diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 306 |
1 files changed, 84 insertions, 222 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index e3c452fb2..dca76c950 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -102,6 +102,7 @@ static Mavlink *_mavlink_instances = nullptr; 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 @@ -130,6 +131,7 @@ Mavlink::Mavlink() : _subscriptions(nullptr), _streams(nullptr), _mission_manager(nullptr), + _parameters_manager(nullptr), _mission_pub(-1), _mission_result_sub(-1), _mode(MAVLINK_MODE_NORMAL), @@ -145,6 +147,7 @@ Mavlink::Mavlink() : _baudrate(57600), _datarate(1000), _datarate_events(500), + _rate_mult(0.0f), _mavlink_param_queue_index(0), mavlink_link_termination_allowed(false), _subscribe_to_stream(nullptr), @@ -687,18 +690,23 @@ Mavlink::set_hil_enabled(bool hil_enabled) return ret; } -bool -Mavlink::check_can_send(const int prio, const unsigned packet_len) +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; + } + /* * 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() - && ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free) == 0) { - + if (get_flow_control_enabled() && buf_free == 0) { /* Disable hardware flow control: * if no successful write since a defined time * and if the last try was not the last successful write @@ -711,36 +719,22 @@ Mavlink::check_can_send(const int prio, const unsigned packet_len) } } - /* If the wait until transmit flag is on, only transmit after we've received messages. - Otherwise, transmit all the time. */ - if (should_transmit()) { - _last_write_try_time = hrt_absolute_time(); + uint8_t payload_len = mavlink_message_lengths[msgid]; + unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; - /* check if there is space in the buffer, let it overflow else */ - ioctl(_uart_fd, FIONWRITE, (unsigned long)&buf_free); + _last_write_try_time = hrt_absolute_time(); - if (buf_free >= (prio <= 0 ? packet_len : TX_BUFFER_GAP)) { - warnx("\t\t\tSKIP %i bytes prio %i", packet_len, (int)prio); - /* we don't want to send anything just in half, so return */ - count_txerr(); - count_txerrbytes(packet_len); - return true; - } + /* check if there is space in the buffer, let it overflow else */ + if (buf_free >= TX_BUFFER_GAP) { + warnx("SKIP msgid %i, %i bytes", msgid, packet_len); + /* no enough space in buffer to send */ + count_txerr(); + count_txerrbytes(packet_len); + return; } - return false; -} -void -Mavlink::send_message(const uint8_t msgid, const void *msg, const int prio) -{ uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - uint8_t payload_len = mavlink_message_lengths[msgid]; - unsigned packet_len = payload_len + MAVLINK_NUM_NON_PAYLOAD_BYTES; - if (!check_can_send(prio, packet_len)) { - return; - } - /* header */ buf[0] = MAVLINK_STX; buf[1] = payload_len; @@ -755,9 +749,9 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, const int prio) /* checksum */ uint16_t checksum; crc_init(&checksum); - crc_accumulate_buffer(&checksum, &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len); + crc_accumulate_buffer(&checksum, (const char*) &buf[1], MAVLINK_CORE_HEADER_LEN + payload_len); #if MAVLINK_CRC_EXTRA - crc_accumulate(crc_extra, &checksum); + crc_accumulate(mavlink_message_crcs[msgid], &checksum); #endif buf[MAVLINK_NUM_HEADER_BYTES + payload_len] = (uint8_t)(checksum & 0xFF); @@ -766,7 +760,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, const int prio) /* send message to UART */ ssize_t ret = write(_uart_fd, buf, packet_len); - if (ret != packet_len) { + if (ret != (int) packet_len) { count_txerr(); count_txerrbytes(packet_len); @@ -783,7 +777,7 @@ Mavlink::handle_message(const mavlink_message_t *msg) _mission_manager->handle_message(msg); /* handle packet with parameter component */ - mavlink_pm_message_handler(_channel, msg); + _parameters_manager->handle_message(msg); if (get_forwarding_on()) { /* forward any messages to other mavlink instances */ @@ -792,163 +786,6 @@ Mavlink::handle_message(const mavlink_message_t *msg) } int -Mavlink::mavlink_pm_queued_send() -{ - if (_mavlink_param_queue_index < param_count()) { - mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index)); - _mavlink_param_queue_index++; - return 0; - - } else { - return 1; - } -} - -void Mavlink::mavlink_pm_start_queued_send() -{ - _mavlink_param_queue_index = 0; -} - -int Mavlink::mavlink_pm_send_param_for_index(uint16_t index) -{ - return mavlink_pm_send_param(param_for_index(index)); -} - -int Mavlink::mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} - -int Mavlink::mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) { return 1; } - - /* buffers for param transmission */ - char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - mavlink_message_t tx_msg; - - /* query parameter type */ - param_type_t type = param_type(param); - /* copy parameter name */ - strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; - - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; - - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; - - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } - - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ - - int ret; - - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; - } - - mavlink_msg_param_value_pack_chan(mavlink_system.sysid, - mavlink_system.compid, - _channel, - &tx_msg, - name_buf, - val_buf, - mavlink_type, - param_count(), - param_get_index(param)); - send_message(&tx_msg); - return OK; -} - -void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) -{ - switch (msg->msgid) { - case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { - mavlink_param_request_list_t req; - mavlink_msg_param_request_list_decode(msg, &req); - - if (req.target_system == mavlink_system.sysid && - (req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) { - /* Start sending parameters */ - mavlink_pm_start_queued_send(); - send_statustext_info("[pm] sending list"); - } - } break; - - case MAVLINK_MSG_ID_PARAM_SET: { - - /* Handle parameter setting */ - - if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { - mavlink_param_set_t mavlink_param_set; - mavlink_msg_param_set_decode(msg, &mavlink_param_set); - - if (mavlink_param_set.target_system == mavlink_system.sysid - && ((mavlink_param_set.target_component == mavlink_system.compid) - || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter, set and send it */ - param_t param = param_find(name); - - if (param == PARAM_INVALID) { - char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; - sprintf(buf, "[pm] unknown: %s", name); - send_statustext_info(buf); - - } else { - /* set and send parameter */ - param_set(param, &(mavlink_param_set.param_value)); - mavlink_pm_send_param(param); - } - } - } - } break; - - case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { - mavlink_param_request_read_t mavlink_param_request_read; - mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); - - if (mavlink_param_request_read.target_system == mavlink_system.sysid - && ((mavlink_param_request_read.target_component == mavlink_system.compid) - || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { - /* when no index is given, loop through string ids and compare them */ - if (mavlink_param_request_read.param_index == -1) { - /* local name buffer to enforce null-terminated string */ - char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; - strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); - /* enforce null termination */ - name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; - /* attempt to find parameter and send it */ - mavlink_pm_send_param_for_name(name); - - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } - - } break; - } -} - -int Mavlink::send_statustext_info(const char *string) { return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string); @@ -1031,11 +868,17 @@ MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) 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 = (rate > 0.0f) ? (1000000.0f / rate) : 0; + unsigned int interval = interval_from_rate(rate); /* search if stream exists */ MavlinkStream *stream; @@ -1066,10 +909,9 @@ Mavlink::configure_stream(const char *stream_name, const float rate) if (strcmp(stream_name, streams_list[i]->get_name()) == 0) { /* create new instance */ - stream = streams_list[i]->new_instance(); - stream->set_channel(get_channel()); + stream = streams_list[i]->new_instance(this); stream->set_interval(interval); - stream->subscribe(this); + stream->subscribe(); LL_APPEND(_streams, stream); return OK; @@ -1267,7 +1109,26 @@ Mavlink::pass_message(const mavlink_message_t *msg) float Mavlink::get_rate_mult() { - return _datarate / 1000.0f; + 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(); + } + } + + _rate_mult = ((float)_datarate - const_rate) / (rate - const_rate); } int @@ -1390,6 +1251,8 @@ Mavlink::task_main(int argc, char *argv[]) break; } + update_rate_mult(); + 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 */ @@ -1452,32 +1315,37 @@ Mavlink::task_main(int argc, char *argv[]) MavlinkCommandsStream commands_stream(this, _channel); - /* add default streams depending on mode and intervals depending on datarate */ - float rate_mult = get_rate_mult(); + /* add default streams depending on mode */ + /* HEARTBEAT is constant rate stream, rate never adjusted */ configure_stream("HEARTBEAT", 1.0f); + /* PARAM_VALUE stream */ + _parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this); + _parameters_manager->set_interval(interval_from_rate(30.0f)); + LL_APPEND(_streams, _parameters_manager); + 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 * rate_mult); - configure_stream("ATTITUDE", 10.0f * rate_mult); - configure_stream("VFR_HUD", 8.0f * rate_mult); - configure_stream("GPS_RAW_INT", 1.0f * rate_mult); - configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult); - configure_stream("LOCAL_POSITION_NED", 3.0f * rate_mult); - configure_stream("RC_CHANNELS_RAW", 1.0f * rate_mult); - configure_stream("NAMED_VALUE_FLOAT", 1.0f * rate_mult); - configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f * rate_mult); - configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f * rate_mult); + 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("NAMED_VALUE_FLOAT", 1.0f); + configure_stream("GLOBAL_POSITION_SETPOINT_INT", 3.0f); + configure_stream("ROLL_PITCH_YAW_THRUST_SETPOINT", 3.0f); configure_stream("DISTANCE_SENSOR", 0.5f); break; case MAVLINK_MODE_CAMERA: configure_stream("SYS_STATUS", 1.0f); - configure_stream("ATTITUDE", 15.0f * rate_mult); - configure_stream("GLOBAL_POSITION_INT", 15.0f * rate_mult); + configure_stream("ATTITUDE", 15.0f); + configure_stream("GLOBAL_POSITION_INT", 15.0f); configure_stream("CAMERA_CAPTURE", 1.0f); break; @@ -1488,10 +1356,12 @@ Mavlink::task_main(int argc, char *argv[]) /* don't send parameters on startup without request */ _mavlink_param_queue_index = param_count(); - MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult); + float base_rate_mult = _datarate / 1000.0f; + + MavlinkRateLimiter fast_rate_limiter(30000.0f / base_rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ - _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; + _main_loop_delay = MAIN_LOOP_DELAY / base_rate_mult; /* now the instance is fully initialized and we can bump the instance count */ LL_APPEND(_mavlink_instances, this); @@ -1543,18 +1413,9 @@ Mavlink::task_main(int argc, char *argv[]) } if (fast_rate_limiter.check(t)) { + _mission_manager->eventloop(); - /* only send messages if they fit the buffer */ - if (check_can_send(0, MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) { - mavlink_pm_queued_send(); - } - - if (check_can_send(0, MAVLINK_MSG_ID_MISSION_ITEM_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) { - _mission_manager->eventloop(); - } - - if (!mavlink_logbuffer_is_empty(&_logbuffer) && - check_can_send(0, MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)) { + if (!mavlink_logbuffer_is_empty(&_logbuffer)) { struct mavlink_logmessage msg; int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); @@ -1630,6 +1491,7 @@ Mavlink::task_main(int argc, char *argv[]) } delete _mission_manager; + delete _parameters_manager; delete _subscribe_to_stream; _subscribe_to_stream = nullptr; |