├── docs ├── pilot_atts.png ├── osd_settings.png ├── 3DPrint │ └── wirex-1.webp └── general_settings.png ├── .github └── workflows │ └── rhfest.yaml ├── custom_plugins └── vrxc_elrs │ ├── manifest.json │ ├── connections.py │ ├── msp.py │ ├── __init__.py │ └── elrs_backpack.py ├── .gitignore ├── README.md └── LICENSE /docs/pilot_atts.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/i-am-grub/vrxc_elrs/HEAD/docs/pilot_atts.png -------------------------------------------------------------------------------- /docs/osd_settings.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/i-am-grub/vrxc_elrs/HEAD/docs/osd_settings.png -------------------------------------------------------------------------------- /docs/3DPrint/wirex-1.webp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/i-am-grub/vrxc_elrs/HEAD/docs/3DPrint/wirex-1.webp -------------------------------------------------------------------------------- /docs/general_settings.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/i-am-grub/vrxc_elrs/HEAD/docs/general_settings.png -------------------------------------------------------------------------------- /.github/workflows/rhfest.yaml: -------------------------------------------------------------------------------- 1 | --- 2 | name: RHFest 3 | 4 | on: 5 | push: 6 | branches: 7 | - master 8 | pull_request: 9 | 10 | jobs: 11 | validation: 12 | name: Validation 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Check out code from GitHub 16 | uses: actions/checkout@v4.2.2 17 | 18 | - name: Run RHFest validation 19 | uses: docker://ghcr.io/rotorhazard/rhfest-action:v2 -------------------------------------------------------------------------------- /custom_plugins/vrxc_elrs/manifest.json: -------------------------------------------------------------------------------- 1 | { 2 | "domain": "vrxc_elrs", 3 | "name": "VRxC ELRS", 4 | "author": "Bryce \"GRUBBY\" Gruber", 5 | "author_uri": "https://github.com/i-am-grub", 6 | "description": "The ExpressLRS Backpack integrated into RotorHazard", 7 | "documentation_uri": "https://github.com/i-am-grub/VRxC_ELRS", 8 | "required_rhapi_version": "1.2", 9 | "version": "1.4.3", 10 | "category": ["OSD & VRx Control"] 11 | } -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; otherwise, check them in: 88 | # .python-version 89 | 90 | # pipenv 91 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 92 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 93 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 94 | # install all needed dependencies. 95 | #Pipfile.lock 96 | 97 | # poetry 98 | # Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. 99 | # This is especially recommended for binary packages to ensure reproducibility, and is more 100 | # commonly ignored for libraries. 101 | # https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control 102 | #poetry.lock 103 | 104 | # pdm 105 | # Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. 106 | #pdm.lock 107 | # pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it 108 | # in version control. 109 | # https://pdm.fming.dev/#use-with-ide 110 | .pdm.toml 111 | 112 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm 113 | __pypackages__/ 114 | 115 | # Celery stuff 116 | celerybeat-schedule 117 | celerybeat.pid 118 | 119 | # SageMath parsed files 120 | *.sage.py 121 | 122 | # Environments 123 | .env 124 | .venv 125 | env/ 126 | venv/ 127 | ENV/ 128 | env.bak/ 129 | venv.bak/ 130 | 131 | # Spyder project settings 132 | .spyderproject 133 | .spyproject 134 | 135 | # Rope project settings 136 | .ropeproject 137 | 138 | # mkdocs documentation 139 | /site 140 | 141 | # mypy 142 | .mypy_cache/ 143 | .dmypy.json 144 | dmypy.json 145 | 146 | # Pyre type checker 147 | .pyre/ 148 | 149 | # pytype static type analyzer 150 | .pytype/ 151 | 152 | # Cython debug symbols 153 | cython_debug/ 154 | 155 | # PyCharm 156 | # JetBrains specific template is maintained in a separate JetBrains.gitignore that can 157 | # be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore 158 | # and can be added to the global gitignore or merged into this file. For a more nuclear 159 | # option (not recommended) you can uncomment the following to ignore the entire idea folder. 160 | #.idea/ 161 | -------------------------------------------------------------------------------- /custom_plugins/vrxc_elrs/connections.py: -------------------------------------------------------------------------------- 1 | import logging 2 | from dataclasses import dataclass 3 | from enum import Enum 4 | from typing import Protocol, Union 5 | 6 | import gevent 7 | import gevent.queue 8 | import gevent.socket as socket 9 | import serial 10 | import serial.tools.list_ports 11 | from gevent.queue import Queue 12 | 13 | from .msp import MSPPacket, MSPPacketType, MSPTypes 14 | 15 | SOCKET_PORT = 8080 16 | AVOIDED_PORTS = {"/dev/ttyAMA0", "/dev/ttyAMA10", "COM1"} 17 | 18 | logger = logging.getLogger(__name__) 19 | 20 | 21 | class BackpackConnection(Protocol): 22 | """ 23 | Protocol for backpack connections 24 | """ 25 | 26 | connected: bool 27 | 28 | def __init__(self, send_queue: Queue, recieve_queue: Queue): ... 29 | 30 | def connect(self, **kwargs) -> bool: ... 31 | 32 | def disconnect(self): ... 33 | 34 | 35 | @dataclass 36 | class ConnectionType: 37 | """ 38 | Dataclass for custom connection enum 39 | """ 40 | 41 | type_: type["BackpackConnection"] 42 | id_: int 43 | 44 | 45 | class SerialConnection: 46 | """ 47 | Backpack over serial connection 48 | """ 49 | 50 | _send_greenlet: Union[gevent.Greenlet, None] = None 51 | _recieve_greenlet: Union[gevent.Greenlet, None] = None 52 | _parsing_greenlet: Union[gevent.Greenlet, None] = None 53 | 54 | def __init__(self, send_queue: Queue, recieve_queue: Queue): 55 | self._connected = False 56 | self._send_queue = send_queue 57 | self._recieve_queue = recieve_queue 58 | self._connection: Union[serial.Serial, None] = None 59 | self._parsing_queue = gevent.queue.Queue() 60 | 61 | @property 62 | def connected(self) -> bool: 63 | return self._connected 64 | 65 | def connect(self) -> bool: 66 | packet = MSPPacket() 67 | packet.set_function(MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION) 68 | 69 | logger.info("Attempting to find backpack") 70 | 71 | avaliable_port = {port.device for port in serial.tools.list_ports.comports()} 72 | 73 | for port in avaliable_port - AVOIDED_PORTS: 74 | 75 | try: 76 | connection = serial.Serial( 77 | port=port, 78 | baudrate=460800, 79 | bytesize=8, 80 | parity="N", 81 | stopbits=1, 82 | timeout=5, 83 | xonxoff=0, 84 | rtscts=0, 85 | write_timeout=5, 86 | ) 87 | except: 88 | logger.warning( 89 | "Failed to open serial device. Attempting to connect to new device..." 90 | ) 91 | continue 92 | 93 | # Some devkits need extra time to establish the connection 94 | gevent.sleep(2) 95 | 96 | # Clear out any previous data in the serial buffer 97 | connection.read_all() 98 | 99 | try: 100 | connection.write(packet.get_packet()) 101 | except: 102 | logger.error( 103 | "Failed to write to open serial device. Attempting to connect to new device..." 104 | ) 105 | connection.close() 106 | continue 107 | 108 | gevent.sleep(0.2) 109 | 110 | data = connection.read_all() 111 | for packet in MSPPacket.packets_from_bytes(data): 112 | if ( 113 | packet.type_ == MSPPacketType.RESPONSE 114 | and packet.function == MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION 115 | ): 116 | self._connection = connection 117 | self._connected = True 118 | break 119 | 120 | if self._connected: 121 | break 122 | 123 | else: 124 | return False 125 | 126 | self._parsing_greenlet = gevent.spawn(self._parser) 127 | self._send_greenlet = gevent.spawn(self._send) 128 | self._recieve_greenlet = gevent.spawn(self._recieve) 129 | return True 130 | 131 | def _send(self) -> None: 132 | """ 133 | Sends data from the queue over the socket 134 | """ 135 | assert self._connection is not None 136 | 137 | try: 138 | while self._connected: 139 | packet: MSPPacket = self._send_queue.get() 140 | self._connection.write(packet.get_packet()) 141 | 142 | finally: 143 | self._connected = False 144 | self._send_greenlet = None 145 | self.disconnect() 146 | 147 | def _parser(self) -> None: 148 | """ 149 | Parses incoming data 150 | """ 151 | for packet in MSPPacket.packets_from_bytes_queue(self._parsing_queue): 152 | self._recieve_queue.put(packet) 153 | 154 | def _recieve(self) -> None: 155 | """ 156 | Recieves data from the socket and adds it to the queue 157 | """ 158 | assert self._connection is not None 159 | 160 | try: 161 | while self._connected: 162 | data = self._connection.read_all() 163 | self._parsing_queue.put(data) 164 | gevent.sleep(0.2) 165 | 166 | finally: 167 | self._connected = False 168 | self._recieve_greenlet = None 169 | self.disconnect() 170 | 171 | def disconnect(self): 172 | """ 173 | _summary_ 174 | """ 175 | self._connected = False 176 | 177 | if self._parsing_greenlet is not None: 178 | self._parsing_greenlet.kill() 179 | 180 | if self._send_greenlet is not None: 181 | self._send_greenlet.kill() 182 | 183 | if self._recieve_greenlet is not None: 184 | self._recieve_greenlet.kill() 185 | 186 | self._connection.close() 187 | 188 | 189 | class SocketConnection: 190 | """ 191 | Backpack over socket connection 192 | """ 193 | 194 | _send_greenlet: Union[gevent.Greenlet, None] = None 195 | _recieve_greenlet: Union[gevent.Greenlet, None] = None 196 | 197 | def __init__(self, send_queue: Queue, recieve_queue: Queue): 198 | self._connected = False 199 | self._send_queue = send_queue 200 | self._recieve_queue = recieve_queue 201 | self._socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 202 | 203 | @property 204 | def connected(self) -> bool: 205 | return self._connected 206 | 207 | def connect(self, ip_addr: str) -> bool: 208 | """ 209 | Establishes the socket connection 210 | 211 | :param ip_addr: The IP address to connect to 212 | """ 213 | self._socket.settimeout(5) 214 | packet = MSPPacket() 215 | packet.set_function(MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION) 216 | 217 | try: 218 | self._socket.connect((ip_addr, SOCKET_PORT)) 219 | self._socket.sendall(packet.get_packet()) 220 | data = self._socket.recv(128) 221 | for packet in MSPPacket.packets_from_bytes(data): 222 | if ( 223 | packet.type_ == MSPPacketType.RESPONSE 224 | and packet.function == MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION 225 | ): 226 | self._connected = True 227 | break 228 | else: 229 | self._socket.close() 230 | return False 231 | 232 | except TimeoutError: 233 | self._socket.close() 234 | return False 235 | 236 | self._socket.settimeout(None) 237 | 238 | self._send_greenlet = gevent.spawn(self._send) 239 | self._recieve_greenlet = gevent.spawn(self._recieve) 240 | 241 | return True 242 | 243 | def _send(self) -> None: 244 | """ 245 | Sends data from the queue over the socket 246 | """ 247 | try: 248 | while self._connected: 249 | packet: MSPPacket = self._send_queue.get() 250 | 251 | timeout = gevent.Timeout(1) 252 | timeout.start() 253 | try: 254 | self._socket.sendall(packet.get_packet()) 255 | finally: 256 | timeout.close() 257 | except gevent._socketcommon.cancel_wait_ex: 258 | ... 259 | 260 | finally: 261 | self._connected = False 262 | self._send_greenlet = None 263 | self.disconnect() 264 | 265 | def _recieve(self) -> None: 266 | """ 267 | Recieves data from the socket and adds it to the queue 268 | """ 269 | try: 270 | while self._connected: 271 | data = self._socket.recv(128) 272 | for packet in MSPPacket.packets_from_bytes(data): 273 | self._recieve_queue.put(packet) 274 | except gevent._socketcommon.cancel_wait_ex: 275 | ... 276 | 277 | finally: 278 | self._connected = False 279 | self._recieve_greenlet = None 280 | self.disconnect() 281 | 282 | def disconnect(self): 283 | """ 284 | Disconnects the socket 285 | """ 286 | self._connected = False 287 | 288 | if self._send_greenlet is not None: 289 | self._send_greenlet.kill() 290 | 291 | if self._recieve_greenlet is not None: 292 | self._recieve_greenlet.kill() 293 | 294 | self._socket.close() 295 | 296 | 297 | class ConnectionTypeEnum(ConnectionType, Enum): 298 | """ 299 | Enum for different connection selections 300 | """ 301 | 302 | USB = SerialConnection, 1 303 | ONBOARD = SerialConnection, 2 304 | SOCKET = SocketConnection, 3 305 | -------------------------------------------------------------------------------- /custom_plugins/vrxc_elrs/msp.py: -------------------------------------------------------------------------------- 1 | """ 2 | ExpressLRS Backpack bridge 3 | """ 4 | 5 | import sys 6 | from collections.abc import Generator, Sequence 7 | from enum import Enum, IntEnum, auto 8 | from typing import Union 9 | 10 | from gevent.queue import Queue 11 | 12 | if sys.version_info >= (3, 11): 13 | from typing import Self 14 | else: 15 | from typing_extensions import Self 16 | 17 | MSP_HEADER_LENGTH = 8 18 | 19 | 20 | class MSPState(Enum): 21 | IDLE = auto() 22 | HEADER_START = auto() 23 | HEADER_X = auto() 24 | HEADER_V2_NATIVE = auto() 25 | PAYLOAD_V2_NATIVE = auto() 26 | CHECKSUM_V2_NATIVE = auto() 27 | COMMAND_RECEIVED = auto() 28 | 29 | 30 | class MSPPacketType(IntEnum): 31 | UNKNOWN = ord("!") 32 | COMMAND = ord("<") 33 | RESPONSE = ord(">") 34 | 35 | 36 | class MSPTypes(IntEnum): 37 | """ 38 | ExpressLRS Backpack MSP types 39 | """ 40 | 41 | MSP_ELRS_FUNC = 0x4578 # ['E','x'] 42 | 43 | MSP_SET_RX_CONFIG = 45 44 | MSP_VTX_CONFIG = 88 # out message Get vtx settings - betaflight 45 | MSP_SET_VTX_CONFIG = 89 # in message Set vtx settings - betaflight 46 | MSP_EEPROM_WRITE = 250 # in message no param 47 | 48 | # ELRS specific opcodes 49 | MSP_ELRS_RF_MODE = 0x06 50 | MSP_ELRS_TX_PWR = 0x07 51 | MSP_ELRS_TLM_RATE = 0x08 52 | MSP_ELRS_BIND = 0x09 53 | MSP_ELRS_MODEL_ID = 0x0A 54 | MSP_ELRS_REQU_VTX_PKT = 0x0B 55 | MSP_ELRS_SET_TX_BACKPACK_WIFI_MODE = 0x0C 56 | MSP_ELRS_SET_VRX_BACKPACK_WIFI_MODE = 0x0D 57 | MSP_ELRS_SET_RX_WIFI_MODE = 0x0E 58 | MSP_ELRS_SET_RX_LOAN_MODE = 0x0F 59 | MSP_ELRS_GET_BACKPACK_VERSION = 0x10 60 | MSP_ELRS_BACKPACK_CRSF_TLM = 0x11 61 | MSP_ELRS_SET_SEND_UID = 0x00B5 62 | MSP_ELRS_SET_OSD = 0x00B6 63 | 64 | # CRSF encapsulated msp defines 65 | ENCAPSULATED_MSP_PAYLOAD_SIZE = 4 66 | ENCAPSULATED_MSP_FRAME_LEN = 8 67 | 68 | # ELRS backpack protocol opcodes 69 | # See: https:#docs.google.com/document/d/1u3c7OTiO4sFL2snI-hIo-uRSLfgBK4h16UrbA08Pd6U/edit#heading=h.1xw7en7jmvsj 70 | 71 | # outgoing, packets originating from the backpack or forwarded from the TX backpack to the VRx 72 | MSP_ELRS_BACKPACK_GET_CHANNEL_INDEX = 0x0300 73 | MSP_ELRS_BACKPACK_SET_CHANNEL_INDEX = 0x0301 74 | MSP_ELRS_BACKPACK_GET_FREQUENCY = 0x0302 75 | MSP_ELRS_BACKPACK_SET_FREQUENCY = 0x0303 76 | MSP_ELRS_BACKPACK_GET_RECORDING_STATE = 0x0304 77 | MSP_ELRS_BACKPACK_SET_RECORDING_STATE = 0x0305 78 | MSP_ELRS_BACKPACK_GET_VRX_MODE = 0x0306 79 | MSP_ELRS_BACKPACK_SET_VRX_MODE = 0x0307 80 | MSP_ELRS_BACKPACK_GET_RSSI = 0x0308 81 | MSP_ELRS_BACKPACK_GET_BATTERY_VOLTAGE = 0x0309 82 | MSP_ELRS_BACKPACK_GET_FIRMWARE = 0x030A 83 | MSP_ELRS_BACKPACK_SET_BUZZER = 0x030B 84 | MSP_ELRS_BACKPACK_SET_OSD_ELEMENT = 0x030C 85 | MSP_ELRS_BACKPACK_SET_HEAD_TRACKING = ( 86 | 0x030D # enable/disable head-tracking forwarding packets to the TX 87 | ) 88 | MSP_ELRS_BACKPACK_SET_RTC = 0x030E 89 | 90 | # incoming, packets originating from the VRx 91 | MSP_ELRS_BACKPACK_SET_MODE = 0x0380 # enable wifi/binding mode 92 | MSP_ELRS_BACKPACK_GET_VERSION = 0x0381 # get the bacpack firmware version 93 | MSP_ELRS_BACKPACK_GET_STATUS = 0x0382 # get the status of the backpack 94 | MSP_ELRS_BACKPACK_SET_PTR = 0x0383 # forwarded back to TX backpack 95 | 96 | 97 | class MSPPacket: 98 | """ 99 | Class for managing msp data 100 | """ 101 | 102 | def __init__(self) -> None: 103 | self._type: MSPPacketType = MSPPacketType.COMMAND 104 | self._function: Union[MSPTypes, None] = None 105 | self._payload: bytes | bytearray = bytearray() 106 | self._flags: int = 0 107 | 108 | @classmethod 109 | def packets_from_bytes_queue(cls, queue: Queue) -> Generator[Self, None, None]: 110 | """ 111 | Parses packets from a provided queue 112 | 113 | :param queue: The queue to generate packets from 114 | :yield: The packet 115 | """ 116 | 117 | def _gen() -> Generator[bytes, None, None]: 118 | while not queue.is_shutdown: 119 | yield queue.get() 120 | 121 | for bytes_ in _gen(): 122 | yield from cls.packets_from_bytes(bytes_) 123 | 124 | @classmethod 125 | def packets_from_bytes(cls, data: bytes) -> Generator[Self, None, None]: 126 | """ 127 | Parses packets from a provided queue 128 | 129 | :param queue: The queue to generate packets from 130 | :yield: The packet 131 | """ 132 | 133 | yield from cls._generate_packets((i for i in data)) 134 | 135 | @classmethod 136 | def _generate_packets( 137 | cls, data: Generator[int, None, None] 138 | ) -> Generator[Self, None, None]: 139 | """ 140 | Generates packets from an incoming generator 141 | 142 | :param data: The data generator 143 | :yield: The generated packet 144 | """ 145 | state: MSPState = MSPState.IDLE 146 | type_ = MSPPacketType.UNKNOWN 147 | flags = 0 148 | function_: MSPTypes | None = None 149 | buffer = bytearray() 150 | length = 0 151 | crc = 0 152 | 153 | for c in data: 154 | 155 | if state == MSPState.IDLE: 156 | if c == ord("$"): 157 | buffer = bytearray() 158 | buffer.append(c) 159 | state = MSPState.HEADER_START 160 | 161 | elif state == MSPState.HEADER_START: 162 | if c == ord("X"): 163 | buffer.append(c) 164 | state = MSPState.HEADER_X 165 | else: 166 | state = MSPState.IDLE 167 | 168 | elif state == MSPState.HEADER_X: 169 | state = MSPState.HEADER_V2_NATIVE 170 | crc = 0 171 | 172 | if c in ( 173 | MSPPacketType.COMMAND, 174 | MSPPacketType.RESPONSE, 175 | ): 176 | buffer.append(c) 177 | type_ = MSPPacketType(c) 178 | else: 179 | type_ = MSPPacketType.UNKNOWN 180 | state = MSPState.IDLE 181 | 182 | elif state == MSPState.HEADER_V2_NATIVE: 183 | buffer.append(c) 184 | crc = cls._crc8_dvb_s2(crc, c) 185 | 186 | if len(buffer) == MSP_HEADER_LENGTH: 187 | flags = buffer[3] 188 | function_ = MSPTypes(cls._bytes_to_int(buffer[4:6])) 189 | length = cls._bytes_to_int(buffer[6:8]) 190 | 191 | if length == 0: 192 | state = MSPState.CHECKSUM_V2_NATIVE 193 | else: 194 | state = MSPState.PAYLOAD_V2_NATIVE 195 | 196 | elif state == MSPState.PAYLOAD_V2_NATIVE: 197 | buffer.append(c) 198 | crc = cls._crc8_dvb_s2(crc, c) 199 | 200 | if len(buffer) - MSP_HEADER_LENGTH == length: 201 | state = MSPState.CHECKSUM_V2_NATIVE 202 | 203 | elif state == MSPState.CHECKSUM_V2_NATIVE: 204 | if c == crc: 205 | assert function_ is not None 206 | packet = cls() 207 | packet.set_type(type_) 208 | packet.set_flags(flags) 209 | packet.set_function(function_) 210 | 211 | if len(buffer) - MSP_HEADER_LENGTH > 0: 212 | packet.set_payload(buffer[8:]) 213 | 214 | yield packet 215 | 216 | state = MSPState.IDLE 217 | 218 | else: 219 | state = MSPState.IDLE 220 | 221 | @property 222 | def function(self) -> Union[MSPTypes, None]: 223 | """ 224 | Getter for the packet's function 225 | """ 226 | return self._function 227 | 228 | @property 229 | def type_(self) -> MSPPacketType: 230 | """ 231 | Getter for the packet's type 232 | """ 233 | return self._type 234 | 235 | @property 236 | def payload(self) -> bytes: 237 | """ 238 | Getter for the packet's type 239 | """ 240 | return self._payload 241 | 242 | @staticmethod 243 | def _int_to_bytes(a: int) -> bytes: 244 | return a.to_bytes(2, "little") 245 | 246 | @staticmethod 247 | def _bytes_to_int(a: bytes | bytearray) -> int: 248 | return int.from_bytes(a, "little") 249 | 250 | def set_function(self, function: MSPTypes) -> None: 251 | """ 252 | Sets the function for the packet 253 | 254 | :param function: The enum to set the function to 255 | """ 256 | self._function = function 257 | 258 | def set_payload(self, payload: Sequence[int] | bytes) -> None: 259 | """ 260 | Sets the payload for the packet 261 | 262 | :param payload: The payload of the packet 263 | """ 264 | self._payload = bytes(payload) 265 | 266 | def set_flags(self, flags: int) -> None: 267 | """ 268 | Sets the payload for the packet 269 | 270 | :param payload: The payload of the packet 271 | """ 272 | self._flags = flags 273 | 274 | def set_type(self, type_: MSPPacketType) -> None: 275 | """ 276 | Sets the payload for the packet 277 | 278 | :param payload: The payload of the packet 279 | """ 280 | self._type = type_ 281 | 282 | def iterate_payload(self) -> Generator[int, None, None]: 283 | """ 284 | Yields the data in the packet 285 | 286 | :yield: Payload values 287 | """ 288 | assert self._payload is not None 289 | yield from self._payload 290 | 291 | def get_payload_size(self) -> int: 292 | """ 293 | Gets the size of the payload 294 | 295 | :return: _description_ 296 | """ 297 | return len(self._payload) 298 | 299 | def _payload_size(self) -> bytes: 300 | return self._int_to_bytes(self.get_payload_size()) 301 | 302 | @staticmethod 303 | def _crc8_dvb_s2(crc: int, a: int) -> int: 304 | crc = crc ^ a 305 | for _ in range(8): 306 | if crc & 0x80: 307 | crc = (crc << 1) ^ 0xD5 308 | else: 309 | crc = crc << 1 310 | return crc & 0xFF 311 | 312 | @classmethod 313 | def _calculate_checksum(cls, body: Sequence[int]) -> int: 314 | crc = 0 315 | for x in body: 316 | crc = cls._crc8_dvb_s2(crc, x) 317 | return crc 318 | 319 | def _create_body(self) -> bytearray: 320 | assert self._function is not None 321 | assert self._payload is not None 322 | 323 | body = bytearray() 324 | body.append(self._flags) 325 | body += self._int_to_bytes(self._function) 326 | body += self._payload_size() 327 | body += self._payload 328 | 329 | return body 330 | 331 | def get_packet(self) -> bytearray: 332 | """ 333 | Get the constrcuted packet 334 | 335 | :return: The constructed packet 336 | """ 337 | assert self._type is not MSPPacketType.UNKNOWN 338 | 339 | msp = bytearray() 340 | msp.append(ord("$")) 341 | msp.append(ord("X")) 342 | msp.append(self._type) 343 | 344 | body = self._create_body() 345 | checksum = self._calculate_checksum(body) 346 | 347 | msp += bytes(body) 348 | msp.append(checksum) 349 | 350 | return msp 351 | -------------------------------------------------------------------------------- /custom_plugins/vrxc_elrs/__init__.py: -------------------------------------------------------------------------------- 1 | import logging 2 | 3 | import RHAPI 4 | from eventmanager import Evt 5 | from RHUI import UIField, UIFieldSelectOption, UIFieldType 6 | 7 | from .connections import ConnectionTypeEnum 8 | from .elrs_backpack import ELRSBackpack 9 | 10 | logger = logging.getLogger(__name__) 11 | 12 | 13 | def initialize(rhapi: RHAPI.RHAPI): 14 | 15 | controller = ELRSBackpack("elrs", "ELRS", rhapi) 16 | 17 | rhapi.events.on(Evt.VRX_INITIALIZE, controller.register_handlers) 18 | rhapi.events.on(Evt.PILOT_ALTER, controller.pilot_alter) 19 | rhapi.events.on( 20 | Evt.STARTUP, controller.start_recieve_loop, name="start_recieve_loop" 21 | ) 22 | rhapi.events.on(Evt.STARTUP, controller.start_connection, name="start_connection") 23 | 24 | # 25 | # Setup UI 26 | # 27 | 28 | elrs_bindphrase = UIField( 29 | name="comm_elrs", label="ELRS BP Bind Phrase", field_type=UIFieldType.TEXT 30 | ) 31 | rhapi.fields.register_pilot_attribute(elrs_bindphrase) 32 | 33 | active = UIField("elrs_active", "Enable ELRS OSD", field_type=UIFieldType.CHECKBOX) 34 | rhapi.fields.register_pilot_attribute(active) 35 | 36 | rhapi.ui.register_panel( 37 | "elrs_settings", "ELRS Backpack General Settings", "settings", order=0 38 | ) 39 | 40 | rhapi.ui.register_panel( 41 | "elrs_vrxc", "ELRS Backpack OSD Settings", "settings", order=0 42 | ) 43 | 44 | # 45 | # Check Boxes 46 | # 47 | 48 | _race_start = UIField( 49 | "_race_start", 50 | "Start Race from Transmitter", 51 | desc="Allows the race director to remotely start races", 52 | field_type=UIFieldType.CHECKBOX, 53 | ) 54 | rhapi.fields.register_option(_race_start, "elrs_settings") 55 | 56 | _race_stop = UIField( 57 | "_race_stop", 58 | "Stop Race from Transmitter", 59 | desc="Allows the race director to remotely stop races", 60 | field_type=UIFieldType.CHECKBOX, 61 | ) 62 | rhapi.fields.register_option(_race_stop, "elrs_settings") 63 | 64 | _autosave_on_stop = UIField( 65 | "_autosave_on_stop", 66 | "Autosave on stop", 67 | desc="Automatically save the race when stopping from the transmitter", 68 | field_type=UIFieldType.CHECKBOX, 69 | value="0", 70 | ) 71 | rhapi.fields.register_option(_autosave_on_stop, "elrs_settings") 72 | 73 | _socket_ip = UIField( 74 | "_socket_ip", 75 | "ELRS Netpack Address", 76 | desc="Hostanme or IP Address of the ELRS Netpack", 77 | value="elrs-netpack.local", 78 | field_type=UIFieldType.TEXT, 79 | ) 80 | rhapi.fields.register_option(_socket_ip, "elrs_settings") 81 | 82 | conn_opts = [UIFieldSelectOption(value=None, label="")] 83 | for type_ in ConnectionTypeEnum: 84 | race_selection = UIFieldSelectOption(value=type_.id_, label=type_.name) 85 | conn_opts.append(race_selection) 86 | 87 | _conn_opt = UIField( 88 | "_conn_opt", 89 | "Backback Connection Type", 90 | desc="Select the type of connection to use for the backpack", 91 | field_type=UIFieldType.SELECT, 92 | options=conn_opts, 93 | ) 94 | rhapi.fields.register_option(_conn_opt, "elrs_settings") 95 | 96 | _heat_name = UIField( 97 | "_heat_name", 98 | "Show Heat Name", 99 | desc="Show the heat's name on start", 100 | field_type=UIFieldType.CHECKBOX, 101 | ) 102 | rhapi.fields.register_option(_heat_name, "elrs_vrxc") 103 | 104 | _round_num = UIField( 105 | "_round_num", 106 | "Show Round Number", 107 | desc="Show round number on start", 108 | field_type=UIFieldType.CHECKBOX, 109 | ) 110 | rhapi.fields.register_option(_round_num, "elrs_vrxc") 111 | 112 | _class_name = UIField( 113 | "_class_name", 114 | "Show Class Name", 115 | desc="Show the class's name on start", 116 | field_type=UIFieldType.CHECKBOX, 117 | ) 118 | rhapi.fields.register_option(_class_name, "elrs_vrxc") 119 | 120 | _event_name = UIField( 121 | "_event_name", 122 | "Show Event Name", 123 | desc="Show the event's name on start", 124 | field_type=UIFieldType.CHECKBOX, 125 | ) 126 | rhapi.fields.register_option(_event_name, "elrs_vrxc") 127 | 128 | _position_mode = UIField( 129 | "_position_mode", 130 | "Show Current Position and Lap", 131 | desc="off - only shows current lap", 132 | field_type=UIFieldType.CHECKBOX, 133 | ) 134 | rhapi.fields.register_option(_position_mode, "elrs_vrxc") 135 | 136 | _gap_mode = UIField( 137 | "_gap_mode", 138 | "Show Gap Time", 139 | desc="off - shows lap time", 140 | field_type=UIFieldType.CHECKBOX, 141 | ) 142 | rhapi.fields.register_option(_gap_mode, "elrs_vrxc") 143 | 144 | _results_mode = UIField( 145 | "_results_mode", 146 | "Show Post-Race Results", 147 | desc="Show pilot's results upon race completion", 148 | field_type=UIFieldType.CHECKBOX, 149 | ) 150 | rhapi.fields.register_option(_results_mode, "elrs_vrxc") 151 | 152 | # 153 | # Text Fields 154 | # 155 | 156 | _racestage_message = UIField( 157 | "_racestage_message", 158 | "Race Stage Message", 159 | desc="lowercase letters are symbols", 160 | field_type=UIFieldType.TEXT, 161 | value="w ARM NOW x", 162 | ) 163 | rhapi.fields.register_option(_racestage_message, "elrs_vrxc") 164 | 165 | _racestart_message = UIField( 166 | "_racestart_message", 167 | "Race Start Message", 168 | desc="lowercase letters are symbols", 169 | field_type=UIFieldType.TEXT, 170 | value="w GO! x", 171 | ) 172 | rhapi.fields.register_option(_racestart_message, "elrs_vrxc") 173 | 174 | _pilotdone_message = UIField( 175 | "_pilotdone_message", 176 | "Pilot Done Message", 177 | desc="lowercase letters are symbols", 178 | field_type=UIFieldType.TEXT, 179 | value="w FINISHED! x", 180 | ) 181 | rhapi.fields.register_option(_pilotdone_message, "elrs_vrxc") 182 | 183 | _racefinish_message = UIField( 184 | "_racefinish_message", 185 | "Race Finish Message", 186 | desc="lowercase letters are symbols", 187 | field_type=UIFieldType.TEXT, 188 | value="w FINISH LAP! x", 189 | ) 190 | rhapi.fields.register_option(_racefinish_message, "elrs_vrxc") 191 | 192 | _racestop_message = UIField( 193 | "_racestop_message", 194 | "Race Stop Message", 195 | desc="lowercase letters are symbols", 196 | field_type=UIFieldType.TEXT, 197 | value="w LAND NOW! x", 198 | ) 199 | rhapi.fields.register_option(_racestop_message, "elrs_vrxc") 200 | 201 | _leader_message = UIField( 202 | "_leader_message", 203 | "Race Leader Message", 204 | desc="lowercase letters are symbols", 205 | field_type=UIFieldType.TEXT, 206 | value="RACE LEADER", 207 | ) 208 | rhapi.fields.register_option(_leader_message, "elrs_vrxc") 209 | 210 | # 211 | # Basic Integers 212 | # 213 | 214 | _racestart_uptime = UIField( 215 | "_racestart_uptime", 216 | "Start Message Uptime", 217 | desc="decaseconds", 218 | field_type=UIFieldType.BASIC_INT, 219 | value=5, 220 | ) 221 | rhapi.fields.register_option(_racestart_uptime, "elrs_vrxc") 222 | 223 | _finish_uptime = UIField( 224 | "_finish_uptime", 225 | "Finish Message Uptime", 226 | desc="decaseconds", 227 | field_type=UIFieldType.BASIC_INT, 228 | value=20, 229 | ) 230 | rhapi.fields.register_option(_finish_uptime, "elrs_vrxc") 231 | 232 | _results_uptime = UIField( 233 | "_results_uptime", 234 | "Lap Result Uptime", 235 | desc="decaseconds", 236 | field_type=UIFieldType.BASIC_INT, 237 | value=40, 238 | ) 239 | rhapi.fields.register_option(_results_uptime, "elrs_vrxc") 240 | 241 | _announcement_uptime = UIField( 242 | "_announcement_uptime", 243 | "Announcement Uptime", 244 | desc="decaseconds", 245 | field_type=UIFieldType.BASIC_INT, 246 | value=50, 247 | ) 248 | rhapi.fields.register_option(_announcement_uptime, "elrs_vrxc") 249 | 250 | _heatname_row = UIField( 251 | "_heatname_row", 252 | "Heat Name Row", 253 | desc="Use rows between 0-17", 254 | field_type=UIFieldType.BASIC_INT, 255 | value=2, 256 | ) 257 | rhapi.fields.register_option(_heatname_row, "elrs_vrxc") 258 | 259 | _classname_row = UIField( 260 | "_classname_row", 261 | "Class Name Row", 262 | desc="Use rows between 0-17", 263 | field_type=UIFieldType.BASIC_INT, 264 | value=1, 265 | ) 266 | rhapi.fields.register_option(_classname_row, "elrs_vrxc") 267 | 268 | _eventname_row = UIField( 269 | "_eventname_row", 270 | "Event Name Row", 271 | desc="Use rows between 0-17", 272 | field_type=UIFieldType.BASIC_INT, 273 | value=0, 274 | ) 275 | rhapi.fields.register_option(_eventname_row, "elrs_vrxc") 276 | 277 | _announcement_row = UIField( 278 | "_announcement_row", 279 | "Announcement Row", 280 | desc="Use rows between 0-17", 281 | field_type=UIFieldType.BASIC_INT, 282 | value=3, 283 | ) 284 | rhapi.fields.register_option(_announcement_row, "elrs_vrxc") 285 | 286 | _status_row = UIField( 287 | "_status_row", 288 | "Race Status Row", 289 | desc="Use rows between 0-17", 290 | field_type=UIFieldType.BASIC_INT, 291 | value=5, 292 | ) 293 | rhapi.fields.register_option(_status_row, "elrs_vrxc") 294 | 295 | _currentlap_row = UIField( 296 | "_currentlap_row", 297 | "Current Lap/Position Row", 298 | desc="Use rows between 0-17", 299 | field_type=UIFieldType.BASIC_INT, 300 | value=0, 301 | ) 302 | rhapi.fields.register_option(_currentlap_row, "elrs_vrxc") 303 | 304 | _lapresults_row = UIField( 305 | "_lapresults_row", 306 | "Lap/Gap Results Row", 307 | desc="Use rows between 0-17", 308 | field_type=UIFieldType.BASIC_INT, 309 | value=15, 310 | ) 311 | rhapi.fields.register_option(_lapresults_row, "elrs_vrxc") 312 | 313 | _results_row = UIField( 314 | "_results_row", 315 | "Results Rows", 316 | desc="Use rows between 0-16. Uses two rows.", 317 | field_type=UIFieldType.BASIC_INT, 318 | value=13, 319 | ) 320 | rhapi.fields.register_option(_results_row, "elrs_vrxc") 321 | 322 | # 323 | # Quick Buttons 324 | # 325 | 326 | rhapi.ui.register_quickbutton( 327 | "elrs_settings", 328 | "bp_connect", 329 | "Backpack Connect", 330 | controller.start_connection, 331 | ) 332 | rhapi.ui.register_quickbutton( 333 | "elrs_settings", 334 | "bp_disconnect", 335 | "Backpack Disconnect", 336 | controller.disconnect, 337 | ) 338 | rhapi.ui.register_quickbutton( 339 | "elrs_settings", "enable_bind", "Start Backpack Bind", controller.activate_bind 340 | ) 341 | 342 | rhapi.ui.register_quickbutton( 343 | "elrs_settings", 344 | "test_osd", 345 | "Test Bound Backpack's OSD", 346 | controller.test_bind_osd, 347 | ) 348 | rhapi.ui.register_quickbutton( 349 | "elrs_settings", "enable_wifi", "Start Backpack WiFi", controller.activate_wifi 350 | ) 351 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # RotorHazard VRx Control for the ExpressLRS Backpack 2 | 3 | This is a plugin being developed for the RotorHazard timing system with the following features: 4 | - [X] Send OSD messages to pilots using compatible equipment (such as the [HDZero goggles](https://www.youtube.com/watch?v=VXwaUoA16jc)) 5 | - [X] Allows for the race manager to [start the race from their transmitter](https://github.com/i-am-grub/VRxC_ELRS?tab=readme-ov-file#control-the-race-from-the-race-directors-transmitter) 6 | - [ ] Pilot's `ready` status from their transmitter 7 | 8 | See [here](https://github.com/i-am-grub/VRxC_ELRS/issues/5) for the plugin's current roadmap 9 | 10 | ## How does it work? 11 | 12 | This plugin is built to control to an external device or chip running the ExpressLRS Timer backpack over a serial port. This allows the 13 | timing system to communicate with other devices with an ELRS backpack built into them giving the timer the ability to receive state messages 14 | from a pilot's transmitter, or send messages to display OSD information directly to a pilot's goggles. 15 | 16 | ## I'm a pilot. What do I need to setup? 17 | 18 | Currently, the only device supported for receiving OSD race messages from the ELRS backpack is the HDZero goggles. They come with 19 | an internal ESP32 chip installed for the ExpressLRS backpack. Update the goggles's video receiver backpack to the latest version by either using the 20 | [ExpressLRS Configurator](https://github.com/ExpressLRS/ExpressLRS-Configurator/releases) or the 21 | [ExpressLRS Web Flasher](https://expresslrs.github.io/web-flasher/). Follow [this guide](https://www.expresslrs.org/hardware/backpack/hdzero-goggles/) for 22 | the first time installation process. If assistance is needed with the installation or upgrading the goggle firmware, 23 | ask for help in the `help-and-support` channels of the [ExpressLRS Discord](https://discord.gg/expresslrs). 24 | 25 | > [!IMPORTANT] 26 | > REMEMBER YOUR BACKPACK BIND PHRASE: The timer's backpack will use it to send OSD messages from the timer to your HDZero goggles. 27 | > You will likely need to provide the bind phrase to the race director if you want OSD information at your race. 28 | 29 | > [!NOTE] 30 | > The backpack bind phrase can either be the same or different than the bind phrase used for the ExpressLRS radio protocol. 31 | > Setting the same bind phrase will not cause the backpack to interfere with the radio protocol. 32 | 33 | ## Setup Directions for Race Directors 34 | 35 | ### Installing the Timer Backpack 36 | 37 | The list below is of some of the known compatible devices for the RotorHazard Timer Backpack. It is recommended to use a chip that is capable of connecting an external WIFI antenna to 38 | help improve the range of the timer's backpack. 39 | 40 | | ELRS Device | Compatible Hardware | 41 | | --------------------- | --------------------------------------------------------------------------------------------------------------------- | 42 | | EP82 Module (DIY) | [ESP8266 NodeMCU](https://a.co/d/9vgX3Tx) | 43 | | EP32 Module (DIY) | [ESP32-DevKitC](https://a.co/d/62OGBgG) | 44 | | EP32C3 Module (DIY) | [ESP32-C3-DevKitM-1U](https://www.digikey.com/en/products/detail/espressif-systems/ESP32-C3-DEVKITM-1U/15198974) | 45 | | EP32S3 Module (DIY) | [ESP32-S3-DevKitC-1U](https://www.digikey.com/en/products/detail/espressif-systems/ESP32-S3-DEVKITC-1U-N8R8/16162636) | 46 | | NuclearHazard | [NuclearHazard Board](https://www.etsy.com/listing/1428199972/nuclearhazard-core-kit-case-and-rx-sold) v7 or newer | 47 | | [ELRS-Netpack](https://github.com/i-am-grub/elrs-netpack) (DIY) | [Waveshare ESP32-S3 Ethernet](https://www.waveshare.com/esp32-s3-eth.htm) | 48 | 49 | > [!TIP] 50 | > While other specific development boards with similar chipsets may be supported by the targets in the table, it is not guaranteed that they work. 51 | > For example, the Seeed Studio XIAO ESP32C3/S3 board do not work with the targets listed above, but when using the 52 | > [ExpressLRS Toolchain](https://www.expresslrs.org/software/toolchain-install/) for building the backpack firmware, 53 | > the platformio settings can be changed to build compatible firmware for XIAO boards. 54 | 55 | > [!NOTE] 56 | > While a normal ExpressLRS reciever can be flashed with backpack firmware and be used for the timer backpack, this is not recommended. 57 | > The primary reason behind this is that the ELRS backpack is based on ESPNow which uses the WIFI hardware of the ESP32/ESP82. 58 | > Recievers typically have a small ceramic antenna installed seperately for connecting to the web UI over WIFI; this antenna is 59 | > different than the the one(s) reserved for the radio protocol. The ceramic antennta would likely be less performant over an ESP32 60 | > devkit with an external WIFI antenna connected. 61 | 62 | #### Flashing ESP32/ESP82 Devkits 63 | 64 | To build and flash the firmware, use the [ExpressLRS Configurator](https://github.com/ExpressLRS/ExpressLRS-Configurator/releases) or the [ExpressLRS Web Flasher](https://expresslrs.github.io/web-flasher/) 65 | 1. Connect the device to the computer over USB. 66 | 67 | > If Windows doesn't recognize the device connected over USB, a driver install or update may be required. 68 | > Espressif designed boards typically either use the [CP210x](https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers) or 69 | > [FTDI](https://ftdichip.com/drivers/vcp-drivers/) USB to serial converter chips 70 | 71 | 2. Select the backpack firmware mode 72 | - If using the configurator, select `Backpack` on the left side menu. 73 | - If using the Web Flasher, select `Race Timer` under the Backpack Firmware section 74 | 3. Select the 1.5.0 (or a newer) release 75 | 4. Select the RotorHazard device category 76 | 5. Select the target for the device 77 | 6. Select the UART flashing method 78 | 7. Enter the backpack bind phrase (for race control from the director's transmitter) 79 | 8. Select the COM port for the device 80 | 9. Build and flash the firmware 81 | 82 | #### Flashing NuclearHazard Hardware 83 | 84 | To build the firmware, use the [ExpressLRS Configurator](https://github.com/ExpressLRS/ExpressLRS-Configurator/release) or the [ExpressLRS Web Flasher](https://expresslrs.github.io/web-flasher/) 85 | 86 | 1. Select the backpack firmware section 87 | - If using the configurator, select `Backpack` on the left side menu. 88 | - If using the Web Flasher, select `Race Timer` under the Backpack Firmware section 89 | 2. Select the 1.5.0 release (or a newer version) 90 | 3. Select the RotorHazard device category 91 | 4. Select NuclearHazard as the device 92 | 5. Select the method 93 | - If using the configurator, select `WIFI`. 94 | - If using the Web Flasher, select `Local Download` 95 | 6. Enter the backpack bind phrase (for race control from the director's transmitter) 96 | 7. Build the firmware 97 | 8. Follow [this guide](https://nuclearquads.com/instructions/vrxc) to flash the on board ESP32. Instead of downloading the backpack bin files, use the files built with the configurator. 98 | 99 | #### Flashing ELRS Netpack 100 | 101 | 1. Download the [netpack-installer](https://github.com/i-am-grub/netpack-installer) plugin from the community plugins 102 | list 103 | 2. Connect the required ESP32 devkit to your timer 104 | 3. In the `ELRS Netpack Firmware` panel (found on the `Settings` page), select the serial port of the connected device 105 | and press the `Flash Netpack Firmware` button. 106 | 107 | ### Installing the RotorHazard Plugin 108 | 109 | 1. Verify RotorHazard v4.1.0+ is installed on the timer 110 | 2. Follow the instructions in the [latest release](https://github.com/i-am-grub/VRxC_ELRS/releases) of the plugin to complete the installation process. 111 | 112 | ### Control the Race from the Race Director's Transmitter 113 | 114 | There is a feature to control the race from the race director's transmitter by tracking the position of the `DVR Rec` switch setup within the transmitter's backpack. It currently works 115 | by binding the race timer's backpack to the race director's backpack bind phrase similar to the process used with the transmitter and VRx backpacks. 116 | 117 | Currently only starting and stopping the race are supported. Setting up this feature will not prevent other users from receiving OSD messages. 118 | 119 | > [!IMPORTANT] 120 | > This feature requires the Race Director to have the ELRS Backpack setup on their transmitter. Please ensure this is setup before completing the following instructions. 121 | 122 | 1. Setup the `DVR Rec` switch in the ELRS backpack 123 | 1. Open the ExpressLRS Lua script (v3 is recommended) on the transmitter 124 | 2. Open up the Backpack settings 125 | 3. Set the AUX channel for `DVR Rec` 126 | 127 | > [!NOTE] 128 | > This will not stop the ability to start recording DVR through this switch. It is just a state that the race timer's backpack listens for. 129 | 130 | 2. Bind the Race Timer backpack to the Transmitter. This step can be skipped if flashing the timer's backpack with firmware that contains the race director's backpack bind phrase. 131 | 1. Start the RotorHazard server with the ESP32 connected. 132 | 2. Navigate to the `ELRS Backpack General Settings` panel. 133 | 3. Click the `Start Backpack Bind` button. 134 | 4. Within the ExpressLRS Lua script on the transmitter, click `Bind` 135 | 136 | To test to see if the backpack was bound successfully, navigate to the `Race` page within RotorHazard, and use the `DVR Rec` switch to start the race. 137 | [Start Race from Transmitter](https://github.com/i-am-grub/VRxC_ELRS?tab=readme-ov-file#start-race-from-transmitter--checkbox) 138 | or [Stop Race from Transmitter](https://github.com/i-am-grub/VRxC_ELRS?tab=readme-ov-file#stop-race-from-transmitter--checkbox) 139 | will need to be enabled under `ELRS Backpack General Settings` 140 | 141 | > [!TIP] 142 | > Anytime the backpack needs to be bound to a new transmitter, it will be easiest to reflash the ESP32 with the firmware in the latest release, and then rebind. 143 | 144 | # Extra Hardware Notes 145 | 146 | ## 3D Printed Case 147 | 148 | Some users have like to use the following 3D printable case available on [Printables](https://www.printables.com/model/762529-esp32-wroom-32u-casing) for 149 | an externally connected `ESP32-DevKitC-1U` board. 150 | 151 | ![Case](docs/3DPrint/wirex-1.webp) 152 | 153 | ## WIFI Signal Booster 154 | 155 | The quality and reliability of the ExpressLRS backpack is significantly dependent on the HDZero goggle's ability to receive the backpack messages from the timer. Since the 156 | antenna for the goggle's backpack is inside and there may be additional RF interference on the 2.4 GHz with pilot's radio protocols, a WIFI signal booster may help increase 157 | the reliability of the backpack. 158 | 159 | My personal setup: 160 | - [ESP32-DevKitC](https://a.co/d/62OGBgG) 161 | - [U.FL to RP-SMA Cables](https://a.co/d/7n99T9o) 162 | - [800mW Pen Bi-Directional Booster Module](https://www.data-alliance.net/800mw-bi-directional-booster-module-w-rp-sma-female-connectors/) 163 | - [USB Power Cable for powering the booster from the RaspberryPi](https://a.co/d/9iAPV57) 164 | - A high gain 2.4 GHz WIFI antenna with RP-SMA connection 165 | 166 | > [!NOTE] 167 | > An ESP32 typically has a maximum power setting less than 100 milliwatts without a signal booster 168 | 169 | ## USB Extension Cable 170 | 171 | [Some groups](https://youtu.be/FZvmfyvRiPE?si=LXu0zXUpDj9NsnUN&t=201) have had good luck with moving the ESP32 closer to the pilots by using a long USB cable or a USB extension cable. 172 | 173 | > [!NOTE] 174 | > The RotorHazard development team is looking into setting up the ability to peform a serial-over-https connection. This will allow groups to connect the timer backpack directly to 175 | > the race director's computer instead of the timer. 176 | 177 | # Settings 178 | 179 | ## Pilot Settings 180 | 181 | ![Pilot Settings](docs/pilot_atts.png) 182 | 183 | ### ELRS BP Bindphrase : TEXT 184 | 185 | The pilot's individual bind phrase for their backpack. If a bind phrase is not set, the pilot's callsign will be used as a fallback bind phrase instead. 186 | 187 | ### Enable ELRS OSD : CHECKBOX 188 | 189 | Turns the pilot's ELRS OSD on/off 190 | 191 | ## ELRS Backpack General Settings 192 | 193 | ![General Settings](docs/general_settings.png) 194 | 195 | ### Start Race from Transmitter : CHECKBOX 196 | 197 | Allows the race director to start the race from their transmitter. Please navigate [here](https://github.com/i-am-grub/VRxC_ELRS#control-the-race-from-the-race-directors-transmitter) for binding the backpack. 198 | 199 | ### Stop Race from Transmitter : CHECKBOX 200 | 201 | Allows the race director to stop the race from their transmitter. Please navigate [here](https://github.com/i-am-grub/VRxC_ELRS#control-the-race-from-the-race-directors-transmitter) for binding the backpack. 202 | 203 | ### Autosave on stop : CHECKBOX 204 | 205 | Automatically save the race when stopping from the transmitter 206 | 207 | ### Backpack Rescan : BUTTON 208 | 209 | Triggers the timer to scan the serial devices for a backpack device. Only works if the timer is not already connected to a backpack device 210 | 211 | ### Start Backpack Bind : BUTTON 212 | 213 | Puts the timer's backpack into a binding mode for pairing with the race director's transmitter. 214 | 215 | > [!TIP] 216 | > After successfully completing this process, the timer's backpack will inherit the race director's bind phrase from the transmitter. 217 | 218 | ### Test Bound Backpack's OSD : BUTTON 219 | 220 | Will display OSD messages on HDZero goggles with a matching bind phrase. Used for testing if the timer's backpack successfully inherited the transmitter's bind phrase. 221 | 222 | ### Start Backpack WIFI : BUTTON 223 | 224 | Starts the backpack's WIFI mode. Used for over-the-air firmware updates. 225 | 226 | > [!TIP] 227 | > To connect to the backpack's web user interface, verify the backpack is setup to connect to the same network as the device used to access the web user interface, 228 | > or connect the device to the wireless network the backpack created. Open `http://elrs_timer.local` in the device's browser to connect to the web user interface. 229 | 230 | ## ELRS Backpack OSD Settings 231 | 232 | ![OSD Settings](docs/osd_settings.png) 233 | 234 | > [!NOTE] 235 | > It is a goal of this project to eventually move all the OSD settings in this section to be pilot configurable through the ExpressLRS VRx backpack's web user interface. 236 | > The current implementation is noted to be a work around until enough progress has been completed on the VRx backpack for individual pilot configuration. 237 | 238 | ### Show Heat Name : CHECKBOX 239 | 240 | Shows the race's heat name to pilots when active 241 | 242 | ### Show Round Number : CHECKBOX 243 | 244 | Shows the race's round number to pilots when active. Also requires `Show Heat Name` to be active. 245 | 246 | ### Show Class Name : CHECKBOX 247 | 248 | Shows the race's class name to pilots when active 249 | 250 | ### Show Event Name : CHECKBOX 251 | 252 | Shows the race's event name to pilots when active 253 | 254 | ### Show Current Position and Lap : CHECKBOX 255 | 256 | - TOGGLED ON: Shows current position and current lap when multiple pilots are in a race 257 | - TOGGLED OFF: Only shows current lap 258 | 259 | ### Show Gap Time : CHECKBOX 260 | 261 | - TOGGLED ON: Shows the gap time to next pilot if using a compatible win condition for the race 262 | - TOGGLED OFF: Shows lap result time 263 | 264 | ### Show Post-Race Results : CHECKBOX 265 | 266 | The pilot will be shown results when they finish the race. It is recommended to have pilots turn off `Post Flight Results` in Betaflight so the results won't be overridden when the pilot lands. 267 | 268 | ### Race Stage Message : TEXT 269 | 270 | The message shown to pilots when the timer is staging the race 271 | 272 | ### Race Start Message : TEXT 273 | 274 | The message shown to pilots when the race first starts 275 | 276 | ### Pilot Done Message : TEXT 277 | 278 | The message shown to pilots when the pilot finishes 279 | 280 | ### Race Finish Message : TEXT 281 | 282 | The message shown to pilots when the time runs out 283 | 284 | ### Race Stop Message : TEXT 285 | 286 | The message shown to pilots when the race is stopped 287 | 288 | ### Race Leader Message : TEXT 289 | 290 | The message shown to pilots when `Show Gap Time` is enabled and the pilot is leading the race 291 | 292 | ### Start Message Uptime : INT 293 | 294 | The length of time `Race Start Message` is shown to pilots 295 | 296 | ### Finish Message Uptime : INT 297 | 298 | The length of time `Pilot Done Message` and `Race Finish Message` is shown to pilots 299 | 300 | ### Lap Result Uptime : INT 301 | 302 | Length of time the pilot's lap or gap time is shown after completing a lap. 303 | 304 | ### Announcement Uptime : INT 305 | 306 | Length of time to show announcements to pilots. (e.g. When a race is scheduled) 307 | 308 | ### Heat Name Row : INT 309 | 310 | Row to show the heat name on when the race is staging. 311 | 312 | ### Class Name Row : INT 313 | 314 | Row to show the class name on when the race is staging. 315 | 316 | ### Event Name Row : INT 317 | 318 | Row to show the event name on when the race is staging. 319 | 320 | ### Announcement Row : INT 321 | 322 | Row to show announcements such as when a race is scheduled. This row is also used by `Show Race Name on Stage` 323 | 324 | ### Race Status Row : INT 325 | 326 | Row to show race status messages. 327 | 328 | ### Current Lap/Position Row : INT 329 | 330 | Row to show current lap and position 331 | 332 | ### Lap/Gap Results Row : INT 333 | 334 | Row to show lap or gap time 335 | 336 | ### Results Rows : INT 337 | 338 | The row to start showing a pilot's post race statistics on. It will also use the follow row in conjunction with the entered one. 339 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . -------------------------------------------------------------------------------- /custom_plugins/vrxc_elrs/elrs_backpack.py: -------------------------------------------------------------------------------- 1 | import hashlib 2 | import logging 3 | 4 | import gevent 5 | import gevent.lock 6 | import gevent.socket as socket 7 | import util.RH_GPIO as RH_GPIO 8 | from gevent.queue import Queue 9 | from RHRace import RaceStatus, WinCondition 10 | from VRxControl import VRxController 11 | 12 | from .connections import BackpackConnection, ConnectionTypeEnum 13 | from .msp import MSPPacket, MSPPacketType, MSPTypes 14 | 15 | logger = logging.getLogger(__name__) 16 | 17 | 18 | class CancelError(BaseException): ... 19 | 20 | 21 | class ELRSBackpack(VRxController): 22 | _connection: BackpackConnection | None = None 23 | 24 | def __init__(self, name, label, rhapi): 25 | super().__init__(name, label) 26 | self._rhapi = rhapi 27 | self._send_queue = Queue() 28 | self._recieve_queue = Queue(maxsize=100) 29 | self._queue_lock = gevent.lock.RLock() 30 | 31 | @property 32 | def _backpack_connected(self) -> bool: 33 | if self._connection is None: 34 | return False 35 | 36 | return self._connection.connected 37 | 38 | def register_handlers(self, args) -> None: 39 | """ 40 | Registers handlers in the RotorHazard system 41 | """ 42 | args["register_fn"](self) 43 | 44 | def start_race(self): 45 | """ 46 | Start the race 47 | """ 48 | if self._rhapi.db.option("_race_start") == "1": 49 | start_race_args = {"start_time_s": 10} 50 | if self._rhapi.race.status == RaceStatus.READY: 51 | self._rhapi.race.stage(start_race_args) 52 | 53 | def stop_race(self): 54 | """ 55 | Stop the race 56 | """ 57 | if self._rhapi.db.option("_race_stop") == "1": 58 | status = self._rhapi.race.status 59 | if status in (RaceStatus.STAGING, RaceStatus.RACING): 60 | if self._rhapi.db.option("_autosave_on_stop") == "1": 61 | self._rhapi.race.save() 62 | else: 63 | self._rhapi.race.stop() 64 | 65 | # 66 | # Connection handling 67 | # 68 | 69 | def start_recieve_loop(self, *_): 70 | """ 71 | Start the msp packet processing loop 72 | """ 73 | gevent.spawn(self.recieve_loop) 74 | logger.info("Backpack recieve greenlet started.") 75 | 76 | def start_connection(self, *_) -> None: 77 | """ 78 | Starts the connection loop 79 | """ 80 | if self._backpack_connected: 81 | message = "Backpack already connected" 82 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 83 | return 84 | 85 | id_ = self._rhapi.db.option("_conn_opt", None, as_int=True) 86 | for con in ConnectionTypeEnum: 87 | if id_ == con.id_: 88 | break 89 | else: 90 | message = "Connection type not provided" 91 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 92 | return 93 | 94 | if con == ConnectionTypeEnum.USB: 95 | self._establish_connection(con.type_) 96 | 97 | elif con == ConnectionTypeEnum.ONBOARD: 98 | if RH_GPIO.is_real_hw_GPIO(): 99 | logger.info("Turning on GPIO pins for NuclearHazard boards") 100 | RH_GPIO.setmode(RH_GPIO.BCM) 101 | RH_GPIO.setup(16, RH_GPIO.OUT, initial=RH_GPIO.HIGH) 102 | gevent.sleep(0.5) 103 | RH_GPIO.setup(11, RH_GPIO.OUT, initial=RH_GPIO.HIGH) 104 | gevent.sleep(0.5) 105 | RH_GPIO.output(11, RH_GPIO.LOW) 106 | gevent.sleep() 107 | RH_GPIO.output(11, RH_GPIO.HIGH) 108 | 109 | self._establish_connection(con.type_) 110 | 111 | else: 112 | message = "Instance not running on Raspberry Pi" 113 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 114 | 115 | elif con == ConnectionTypeEnum.SOCKET: 116 | addr = self._rhapi.db.option("_socket_ip", None) 117 | if addr is not None: 118 | try: 119 | ip_addr = socket.gethostbyname(addr) 120 | except socket.gaierror: 121 | message = "Failed to connect to device's socket" 122 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 123 | else: 124 | self._establish_connection(con.type_, ip_addr=ip_addr) 125 | else: 126 | message = "IP Address for socket not provided" 127 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 128 | 129 | def _establish_connection( 130 | self, connection_type: type[BackpackConnection], **kwargs 131 | ): 132 | """ 133 | Setup the backpack connection 134 | 135 | :param connection_type: The type of connection to use 136 | """ 137 | # Clear data in send queue 138 | while not self._send_queue.empty(): 139 | self._send_queue.get() 140 | 141 | self._connection = connection_type(self._send_queue, self._recieve_queue) 142 | if not self._connection.connect(**kwargs): 143 | message = "Attempt to establish backpack connection failed" 144 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 145 | return 146 | 147 | message = "Backpack sucessfully connected" 148 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 149 | 150 | self.version_request() 151 | 152 | def recieve_loop(self) -> None: 153 | """ 154 | Handles recieving data from the backpack 155 | """ 156 | try: 157 | while True: 158 | packet: MSPPacket = self._recieve_queue.get() 159 | 160 | function_ = packet.function 161 | 162 | if packet.type_ == MSPPacketType.RESPONSE: 163 | if function_ == MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION: 164 | version = bytes(i for i in packet.payload if i != 0).decode( 165 | "utf-8" 166 | ) 167 | message = f"Backpack device firmware version: {version}" 168 | logger.info(message) 169 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 170 | 171 | if packet.type_ == MSPPacketType.COMMAND: 172 | if function_ == MSPTypes.MSP_ELRS_BACKPACK_SET_RECORDING_STATE: 173 | itr = packet.iterate_payload() 174 | if (val := next(itr)) == 0x00: 175 | self.stop_race() 176 | elif val == 0x01: 177 | self.start_race() 178 | 179 | except KeyboardInterrupt: 180 | logger.error("Stopping blackpack connector greenlet") 181 | 182 | def disconnect(self, *_) -> None: 183 | """ 184 | Disconnect the connection loop 185 | """ 186 | if not self._backpack_connected: 187 | message = "Backpack not connected" 188 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 189 | return 190 | 191 | assert self._connection is not None 192 | self._connection.disconnect() 193 | 194 | message = "Backpack disconnected" 195 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 196 | 197 | # 198 | # Packet creation 199 | # 200 | 201 | def hash_phrase(self, bindphrase: str) -> bytes: 202 | """ 203 | Hashes a string into a UID 204 | 205 | :param bindphrase: The string to hash 206 | :return: The hashed phrase 207 | """ 208 | 209 | hash_ = bytearray( 210 | x 211 | for x in hashlib.md5( 212 | (f'-DMY_BINDING_PHRASE="{bindphrase}"').encode() 213 | ).digest()[0:6] 214 | ) 215 | if (hash_[0] % 2) == 1: 216 | hash_[0] -= 0x01 217 | 218 | return hash_ 219 | 220 | def get_pilot_uid(self, pilot_id: int) -> bytes: 221 | """ 222 | Get the uid for a pilot. If a bindphrase is not 223 | saved as an attribute, the pilot callsign is used 224 | to generate the uid. 225 | 226 | :param pilot_id: The pilot id 227 | :return: The pilot uid 228 | """ 229 | assert pilot_id > 0, "Can not generate backpack uid for invalid pilot" 230 | bindphrase = self._rhapi.db.pilot_attribute_value(pilot_id, "comm_elrs") 231 | if bindphrase: 232 | uid = self.hash_phrase(bindphrase) 233 | else: 234 | pilot = self._rhapi.db.pilot_by_id(pilot_id) 235 | assert pilot is not None, "Pilot not in database" 236 | uid = self.hash_phrase(pilot.callsign) 237 | 238 | return uid 239 | 240 | def center_osd(self, len_: int) -> int: 241 | """ 242 | Provides the column value needed to 243 | center a string of the provided length 244 | on the HDZero Goggles screen 245 | 246 | :param len_: The length of the string 247 | :return: 248 | """ 249 | offset = len_ // 2 250 | col = 50 // 2 - offset 251 | return max(col, 0) 252 | 253 | def send_msp(self, msp: MSPPacket) -> None: 254 | """ 255 | Sends a MSP packet to the backpack connection 256 | if it is active 257 | 258 | :param msp: _description_ 259 | """ 260 | if self._backpack_connected: 261 | self._send_queue.put(msp) 262 | 263 | def set_send_uid(self, address: bytes) -> None: 264 | """ 265 | Sends the packet to set the address for the 266 | recipient of future packets 267 | 268 | :param address: Address to set 269 | """ 270 | packet = MSPPacket() 271 | packet.set_function(MSPTypes.MSP_ELRS_SET_SEND_UID) 272 | payload = bytearray() 273 | payload.append(0x01) 274 | payload += address 275 | packet.set_payload(payload) 276 | self.send_msp(packet) 277 | 278 | def reset_send_uid(self) -> None: 279 | """ 280 | Sends the packet to reset the packet recipient 281 | to the system default 282 | """ 283 | packet = MSPPacket() 284 | packet.set_function(MSPTypes.MSP_ELRS_SET_SEND_UID) 285 | payload = bytearray() 286 | payload.append(0x00) 287 | packet.set_payload(payload) 288 | self.send_msp(packet) 289 | 290 | def send_clear_osd(self) -> None: 291 | """ 292 | Sends the packet to clear the goggle's osd 293 | """ 294 | packet = MSPPacket() 295 | packet.set_function(MSPTypes.MSP_ELRS_SET_OSD) 296 | payload = bytearray() 297 | payload.append(0x02) 298 | packet.set_payload(payload) 299 | self.send_msp(packet) 300 | 301 | def send_osd_text(self, row: int, col: int, text: str) -> None: 302 | """ 303 | Sends a packet that provides text data to the 304 | recipient. This does not display the text to the 305 | recipient until `send_display_osd` is called 306 | 307 | :param row: The row to display the text on 308 | :param col: The column to place the start of the 309 | :param message: _description_ 310 | """ 311 | payload = bytearray((0x03, row, col, 0)) 312 | for index, char in enumerate(text): 313 | if index >= 50: 314 | break 315 | 316 | payload.append(ord(char)) 317 | 318 | packet = MSPPacket() 319 | packet.set_function(MSPTypes.MSP_ELRS_SET_OSD) 320 | packet.set_payload(payload) 321 | self.send_msp(packet) 322 | 323 | def send_display_osd(self) -> None: 324 | """ 325 | Sends a packet that informs the recipient 326 | to display any provided text 327 | """ 328 | packet = MSPPacket() 329 | packet.set_function(MSPTypes.MSP_ELRS_SET_OSD) 330 | payload = bytearray((0x04,)) 331 | packet.set_payload(payload) 332 | self.send_msp(packet) 333 | 334 | def send_clear_osd_row(self, row: int) -> None: 335 | """ 336 | Sends a packet that clears the text data 337 | in a specific row. This does not remove 338 | the text until `send_display_osd` is called. 339 | 340 | :param row: The row to remove text from 341 | """ 342 | payload = bytearray((0x03, row, 0, 0)) 343 | for _ in range(50): 344 | payload.append(0) 345 | 346 | packet = MSPPacket() 347 | packet.set_function(MSPTypes.MSP_ELRS_SET_OSD) 348 | packet.set_payload(payload) 349 | self.send_msp(packet) 350 | 351 | def version_request(self): 352 | """ 353 | Sends the packet requesting the version of the 354 | backpack hardware 355 | """ 356 | packet = MSPPacket() 357 | packet.set_function(MSPTypes.MSP_ELRS_GET_BACKPACK_VERSION) 358 | self.send_msp(packet) 359 | 360 | def activate_bind(self, *_) -> None: 361 | """ 362 | Sends a packet to put the connected device in 363 | bind mode 364 | """ 365 | message = "Activating backpack's bind mode..." 366 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 367 | 368 | packet = MSPPacket() 369 | packet.set_function(MSPTypes.MSP_ELRS_BACKPACK_SET_MODE) 370 | payload = bytearray((ord("B"),)) 371 | packet.set_payload(payload) 372 | self.send_msp(packet) 373 | 374 | def activate_wifi(self, *_) -> None: 375 | """ 376 | Sends a packet to put the connected device in 377 | bind mode 378 | """ 379 | message = "Turning on backpack's wifi..." 380 | self._rhapi.ui.message_notify(self._rhapi.language.__(message)) 381 | 382 | packet = MSPPacket() 383 | packet.set_function(MSPTypes.MSP_ELRS_BACKPACK_SET_MODE) 384 | payload = bytearray((ord("W"),)) 385 | packet.set_payload(payload) 386 | self.send_msp(packet) 387 | 388 | # 389 | # Field Tests 390 | # 391 | 392 | def test_bind_osd(self, *_): 393 | """ 394 | A test for checking the connection of the pilot 395 | bound to the timer backpack 396 | """ 397 | 398 | def test(): 399 | self._queue_lock.acquire() 400 | text = "ROTORHAZARD" 401 | for row in range(18): 402 | self.send_clear_osd() 403 | start_col = self.center_osd(len(text)) 404 | self.send_osd_text(row, start_col, text) 405 | self.send_display_osd() 406 | 407 | gevent.sleep(0.5) 408 | 409 | self.send_clear_osd_row(row) 410 | self.send_display_osd() 411 | 412 | gevent.sleep(1) 413 | self.send_clear_osd() 414 | self.send_display_osd() 415 | self._queue_lock.release() 416 | 417 | gevent.spawn(test) 418 | 419 | # 420 | # VRxC Event Triggers 421 | # 422 | 423 | def pilot_alter(self, args: dict) -> None: 424 | """ 425 | Logs the uid change of the pilot 426 | 427 | :param args: _description_ 428 | """ 429 | pilot_id = args["pilot_id"] 430 | uid = self.get_pilot_uid(pilot_id) 431 | uid_formated = ".".join([str(int.from_bytes((byte,))) for byte in uid]) 432 | logger.info("Pilot %s's UID set to %s", pilot_id, uid_formated) 433 | 434 | def onRaceStage(self, args) -> None: 435 | """ 436 | _summary_ 437 | 438 | :param args: _description_ 439 | """ 440 | if not self._backpack_connected: 441 | return 442 | 443 | use_heat_name = self._rhapi.db.option("_heat_name") == "1" 444 | use_round_num = self._rhapi.db.option("_round_num") == "1" 445 | use_class_name = self._rhapi.db.option("_class_name") == "1" 446 | use_event_name = self._rhapi.db.option("_event_name") == "1" 447 | 448 | # Pull heat name and rounds 449 | heat_data = self._rhapi.db.heat_by_id(args["heat_id"]) 450 | if heat_data: 451 | class_id = heat_data.class_id 452 | heat_name = heat_data.display_name 453 | round_num = self._rhapi.db.heat_max_round(args["heat_id"]) + 1 454 | else: 455 | class_id = None 456 | heat_name = None 457 | round_num = None 458 | 459 | # Check class name 460 | if class_id: 461 | raceclass = self._rhapi.db.raceclass_by_id(class_id) 462 | class_name = raceclass.display_name 463 | else: 464 | raceclass = None 465 | class_name = None 466 | 467 | # Generate heat message 468 | heat_name_row = self._rhapi.db.option("_heatname_row") 469 | if all([use_heat_name, use_round_num, heat_name, round_num]): 470 | round_trans = self._rhapi.__("Round") 471 | heat_message = ( 472 | f"x {heat_name.upper()} | {round_trans.upper()} {round_num} w" 473 | ) 474 | heat_start_col = self.center_osd(len(heat_message)) 475 | heat_message_parms = (heat_name_row, heat_start_col, heat_message) 476 | elif use_heat_name and heat_name: 477 | heat_message = f"x {heat_name.upper()} w" 478 | heat_start_col = self.center_osd(len(heat_message)) 479 | heat_message_parms = (heat_name_row, heat_start_col, heat_message) 480 | else: 481 | heat_message_parms = None 482 | 483 | # Generate class message 484 | class_name_row = self._rhapi.db.option("_classname_row") 485 | if use_class_name and class_name: 486 | class_message = f"x {class_name.upper()} w" 487 | class_start_col = self.center_osd(len(class_message)) 488 | class_message_parms = (class_name_row, class_start_col, class_message) 489 | 490 | # Generate event message 491 | event_name_row = self._rhapi.db.option("_eventname_row") 492 | event_name = self._rhapi.db.option("eventName") 493 | if use_event_name and event_name: 494 | event_name = self._rhapi.db.option("eventName") 495 | event_message = heat_message = f"x {event_name.upper()} w" 496 | event_start_col = self.center_osd(len(heat_message)) 497 | event_message_parms = (event_name_row, event_start_col, event_message) 498 | 499 | start_col = self.center_osd(len(self._rhapi.db.option("_racestage_message"))) 500 | stage_mesage = ( 501 | self._rhapi.db.option("_status_row"), 502 | start_col, 503 | self._rhapi.db.option("_racestage_message"), 504 | ) 505 | 506 | # Send stage message to all pilots 507 | def arm(pilot_id): 508 | uid = self.get_pilot_uid(pilot_id) 509 | with self._queue_lock: 510 | self.set_send_uid(uid) 511 | self.send_clear_osd() 512 | 513 | # Send messages to backpack 514 | self.send_osd_text(*stage_mesage) 515 | if use_heat_name and heat_name: 516 | assert heat_message_parms is not None 517 | self.send_osd_text(*heat_message_parms) 518 | if use_class_name and class_name: 519 | self.send_osd_text(*class_message_parms) 520 | if use_event_name and event_name: 521 | self.send_osd_text(*event_message_parms) 522 | 523 | self.send_display_osd() 524 | self.reset_send_uid() 525 | 526 | seat_pilots = self._rhapi.race.pilots 527 | for seat in seat_pilots: 528 | if ( 529 | seat_pilots[seat] 530 | and self._rhapi.db.pilot_attribute_value( 531 | seat_pilots[seat], "elrs_active" 532 | ) 533 | == "1" 534 | ): 535 | gevent.spawn(arm, seat_pilots[seat]) 536 | 537 | def onRaceStart(self, *_) -> None: 538 | if not self._backpack_connected: 539 | return 540 | 541 | def start(pilot_id): 542 | uid = self.get_pilot_uid(pilot_id) 543 | start_col = self.center_osd( 544 | len(self._rhapi.db.option("_racestart_message")) 545 | ) 546 | 547 | self._queue_lock.acquire() 548 | self.set_send_uid(uid) 549 | 550 | self.send_clear_osd() 551 | 552 | self.send_osd_text( 553 | self._rhapi.db.option("_status_row"), 554 | start_col, 555 | self._rhapi.db.option("_racestart_message"), 556 | ) 557 | self.send_display_osd() 558 | self.reset_send_uid() 559 | self._queue_lock.release() 560 | 561 | gevent.sleep(self._rhapi.db.option("_racestart_uptime") * 1e-1) 562 | 563 | self._queue_lock.acquire() 564 | self.set_send_uid(uid) 565 | self.send_clear_osd_row(self._rhapi.db.option("_status_row")) 566 | self.send_display_osd() 567 | self.reset_send_uid() 568 | self._queue_lock.release() 569 | 570 | seat_pilots = self._rhapi.race.pilots 571 | for seat in seat_pilots: 572 | if ( 573 | seat_pilots[seat] 574 | and self._rhapi.db.pilot_attribute_value( 575 | seat_pilots[seat], "elrs_active" 576 | ) 577 | == "1" 578 | ): 579 | gevent.spawn(start, seat_pilots[seat]) 580 | 581 | def onRaceFinish(self, *_) -> None: 582 | if not self._backpack_connected: 583 | return 584 | 585 | def finish(pilot_id): 586 | uid = self.get_pilot_uid(pilot_id) 587 | start_col = self.center_osd( 588 | len(self._rhapi.db.option("_racefinish_message")) 589 | ) 590 | 591 | self._queue_lock.acquire() 592 | self.set_send_uid(uid) 593 | self.send_clear_osd_row(self._rhapi.db.option("_status_row")) 594 | self.send_osd_text( 595 | self._rhapi.db.option("_status_row"), 596 | start_col, 597 | self._rhapi.db.option("_racefinish_message"), 598 | ) 599 | self.send_display_osd() 600 | self.reset_send_uid() 601 | self._queue_lock.release() 602 | 603 | gevent.sleep(self._rhapi.db.option("_finish_uptime") * 1e-1) 604 | 605 | self._queue_lock.acquire() 606 | self.set_send_uid(uid) 607 | self.send_clear_osd_row(self._rhapi.db.option("_status_row")) 608 | self.send_display_osd() 609 | self.reset_send_uid() 610 | self._queue_lock.release() 611 | 612 | seat_pilots = self._rhapi.race.pilots 613 | seats_finished = self._rhapi.race.seats_finished 614 | 615 | for seat in seat_pilots: 616 | if ( 617 | seat_pilots[seat] 618 | and self._rhapi.db.pilot_attribute_value( 619 | seat_pilots[seat], "elrs_active" 620 | ) 621 | == "1" 622 | ): 623 | if not seats_finished[seat]: 624 | gevent.spawn(finish, seat_pilots[seat]) 625 | 626 | def onRaceStop(self, *_) -> None: 627 | if not self._backpack_connected: 628 | return 629 | 630 | def land(pilot_id): 631 | uid = self.get_pilot_uid(pilot_id) 632 | start_col = self.center_osd(len(self._rhapi.db.option("_racestop_message"))) 633 | 634 | self._queue_lock.acquire() 635 | self.set_send_uid(uid) 636 | self.send_osd_text( 637 | self._rhapi.db.option("_status_row"), 638 | start_col, 639 | self._rhapi.db.option("_racestop_message"), 640 | ) 641 | self.send_display_osd() 642 | self.reset_send_uid() 643 | self._queue_lock.release() 644 | 645 | seat_pilots = self._rhapi.race.pilots 646 | seats_finished = self._rhapi.race.seats_finished 647 | 648 | for seat in seat_pilots: 649 | if ( 650 | seat_pilots[seat] 651 | and self._rhapi.db.pilot_attribute_value( 652 | seat_pilots[seat], "elrs_active" 653 | ) 654 | == "1" 655 | ): 656 | if not seats_finished[seat]: 657 | gevent.spawn(land, seat_pilots[seat]) 658 | 659 | def onRaceLapRecorded(self, args: dict) -> None: 660 | if not self._backpack_connected: 661 | return 662 | 663 | def update_pos(result): 664 | pilot_id = result["pilot_id"] 665 | 666 | if self._rhapi.db.option("_position_mode") != "1": 667 | message = f"LAP: {result['laps'] + 1}" 668 | else: 669 | message = f"POSN: {str(result['position']).upper()} | LAP: {result['laps'] + 1}" 670 | start_col = self.center_osd(len(message)) 671 | 672 | uid = self.get_pilot_uid(pilot_id) 673 | self._queue_lock.acquire() 674 | self.set_send_uid(uid) 675 | self.send_clear_osd_row(self._rhapi.db.option("_currentlap_row")) 676 | 677 | self.send_osd_text( 678 | self._rhapi.db.option("_currentlap_row"), start_col, message 679 | ) 680 | self.send_display_osd() 681 | self.reset_send_uid() 682 | self._queue_lock.release() 683 | 684 | def lap_results(result, gap_info): 685 | pilot_id = result["pilot_id"] 686 | 687 | message = "" 688 | if self._rhapi.db.option("_gap_mode") != "1": 689 | if gap_info.race.win_condition == WinCondition.FASTEST_CONSECUTIVE: 690 | formatted_time1 = self._rhapi.utils.format_split_time_to_str( 691 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 692 | ) 693 | formatted_time2 = self._rhapi.utils.format_split_time_to_str( 694 | gap_info.current.consecutives, "{m}:{s}.{d}" 695 | ) 696 | message = f"x {formatted_time1} | {gap_info.current.consecutives_base}/{formatted_time2} w" 697 | elif ( 698 | gap_info.race.win_condition == WinCondition.FASTEST_LAP 699 | and gap_info.current.is_best 700 | ): 701 | formatted_time = self._rhapi.utils.format_split_time_to_str( 702 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 703 | ) 704 | message = f"x BEST LAP | {formatted_time} w" 705 | else: 706 | formatted_time1 = self._rhapi.utils.format_split_time_to_str( 707 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 708 | ) 709 | formatted_time2 = self._rhapi.utils.format_split_time_to_str( 710 | gap_info.current.total_time_laps, "{m}:{s}.{d}" 711 | ) 712 | message = f"x {formatted_time1} | {formatted_time2} w" 713 | 714 | elif gap_info.race.win_condition == WinCondition.FASTEST_CONSECUTIVE: 715 | formatted_time1 = self._rhapi.utils.format_split_time_to_str( 716 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 717 | ) 718 | formatted_time2 = self._rhapi.utils.format_split_time_to_str( 719 | gap_info.current.consecutives, "{m}:{s}.{d}" 720 | ) 721 | message = f"x {formatted_time1} | {gap_info.current.consecutives_base}/{formatted_time2} w" 722 | 723 | elif gap_info.race.win_condition == WinCondition.FASTEST_LAP: 724 | if gap_info.next_rank.diff_time: 725 | formatted_time = self._rhapi.utils.format_split_time_to_str( 726 | gap_info.next_rank.diff_time, "{m}:{s}.{d}" 727 | ) 728 | formatted_callsign = str.upper(gap_info.next_rank.callsign) 729 | message = f"x {formatted_callsign} | +{formatted_time} w" 730 | 731 | elif gap_info.current.is_best_lap and gap_info.current.lap_number: 732 | formatted_time = self._rhapi.utils.format_split_time_to_str( 733 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 734 | ) 735 | message = f"x {self._rhapi.db.option('_leader_message')} | {formatted_time} w" 736 | 737 | elif gap_info.current.lap_number: 738 | formatted_time = self._rhapi.utils.format_split_time_to_str( 739 | gap_info.first_rank.diff_time, "{m}:{s}.{d}" 740 | ) 741 | formatted_callsign = str.upper(gap_info.first_rank.callsign) 742 | message = f"x {formatted_callsign} | +{formatted_time} w" 743 | 744 | else: 745 | if gap_info.next_rank.diff_time: 746 | formatted_time = self._rhapi.utils.format_split_time_to_str( 747 | gap_info.next_rank.diff_time, "{m}:{s}.{d}" 748 | ) 749 | formatted_callsign = str.upper(gap_info.next_rank.callsign) 750 | message = f"x {formatted_callsign} | +{formatted_time} w" 751 | 752 | elif gap_info.current.lap_number: 753 | formatted_time = self._rhapi.utils.format_split_time_to_str( 754 | gap_info.current.last_lap_time, "{m}:{s}.{d}" 755 | ) 756 | message = f"x {self._rhapi.db.option('_leader_message')} | {formatted_time} w" 757 | 758 | start_col = self.center_osd(len(message)) 759 | 760 | uid = self.get_pilot_uid(pilot_id) 761 | self._queue_lock.acquire() 762 | self.set_send_uid(uid) 763 | self.send_osd_text( 764 | self._rhapi.db.option("_lapresults_row"), start_col, message 765 | ) 766 | self.send_display_osd() 767 | self.reset_send_uid() 768 | self._queue_lock.release() 769 | 770 | gevent.sleep(self._rhapi.db.option("_results_uptime") * 1e-1) 771 | 772 | self._queue_lock.acquire() 773 | self.set_send_uid(uid) 774 | self.send_clear_osd_row(self._rhapi.db.option("_lapresults_row")) 775 | self.send_display_osd() 776 | self.reset_send_uid() 777 | self._queue_lock.release() 778 | 779 | seats_finished = self._rhapi.race.seats_finished 780 | pilots_completion = {} 781 | for slot, pilot_id in self._rhapi.race.pilots.items(): 782 | if pilot_id: 783 | pilots_completion[pilot_id] = seats_finished[slot] 784 | 785 | results = args["results"]["by_race_time"] 786 | for result in results: 787 | if ( 788 | self._rhapi.db.pilot_attribute_value(result["pilot_id"], "elrs_active") 789 | == "1" 790 | ): 791 | if not pilots_completion[result["pilot_id"]]: 792 | gevent.spawn(update_pos, result) 793 | 794 | if result["pilot_id"] == args["pilot_id"] and (result["laps"] > 0): 795 | gevent.spawn(lap_results, result, args["gap_info"]) 796 | 797 | def onLapDelete(self, *_) -> None: 798 | """ 799 | Update a pilot's OSD when a they have finished 800 | """ 801 | if not self._backpack_connected: 802 | return 803 | 804 | def delete(pilot_id): 805 | uid = self.get_pilot_uid(pilot_id) 806 | self._queue_lock.acquire() 807 | self.set_send_uid(uid) 808 | self.send_clear_osd() 809 | self.send_display_osd() 810 | self.reset_send_uid() 811 | self._queue_lock.release() 812 | 813 | if self._rhapi.db.option("_results_mode") == "1": 814 | seat_pilots = self._rhapi.race.pilots 815 | for seat in seat_pilots: 816 | if ( 817 | seat_pilots[seat] 818 | and self._rhapi.db.pilot_attribute_value( 819 | seat_pilots[seat], "elrs_active" 820 | ) 821 | == "1" 822 | ): 823 | gevent.spawn(delete, seat_pilots[seat]) 824 | 825 | def onRacePilotDone(self, args: dict) -> None: 826 | """ 827 | Update a pilot's OSD when a they have finished 828 | """ 829 | if not self._backpack_connected: 830 | return 831 | 832 | def done(result, win_condition): 833 | pilot_id = result["pilot_id"] 834 | start_col = self.center_osd( 835 | len(self._rhapi.db.option("_pilotdone_message")) 836 | ) 837 | results_row1 = self._rhapi.db.option("_results_row") 838 | results_row2 = results_row1 + 1 839 | 840 | uid = self.get_pilot_uid(pilot_id) 841 | self._queue_lock.acquire() 842 | self.set_send_uid(uid) 843 | self.send_clear_osd_row(self._rhapi.db.option("_currentlap_row")) 844 | self.send_clear_osd_row(self._rhapi.db.option("_status_row")) 845 | self.send_osd_text( 846 | self._rhapi.db.option("_status_row"), 847 | start_col, 848 | self._rhapi.db.option("_pilotdone_message"), 849 | ) 850 | 851 | if self._rhapi.db.option("_results_mode") == "1": 852 | placement_message = f"PLACEMENT: {result['position']}" 853 | place_col = self.center_osd(len(placement_message)) 854 | self.send_osd_text(results_row1, place_col, placement_message) 855 | 856 | if win_condition == WinCondition.FASTEST_CONSECUTIVE: 857 | win_message = f"FASTEST {result['consecutives_base']} CONSEC: {result['consecutives']}" 858 | elif win_condition == WinCondition.FASTEST_LAP: 859 | win_message = f"FASTEST LAP: {result['fastest_lap']}" 860 | elif win_condition == WinCondition.FIRST_TO_LAP_X: 861 | win_message = f"TOTAL TIME: {result['total_time']}" 862 | else: 863 | win_message = f"LAPS COMPLETED: {result['laps']}" 864 | 865 | win_col = self.center_osd(len(win_message)) 866 | self.send_osd_text(results_row2, win_col, win_message) 867 | 868 | self.send_display_osd() 869 | self.reset_send_uid() 870 | self._queue_lock.release() 871 | 872 | gevent.sleep(self._rhapi.db.option("_finish_uptime") * 1e-1) 873 | 874 | self._queue_lock.acquire() 875 | self.set_send_uid(uid) 876 | self.send_clear_osd_row(self._rhapi.db.option("_status_row")) 877 | self.send_display_osd() 878 | self.reset_send_uid() 879 | self._queue_lock.release() 880 | 881 | results = args["results"] 882 | leaderboard = results[results["meta"]["primary_leaderboard"]] 883 | for result in leaderboard: 884 | if ( 885 | self._rhapi.db.pilot_attribute_value(args["pilot_id"], "elrs_active") 886 | == "1" 887 | ) and (result["pilot_id"] == args["pilot_id"]): 888 | gevent.spawn(done, result, results["meta"]["win_condition"]) 889 | break 890 | 891 | def onLapsClear(self, *_) -> None: 892 | """ 893 | Removes data from pilot's OSD when laps are removed from the system 894 | """ 895 | if not self._backpack_connected: 896 | return 897 | 898 | def clear(pilot_id): 899 | uid = self.get_pilot_uid(pilot_id) 900 | self._queue_lock.acquire() 901 | self.set_send_uid(uid) 902 | self.send_clear_osd() 903 | self.send_display_osd() 904 | self.reset_send_uid() 905 | self._queue_lock.release() 906 | 907 | seat_pilots = self._rhapi.race.pilots 908 | for seat in seat_pilots: 909 | if ( 910 | seat_pilots[seat] 911 | and self._rhapi.db.pilot_attribute_value( 912 | seat_pilots[seat], "elrs_active" 913 | ) 914 | == "1" 915 | ): 916 | gevent.spawn(clear, seat_pilots[seat]) 917 | 918 | def onSendMessage(self, args: dict | None = None) -> None: 919 | """ 920 | Sends custom text to pilots of the active heat 921 | """ 922 | if not self._backpack_connected: 923 | return 924 | 925 | if args is None: 926 | return 927 | 928 | def notify(pilot): 929 | uid = self.get_pilot_uid(pilot) 930 | start_col = self.center_osd(len(args["message"])) 931 | self._queue_lock.acquire() 932 | self.set_send_uid(uid) 933 | self.send_osd_text( 934 | self._rhapi.db.option("_announcement_row"), 935 | start_col, 936 | f"x {str.upper(args['message'])} w", 937 | ) 938 | self.send_display_osd() 939 | self.reset_send_uid() 940 | self._queue_lock.release() 941 | 942 | gevent.sleep(self._rhapi.db.option("_announcement_uptime") * 1e-1) 943 | 944 | self._queue_lock.acquire() 945 | self.set_send_uid(uid) 946 | self.send_clear_osd_row(self._rhapi.db.option("_announcement_row")) 947 | self.send_display_osd() 948 | self.reset_send_uid() 949 | self._queue_lock.release() 950 | 951 | seat_pilots = self._rhapi.race.pilots 952 | for seat in seat_pilots: 953 | if ( 954 | seat_pilots[seat] 955 | and self._rhapi.db.pilot_attribute_value( 956 | seat_pilots[seat], "elrs_active" 957 | ) 958 | == "1" 959 | ): 960 | gevent.spawn(notify, seat_pilots[seat]) 961 | --------------------------------------------------------------------------------