Our voxl-esc tools use a python wrapper around qrb5165-io library, which is pretty easy to use. The wrapper provides an api that is almost the same as the standard serial port class in python : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl_serial.py. The usage of this wrapper can be seen here : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-esc/-/blob/master/voxl-esc-tools/voxl-esc-neopixel-test.py?ref_type=heads#L114 . You should use the port name such as /dev/slpi-uart-2 , which is a fake name (it does not exist in the Linux /dev/ folder) but the wrapper class will extract the port index at the end. Technically any name with -2 at the end will tell VoxlSerialPort class to use the DSP's uart port 2.
You could write a service that uses a python3 script to comunicate with the serial port and expose the data via UDP using other python tools.
The limitation of only one concurrent DSP uart port usage still applies here.
Alex