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SITL Ser2TCP issue #1817

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sevrugin opened this issue Aug 9, 2023 · 21 comments
Open

SITL Ser2TCP issue #1817

sevrugin opened this issue Aug 9, 2023 · 21 comments

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@sevrugin
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sevrugin commented Aug 9, 2023

I'm trying to use serial2tcb bridge to connect my ELRS receiver by usr2ttl adapter to SITL
Ubuntu 23.04
I have an error

[Serial2TCP] Unable to open /dev/ttyUSB0: System.ArgumentException: Value does not fall within the expected range.
   at System.IO.Ports.SerialStream..ctor(String, Int32, Parity, Int32, StopBits, Int32, Int32, Handshake, Boolean, Boolean, Boolean, Byte) + 0x370
   at System.IO.Ports.SerialPort.Open() + 0xee
   at Ser2TCP.Program.Ser2TCP(String, Int32, Int32, StopBits, Parity, IPAddress, Int32, Int32) + 0x11a

If I'm trying to run this command manually - error the same
./Ser2TCP --comport /dev/ttyUSB0 --baudrate 420000 --tcpport 5762 --ip 0.0.0.0

I tried to use another program (python serial2tcp) and it works correct
@stronnag
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stronnag commented Aug 9, 2023

We should really replace these binary programs (in particular the Linux monstrosity) with code we own / control.
May I be as presumptive to propose choosing one of the language variants from these Cross platform ser2tcp ser2tcp implementations, preferably the C language option.

Note the C-lang instances are what is shipped with the so called "Next "configurators. You may find working "drop in" replaceable binaries in the archives here

@sevrugin
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sevrugin commented Aug 9, 2023 •
edited

We should really replace these binary programs (in particular the Linux monstrosity) with code we own / control. May I be as presumptive to propose choosing one of the language variants from these Cross platform ser2tcp ser2tcp implementations, preferably the C language option.

Note the C-lang instances are what is shipped with the so called "Next "configurators. You may find working "drop in" replaceable binaries in the archives here

Thank you for the answer
I downloaded the new ser2tcp from your link

$ ./ser2tcp -c /dev/ttyUSB0 -b 420000 -i 127.0.0.1 -t 5762
Failed to connect to 127.0.0.1 5762

tried to reboot, to use sudo... the same
PS: python serial2tcp still works =)

@sevrugin
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sevrugin commented Aug 9, 2023 •
edited

The same issue with golang AND c version compiled on my PC
But I still can open this port with nc -l 5762

@stronnag
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stronnag commented Aug 9, 2023

version of SITL?
Interface of which SITL listens, e.g:

$ lsof -p $(pidof inav_SITL)
COMMAND     PID USER   FD   TYPE DEVICE SIZE/OFF     NODE NAME
inav_SITL 35384  jrh  cwd    DIR   0,39    48290      259 /home/jrh
inav_SITL 35384  jrh  rtd    DIR   0,26      206      256 /
inav_SITL 35384  jrh  txt    REG   0,39   514440 29352038 /home/jrh/.local/bin/inav_SITL
inav_SITL 35384  jrh  mem    REG   0,24          29352038 /home/jrh/.local/bin/inav_SITL (path dev=0,39)
inav_SITL 35384  jrh    0u   CHR  136,9      0t0       12 /dev/pts/9
inav_SITL 35384  jrh    1u   CHR  136,9      0t0       12 /dev/pts/9
inav_SITL 35384  jrh    2u   CHR  136,9      0t0       12 /dev/pts/9
inav_SITL 35384  jrh    3u   REG   0,39    32768 30014594 /home/jrh/.config/inav-configurator/Default/standard-x-plane.bin
inav_SITL 35384  jrh    4u  IPv6 279832      0t0      TCP *:5760 (LISTEN)
inav_SITL 35384  jrh    5u  IPv6 279837      0t0      TCP *:5761 (LISTEN)
inav_SITL 35384  jrh    6u  IPv6 278858      0t0      TCP *:5762 (LISTEN)

which then works:

$ ser2tcp -c /dev/ttyUSB0 -i localhost -t 5762
Connected to [::1]:5762 <-> /dev/ttyUSB0

as does:

$ ser2tcp -c /dev/ttyUSB0 -i 127.0.0.1 -t 5762
Connected to 127.0.0.1:5762 <-> /dev/ttyUSB0

Linux distro & version?

@sevrugin
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sevrugin commented Aug 9, 2023

Rebooted for a clean result
Ubuntu 23.04
Launched fl2sitl --minimal
Launched Inav configurator 7 last
Compiled and copy ser2tcp
Pressed start
image

$ lsof -p $(pidof inav_SITL)
COMMAND    PID     USER   FD      TYPE             DEVICE SIZE/OFF     NODE NAME
inav_SITL 5013 sevrugin  cwd       DIR                8,2     4096 15500572 /home/sevrugin/Programms/INAV Configurator
inav_SITL 5013 sevrugin  rtd       DIR                8,2     4096        2 /
inav_SITL 5013 sevrugin  txt       REG                8,2   514440 15496830 /home/sevrugin/Programms/INAV Configurator/resources/sitl/linux/inav_SITL
inav_SITL 5013 sevrugin    0u     unix 0x0000000000000000      0t0    39934 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin    1u     unix 0x0000000000000000      0t0    39936 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin    2u     unix 0x0000000000000000      0t0    48130 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin    3u     unix 0x0000000000000000      0t0    44371 @605b4 type=SEQPACKET (CONNECTED)
inav_SITL 5013 sevrugin    4u     unix 0x0000000000000000      0t0    44374 type=SEQPACKET (CONNECTED)
inav_SITL 5013 sevrugin    5u     unix 0x0000000000000000      0t0    42360 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin    6u     IPv4              45397      0t0      UDP *:58417 
inav_SITL 5013 sevrugin    7r      REG                8,2 10269664 15497303 /home/sevrugin/Programms/INAV Configurator/icudtl.dat
inav_SITL 5013 sevrugin    8r      REG                8,2   671752 15496747 /home/sevrugin/Programms/INAV Configurator/v8_context_snapshot.bin
inav_SITL 5013 sevrugin    9u      REG                8,2    32768 18222276 /home/sevrugin/.config/inav-configurator/Default/x_plane_crsf.bin
inav_SITL 5013 sevrugin   10u     IPv6              45402      0t0      TCP *:5760 (LISTEN)
inav_SITL 5013 sevrugin   11u     IPv6              45407      0t0      TCP *:5761 (LISTEN)
inav_SITL 5013 sevrugin   96r      REG                8,2   632688 15496969 /home/sevrugin/Programms/INAV Configurator/nw_100_percent.pak
inav_SITL 5013 sevrugin   97r      REG                8,2   954144 15496968 /home/sevrugin/Programms/INAV Configurator/nw_200_percent.pak
inav_SITL 5013 sevrugin   98r      REG                8,2   298120 15497059 /home/sevrugin/Programms/INAV Configurator/locales/en-US.pak
inav_SITL 5013 sevrugin   99r      REG                8,2  3924612 15496828 /home/sevrugin/Programms/INAV Configurator/resources.pak
inav_SITL 5013 sevrugin  103r      REG                8,2   671752 15496747 /home/sevrugin/Programms/INAV Configurator/v8_context_snapshot.bin
inav_SITL 5013 sevrugin  116u     unix 0x0000000000000000      0t0    44397 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin  117u     unix 0x0000000000000000      0t0    43399 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin  120u      REG               0,25      144       84 /dev/shm/.io.nwjs.9OKO55 (deleted)
inav_SITL 5013 sevrugin  122r      REG               0,22        0    42364 /proc/4813/statm
inav_SITL 5013 sevrugin  123r      REG               0,22        0    45372 /proc/4813/status
inav_SITL 5013 sevrugin  124u      REG                8,2  2379080  9175058 /tmp/.io.nwjs.ZkjjJE (deleted)
inav_SITL 5013 sevrugin  127u      REG               0,25    65536      157 /dev/shm/.io.nwjs.nU6Mb6 (deleted)
inav_SITL 5013 sevrugin  128u  a_inode               0,14        0     2081 [eventfd:66]
inav_SITL 5013 sevrugin  129u      REG               0,25      144       87 /dev/shm/.io.nwjs.cyDkMQ (deleted)
inav_SITL 5013 sevrugin  130u      REG               0,25  2097152      159 /dev/shm/.io.nwjs.51L3ac (deleted)
inav_SITL 5013 sevrugin  131u      REG               0,25    65536       89 /dev/shm/.io.nwjs.w60Mrc (deleted)
inav_SITL 5013 sevrugin  132u      REG               0,25    65536       90 /dev/shm/.io.nwjs.nJXgY5 (deleted)
inav_SITL 5013 sevrugin  133u     unix 0x0000000000000000      0t0    44407 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin  136u  a_inode               0,14        0     2081 [eventfd:64]
inav_SITL 5013 sevrugin  138u      REG               0,25  4198400      123 /dev/shm/.io.nwjs.lXU2fo (deleted)
inav_SITL 5013 sevrugin  139r      REG                8,2   330412  9227757 /usr/share/fonts/truetype/msttcorefonts/Times_New_Roman.ttf
inav_SITL 5013 sevrugin  140u      REG               0,25     4096      125 /dev/shm/.io.nwjs.uSIAjN (deleted)
inav_SITL 5013 sevrugin  141r      REG                8,2   275572  9227744 /usr/share/fonts/truetype/msttcorefonts/Arial.ttf
inav_SITL 5013 sevrugin  142r      REG                8,2   759720  6424283 /usr/share/fonts/truetype/dejavu/DejaVuSans.ttf
inav_SITL 5013 sevrugin  143u      REG               0,25    65536      158 /dev/shm/.io.nwjs.KBlSl0 (deleted)
inav_SITL 5013 sevrugin  144u      REG               0,25     4096      104 /dev/shm/.io.nwjs.0rJC7k (deleted)
inav_SITL 5013 sevrugin  146r      REG                8,2   510612  6423854 /usr/share/fonts/truetype/noto/NotoSansMono-Regular.ttf
inav_SITL 5013 sevrugin  148r      REG                8,2   380660  6424289 /usr/share/fonts/truetype/dejavu/DejaVuSerif.ttf
inav_SITL 5013 sevrugin  149r      REG               0,25  1048576      141 /dev/shm/.io.nwjs.umgjsG (deleted)
inav_SITL 5013 sevrugin  150u     unix 0x0000000000000000      0t0    39866 type=STREAM (CONNECTED)
inav_SITL 5013 sevrugin  153u  a_inode               0,14        0     2081 [eventfd:74]

@stronnag
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stronnag commented Aug 9, 2023

Your SITL is not listening on TCP:5762

  • it is not shown in the Configurator window
  • nor is it shown in the lsof listing.

This one is:
image

$ fl2sitl --minimal -listen 49001

@stronnag
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stronnag commented Aug 9, 2023 •
edited

You have configured UART3 for SerialRX for SITL?

@sevrugin
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sevrugin commented Aug 9, 2023

You have configured UART3 for SerialRX for SITL?

Yes, you can see it on my screen
I'll try another version of configurator

@stronnag
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stronnag commented Aug 9, 2023

I can't see it, you didn't show the Ports tab.

@stronnag
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stronnag commented Aug 9, 2023

The SITL reads the used ports from the saved eeprom; if you haven't set up the port as a serialTX, the SITL cannot see it and it doesn't matter what you do on the SITL tab.

@stronnag
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stronnag commented Aug 9, 2023

And you must also have set up the rx type in the Receiver tab.

Seems like there is no software issue here, rather incomplete configuration.

@sevrugin
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sevrugin commented Aug 9, 2023

Yohoo!!!
Finally, it is connected (I chose UART3 as a SerialRX on Ports tab, and THEN re-run SITL).

INAV 6.1.0 SITL
[SYSTEM] Init...
[SIM] Waiting for connection...
[SOCKET] xplane address = 127.0.0.1:49000, fd=6
[SIM] Connection with X-Plane successfully established.
[EEPROM] Loaded '/home/sevrugin/.config/inav-configurator/Default/x_plane_crsf.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP :: port 5760 to UART1
[SOCKET] Bind TCP :: port 5761 to UART2
[SOCKET] Bind TCP :: port 5762 to UART3
[SOCKET] ::ffff:127.0.0.1 connected to UART3
[Serial2TCP] Connected to 127.0.0.1:5762 <-> /dev/ttyUSB0

Don't see any stick actions, but I'll double check all the configurations and tell you later

@sevrugin
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sevrugin commented Aug 10, 2023 •
edited

Ready to continue )
As I previously said - I don't see any data from receiver - ExpressLRS EP2 (CRSF protocol)
Steps:
The receiver is conneceted by TTL convertor
screen /dev/ttyUSB0 420000 - works (can see some packets in output)
nc -l 5372 + ./Ser2TCP -c /dev/ttyUSB0 -b 420000 -i 127.0.0.1 -p 5762 - works (can see some packets in "nc" output)

Trying with InavConfigurator 6.1
./fl2sitl --minimal
Inav Ports configured as MSP for UART1 and UART2, and SerialRX for UART3

INAV 6.1.0 SITL
[SYSTEM] Init...
[SIM] Waiting for connection...
[SOCKET] xplane address = 127.0.0.1:49000, fd=6
[SIM] Connection with X-Plane successfully established.
[EEPROM] Loaded '/home/sevrugin/.config/inav-configurator/Default/x_plane_crsf.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP :: port 5760 to UART1
[SOCKET] Bind TCP :: port 5761 to UART2
[SOCKET] Bind TCP :: port 5762 to UART3
[SOCKET] ::ffff:127.0.0.1 connected to UART3
[Serial2TCP] Connected to 127.0.0.1:5762 <-> /dev/ttyUSB0

Receiver TAB - Serial + CRSF
Moving stick on TX not showing on the tab

PS: still can connect on /dev/ttyUSB0 and see data (I thought that ttyUSB0 should be locked after the bridge connection)
nc 127.0.0.1 5762 successful but doesn't show any data

image

image

@sevrugin
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while writing, the data was changed few times
but the data still incorrect
is it possible that buadrate is incorrect?
image

@stronnag
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Works perfectly here (CRSF). It is probable that your USB-TTL adaptor cannot handle "non-standard" baud rates.
For example:

  • Ancient "Prolific" pl2303 device. When set to 420000 baud it actually uses 421052 which is within 0.25% and works find with CRSF.
  • Newer cp210x device, only supports "POSIX like" baud rates. When set to 420000 baud it actually uses 460800 which differs by 9.7% and I doubt would work with CRSF.

So again, SITL and ser2tcp work perfectly if you've (a) configured everything correctly and (b) you use adequate hardware.

Maybe I'll add a warning to ser2tcp where the desired and actual baud rates differ ...

@sevrugin
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I'm using CH340 TTL adapter
Exactly like in image
image
But you are right. This is possible that it doesn't support 420000

@stronnag
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The only way is to test it, I'm going to update the 'C' ser2tcp to provide a warning. I'll let you know when it's done.

@sevrugin
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sevrugin commented Aug 10, 2023 via email

@stronnag
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You can ungzip / rename and try the following. It will report any difference in desired baudrate and device actual rate. This seems only to be a Linux issue; on FreeBSD, MacOS and Windows the driver reports the speed as requested.

$ ser2tcp -c /dev/ttyUSB0 -b 420000 
Warning: device speed 421052 differs from requested 420000
Connected to [::1]:5762 <-> /dev/ttyUSB0

This small difference is OK, the converter works just fine with configurator / SITL. The other device that sets itself to 460800 does not work with the SITL / Configurator.
ser2tcp-static.gz

@sevrugin
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I'll try your version as well a bit later
How I fixed my problem with ExpressLRS - I reflashed receiver and set baudrate to 400000
image
The same speed for ser2tcp
It works now )

@RomanLut
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iNavFlight/inav#9365

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@stronnag @sevrugin @RomanLut