/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file mavlink_main.cpp
* MAVLink 1.0 protocol implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <assert.h>
#include <math.h>
#include <poll.h>
#include <termios.h>
#include <time.h>
#include <math.h> /* isinf / isnan checks */
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include <uORB/topics/parameter_update.h>
#include "mavlink_bridge_header.h"
#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_receiver.h"
#include "mavlink_rate_limiter.h"
#ifndef MAVLINK_CRC_EXTRA
#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
#endif
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 20000 // max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate
#define TX_BUFFER_GAP MAVLINK_MAX_PACKET_LEN
static Mavlink *_mavlink_instances = nullptr;
/* TODO: if this is a class member it crashes */
static struct file_operations fops;
static const uint8_t mavlink_message_lengths[256] = MAVLINK_MESSAGE_LENGTHS;
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
/**
* mavlink app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
extern mavlink_system_t mavlink_system;
static void usage(void);
Mavlink::Mavlink() :
_device_name(DEFAULT_DEVICE_NAME),
_task_should_exit(false),
next(nullptr),
_instance_id(0),
_mavlink_fd(-1),
_task_running(false),
_hil_enabled(false),
_use_hil_gps(false),
_forward_externalsp(false),
_is_usb_uart(false),
_wait_to_transmit(false),
_received_messages(false),
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_manager(nullptr),
_parameters_manager(nullptr),
_mode(MAVLINK_MODE_NORMAL),
_channel(MAVLINK_COMM_0),
_logbuffer {},
_total_counter(0),
_receive_thread {},
_verbose(false),
_forwarding_on(false),
_passing_on(false),
_ftp_on(false),
_uart_fd(-1),
_baudrate(57600),
_datarate(1000),
_datarate_events(500),
_rate_mult(1.0f),
_mavlink_param_queue_index(0),
mavlink_link_termination_allowed(false),
_subscribe_to_stream(nullptr),
_subscribe_to_stream_rate(0.0f),
_flow_control_enabled(true),
_last_write_success_time(0),
_last_write_try_time(0),
_bytes_tx(0),
_bytes_txerr(0),
_bytes_rx(0),
_bytes_timestamp(0),
_rate_tx(0.0f),
_rate_txerr(0.0f),
_rate_rx(0.0f),
_rstatus {},
_message_buffer {},
_message_buffer_mutex {},
_send_mutex {},
_param_initialized(false),
_param_system_id(0),
_param_component_id(0),
_param_system_type(MAV_TYPE_FIXED_WING),
_param_use_hil_gps(0),
_param_forward_externalsp(0),
_system_type(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
_instance_id = Mavlink::instance_count();
/* set channel according to instance id */
switch (_instance_id) {
case 0:
_channel = MAVLINK_COMM_0;
break;
case 1:
_channel = MAVLINK_COMM_1;
break;
case 2:
_channel = MAVLINK_COMM_2;
break;
case 3:
_channel = MAVLINK_COMM_3;
break;
#ifdef MAVLINK_COMM_4
case 4:
_channel = MAVLINK_COMM_4;
break;
#endif
#ifdef MAVLINK_COMM_5
case 5:
_channel = MAVLINK_COMM_5;
break;
#endif
#ifdef MAVLINK_COMM_6
case 6:
_channel = MAVLINK_COMM_6;
break;
#endif
default:
errx(1, "instance ID is out of range");
break;
}
_rstatus.type = TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
{
perf_free(_loop_perf);
perf_free(_txerr_perf);
if (_task_running) {
/* task wakes up every 10ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
//TODO store main task handle in Mavlink instance to allow killing task
//task_delete(_mavlink_task);
break;
}
} while (_task_running);
}
LL_DELETE(_mavlink_instances, this);
}
void
Mavlink::count_txerr()
{
perf_count(_txerr_perf);
}
void
Mavlink::set_mode(enum MAVLINK_MODE mode)
{
_mode = mode;
}
int
Mavlink::instance_count()
{
unsigned inst_index = 0;
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
inst_index++;
}
return inst_index;
}
Mavlink *
Mavlink::get_instance(unsigned instance)
{
Mavlink *inst;
unsigned inst_index = 0;
LL_FOREACH(::_mavlink_instances, inst) {
if (instance == inst_index) {
return inst;
}
inst_index++;
}
return nullptr;
}
Mavlink *
Mavlink::get_instance_for_device(const char *device_name)
{
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
if (strcmp(inst->_device_name, device_name) == 0) {
return inst;
}
}
return nullptr;
}
int
Mavlink::destroy_all_instances()
{
/* start deleting from the end */
Mavlink *inst_to_del = nullptr;
Mavlink *next_inst = ::_mavlink_instances;
unsigned iterations = 0;
warnx("waiting for instances to stop");
while (next_inst != nullptr) {
inst_to_del = next_inst;
next_inst = inst_to_del->next;
/* set flag to stop thread and wait for all threads to finish */
inst_to_del->_task_should_exit = true;
while (inst_to_del->_task_running) {
printf(".");
fflush(stdout);
usleep(10000);
iterations++;
if (iterations > 1000) {
warnx("ERROR: Couldn't stop all mavlink instances.");
return ERROR;
}
}
}
printf("\n");
warnx("all instances stopped");
return OK;
}
int
Mavlink::get_status_all_instances()
{
Mavlink *inst = ::_mavlink_instances;
unsigned iterations = 0;
while (inst != nullptr) {
printf("\ninstance #%u:\n", iterations);
inst->display_status();
/* move on */
inst = inst->next;
iterations++;
}
/* return an error if there are no instances */
return (iterations == 0);
}
bool
Mavlink::instance_exists(const char *device_name, Mavlink *self)
{
Mavlink *inst = ::_mavlink_instances;
while (inst != nullptr) {
/* don't compare with itself */
if (inst != self && !strcmp(device_name, inst->_device_name)) {
return true;
}
inst = inst->next;
}
return false;
}
void
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) {
/* if not in normal mode, we are an onboard link
* onboard links should only pass on messages from the same system ID */
if (!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
inst->pass_message(msg);
}
}
}
}
int
Mavlink::get_uart_fd(unsigned index)
{
Mavlink *inst = get_instance(index);
if (inst) {
return inst->get_uart_fd();
}
return -1;
}
int
Mavlink::get_uart_fd()
{
return _uart_fd;
}
int
Mavlink::get_instance_id()
{
return _instance_id;
}
mavlink_channel_t
Mavlink::get_channel()
{
return _channel;
}
/****************************************************************************
* MAVLink text message logger
****************************************************************************/
int
Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
{
switch (cmd) {
case (int)MAVLINK_IOC_SEND_TEXT_INFO:
case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL:
case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: {
const char *txt = (const char *)arg;
struct mavlink_logmessage msg;
strncpy(msg.text, txt, sizeof(msg.text));
switch (cmd) {
case MAVLINK_IOC_SEND_TEXT_INFO:
msg.severity = MAV_SEVERITY_INFO;
break;
case MAVLINK_IOC_SEND_TEXT_CRITICAL:
msg.severity = MAV_SEVERITY_CRITICAL;
break;
case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
msg.severity = MAV_SEVERITY_EMERGENCY;
break;
default:
msg.severity = MAV_SEVERITY_INFO;
break;
}
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (!inst->_task_should_exit) {
mavlink_logbuffer_write(&inst->_logbuffer, &msg);
inst->_total_counter++;
}
}
return OK;
}
default:
return ENOTTY;
}
}
void Mavlink::mavlink_update_system(void)
{
if (!_param_initialized) {
_param_system_id = param_find("MAV_SYS_ID");
_param_component_id = param_find("MAV_COMP_ID");
_param_system_type = param_find("MAV_TYPE");
_param_use_hil_gps = param_find("MAV_USEHILGPS");
_param_forward_externalsp = param_find("MAV_FWDEXTSP");
}
/* update system and component id */
int32_t system_id;
param_get(_param_system_id, &system_id);
int32_t component_id;
param_get(_param_component_id, &component_id);
/* only allow system ID and component ID updates
* after reboot - not during operation */
if (!_param_initialized) {
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
_param_initialized = true;
}
/* warn users that they need to reboot to take this
* into effect
*/
if (system_id != mavlink_system.sysid) {
send_statustext_critical("Save params and reboot to change SYSID");
}
if (component_id != mavlink_system.compid) {
send_statustext_critical("Save params and reboot to change COMPID");
}
int32_t system_type;
param_get(_param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
_system_type = system_type;
}
int32_t use_hil_gps;
param_get(_param_use_hil_gps, &use_hil_gps);
_use_hil_gps = (bool)use_hil_gps;
int32_t forward_externalsp;
param_get(_param_forward_externalsp, &forward_externalsp);
_forward_externalsp = (bool)forward_externalsp;
}
int Mavlink::get_system_id()
{
return mavlink_system.sysid;
}
int Mavlink::get_component_id()
{
return mavlink_system.compid;
}
int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
/* process baud rate */
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
default:
warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n",
baud);
return -EINVAL;
}
/* open uart */
_uart_fd = open(uart_name, O_RDWR | O_NOCTTY);
if (_uart_fd < 0) {
return _uart_fd;
}
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
*is_usb = false;
/* Back up the original uart configuration to restore it after exit */
if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) {
warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
close(_uart_fd);
return -1;
}
/* Fill the struct for the new configuration */
tcgetattr(_uart_fd, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
close(_uart_fd);
return -1;
}
}
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
warnx("ERR SET CONF %s\n", uart_name);
close(_uart_fd);
return -1;
}
if (!_is_usb_uart) {
/*
* Setup hardware flow control. If the port has no RTS pin this call will fail,
* which is not an issue, but requires a separate call so we can fail silently.
*/
(void)tcgetattr(_uart_fd, &uart_config);
uart_config.c_cflag |= CRTS_IFLOW;
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
/* setup output flow control */
if (enable_flow_control(true)) {
warnx("hardware flow control not supported");
}
} else {
_flow_control_enabled = false;
}
return _uart_fd;
}
int
Mavlink::enable_flow_control(bool enabled)
{
// We can't do this on USB - skip
if (_is_usb_uart) {
return OK;
}
struct termios uart_config;
int ret = tcgetattr(_uart_fd, &uart_config);
if (enabled) {
uart_config.c_cflag |= CRTSCTS;
} else {
uart_config.c_cflag &= ~CRTSCTS;
}
ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
if (!ret) {
_flow_control_enabled = enabled;
}
return ret;
}
int
Mavlink::set_hil_enabled(bool hil_enabled)
{
int ret = OK;
/* enable HIL */
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_CONTROLS", 200.0f);
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_CONTROLS", 0.0f);
} else {
ret = ERROR;
}
return ret;
}
unsigned
Mavlink::get_free_tx_buf()
{
/*
* Check if the OS buffer is full and disable HW
* flow control if it continues to be full
*/
int buf_free = 0;
(void) ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free);
if (get_flow_control_enabled() && buf_free < TX_BUFFER_GAP) {
/* Disable hardware flow control:
* if no successful write since a defined time
* and if the last try was not the last successful write
*/
if (_last_write_try_time != 0 &&
hrt_elapsed_time(&_last_write_success_time) > 500 * 1000UL &&
_last_write_success_time != _last_write_try_time) {
warnx("DISABLING HARDWARE FLOW CONTROL");
enable_flow_control(false);
}
}
return buf_free;
}
void
Mavlink::send_message(const uint8_t msgid, const void *msg)
{
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (!should_transmit()) {
return;
}
pthread_mutex_lock(&_send_mutex);
unsigned buf_free = get_free_tx_buf();
uint8_t payload_len = mavlink_message_lengths[msgid];
unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
_last_write_try_time = hrt_absolute_time();
/* check if there is space in the buffer, let it overflow else */
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
pthread_mutex_unlock(&_send_mutex);
return;
}
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
/* header */
buf[0] = MAVLINK_STX;
buf[1] = payload_len;
/* use mavlink's internal counter for the TX seq */
buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++;
buf[3] = mavlink_system.sysid;
buf[4] = mavlink_system.compid;
buf[5] = msgid;
/* payload */
memcpy(&buf[MAVLINK_NUM_HEADER_BYTES], msg, payload_len);
/* checksum */
uint16_t checksum;
crc_init(&checksum);
crc_accumulate_buffer(&checksum, (const char *) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len);
crc_accumulate(mavlink_message_crcs[msgid], &checksum);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF);
buf[MAVLINK_NUM_HEADER_BYTES + payload_len + 1] = (uint8_t)(checksum >> 8);
/* send message to UART */
ssize_t ret = write(_uart_fd, buf, packet_len);
if (ret != (int) packet_len) {
count_txerr();
count_txerrbytes(packet_len);
} else {
_last_write_success_time = _last_write_try_time;
count_txbytes(packet_len);
}
pthread_mutex_unlock(&_send_mutex);
}
void
Mavlink::resend_message(mavlink_message_t *msg)
{
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (!should_transmit()) {
return;
}
pthread_mutex_lock(&_send_mutex);
unsigned buf_free = get_free_tx_buf();
_last_write_try_time = hrt_absolute_time();
unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES;
/* check if there is space in the buffer, let it overflow else */
if ((buf_free < TX_BUFFER_GAP) || (buf_free < packet_len)) {
/* no enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
pthread_mutex_unlock(&_send_mutex);
return;
}
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
/* header and payload */
memcpy(&buf[0], &msg->magic, MAVLINK_NUM_HEADER_BYTES + msg->len);
/* checksum */
buf[MAVLINK_NUM_HEADER_BYTES + msg->len] = (uint8_t)(msg->checksum & 0xFF);
buf[MAVLINK_NUM_HEADER_BYTES + msg->len + 1] = (uint8_t)(msg->checksum >> 8);
/* send message to UART */
ssize_t ret = write(_uart_fd, buf, packet_len);
if (ret != (int) packet_len) {
count_txerr();
count_txerrbytes(packet_len);
} else {
_last_write_success_time = _last_write_try_time;
count_txbytes(packet_len);
}
pthread_mutex_unlock(&_send_mutex);
}
void
Mavlink::handle_message(const mavlink_message_t *msg)
{
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
/* handle packet with parameter component */
_parameters_manager->handle_message(msg);
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(msg, this);
}
}
void
Mavlink::send_statustext_info(const char *string)
{
send_statustext(MAV_SEVERITY_INFO, string);
}
void
Mavlink::send_statustext_critical(const char *string)
{
send_statustext(MAV_SEVERITY_CRITICAL, string);
}
void
Mavlink::send_statustext_emergency(const char *string)
{
send_statustext(MAV_SEVERITY_EMERGENCY, string);
}
void
Mavlink::send_statustext(unsigned char severity, const char *string)
{
struct mavlink_logmessage logmsg;
strncpy(logmsg.text, string, sizeof(logmsg.text));
logmsg.severity = severity;
mavlink_logbuffer_write(&_logbuffer, &logmsg);
}
MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic)
{
/* check if already subscribed to this topic */
MavlinkOrbSubscription *sub;
LL_FOREACH(_subscriptions, sub) {
if (sub->get_topic() == topic) {
/* already subscribed */
return sub;
}
}
/* add new subscription */
MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic);
LL_APPEND(_subscriptions, sub_new);
return sub_new;
}
unsigned int
Mavlink::interval_from_rate(float rate)
{
return (rate > 0.0f) ? (1000000.0f / rate) : 0;
}
int
Mavlink::configure_stream(const char *stream_name, const float rate)
{
/* calculate interval in us, 0 means disabled stream */
unsigned int interval = interval_from_rate(rate);
/* search if stream exists */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
if (strcmp(stream_name, stream->get_name()) == 0) {
if (interval > 0) {
/* set new interval */
stream->set_interval(interval);
} else {
/* delete stream */
LL_DELETE(_streams, stream);
delete stream;
warnx("deleted stream %s", stream->get_name());
}
return OK;
}
}
if (interval == 0) {
/* stream was not active and is requested to be disabled, do nothing */
return OK;
}
/* search for stream with specified name in supported streams list */
for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
/* create new instance */
stream = streams_list[i]->new_instance(this);
stream->set_interval(interval);
LL_APPEND(_streams, stream);
return OK;
}
}
/* if we reach here, the stream list does not contain the stream */
warnx("stream %s not found", stream_name);
return ERROR;
}
void
Mavlink::adjust_stream_rates(const float multiplier)
{
/* do not allow to push us to zero */
if (multiplier < 0.01f) {
return;
}
/* search if stream exists */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
/* set new interval */
unsigned interval = stream->get_interval();
interval /= multiplier;
/* allow max ~600 Hz */
if (interval < 1600) {
interval = 1600;
}
/* set new interval */
stream->set_interval(interval * multiplier);
}
}
void
Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
{
/* orb subscription must be done from the main thread,
* set _subscribe_to_stream and _subscribe_to_stream_rate fields
* which polled in mavlink main loop */
if (!_task_should_exit) {
/* wait for previous subscription completion */
while (_subscribe_to_stream != nullptr) {
usleep(MAIN_LOOP_DELAY / 2);
}
/* copy stream name */
unsigned n = strlen(stream_name) + 1;
char *s = new char[n];
strcpy(s, stream_name);
/* set subscription task */
_subscribe_to_stream_rate = rate;
_subscribe_to_stream = s;
/* wait for subscription */
do {
usleep(MAIN_LOOP_DELAY / 2);
} while (_subscribe_to_stream != nullptr);
}
}
int
Mavlink::message_buffer_init(int size)
{
_message_buffer.size = size;
_message_buffer.write_ptr = 0;
_message_buffer.read_ptr = 0;
_message_buffer.data = (char *)malloc(_message_buffer.size);
int ret;
if (_message_buffer.data == 0) {
ret = ERROR;
_message_buffer.size = 0;
} else {
ret = OK;
}
return ret;
}
void
Mavlink::message_buffer_destroy()
{
_message_buffer.size = 0;
_message_buffer.write_ptr = 0;
_message_buffer.read_ptr = 0;
free(_message_buffer.data);
}
int
Mavlink::message_buffer_count()
{
int n = _message_buffer.write_ptr - _message_buffer.read_ptr;
if (n < 0) {
n += _message_buffer.size;
}
return n;
}
int
Mavlink::message_buffer_is_empty()
{
return _message_buffer.read_ptr == _message_buffer.write_ptr;
}
bool
Mavlink::message_buffer_write(const void *ptr, int size)
{
// bytes available to write
int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
if (available < 0) {
available += _message_buffer.size;
}
if (size > available) {
// buffer overflow
return false;
}
char *c = (char *) ptr;
int n = _message_buffer.size - _message_buffer.write_ptr; // bytes to end of the buffer
if (n < size) {
// message goes over end of the buffer
memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n);
_message_buffer.write_ptr = 0;
} else {
n = 0;
}
// now: n = bytes already written
int p = size - n; // number of bytes to write
memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p);
_message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size;
return true;
}
int
Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part)
{
// bytes available to read
int available = _message_buffer.write_ptr - _message_buffer.read_ptr;
if (available == 0) {
return 0; // buffer is empty
}
int n = 0;
if (available > 0) {
// read pointer is before write pointer, all available bytes can be read
n = available;
*is_part = false;
} else {
// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
n = _message_buffer.size - _message_buffer.read_ptr;
*is_part = _message_buffer.write_ptr > 0;
}
*ptr = &(_message_buffer.data[_message_buffer.read_ptr]);
return n;
}
void
Mavlink::message_buffer_mark_read(int n)
{
_message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size;
}
void
Mavlink::pass_message(const mavlink_message_t *msg)
{
if (_passing_on) {
/* size is 8 bytes plus variable payload */
int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len;
pthread_mutex_lock(&_message_buffer_mutex);
message_buffer_write(msg, size);
pthread_mutex_unlock(&_message_buffer_mutex);
}
}
float
Mavlink::get_rate_mult()
{
return _rate_mult;
}
void
Mavlink::update_rate_mult()
{
float const_rate = 0.0f;
float rate = 0.0f;
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
if (stream->const_rate()) {
const_rate += stream->get_size() * 1000000.0f / stream->get_interval();
} else {
rate += stream->get_size() * 1000000.0f / stream->get_interval();
}
}
/* don't scale up rates, only scale down if needed */
_rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate);
}
int
Mavlink::task_main(int argc, char *argv[])
{
int ch;
_baudrate = 57600;
_datarate = 0;
_mode = MAVLINK_MODE_NORMAL;
/* work around some stupidity in task_create's argv handling */
argc -= 2;
argv += 2;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
while ((ch = getopt(argc, argv, "b:r:d:m:fpvwx")) != EOF) {
switch (ch) {
case 'b':
_baudrate = strtoul(optarg, NULL, 10);
if (_baudrate < 9600 || _baudrate > 921600) {
warnx("invalid baud rate '%s'", optarg);
err_flag = true;
}
break;
case 'r':
_datarate = strtoul(optarg, NULL, 10);
if (_datarate < 10 || _datarate > MAX_DATA_RATE) {
warnx("invalid data rate '%s'", optarg);
err_flag = true;
}
break;
case 'd':
_device_name = optarg;
break;
// case 'e':
// mavlink_link_termination_allowed = true;
// break;
case 'm':
if (strcmp(optarg, "custom") == 0) {
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(optarg, "camera") == 0) {
// left in here for compatibility
_mode = MAVLINK_MODE_ONBOARD;
} else if (strcmp(optarg, "onboard") == 0) {
_mode = MAVLINK_MODE_ONBOARD;
}
break;
case 'f':
_forwarding_on = true;
break;
case 'p':
_passing_on = true;
break;
case 'v':
_verbose = true;
break;
case 'w':
_wait_to_transmit = true;
break;
case 'x':
_ftp_on = true;
break;
default:
err_flag = true;
break;
}
}
if (err_flag) {
usage();
return ERROR;
}
if (_datarate == 0) {
/* convert bits to bytes and use 1/2 of bandwidth by default */
_datarate = _baudrate / 20;
}
if (_datarate > MAX_DATA_RATE) {
_datarate = MAX_DATA_RATE;
}
if (Mavlink::instance_exists(_device_name, this)) {
warnx("mavlink instance for %s already running", _device_name);
return ERROR;
}
/* inform about mode */
switch (_mode) {
case MAVLINK_MODE_NORMAL:
warnx("mode: NORMAL");
break;
case MAVLINK_MODE_CUSTOM:
warnx("mode: CUSTOM");
break;
case MAVLINK_MODE_ONBOARD:
warnx("mode: ONBOARD");
break;
default:
warnx("ERROR: Unknown mode");
break;
}
warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
/* flush stdout in case MAVLink is about to take it over */
fflush(stdout);
struct termios uart_config_original;
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &_is_usb_uart);
if (_uart_fd < 0) {
warn("could not open %s", _device_name);
return ERROR;
}
/* initialize send mutex */
pthread_mutex_init(&_send_mutex, NULL);
/* initialize mavlink text message buffering */
mavlink_logbuffer_init(&_logbuffer, 5);
/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
if (_passing_on || _ftp_on) {
/* initialize message buffer if multiplexing is on or its needed for FTP.
* make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach.
*/
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
errx(1, "can't allocate message buffer, exiting");
}
/* initialize message buffer mutex */
pthread_mutex_init(&_message_buffer_mutex, NULL);
}
/* create the device node that's used for sending text log messages, etc. */
register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL);
/* initialize logging device */
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
/* Initialize system properties */
mavlink_update_system();
/* start the MAVLink receiver */
_receive_thread = MavlinkReceiver::receive_start(this);
_task_running = true;
MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
uint64_t param_time = 0;
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
uint64_t status_time = 0;
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
/* add default streams depending on mode */
/* HEARTBEAT is constant rate stream, rate never adjusted */
configure_stream("HEARTBEAT", 1.0f);
/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
configure_stream("STATUSTEXT", 20.0f);
/* COMMAND_LONG stream: use high rate to avoid commands skipping */
configure_stream("COMMAND_LONG", 100.0f);
/* PARAM_VALUE stream */
_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
_parameters_manager->set_interval(interval_from_rate(30.0f));
LL_APPEND(_streams, _parameters_manager);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("GPS_GLOBAL_ORIGIN", 0.5f);
configure_stream("HIGHRES_IMU", 1.0f);
configure_stream("ATTITUDE", 10.0f);
configure_stream("VFR_HUD", 8.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 3.0f);
configure_stream("LOCAL_POSITION_NED", 3.0f);
configure_stream("RC_CHANNELS_RAW", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 3.0f);
configure_stream("ATTITUDE_TARGET", 3.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW_RAD", 5.0f);
break;
case MAVLINK_MODE_ONBOARD:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("ATTITUDE", 50.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
break;
default:
break;
}
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = MAIN_LOOP_DELAY * 1000 / _datarate;
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);
while (!_task_should_exit) {
/* main loop */
usleep(_main_loop_delay);
perf_begin(_loop_perf);
hrt_abstime t = hrt_absolute_time();
update_rate_mult();
if (param_sub->update(¶m_time, nullptr)) {
/* parameters updated */
mavlink_update_system();
}
if (status_sub->update(&status_time, &status)) {
/* switch HIL mode if required */
set_hil_enabled(status.hil_state == HIL_STATE_ON);
}
/* check for requested subscriptions */
if (_subscribe_to_stream != nullptr) {
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
if (_subscribe_to_stream_rate > 0.0f) {
warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
(double)_subscribe_to_stream_rate);
} else {
warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
}
} else {
warnx("stream %s on device %s not found", _subscribe_to_stream, _device_name);
}
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
}
/* update streams */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
stream->update(t);
}
/* pass messages from other UARTs or FTP worker */
if (_passing_on || _ftp_on) {
bool is_part;
uint8_t *read_ptr;
uint8_t *write_ptr;
pthread_mutex_lock(&_message_buffer_mutex);
int available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
pthread_mutex_unlock(&_message_buffer_mutex);
if (available > 0) {
// Reconstruct message from buffer
mavlink_message_t msg;
write_ptr = (uint8_t *)&msg;
// Pull a single message from the buffer
size_t read_count = available;
if (read_count > sizeof(mavlink_message_t)) {
read_count = sizeof(mavlink_message_t);
}
memcpy(write_ptr, read_ptr, read_count);
// We hold the mutex until after we complete the second part of the buffer. If we don't
// we may end up breaking the empty slot overflow detection semantics when we mark the
// possibly partial read below.
pthread_mutex_lock(&_message_buffer_mutex);
message_buffer_mark_read(read_count);
/* write second part of buffer if there is some */
if (is_part && read_count < sizeof(mavlink_message_t)) {
write_ptr += read_count;
available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
read_count = sizeof(mavlink_message_t) - read_count;
memcpy(write_ptr, read_ptr, read_count);
message_buffer_mark_read(available);
}
pthread_mutex_unlock(&_message_buffer_mutex);
resend_message(&msg);
}
}
/* update TX/RX rates*/
if (t > _bytes_timestamp + 1000000) {
if (_bytes_timestamp != 0) {
float dt = (t - _bytes_timestamp) / 1000.0f;
_rate_tx = _bytes_tx / dt;
_rate_txerr = _bytes_txerr / dt;
_rate_rx = _bytes_rx / dt;
_bytes_tx = 0;
_bytes_txerr = 0;
_bytes_rx = 0;
}
_bytes_timestamp = t;
}
perf_end(_loop_perf);
}
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
/* delete streams */
MavlinkStream *stream_to_del = nullptr;
MavlinkStream *stream_next = _streams;
while (stream_next != nullptr) {
stream_to_del = stream_next;
stream_next = stream_to_del->next;
delete stream_to_del;
}
_streams = nullptr;
/* delete subscriptions */
MavlinkOrbSubscription *sub_to_del = nullptr;
MavlinkOrbSubscription *sub_next = _subscriptions;
while (sub_next != nullptr) {
sub_to_del = sub_next;
sub_next = sub_to_del->next;
delete sub_to_del;
}
_subscriptions = nullptr;
warnx("waiting for UART receive thread");
/* wait for threads to complete */
pthread_join(_receive_thread, NULL);
/* reset the UART flags to original state */
tcsetattr(_uart_fd, TCSANOW, &uart_config_original);
/* close UART */
close(_uart_fd);
/* close mavlink logging device */
close(_mavlink_fd);
if (_passing_on || _ftp_on) {
message_buffer_destroy();
pthread_mutex_destroy(&_message_buffer_mutex);
}
/* destroy log buffer */
mavlink_logbuffer_destroy(&_logbuffer);
warnx("exiting");
_task_running = false;
return OK;
}
int Mavlink::start_helper(int argc, char *argv[])
{
/* create the instance in task context */
Mavlink *instance = new Mavlink();
int res;
if (!instance) {
/* out of memory */
res = -ENOMEM;
warnx("OUT OF MEM");
} else {
/* this will actually only return once MAVLink exits */
res = instance->task_main(argc, argv);
/* delete instance on main thread end */
delete instance;
}
return res;
}
int
Mavlink::start(int argc, char *argv[])
{
// Wait for the instance count to go up one
// before returning to the shell
int ic = Mavlink::instance_count();
// Instantiate thread
char buf[24];
sprintf(buf, "mavlink_if%d", ic);
// This is where the control flow splits
// between the starting task and the spawned
// task - start_helper() only returns
// when the started task exits.
task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2800,
(main_t)&Mavlink::start_helper,
(char * const *)argv);
// Ensure that this shell command
// does not return before the instance
// is fully initialized. As this is also
// the only path to create a new instance,
// this is effectively a lock on concurrent
// instance starting. XXX do a real lock.
// Sleep 500 us between each attempt
const unsigned sleeptime = 500;
// Wait 100 ms max for the startup.
const unsigned limit = 100 * 1000 / sleeptime;
unsigned count = 0;
while (ic == Mavlink::instance_count() && count < limit) {
::usleep(sleeptime);
count++;
}
return OK;
}
void
Mavlink::display_status()
{
if (_rstatus.heartbeat_time > 0) {
printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time));
}
printf("\tmavlink chan: #%u\n", _channel);
if (_rstatus.timestamp > 0) {
printf("\ttype:\t\t");
switch (_rstatus.type) {
case TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("3DR RADIO\n");
break;
default:
printf("UNKNOWN RADIO\n");
break;
}
printf("\trssi:\t\t%d\n", _rstatus.rssi);
printf("\tremote rssi:\t%u\n", _rstatus.remote_rssi);
printf("\ttxbuf:\t\t%u\n", _rstatus.txbuf);
printf("\tnoise:\t\t%d\n", _rstatus.noise);
printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
printf("\trx errors:\t%u\n", _rstatus.rxerrors);
printf("\tfixed:\t\t%u\n", _rstatus.fixed);
} else {
printf("\tno telem status.\n");
}
printf("\trates:\n");
printf("\ttx: %.3f kB/s\n", (double)_rate_tx);
printf("\ttxerr: %.3f kB/s\n", (double)_rate_txerr);
printf("\trx: %.3f kB/s\n", (double)_rate_rx);
printf("\trate mult: %.3f\n", (double)_rate_mult);
}
int
Mavlink::stream_command(int argc, char *argv[])
{
const char *device_name = DEFAULT_DEVICE_NAME;
float rate = -1.0f;
const char *stream_name = nullptr;
argc -= 2;
argv += 2;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
int i = 0;
while (i < argc) {
if (0 == strcmp(argv[i], "-r") && i < argc - 1) {
rate = strtod(argv[i + 1], nullptr);
if (rate < 0.0f) {
err_flag = true;
}
i++;
} else if (0 == strcmp(argv[i], "-d") && i < argc - 1) {
device_name = argv[i + 1];
i++;
} else if (0 == strcmp(argv[i], "-s") && i < argc - 1) {
stream_name = argv[i + 1];
i++;
} else {
err_flag = true;
}
i++;
}
if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
Mavlink *inst = get_instance_for_device(device_name);
if (inst != nullptr) {
inst->configure_stream_threadsafe(stream_name, rate);
} else {
// If the link is not running we should complain, but not fall over
// because this is so easy to get wrong and not fatal. Warning is sufficient.
errx(0, "mavlink for device %s is not running", device_name);
}
} else {
errx(1, "usage: mavlink stream [-d device] -s stream -r rate");
}
return OK;
}
static void usage()
{
warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate]\n\t[-r rate][-m mode] [-s stream] [-f] [-p] [-v] [-w] [-x]");
}
int mavlink_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
exit(1);
}
if (!strcmp(argv[1], "start")) {
return Mavlink::start(argc, argv);
} else if (!strcmp(argv[1], "stop")) {
warnx("mavlink stop is deprecated, use stop-all instead");
usage();
exit(1);
} else if (!strcmp(argv[1], "stop-all")) {
return Mavlink::destroy_all_instances();
} else if (!strcmp(argv[1], "status")) {
return Mavlink::get_status_all_instances();
} else if (!strcmp(argv[1], "stream")) {
return Mavlink::stream_command(argc, argv);
} else {
usage();
exit(1);
}
return 0;
}