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-rw-r--r--ext/mavlink/include/mavlink/mavlink_protobuf_manager.hpp377
1 files changed, 377 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/mavlink_protobuf_manager.hpp b/ext/mavlink/include/mavlink/mavlink_protobuf_manager.hpp
new file mode 100644
index 0000000..fd3ddd0
--- /dev/null
+++ b/ext/mavlink/include/mavlink/mavlink_protobuf_manager.hpp
@@ -0,0 +1,377 @@
+#ifndef MAVLINKPROTOBUFMANAGER_HPP
+#define MAVLINKPROTOBUFMANAGER_HPP
+
+#include <deque>
+#include <google/protobuf/message.h>
+#include <iostream>
+#include <tr1/memory>
+
+#include <checksum.h>
+#include <common/mavlink.h>
+#include <mavlink_types.h>
+#include <pixhawk/pixhawk.pb.h>
+
+namespace mavlink
+{
+
+class ProtobufManager
+{
+public:
+ ProtobufManager()
+ : mRegisteredTypeCount(0)
+ , mStreamID(0)
+ , mVerbose(false)
+ , kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
+ , kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
+ {
+ // register GLOverlay
+ {
+ std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
+ registerType(msg);
+ }
+
+ // register ObstacleList
+ {
+ std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
+ registerType(msg);
+ }
+
+ // register ObstacleMap
+ {
+ std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
+ registerType(msg);
+ }
+
+ // register Path
+ {
+ std::tr1::shared_ptr<px::Path> msg(new px::Path);
+ registerType(msg);
+ }
+
+ // register PointCloudXYZI
+ {
+ std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
+ registerType(msg);
+ }
+
+ // register PointCloudXYZRGB
+ {
+ std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
+ registerType(msg);
+ }
+
+ // register RGBDImage
+ {
+ std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
+ registerType(msg);
+ }
+
+ srand(time(NULL));
+ mStreamID = rand() + 1;
+ }
+
+ bool fragmentMessage(uint8_t system_id, uint8_t component_id,
+ uint8_t target_system, uint8_t target_component,
+ const google::protobuf::Message& protobuf_msg,
+ std::vector<mavlink_extended_message_t>& fragments) const
+ {
+ TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
+ if (it == mTypeMap.end())
+ {
+ std::cout << "# WARNING: Protobuf message with type "
+ << protobuf_msg.GetTypeName() << " is not registered."
+ << std::endl;
+ return false;
+ }
+
+ uint8_t typecode = it->second;
+
+ std::string data = protobuf_msg.SerializeAsString();
+
+ int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
+ unsigned int offset = 0;
+
+ for (int i = 0; i < fragmentCount; ++i)
+ {
+ mavlink_extended_message_t fragment;
+
+ // write extended header data
+ uint8_t* payload = reinterpret_cast<uint8_t*>(fragment.base_msg.payload64);
+ unsigned int length = 0;
+ uint8_t flags = 0;
+
+ if (i < fragmentCount - 1)
+ {
+ length = kExtendedPayloadMaxSize;
+ flags |= 0x1;
+ }
+ else
+ {
+ length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
+ }
+
+ memcpy(payload, &target_system, 1);
+ memcpy(payload + 1, &target_component, 1);
+ memcpy(payload + 2, &typecode, 1);
+ memcpy(payload + 3, &length, 4);
+ memcpy(payload + 7, &mStreamID, 2);
+ memcpy(payload + 9, &offset, 4);
+ memcpy(payload + 13, &flags, 1);
+
+ fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
+ mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
+
+ // write extended payload data
+ fragment.extended_payload_len = length;
+ memcpy(fragment.extended_payload, &data[offset], length);
+
+ fragments.push_back(fragment);
+ offset += length;
+ }
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Split extended message with size "
+ << protobuf_msg.ByteSize() << " into "
+ << fragmentCount << " fragments." << std::endl;
+ }
+
+ return true;
+ }
+
+ bool cacheFragment(mavlink_extended_message_t& msg)
+ {
+ if (!validFragment(msg))
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ return false;
+ }
+
+ // read extended header
+ uint8_t* payload = reinterpret_cast<uint8_t*>(msg.base_msg.payload64);
+ uint8_t typecode = 0;
+ unsigned int length = 0;
+ unsigned short streamID = 0;
+ unsigned int offset = 0;
+ uint8_t flags = 0;
+
+ memcpy(&typecode, payload + 2, 1);
+ memcpy(&length, payload + 3, 4);
+ memcpy(&streamID, payload + 7, 2);
+ memcpy(&offset, payload + 9, 4);
+ memcpy(&flags, payload + 13, 1);
+
+ if (typecode >= mTypeMap.size())
+ {
+ std::cout << "# WARNING: Protobuf message with type code "
+ << static_cast<int>(typecode) << " is not registered." << std::endl;
+ return false;
+ }
+
+ bool reassemble = false;
+
+ FragmentQueue::iterator it = mFragmentQueue.find(streamID);
+ if (it == mFragmentQueue.end())
+ {
+ if (offset == 0)
+ {
+ mFragmentQueue[streamID].push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Added fragment to new queue."
+ << std::endl;
+ }
+ }
+ else
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ }
+ }
+ else
+ {
+ std::deque<mavlink_extended_message_t>& queue = it->second;
+
+ if (queue.empty())
+ {
+ if (offset == 0)
+ {
+ queue.push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+ }
+ else
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Message is not a valid fragment. "
+ << "Dropping message..." << std::endl;
+ }
+ }
+ }
+ else
+ {
+ if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset)
+ {
+ if (mVerbose)
+ {
+ std::cerr << "# WARNING: Previous fragment(s) have been lost. "
+ << "Dropping message and clearing queue..." << std::endl;
+ }
+ queue.clear();
+ }
+ else
+ {
+ queue.push_back(msg);
+
+ if ((flags & 0x1) != 0x1)
+ {
+ reassemble = true;
+ }
+ }
+ }
+ }
+
+ if (reassemble)
+ {
+ std::deque<mavlink_extended_message_t>& queue = mFragmentQueue[streamID];
+
+ std::string data;
+ for (size_t i = 0; i < queue.size(); ++i)
+ {
+ mavlink_extended_message_t& mavlink_msg = queue.at(i);
+
+ data.append(reinterpret_cast<char*>(&mavlink_msg.extended_payload[0]),
+ static_cast<size_t>(mavlink_msg.extended_payload_len));
+ }
+
+ mMessages.at(typecode)->ParseFromString(data);
+
+ mMessageAvailable.at(typecode) = true;
+
+ queue.clear();
+
+ if (mVerbose)
+ {
+ std::cerr << "# INFO: Reassembled fragments for message with typename "
+ << mMessages.at(typecode)->GetTypeName() << " and size "
+ << mMessages.at(typecode)->ByteSize()
+ << "." << std::endl;
+ }
+ }
+
+ return true;
+ }
+
+ bool getMessage(std::tr1::shared_ptr<google::protobuf::Message>& msg)
+ {
+ for (size_t i = 0; i < mMessageAvailable.size(); ++i)
+ {
+ if (mMessageAvailable.at(i))
+ {
+ msg = mMessages.at(i);
+ mMessageAvailable.at(i) = false;
+
+ return true;
+ }
+ }
+
+ return false;
+ }
+
+private:
+ void registerType(const std::tr1::shared_ptr<google::protobuf::Message>& msg)
+ {
+ mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
+ ++mRegisteredTypeCount;
+ mMessages.push_back(msg);
+ mMessageAvailable.push_back(false);
+ }
+
+ bool validFragment(const mavlink_extended_message_t& msg) const
+ {
+ if (msg.base_msg.magic != MAVLINK_STX ||
+ msg.base_msg.len != kExtendedHeaderSize ||
+ msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE)
+ {
+ return false;
+ }
+
+ uint16_t checksum;
+ checksum = crc_calculate(reinterpret_cast<const uint8_t*>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
+ crc_accumulate_buffer(&checksum, reinterpret_cast<const char*>(&msg.base_msg.payload64), kExtendedHeaderSize);
+#if MAVLINK_CRC_EXTRA
+ static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
+ crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
+#endif
+
+ if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
+ mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8))
+ {
+ return false;
+ }
+
+ return true;
+ }
+
+ unsigned int fragmentDataSize(const mavlink_extended_message_t& msg) const
+ {
+ const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+ return *(reinterpret_cast<const unsigned int*>(payload + 3));
+ }
+
+ unsigned int fragmentOffset(const mavlink_extended_message_t& msg) const
+ {
+ const uint8_t* payload = reinterpret_cast<const uint8_t*>(msg.base_msg.payload64);
+
+ return *(reinterpret_cast<const unsigned int*>(payload + 9));
+ }
+
+ int mRegisteredTypeCount;
+ unsigned short mStreamID;
+ bool mVerbose;
+
+ typedef std::map<std::string, uint8_t> TypeMap;
+ TypeMap mTypeMap;
+ std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
+ std::vector<bool> mMessageAvailable;
+
+ typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
+ FragmentQueue mFragmentQueue;
+
+ const int kExtendedHeaderSize;
+ /**
+ * Extended header structure
+ * =========================
+ * byte 0 - target_system
+ * byte 1 - target_component
+ * byte 2 - extended message id (type code)
+ * bytes 3-6 - extended payload size in bytes
+ * byte 7-8 - stream ID
+ * byte 9-12 - fragment offset
+ * byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
+ */
+
+ const int kExtendedPayloadMaxSize;
+};
+
+}
+
+#endif
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