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/**
* @file mavlink_main.h
* MAVLink 1.0 protocol interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#pragma once
#include <stdbool.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/mission.h>
#include <systemlib/param/param.h>
#include <nuttx/fs/fs.h>
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
/* WAYPOINT MANAGER - MISSION LIB */
#define MAVLINK_WPM_MAX_WP_COUNT 15
#define MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE ///< Enable double buffer and in-flight updates
#ifndef MAVLINK_WPM_TEXT_FEEDBACK
#define MAVLINK_WPM_TEXT_FEEDBACK 0 ///< Report back status information as text
#endif
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
mavlink_mission_item_t waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Currently active waypoints
#ifdef MAVLINK_WPM_CONFIG_IN_FLIGHT_UPDATE
mavlink_mission_item_t rcv_waypoints[MAVLINK_WPM_MAX_WP_COUNT]; ///< Receive buffer for next waypoints
#endif
uint16_t size;
uint16_t max_size;
uint16_t rcv_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
int16_t current_active_wp_id; ///< Waypoint the system is currently heading towards
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_firstinside_orbit;
uint64_t timestamp_lastoutside_orbit;
uint32_t timeout;
uint32_t delay_setpoint;
float accept_range_yaw;
float accept_range_distance;
bool yaw_reached;
bool pos_reached;
bool idle;
int current_dataman_id;
};
class Mavlink
{
public:
/**
* Constructor
*/
Mavlink();
/**
* Destructor, also kills the mavlinks task.
*/
~Mavlink();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
static int start();
/**
* Display the mavlink status.
*/
void status();
static int instance_count();
static Mavlink* new_instance();
static Mavlink* get_instance(unsigned instance);
static int get_uart_fd(unsigned index);
int get_uart_fd() { return uart; }
enum MAVLINK_MODE {
MODE_TX_HEARTBEAT_ONLY=0,
MODE_OFFBOARD,
MODE_ONBOARD,
MODE_HIL
};
void set_mode(enum MAVLINK_MODE);
enum MAVLINK_MODE get_mode() { return _mode; }
bool hil_enabled() { return _mavlink_hil_enabled; };
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
static int start_helper(int argc, char *argv[]);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
/**
* Enable / disable Hardware in the Loop simulation mode.
*
* @param hil_enabled The new HIL enable/disable state.
* @return OK if the HIL state changed, ERROR if the
* requested change could not be made or was
* redundant.
*/
int set_hil_on_off(bool hil_enabled);
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
int global_pos_sub;
int act_0_sub;
int act_1_sub;
int act_2_sub;
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int safety_sub;
int actuators_sub;
int armed_sub;
int actuators_effective_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int triplet_sub;
int debug_key_value;
int input_rc_sub;
int optical_flow;
int rates_setpoint_sub;
int get_sub;
int airspeed_sub;
int navigation_capabilities_sub;
int control_mode_sub;
int rc_sub;
int status_sub;
int home_sub;
};
struct mavlink_subscriptions subs;
struct mavlink_subscriptions* get_subs() { return &subs; }
mavlink_channel_t get_chan() { return chan; }
/** Global position */
struct vehicle_global_position_s global_pos;
/** Local position */
struct vehicle_local_position_s local_pos;
/** navigation capabilities */
struct navigation_capabilities_s nav_cap;
/** Vehicle status */
struct vehicle_status_s v_status;
/** Vehicle control mode */
struct vehicle_control_mode_s control_mode;
/** RC channels */
struct rc_channels_s rc;
/** Actuator armed state */
struct actuator_armed_s armed;
protected:
/**
* Pointer to the default cdev file operations table; useful for
* registering clone devices etc.
*/
struct file_operations fops;
int _mavlink_fd;
Mavlink* _next;
private:
bool _task_should_exit; /**< if true, mavlink task should exit */
bool thread_running;
int _mavlink_task; /**< task handle for sensor task */
int _mavlink_incoming_fd; /**< file descriptor on which to receive incoming strings */
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _mavlink_hil_enabled; /**< Hardware in the loop mode */
int _params_sub;
orb_advert_t mission_pub;
struct mission_s mission;
uint8_t missionlib_msg_buf[300]; //XXX MAGIC NUMBER
MAVLINK_MODE _mode;
uint8_t mavlink_wpm_comp_id;
mavlink_channel_t chan;
// XXX probably should be in a header...
// extern pthread_t receive_start(int uart);
pthread_t receive_thread;
pthread_t uorb_receive_thread;
/* Allocate storage space for waypoints */
mavlink_wpm_storage wpm_s;
mavlink_wpm_storage *wpm;
bool verbose;
int uart;
int _baudrate;
bool gcs_link;
/**
* If the queue index is not at 0, the queue sending
* logic will send parameters from the current index
* to len - 1, the end of the param list.
*/
unsigned int mavlink_param_queue_index;
struct mavlink_logbuffer lb;
bool mavlink_link_termination_allowed;
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* Send all parameters at once.
*
* This function blocks until all parameters have been sent.
* it delays each parameter by the passed amount of microseconds.
*
* @param delay The delay in us between sending all parameters.
*/
void mavlink_pm_send_all_params(unsigned int delay);
/**
* Send one parameter.
*
* @param param The parameter id to send.
* @return zero on success, nonzero on failure.
*/
int mavlink_pm_send_param(param_t param);
/**
* Send one parameter identified by index.
*
* @param index The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_index(uint16_t index);
/**
* Send one parameter identified by name.
*
* @param name The index of the parameter to send.
* @return zero on success, nonzero else.
*/
int mavlink_pm_send_param_for_name(const char *name);
/**
* Send a queue of parameters, one parameter per function call.
*
* @return zero on success, nonzero on failure
*/
int mavlink_pm_queued_send(void);
/**
* Start sending the parameter queue.
*
* This function will not directly send parameters, but instead
* activate the sending of one parameter on each call of
* mavlink_pm_queued_send().
* @see mavlink_pm_queued_send()
*/
void mavlink_pm_start_queued_send();
void mavlink_update_system();
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
void mavlink_wpm_send_waypoint_current(uint16_t seq);
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
void mavlink_wpm_init(mavlink_wpm_storage *state);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
void publish_mission();
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval);
/**
* Callback for param interface.
*/
static void mavlink_pm_callback(void *arg, param_t param);
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
/**
* Main mavlink task.
*/
int task_main(int argc, char *argv[]) __attribute__((noreturn));
};