Tools/jMAVSim/build.xml

make_dirs:

compile:

create_run_jar:

copy_res:

BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
3D [dev] 1.6.0-pre12-daily-experimental daily

libEGL warning: DRI2: failed to authenticate
Init MAVLink
INFO [simulator] Got initial simulation data, running sim..
INFO [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14556 remote port 14550
INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14557 remote port 14540
INFO [logger] logger started (mode=all)
INFO [logger] Start file log
INFO [logger] Opened log file: ./log/2019-03-05/01_06_01.ulg
INFO [Unknown] Startup script returned successfully
pxh> INFO [mavlink] using network interface enp0s3, IP: 192.168.1.200
INFO [mavlink] with netmask: 255.255.255.0
INFO [mavlink] and broadcast IP: 192.168.1.255
INFO [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
INFO [ecl/EKF] EKF GPS checks passed (WGS-84 origin set)
INFO [ecl/EKF] EKF commencing GPS fusion
ERROR [Unknown] WARNING! TIME IS NEGATIVE! 158155213 vs 158155216

I've tried with some software ( in java or nodejs) to connect, inside and outside the vm, but the " ECONNREFUSED" is always the result.

I've tried also to ping using nmap the port, but

for the 14556/7

sudo nmap -p 14556 -sU 192.168.1.200

Starting Nmap 7.60 ( https://nmap.org ) at 2019-03-05 02:53 CET
Nmap scan report for 192.168.1.200
Host is up (0.00017s latency).

PORT STATE SERVICE
14556/udp open|filtered unknown
MAC Address: 08:00:27:66:94:F7 (Oracle VirtualBox virtual NIC)

Nmap done: 1 IP address (1 host up) scanned in 0.93 seconds

instead for the 14550/40:

sudo nmap -p 14540 -sU 192.168.1.200

Starting Nmap 7.60 ( https://nmap.org ) at 2019-03-05 02:53 CET
Nmap scan report for 192.168.1.200
Host is up (0.00012s latency).

PORT STATE SERVICE
14540/udp closed unknown
MAC Address: 08:00:27:66:94:F7 (Oracle VirtualBox virtual NIC)

Nmap done: 1 IP address (1 host up) scanned in 0.82 seconds

I'm trying now using "https://github.com/kvenux/nodegcs"

But the result is the same : ECONNREFUSED

Can you help me ?