core: ArdupilotManager: implement missing endpoint

bluerobotics · Dec 7, 2023 · eb5943a · eb5943a
1 parent 19be039
commit eb5943a
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Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py b/core/services/ardupilot_manager/mavlink_proxy/MAVLinkRouter.py
@@ -56,14 +56,18 @@ def convert_endpoint(endpoint: Endpoint) -> str:
             EndpointType.UDPServer,
             EndpointType.Serial,
             EndpointType.TCPServer,
+            EndpointType.TCPClient,
         ]:
             raise ValueError(
                 f"Master endpoint of type {master_endpoint.connection_type} not supported on MavlinkRouter."
             )
+        if master_endpoint.connection_type == EndpointType.TCPClient:
+            return f"{self.binary()} \
+                --tcp-endpoint {master_endpoint.place}:{master_endpoint.argument} {endpoints}"
 
         if master_endpoint.connection_type == EndpointType.TCPServer:
             return f"{self.binary()} \
-                --tcp-endpoint {master_endpoint.place}:{master_endpoint.argument} {endpoints}"
+                --tcp-port {master_endpoint.argument} {endpoints}"
 
         return f"{self.binary()} {master_endpoint.place}:{master_endpoint.argument} {endpoints} -l {self.logdir()}"
 

diff --git a/core/services/ardupilot_manager/mavlink_proxy/test_all.py b/core/services/ardupilot_manager/mavlink_proxy/test_all.py
@@ -199,7 +199,12 @@ def serial_test_mavlink_router(valid_output_endpoints: Set[Endpoint], valid_mast
         EndpointType.TCPServer,
         EndpointType.TCPClient,
     ]
-    allowed_master_types = [EndpointType.UDPServer, EndpointType.Serial, EndpointType.TCPServer]
+    allowed_master_types = [
+        EndpointType.UDPServer,
+        EndpointType.TCPServer,
+        EndpointType.TCPClient,
+        EndpointType.Serial,
+    ]
     run_common_routing_tests(
         mavlink_router, allowed_output_types, allowed_master_types, valid_output_endpoints, valid_master_endpoints
     )