demo01.py

#Case: Initial Test - 03/07/2021
#test1.py
#Andre Kuros - from https://github.com/andrekuros/UTM_TestBed

from mininet.log import lg, info
from mininet.net import Mininet, Containernet
from mininet.topolib import TreeNet, TreeContainerNet
from mininet.node import Controller
from mininet.cli import CLI
from mininet.link import TCLink
from mininet.log import info, setLogLevel
from mininet.nodelib import NAT


sitlImage="andrekuros/px4-sitl-headless-flex"
simSpeed= "1"
gcsIp= "10.0.0.99"
mavsdkIp="10.0.0.99"
params  = " --param \"MPC_XY_CRUISE 20\" --param \"MIS_DIST_1WP 3000\" --param \"MPC_XY_VEL_MAX 20\" --param \"MIS_DIST_WPS 3000\""#--param \"IMU_INTEG_RATE 10\""

numCompanies = 3
dronesInCompanies = [3,3,3]
delaysCompaniesUAVs = ['0ms', '0ms', '0ms']
delaysCompaniesSwitch = ['0ms', '0ms', '0ms']
bwCompanies = [1000,1000,1000]

lg.setLogLevel('info')

net = Containernet( topo=None)
net.addController('c0')
s1 = net.addSwitch("s1")

h_gcs = net.addDocker("h_gcs", ip="10.0.0.99", dimage="mavsdk-kuros-gcs" , network_mode='none',  dcmd="/bin/bash", volumes=["shareAll:/shareAll"])
net.addLink(h_gcs,s1,cls=TCLink, delay='0ms', bw=1000)

#Create drones as hosts
for c in range(1, numCompanies + 1):
    sc = net.addSwitch("sc" + str(c))    
    net.addLink(sc,s1,cls=TCLink, delay=delaysCompaniesSwitch[c-1], bw=1000)
    for h in range(dronesInCompanies[c-1]):
        h_new = net.addDocker("c" + str(c) + "-n" + str(h) ,dimage=sitlImage, network_mode='none', dcmd="/bin/bash /root/entrypoint.sh --sysid " + str(10*c + h) +  " --gip " + gcsIp + " --gport 1455" + str(c-1) + " --aip " + mavsdkIp + " --aport 1454" + str(c-1) + " --speed " + simSpeed + params )
        net.addLink(h_new,sc,cls=TCLink, delay=delaysCompaniesUAVs[c-1], bw=bwCompanies[c-1])

net.build()

# Add NAT connectivity
#net.addNAT().configDefault()

#start Network
net.start()
CLI( net )

# Shut down network
net.stop()