diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 837 |
1 files changed, 432 insertions, 405 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index cd0581af4..5589738c1 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -78,10 +78,9 @@ #include "mavlink_messages.h" #include "mavlink_receiver.h" #include "mavlink_rate_limiter.h" -#include "mavlink_commands.h" #ifndef MAVLINK_CRC_EXTRA - #error MAVLINK_CRC_EXTRA has to be defined on PX4 systems +#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems #endif /* oddly, ERROR is not defined for c++ */ @@ -94,11 +93,16 @@ static const int ERROR = -1; #define MAX_DATA_RATE 10000 // 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 * @@ -108,114 +112,13 @@ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); extern mavlink_system_t mavlink_system; -static uint64_t last_write_success_times[6] = {0}; -static uint64_t last_write_try_times[6] = {0}; - -/* - * Internal function to send the bytes through the right serial port - */ -void -mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) -{ - - Mavlink *instance; - - switch (channel) { - case MAVLINK_COMM_0: - instance = Mavlink::get_instance(0); - break; - - case MAVLINK_COMM_1: - instance = Mavlink::get_instance(1); - break; - - case MAVLINK_COMM_2: - instance = Mavlink::get_instance(2); - break; - - case MAVLINK_COMM_3: - instance = Mavlink::get_instance(3); - break; -#ifdef MAVLINK_COMM_4 - - case MAVLINK_COMM_4: - instance = Mavlink::get_instance(4); - break; -#endif -#ifdef MAVLINK_COMM_5 - - case MAVLINK_COMM_5: - instance = Mavlink::get_instance(5); - break; -#endif -#ifdef MAVLINK_COMM_6 - - case MAVLINK_COMM_6: - instance = Mavlink::get_instance(6); - break; -#endif - default: - return; - } - - int uart = instance->get_uart_fd(); - - ssize_t desired = (sizeof(uint8_t) * length); - - /* - * Check if the OS buffer is full and disable HW - * flow control if it continues to be full - */ - int buf_free = 0; - - if (instance->get_flow_control_enabled() - && ioctl(uart, FIONWRITE, (unsigned long)&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 - */ - if (last_write_try_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_success_times[(unsigned)channel]) > 500 * 1000UL && - last_write_success_times[(unsigned)channel] != - last_write_try_times[(unsigned)channel]) - { - warnx("DISABLING HARDWARE FLOW CONTROL"); - instance->enable_flow_control(false); - } - - } - - /* If the wait until transmit flag is on, only transmit after we've received messages. - Otherwise, transmit all the time. */ - if (instance->should_transmit()) { - last_write_try_times[(unsigned)channel] = hrt_absolute_time(); - - /* check if there is space in the buffer, let it overflow else */ - if (!ioctl(uart, FIONWRITE, (unsigned long)&buf_free)) { - - if (buf_free < desired) { - /* we don't want to send anything just in half, so return */ - instance->count_txerr(); - return; - } - } - - ssize_t ret = write(uart, ch, desired); - if (ret != desired) { - instance->count_txerr(); - } else { - last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel]; - } - } -} - 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), @@ -227,29 +130,48 @@ Mavlink::Mavlink() : _subscriptions(nullptr), _streams(nullptr), _mission_manager(nullptr), - _mission_pub(-1), - _mission_result_sub(-1), + _parameters_manager(nullptr), _mode(MAVLINK_MODE_NORMAL), - _total_counter(0), - _verbose(false), - _forwarding_on(false), - _passing_on(false), - _ftp_on(false), - _uart_fd(-1), - _mavlink_param_queue_index(0), - _subscribe_to_stream(nullptr), - _subscribe_to_stream_rate(0.0f), - _flow_control_enabled(true), - _message_buffer({}), - _param_initialized(false), - _param_system_id(0), - _param_component_id(0), - _param_system_type(0), - _param_use_hil_gps(0), - -/* performance counters */ - _loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")), - _txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe")) + _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(0), + _param_use_hil_gps(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; @@ -416,6 +338,27 @@ Mavlink::destroy_all_instances() 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) { @@ -441,7 +384,12 @@ Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self) Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (inst != self) { - inst->pass_message(msg); + + /* 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); + } } } } @@ -489,10 +437,26 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { const char *txt = (const char *)arg; -// printf("logmsg: %s\n", txt); struct mavlink_logmessage msg; strncpy(msg.text, txt, sizeof(msg.text)); - msg.severity = (unsigned char)cmd; + + 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) { @@ -517,22 +481,39 @@ void Mavlink::mavlink_update_system(void) _param_component_id = param_find("MAV_COMP_ID"); _param_system_type = param_find("MAV_TYPE"); _param_use_hil_gps = param_find("MAV_USEHILGPS"); - _param_initialized = true; } /* update system and component id */ int32_t system_id; param_get(_param_system_id, &system_id); - if (system_id > 0 && system_id < 255) { - mavlink_system.sysid = system_id; - } - int32_t component_id; param_get(_param_component_id, &component_id); - if (component_id > 0 && component_id < 255) { - mavlink_system.compid = 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; @@ -607,7 +588,8 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * 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); + warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", + baud); return -EINVAL; } @@ -668,6 +650,9 @@ int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios * if (enable_flow_control(true)) { warnx("hardware flow control not supported"); } + + } else { + _flow_control_enabled = false; } return _uart_fd; @@ -709,8 +694,7 @@ Mavlink::set_hil_enabled(bool hil_enabled) /* enable HIL */ if (hil_enabled && !_hil_enabled) { _hil_enabled = true; - float rate_mult = _datarate / 1000.0f; - configure_stream("HIL_CONTROLS", 15.0f * rate_mult); + configure_stream("HIL_CONTROLS", 150.0f); } /* disable HIL */ @@ -725,241 +709,188 @@ Mavlink::set_hil_enabled(bool hil_enabled) return ret; } -void -Mavlink::send_message(const mavlink_message_t *msg) +unsigned +Mavlink::get_free_tx_buf() { - uint8_t buf[MAVLINK_MAX_PACKET_LEN]; + /* + * 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); + } + } - uint16_t len = mavlink_msg_to_send_buffer(buf, msg); - mavlink_send_uart_bytes(_channel, buf, len); + return buf_free; } void -Mavlink::handle_message(const mavlink_message_t *msg) +Mavlink::send_message(const uint8_t msgid, const void *msg) { - /* handle packet with mission manager */ - _mission_manager->handle_message(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; + } - /* handle packet with parameter component */ - mavlink_pm_message_handler(_channel, msg); + pthread_mutex_lock(&_send_mutex); - if (get_forwarding_on()) { - /* forward any messages to other mavlink instances */ - Mavlink::forward_message(msg, this); + int 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) { + /* no enough space in buffer to send */ + count_txerr(); + count_txerrbytes(packet_len); + pthread_mutex_unlock(&_send_mutex); + return; } -} -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; + 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 { - return 1; + _last_write_success_time = _last_write_try_time; + count_txbytes(packet_len); } -} -void Mavlink::mavlink_pm_start_queued_send() -{ - _mavlink_param_queue_index = 0; + pthread_mutex_unlock(&_send_mutex); } -int Mavlink::mavlink_pm_send_param_for_index(uint16_t index) +void +Mavlink::resend_message(mavlink_message_t *msg) { - return mavlink_pm_send_param(param_for_index(index)); -} + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (!should_transmit()) { + return; + } -int Mavlink::mavlink_pm_send_param_for_name(const char *name) -{ - return mavlink_pm_send_param(param_find(name)); -} + pthread_mutex_lock(&_send_mutex); -int Mavlink::mavlink_pm_send_param(param_t param) -{ - if (param == PARAM_INVALID) { return 1; } + int buf_free = get_free_tx_buf(); - /* buffers for param transmission */ - char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; - float val_buf; - mavlink_message_t tx_msg; + _last_write_try_time = hrt_absolute_time(); - /* 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); + unsigned packet_len = msg->len + MAVLINK_NUM_NON_PAYLOAD_BYTES; - /* - * Map onboard parameter type to MAVLink type, - * endianess matches (both little endian) - */ - uint8_t mavlink_type; + /* check if there is space in the buffer, let it overflow else */ + if (buf_free < TX_BUFFER_GAP) { + /* no enough space in buffer to send */ + count_txerr(); + count_txerrbytes(packet_len); + pthread_mutex_unlock(&_send_mutex); + return; + } - if (type == PARAM_TYPE_INT32) { - mavlink_type = MAVLINK_TYPE_INT32_T; + uint8_t buf[MAVLINK_MAX_PACKET_LEN]; - } else if (type == PARAM_TYPE_FLOAT) { - mavlink_type = MAVLINK_TYPE_FLOAT; + /* header and payload */ + memcpy(&buf[0], &msg->magic, MAVLINK_NUM_HEADER_BYTES + msg->len); - } else { - mavlink_type = MAVLINK_TYPE_FLOAT; - } + /* 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); - /* - * get param value, since MAVLink encodes float and int params in the same - * space during transmission, copy param onto float val_buf - */ + /* send message to UART */ + ssize_t ret = write(_uart_fd, buf, packet_len); - int ret; + if (ret != (int) packet_len) { + count_txerr(); + count_txerrbytes(packet_len); - if ((ret = param_get(param, &val_buf)) != OK) { - return ret; + } else { + _last_write_success_time = _last_write_try_time; + count_txbytes(packet_len); } - 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; + pthread_mutex_unlock(&_send_mutex); } -void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +void +Mavlink::handle_message(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); + /* handle packet with mission manager */ + _mission_manager->handle_message(msg); - } else { - /* when index is >= 0, send this parameter again */ - mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); - } - } + /* handle packet with parameter component */ + _parameters_manager->handle_message(msg); - } break; + if (get_forwarding_on()) { + /* forward any messages to other mavlink instances */ + Mavlink::forward_message(msg, this); } } -int +void Mavlink::send_statustext_info(const char *string) { - return send_statustext(MAVLINK_IOC_SEND_TEXT_INFO, string); + send_statustext(MAV_SEVERITY_INFO, string); } -int +void Mavlink::send_statustext_critical(const char *string) { - return send_statustext(MAVLINK_IOC_SEND_TEXT_CRITICAL, string); + send_statustext(MAV_SEVERITY_CRITICAL, string); } -int +void Mavlink::send_statustext_emergency(const char *string) { - return send_statustext(MAVLINK_IOC_SEND_TEXT_EMERGENCY, string); + send_statustext(MAV_SEVERITY_EMERGENCY, string); } -int -Mavlink::send_statustext(unsigned severity, const char *string) +void +Mavlink::send_statustext(unsigned char severity, const char *string) { - const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; - mavlink_statustext_t statustext; - - int i = 0; - - while (i < len - 1) { - statustext.text[i] = string[i]; + struct mavlink_logmessage logmsg; + strncpy(logmsg.text, string, sizeof(logmsg.text)); + logmsg.severity = severity; - if (string[i] == '\0') { - break; - } - - i++; - } - - if (i > 1) { - /* Enforce null termination */ - statustext.text[i] = '\0'; - - /* Map severity */ - switch (severity) { - case MAVLINK_IOC_SEND_TEXT_INFO: - statustext.severity = MAV_SEVERITY_INFO; - break; - case MAVLINK_IOC_SEND_TEXT_CRITICAL: - statustext.severity = MAV_SEVERITY_CRITICAL; - break; - case MAVLINK_IOC_SEND_TEXT_EMERGENCY: - statustext.severity = MAV_SEVERITY_EMERGENCY; - break; - } - - mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text); - return OK; - - } else { - return ERROR; - } + mavlink_logbuffer_write(&_logbuffer, &logmsg); } MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) @@ -982,11 +913,17 @@ 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; @@ -1017,10 +954,8 @@ 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); LL_APPEND(_streams, stream); return OK; @@ -1034,6 +969,31 @@ Mavlink::configure_stream(const char *stream_name, const float rate) } 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, @@ -1068,12 +1028,14 @@ 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); + _message_buffer.data = (char *)malloc(_message_buffer.size); int ret; + if (_message_buffer.data == 0) { ret = ERROR; _message_buffer.size = 0; + } else { ret = OK; } @@ -1191,7 +1153,27 @@ 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(); + } + } + + /* don't scale up rates, only scale down if needed */ + _rate_mult = fminf(1.0f, ((float)_datarate - const_rate) / rate); } int @@ -1329,6 +1311,9 @@ Mavlink::task_main(int argc, char *argv[]) return ERROR; } + /* initialize send mutex */ + pthread_mutex_init(&_send_mutex, NULL); + /* initialize mavlink text message buffering */ mavlink_logbuffer_init(&_logbuffer, 5); @@ -1338,7 +1323,7 @@ Mavlink::task_main(int argc, char *argv[]) * 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 * MAVLINK_MAX_PACKET_LEN + 2)) { + if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) { errx(1, "can't allocate message buffer, exiting"); } @@ -1358,12 +1343,6 @@ Mavlink::task_main(int argc, char *argv[]) /* start the MAVLink receiver */ _receive_thread = MavlinkReceiver::receive_start(this); - _mission_result_sub = orb_subscribe(ORB_ID(mission_result)); - - /* create mission manager */ - _mission_manager = new MavlinkMissionManager(this); - _mission_manager->set_verbose(_verbose); - _task_running = true; MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update)); @@ -1374,34 +1353,50 @@ Mavlink::task_main(int argc, char *argv[]) struct vehicle_status_s status; status_sub->update(&status_time, &status); - 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); + /* 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 * rate_mult); - configure_stream("ATTITUDE", 10.0f * rate_mult); - configure_stream("VFR_HUD", 10.0f * 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("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; @@ -1409,13 +1404,8 @@ Mavlink::task_main(int argc, char *argv[]) break; } - /* don't send parameters on startup without request */ - _mavlink_param_queue_index = param_count(); - - MavlinkRateLimiter fast_rate_limiter(30000.0f / 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 * 1000 / _datarate; /* now the instance is fully initialized and we can bump the instance count */ LL_APPEND(_mavlink_instances, this); @@ -1428,6 +1418,8 @@ Mavlink::task_main(int argc, char *argv[]) hrt_abstime t = hrt_absolute_time(); + update_rate_mult(); + if (param_sub->update(¶m_time, nullptr)) { /* parameters updated */ mavlink_update_system(); @@ -1438,14 +1430,12 @@ Mavlink::task_main(int argc, char *argv[]) set_hil_enabled(status.hil_state == HIL_STATE_ON); } - /* update commands stream */ - commands_stream.update(t); - /* 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); + 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); @@ -1465,72 +1455,72 @@ Mavlink::task_main(int argc, char *argv[]) stream->update(t); } - if (fast_rate_limiter.check(t)) { - mavlink_pm_queued_send(); - _mission_manager->eventloop(); - - if (!mavlink_logbuffer_is_empty(&_logbuffer)) { - struct mavlink_logmessage msg; - int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); - - if (lb_ret == OK) { - send_statustext(msg.severity, msg.text); - } - } - } - /* pass messages from other UARTs or FTP worker */ if (_passing_on || _ftp_on) { bool is_part; uint8_t *read_ptr; - uint8_t *write_ptr; + uint8_t *write_ptr; pthread_mutex_lock(&_message_buffer_mutex); - int available = message_buffer_get_ptr((void**)&read_ptr, &is_part); + int available = message_buffer_get_ptr((void **)&read_ptr, &is_part); pthread_mutex_unlock(&_message_buffer_mutex); if (available > 0) { - // Reconstruct message from buffer + // 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); - + 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); + 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); - _mavlink_resend_uart(_channel, &msg); + 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 _mission_manager; - delete _subscribe_to_stream; _subscribe_to_stream = nullptr; @@ -1576,6 +1566,7 @@ Mavlink::task_main(int argc, char *argv[]) message_buffer_destroy(); pthread_mutex_destroy(&_message_buffer_mutex); } + /* destroy log buffer */ mavlink_logbuffer_destroy(&_logbuffer); @@ -1597,6 +1588,7 @@ int Mavlink::start_helper(int argc, char *argv[]) /* out of memory */ res = -ENOMEM; warnx("OUT OF MEM"); + } else { /* this will actually only return once MAVLink exits */ res = instance->task_main(argc, argv); @@ -1656,7 +1648,42 @@ Mavlink::start(int argc, char *argv[]) void Mavlink::display_status() { - warnx("running"); + + if (_rstatus.heartbeat_time > 0) { + printf("\tGCS heartbeat:\t%llu us ago\n", hrt_elapsed_time(&_rstatus.heartbeat_time)); + } + + 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 @@ -1744,8 +1771,8 @@ int mavlink_main(int argc, char *argv[]) } else if (!strcmp(argv[1], "stop-all")) { return Mavlink::destroy_all_instances(); - // } else if (!strcmp(argv[1], "status")) { - // mavlink::g_mavlink->status(); + } else if (!strcmp(argv[1], "status")) { + return Mavlink::get_status_all_instances(); } else if (!strcmp(argv[1], "stream")) { return Mavlink::stream_command(argc, argv); |