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asterix: replace private pickle transport with JSON #1728

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Merged
peterbarker merged 1 commit into from
Aug 14, 2026
Merged

asterix: replace private pickle transport with JSON #1728

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17 changes: 9 additions & 8 deletions MAVProxy/modules/mavproxy_asterix.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
This listens for SDPS on UDP and translates to ADSB_VEHICLE messages
'''

import pickle
import json
from math import *

from MAVProxy.modules.lib import mp_module
Expand Down Expand Up @@ -200,12 +200,14 @@ def idle_task(self):
return
try:
if pkt.startswith(b'PICKLED:'):
pkt = pkt[8:]
# pickled packet
try:
amsg = [pickle.loads(pkt)]
except pickle.UnpicklingError:
amsg = asterix.parse(pkt)
print("bad packet")
return
if pkt.startswith(b'JSON:'):
pkt = pkt[5:]
decoded = json.loads(pkt.decode('utf-8'))
if not isinstance(decoded, dict):
raise ValueError("JSON packet root is not a dictionary")
amsg = [decoded]
else:
amsg = asterix.parse(pkt)
self.pkt_count += 1
Expand Down Expand Up @@ -358,4 +360,3 @@ def init(mpstate):
#amsg = asterix.parse(pkt)
#print(amsg)


8 changes: 4 additions & 4 deletions MAVProxy/modules/mavproxy_genobstacles.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
generate dynamic obstacles for OBC 2018
'''

import time, pickle
import time, json
from math import *

from MAVProxy.modules.lib import mp_module
Expand Down Expand Up @@ -196,8 +196,8 @@ def update(self, deltat=1.0):
def __str__(self):
return str(self.pkt)

def pickled(self):
return b'PICKLED:' + pickle.dumps(self.pkt)
def json_packet(self):
return b'JSON:' + json.dumps(self.pkt).encode('utf-8')

class Aircraft(DNFZ):
'''an aircraft that flies in a circuit'''
Expand Down Expand Up @@ -459,7 +459,7 @@ def mavlink_packet(self, m):
for a in self.aircraft:
if not gen_settings.stop:
a.update(1.0)
self.pkt_queue.append(a.pickled())
self.pkt_queue.append(a.json_packet())
while len(self.pkt_queue) > len(self.aircraft)*2:
self.pkt_queue.pop(0)

Expand Down