{"action":"created","comment":{"url":"https://api.github.com/repos/bluerobotics/companion/pulls/comments/232879421","pull_request_review_id":174173797,"id":232879421,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDIzMjg3OTQyMQ==","diff_hunk":"@@ -0,0 +1,137 @@\n+#!/usr/bin/python -u\n+\n+\"\"\" Request distance measurements from a Blue Robotics Ping1D device over udp (PingProxy)\n+    Send results to autopilot via mavproxy over udp for use as mavlink rangefinder\n+    Don't request if we are already getting data from device (ex. there is another client\n+    (pingviewer gui) making requests to the proxy)\n+\"\"\"\n+\n+import argparse\n+import errno\n+import socket\n+import time\n+\n+from pymavlink import mavutil\n+from Ping import PingMessage\n+\n+PARSER = argparse.ArgumentParser(description=\"Ping1D to mavlink bridge.\")\n+PARSER.add_argument('--ping',\n+                    action=\"store\",\n+                    type=str,\n+                    default=\"0.0.0.0:9090\",\n+                    help=\"Ping device udp address and port. ex \\\"0.0.0.0:9090\\\"\"\n+                    )\n+PARSER.add_argument('--mavlink',\n+                    action=\"store\",\n+                    type=str,\n+                    default=\"0.0.0.0:9000\",\n+                    help=\"Mavlink udp address and port. ex \\\"0.0.0.0:9000\\\"\"\n+                    )\n+PARSER.add_argument('--min-confidence',\n+                    action=\"store\",\n+                    type=int,\n+                    default=50,\n+                    help=\"Minimum acceptable confidence percentage for depth measurements.\\\"\"\n+                    )\n+ARGS = PARSER.parse_args()\n+\n+def main():\n+    \"\"\" Main function\n+    \"\"\"\n+\n+    ## The time that this script was started\n+    tboot = time.time()\n+\n+    ## Parser to decode incoming PingMessage\n+    ping_parser = PingMessage.PingParser()\n+\n+    ## Messages that have the current distance measurement in the payload\n+    distance_messages = [\n+        PingMessage.PING1D_DISTANCE,\n+        PingMessage.PING1D_DISTANCE_SIMPLE,\n+        PingMessage.PING1D_PROFILE\n+        ]\n+\n+    ## The minimum interval time for distance updates to the autopilot\n+    ping_interval_ms = 0.1\n+\n+    ## The last time a distance measurement was received\n+    last_distance_measurement_time = 0\n+\n+    ## The last time a distance measurement was requested\n+    last_ping_request_time = 0\n+\n+    pingargs = ARGS.ping.split(':')\n+    pingserver = (pingargs[0], int(pingargs[1]))\n+\n+    autopilot_io = mavutil.mavlink_connection(\"udpout:\" + ARGS.mavlink,\n+                                              source_system=1,\n+                                              source_component=192\n+                                              )\n+\n+    ping1d_io = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)\n+    ping1d_io.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)\n+    ping1d_io.setblocking(False)\n+\n+    ## Send a request for distance_simple message to ping device\n+    def send_ping1d_request():\n+        data = PingMessage.PingMessage()\n+        data.request_id = PingMessage.PING1D_DISTANCE_SIMPLE\n+        data.src_device_id = 0\n+        data.packMsgData()\n+        ping1d_io.sendto(data.msgData, pingserver)\n+\n+    # some extra information for the DISTANCE_SENSOR mavlink message fields\n+    min_distance = 20\n+    max_distance = 5000\n+    sensor_type = 2\n+    orientation = 25\n+    covarience = 0\n+\n+    ## Send distance_sensor message to autopilot\n+    def send_distance_data(distance, deviceid, confidence):\n+        print(\"sending distance %d confidence %d\" % (distance, confidence))\n+        if confidence < ARGS.min_confidence:\n+            distance = 0\n+\n+        autopilot_io.mav.distance_sensor_send(\n+            (time.time() - tboot) * 1000, # time_boot_ms\n+            min_distance, # min_distance\n+            max_distance, # max_distance\n+            distance/10, # distance\n+            sensor_type, # type\n+            deviceid, # device id\n+            orientation,\n+            covarience)\n+\n+    while True:\n+        time.sleep(0.001)\n+        tnow = time.time()\n+\n+        # request data from ping device\n+        if tnow > last_distance_measurement_time + ping_interval_ms:\n+            if tnow > last_ping_request_time + ping_interval_ms:\n+                last_ping_request_time = time.time()\n+                send_ping1d_request()\n+\n+        # read data in from ping device\n+        try:\n+            data, _ = ping1d_io.recvfrom(4096)\n+        except socket.error as exception:\n+            # check if it's waiting for data\n+            if exception.errno != errno.EAGAIN:\n+                raise exception\n+","path":"tools/ping1d_mavlink_driver.py","position":124,"original_position":124,"commit_id":"fd1dd3b42e707976180ede41a3375a1575d1949c","original_commit_id":"fd1dd3b42e707976180ede41a3375a1575d1949c","user":{"login":"jaxxzer","id":8315108,"node_id":"MDQ6VXNlcjgzMTUxMDg=","avatar_url":"https://avatars3.githubusercontent.com/u/8315108?v=4","gravatar_id":"","url":"https://api.github.com/users/jaxxzer","html_url":"https://github.com/jaxxzer","followers_url":"https://api.github.com/users/jaxxzer/followers","following_url":"https://api.github.com/users/jaxxzer/following{/other_user}","gists_url":"https://api.github.com/users/jaxxzer/gists{/gist_id}","starred_url":"https://api.github.com/users/jaxxzer/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jaxxzer/subscriptions","organizations_url":"https://api.github.com/users/jaxxzer/orgs","repos_url":"https://api.github.com/users/jaxxzer/repos","events_url":"https://api.github.com/users/jaxxzer/events{/privacy}","received_events_url":"https://api.github.com/users/jaxxzer/received_events","type":"User","site_admin":false},"body":"correct, we try 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