Merged master

1 files changed, 96 insertions, 77 deletions

diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index f74b7daa7..6777d56c3 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -123,27 +123,41 @@ public:
 	/**
 	 * Display the mavlink status.
 	 */
-	void		status();
+	void			status();
 
-	static int stream(int argc, char *argv[]);
+	static int		stream(int argc, char *argv[]);
 
-	static int	instance_count();
+	static int		instance_count();
 
-	static Mavlink *new_instance();
+	static Mavlink		*new_instance();
 
-	static Mavlink *get_instance(unsigned instance);
+	static Mavlink		*get_instance(unsigned instance);
 
-	static Mavlink *get_instance_for_device(const char *device_name);
+	static Mavlink		*get_instance_for_device(const char *device_name);
 
-	static int	destroy_all_instances();
+	static int		destroy_all_instances();
 
-	static bool	instance_exists(const char *device_name, Mavlink *self);
+	static bool		instance_exists(const char *device_name, Mavlink *self);
 
-	static void	forward_message(mavlink_message_t *msg, Mavlink *self);
+	static void		forward_message(mavlink_message_t *msg, Mavlink *self);
 
-	static int get_uart_fd(unsigned index);
+	static int		get_uart_fd(unsigned index);
 
-	int get_uart_fd();
+	int			get_uart_fd();
+
+	/**
+	 * Get the MAVLink system id.
+	 *
+	 * @return		The system ID of this vehicle
+	 */
+	int			get_system_id();
+
+	/**
+	 * Get the MAVLink component id.
+	 *
+	 * @return		The component ID of this vehicle
+	 */
+	int			get_component_id();
 
 	const char *_device_name;
 
@@ -153,30 +167,30 @@ public:
 		MAVLINK_MODE_CAMERA
 	};
 
-	void		set_mode(enum MAVLINK_MODE);
-	enum MAVLINK_MODE		get_mode() { return _mode; }
+	void			set_mode(enum MAVLINK_MODE);
+	enum MAVLINK_MODE	get_mode() { return _mode; }
 
-	bool		get_hil_enabled() { return _hil_enabled; }
+	bool			get_hil_enabled() { return _hil_enabled; }
 
-	bool		get_use_hil_gps() { return _use_hil_gps; }
+	bool			get_use_hil_gps() { return _use_hil_gps; }
 
-	bool		get_flow_control_enabled() { return _flow_control_enabled; }
+	bool			get_flow_control_enabled() { return _flow_control_enabled; }
 
-	bool		get_forwarding_on() { return _forwarding_on; }
+	bool			get_forwarding_on() { return _forwarding_on; }
 
 	/**
 	 * Handle waypoint related messages.
 	 */
-	void mavlink_wpm_message_handler(const mavlink_message_t *msg);
+	void			mavlink_wpm_message_handler(const mavlink_message_t *msg);
 
-	static int start_helper(int argc, char *argv[]);
+	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			mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
 
-	void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
+	void			get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
 
 	/**
 	 * Enable / disable Hardware in the Loop simulation mode.
@@ -186,36 +200,41 @@ public:
 	 *			requested change could not be made or was
 	 *			redundant.
 	 */
-	int		set_hil_enabled(bool hil_enabled);
+	int			set_hil_enabled(bool hil_enabled);
 
-	MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
+	MavlinkOrbSubscription	*add_orb_subscription(const orb_id_t topic);
 
-	int get_instance_id();
+	int			get_instance_id();
 
 	/**
 	 * Enable / disable hardware flow control.
 	 *
 	 * @param enabled	True if hardware flow control should be enabled
 	 */
-	int enable_flow_control(bool enabled);
+	int			enable_flow_control(bool enabled);
 
-	mavlink_channel_t get_channel();
+	const mavlink_channel_t	get_channel();
 
 	void configure_stream_threadsafe(const char *stream_name, const float rate);
 
-	bool		_task_should_exit;		/**< if true, mavlink task should exit */
+	bool			_task_should_exit;	/**< if true, mavlink task should exit */
 
-	int get_mavlink_fd() { return _mavlink_fd; }
+	int			get_mavlink_fd() { return _mavlink_fd; }
 
 	MavlinkStream * get_streams() { return _streams; } const
 
 
 	/* Functions for waiting to start transmission until message received. */
-	void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
-	bool get_has_received_messages() { return _received_messages; }
-	void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
-	bool get_wait_to_transmit() { return _wait_to_transmit; }
-	bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
+	void			set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
+	bool			get_has_received_messages() { return _received_messages; }
+	void			set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
+	bool			get_wait_to_transmit() { return _wait_to_transmit; }
+	bool			should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
+
+	bool			message_buffer_write(void *ptr, int size);
+    
+    void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
+    void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
 
 	/**
 	 * Count a transmision error
@@ -223,62 +242,63 @@ public:
 	void count_txerr();
 
 protected:
-	Mavlink	*next;
+	Mavlink			*next;
 
 private:
-	int _instance_id;
+	int			_instance_id;
 
-	int		_mavlink_fd;
-	bool		_task_running;
+	int			_mavlink_fd;
+	bool			_task_running;
 
 	/* states */
-	bool		_hil_enabled;		/**< Hardware In the Loop mode */
-	bool		_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
-	bool		_is_usb_uart;		/**< Port is USB */
-	bool        _wait_to_transmit;  /**< Wait to transmit until received messages. */
-	bool        _received_messages; /**< Whether we've received valid mavlink messages. */
+	bool			_hil_enabled;		/**< Hardware In the Loop mode */
+	bool			_use_hil_gps;		/**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
+	bool			_is_usb_uart;		/**< Port is USB */
+	bool        		_wait_to_transmit;  	/**< Wait to transmit until received messages. */
+	bool        		_received_messages;	/**< Whether we've received valid mavlink messages. */
 
-	unsigned	_main_loop_delay;		/**< mainloop delay, depends on data rate */
+	unsigned		_main_loop_delay;	/**< mainloop delay, depends on data rate */
 
-	MavlinkOrbSubscription *_subscriptions;
-	MavlinkStream *_streams;
+	MavlinkOrbSubscription	*_subscriptions;
+	MavlinkStream		*_streams;
 
-	orb_advert_t	_mission_pub;
-	struct mission_s mission;
-	MAVLINK_MODE _mode;
+	orb_advert_t		_mission_pub;
+	struct mission_s	mission;
+	MAVLINK_MODE		_mode;
 
-	uint8_t _mavlink_wpm_comp_id;
-	mavlink_channel_t _channel;
+	uint8_t			_mavlink_wpm_comp_id;
+	mavlink_channel_t	_channel;
 
 	struct mavlink_logbuffer _logbuffer;
-	unsigned int _total_counter;
+	unsigned int		_total_counter;
 
-	pthread_t _receive_thread;
+	pthread_t		_receive_thread;
 
 	/* Allocate storage space for waypoints */
-	mavlink_wpm_storage _wpm_s;
-	mavlink_wpm_storage *_wpm;
+	mavlink_wpm_storage	_wpm_s;
+	mavlink_wpm_storage	*_wpm;
 
-	bool _verbose;
-	bool _forwarding_on;
-	bool _passing_on;
-	int _uart_fd;
-	int _baudrate;
-	int _datarate;
+	bool			_verbose;
+	bool			_forwarding_on;
+	bool			_passing_on;
+	bool			_ftp_on;
+	int			_uart_fd;
+	int			_baudrate;
+	int			_datarate;
 
 	/**
 	 * 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;
+	unsigned int		_mavlink_param_queue_index;
 
-	bool mavlink_link_termination_allowed;
+	bool			mavlink_link_termination_allowed;
 
-	char 	*_subscribe_to_stream;
-	float	_subscribe_to_stream_rate;
+	char 			*_subscribe_to_stream;
+	float			_subscribe_to_stream_rate;
 
-	bool		_flow_control_enabled;
+	bool			_flow_control_enabled;
 
 	struct mavlink_message_buffer {
 		int write_ptr;
@@ -286,12 +306,13 @@ private:
 		int size;
 		char *data;
 	};
+
 	mavlink_message_buffer	_message_buffer;
 
 	pthread_mutex_t		_message_buffer_mutex;
 
-	perf_counter_t	_loop_perf;			/**< loop performance counter */
-	perf_counter_t	_txerr_perf;			/**< TX error counter */
+	perf_counter_t		_loop_perf;			/**< loop performance counter */
+	perf_counter_t		_txerr_perf;			/**< TX error counter */
 
 	bool			_param_initialized;
 	param_t			_param_system_id;
@@ -305,7 +326,7 @@ private:
 	 * @param param		The parameter id to send.
 	 * @return		zero on success, nonzero on failure.
 	 */
-	int mavlink_pm_send_param(param_t param);
+	int			mavlink_pm_send_param(param_t param);
 
 	/**
 	 * Send one parameter identified by index.
@@ -313,7 +334,7 @@ private:
 	 * @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);
+	int			mavlink_pm_send_param_for_index(uint16_t index);
 
 	/**
 	 * Send one parameter identified by name.
@@ -321,14 +342,14 @@ private:
 	 * @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);
+	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);
+	int			mavlink_pm_queued_send(void);
 
 	/**
 	 * Start sending the parameter queue.
@@ -338,12 +359,12 @@ private:
 	 * mavlink_pm_queued_send().
 	 * @see 		mavlink_pm_queued_send()
 	 */
-	void mavlink_pm_start_queued_send();
+	void			mavlink_pm_start_queued_send();
 
-	void mavlink_update_system();
+	void			mavlink_update_system();
 
-	void mavlink_waypoint_eventloop(uint64_t now);
-	void mavlink_wpm_send_waypoint_reached(uint16_t seq);
+	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);
@@ -369,8 +390,6 @@ private:
 
 	int message_buffer_is_empty();
 
-	bool message_buffer_write(void *ptr, int size);
-
 	int message_buffer_get_ptr(void **ptr, bool *is_part);
 
 	void message_buffer_mark_read(int n);