refactor(bench): remove the Hawkeye viewer tee

The --viewer path (tee MAVLink frames to UDP and enable the
HIL_STATE_QUATERNION/HIL_ACTUATOR_CONTROLS streams so Hawkeye could
render an SIH flight live) was never validated end to end: Hawkeye
never actually rendered from it. Rather than ship an unproven feature,
drop it.

Removes px4bench.attach_viewer_tee (and its function-local socket use),
the flight_mission --viewer/--viewer-port args, the viewer tee call and
the stream-enable block, and the now-unused --board-dev arg that only
fed those stream commands. The SIH flight logic, firmware gate,
storage/serial tests, and the arming gate are unchanged. README and the
bench testing docs page drop the Hawkeye section and all --viewer
mentions.

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

Tools/bench_test/README.md

@@ -38,7 +38,7 @@ Tools/bench_test/
   run_bench_suite.py        # orchestrator for the non-interactive bench tests
   px4bench/                 # shared library package
     __init__.py             # Reporter, connect, MavlinkShell, reboot/replug,
-                            # viewer tee, mavlink-status parsers,
+                            # mavlink-status parsers,
                             # pymavlink add_message workaround
     params.py               # param read/set/drain/echo, int32 union encoding
     missions.py             # mission items, upload/download/compare/clear
@@ -178,8 +178,7 @@ over SERIAL_CONTROL. MAVSDK abstracts exactly those layers away, and adds an
 asyncio runtime plus the mavsdk_server gRPC binary as dependencies. The one
 plausible candidate was flight orchestration in `sih/flight_mission.py`, but
 that test also depends on the nsh shell (arming via `commander`, explicit
-`param save`, enabling viewer streams) and on teeing raw frames to a viewer,
+`param save`), which MAVSDK does not expose. Verdict: pymavlink everywhere.
-neither of which MAVSDK exposes. Verdict: pymavlink everywhere.
 
 ## Risk map
 
@@ -334,9 +333,8 @@ Skips with a warning when the firmware lacks `serial_test`
 
 ```
 ./sih/flight_mission.py CONNECTION [-b BAUD] [--airframe N] [--alt M]
-                        [--viewer] [--viewer-port PORT] [--keep-config]
+                        [--keep-config] [--allow-arming]
-                        [--allow-arming] [--expect-hash PREFIX]
+                        [--expect-hash PREFIX] [--report-dir DIR]
-                        [--board-dev DEV] [--report-dir DIR]
 ```
 
 Switches the board to a SIH airframe (`SYS_AUTOSTART=1100`, `SYS_HITL=2`,
@@ -344,9 +342,7 @@ physics simulated on the FMU, `pwm_out_sim` in place of real outputs), flies
 takeoff, a 3-waypoint square, and RTL as an auto mission with per-phase
 timeouts (arming, airborne, waypoint progression, touchdown, auto-disarm),
 downloads the flight ULog, and restores the original configuration even on
-failure. `--viewer` tees every MAVLink frame to UDP so Hawkeye
+failure.
-(`hawkeye -udp 19410 -mc`) renders the flight live from the serial-connected
-board.
 
 Runs last in the default suite and works standalone. Before doing anything
 it probes the live firmware for the SIH module (`simulator_sih status`); if

Tools/bench_test/px4bench/__init__.py

@@ -2,8 +2,8 @@
 
 Core primitives every test builds on: MAVLink connection setup, PASS/FAIL
 reporting, a non-interactive nsh shell over SERIAL_CONTROL (pattern from
-Tools/mavlink_shell.py), reboot and USB re-detection helpers, a live viewer
+Tools/mavlink_shell.py), reboot and USB re-detection helpers, and small
-tee, and small parsers for `mavlink status` output.
+parsers for `mavlink status` output.
 
 Protocol-area helpers live in submodules:
     px4bench.params    parameter read/set/echo with PX4's int32 union encoding
@@ -407,32 +407,6 @@ def arming_gate(allow_arming, action='run the SIH flight test'):
     return False
 
 
-def attach_viewer_tee(conn, host='127.0.0.1', port=19410):
-    """Forward every received MAVLink frame to a UDP endpoint, one frame per
-    datagram (same framing the SITL viewer channel uses), so Hawkeye can
-    watch a serial-connected board live: hawkeye -udp <port>.
-
-    Wraps conn.recv_msg rather than logfile_raw because logfile_raw gets raw
-    read() chunks, which would split frames across datagrams.
-    """
-    import socket
-    sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-    addr = (host, port)
-    orig_recv_msg = conn.recv_msg
-
-    def recv_msg_tee():
-        msg = orig_recv_msg()
-        if msg is not None:
-            try:
-                sock.sendto(msg.get_msgbuf(), addr)
-            except OSError:
-                pass
-        return msg
-
-    conn.recv_msg = recv_msg_tee
-    return conn
-
-
 def send_reboot(mav):
     """Request an autopilot reboot (MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, param1=1)."""
     mav.mav.command_long_send(

Tools/bench_test/sih/flight_mission.py

@@ -10,10 +10,6 @@ auto-disarm, all on real NuttX scheduling. The physics is simulated; real
 sensor drivers and real outputs are not exercised (pwm_out_sim replaces them,
 so nothing on the output rails is ever driven).
 
-With --viewer, every received MAVLink frame is teed to UDP (default 19410)
-and the SIH viewer streams are enabled on the board, so a locally running
-Hawkeye (`hawkeye -udp 19410 -mc`) renders the flight live.
-
 Requires firmware built with CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y.
 """
 
@@ -350,16 +346,9 @@ def main():
     add_connection_args(parser)
     parser.add_argument('--airframe', type=int, default=SIH_QUAD_AIRFRAME,
                         help='SIH airframe SYS_AUTOSTART (default: %(default)s)')
-    parser.add_argument('--board-dev', default='/dev/ttyACM0',
-                        help='mavlink device name ON the board for stream '
-                             'commands (default: %(default)s)')
     parser.add_argument('--alt', type=float, default=20.0,
                         help='takeoff/waypoint altitude AMSL-relative m '
                              '(default: %(default)s)')
-    parser.add_argument('--viewer', action='store_true',
-                        help='tee MAVLink to UDP and enable SIH viewer streams '
-                             '(watch with: hawkeye -udp 19410 -mc)')
-    parser.add_argument('--viewer-port', type=int, default=19410)
     parser.add_argument('--keep-config', action='store_true',
                         help='stay on the SIH airframe when done')
     parser.add_argument('--expect-hash', metavar='PREFIX', default=None,
@@ -437,10 +426,6 @@ def main():
         if original_autostart is None or report.num_failed > 0:
             return report.finish()
 
-        if args.viewer:
-            px4bench.attach_viewer_tee(mav, port=args.viewer_port)
-            report.info('viewer tee on udp:127.0.0.1:{}'.format(args.viewer_port))
-
         # One shell session for the whole flight, torn down in finally so an
         # error path never leaks the firmware nsh task.
         shell = MavlinkShell(mav)
@@ -448,15 +433,6 @@ def main():
             report.fail('shell', 'could not open nsh shell')
             return report.finish()
         try:
-            if args.viewer:
-                for cmd in ('mavlink stream -d {} -s HIL_STATE_QUATERNION -r 25'
-                            .format(args.board_dev),
-                            'mavlink stream -d {} -s HIL_ACTUATOR_CONTROLS -r 200'
-                            .format(args.board_dev)):
-                    shell_cmd(report, shell, cmd, 'viewer_stream')
-                report.info('viewer streams on; watch with: hawkeye -udp {} -mc'
-                            .format(args.viewer_port))
-
             ok = fly(report, mav, shell, args.alt, report_dir)
             if not ok:
                 # Best effort: never leave a (simulated) vehicle armed.

docs/en/test_and_ci/bench_testing.md

@@ -88,13 +88,6 @@ The flight log is downloaded into the report directory automatically for post-fl
 Real outputs are replaced by `pwm_out_sim` in this mode, so nothing is driven on the output rails; still, run it only on a bare bench board with nothing connected to the outputs.
 The firmware must be built with `CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y` (boards may provide a bench variant that adds it, such as `px4_fmu-v6xrt_bench`).
 
-To watch the flight live in 3D, install [Hawkeye](https://github.com/PX4/Hawkeye) and run the test with `--viewer`:
-
-```sh
-hawkeye -udp 19410 -mc &
-./sih/flight_mission.py /dev/ttyACM0 --viewer
-```
-
 ## Baseline Comparison
 
 `boot_health` can diff two report directories, comparing uORB publication rates, work queues, and topics between runs: