diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 99 |
1 files changed, 75 insertions, 24 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 5710f0523..69b1a4284 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -83,6 +83,10 @@ #include "mavlink_rate_limiter.h" #include "mavlink_commands.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 @@ -114,6 +118,7 @@ static uint64_t last_write_try_times[6] = {0}; void mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) { + Mavlink *instance; switch (channel) { @@ -198,7 +203,7 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length ssize_t ret = write(uart, ch, desired); if (ret != desired) { - warnx("TX FAIL"); + // XXX overflow perf } else { last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel]; } @@ -230,6 +235,7 @@ Mavlink::Mavlink() : _verbose(false), _forwarding_on(false), _passing_on(false), + _ftp_on(false), _uart_fd(-1), _mavlink_param_queue_index(0), _subscribe_to_stream(nullptr), @@ -459,7 +465,7 @@ Mavlink::get_instance_id() return _instance_id; } -mavlink_channel_t +const mavlink_channel_t Mavlink::get_channel() { return _channel; @@ -537,6 +543,16 @@ void Mavlink::mavlink_update_system(void) _use_hil_gps = (bool)use_hil_gps; } +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 */ @@ -1631,11 +1647,21 @@ Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) 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); - return (_message_buffer.data == 0) ? ERROR : OK; + + int ret; + if (_message_buffer.data == 0) { + ret = ERROR; + _message_buffer.size = 0; + } else { + ret = OK; + } + + return ret; } void @@ -1763,7 +1789,7 @@ Mavlink::task_main(int argc, char *argv[]) * set error flag instead */ bool err_flag = false; - while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { + while ((ch = getopt(argc, argv, "b:r:d:m:fpvwx")) != EOF) { switch (ch) { case 'b': _baudrate = strtoul(optarg, NULL, 10); @@ -1819,6 +1845,10 @@ Mavlink::task_main(int argc, char *argv[]) _wait_to_transmit = true; break; + case 'x': + _ftp_on = true; + break; + default: err_flag = true; break; @@ -1884,9 +1914,12 @@ Mavlink::task_main(int argc, char *argv[]) mavlink_logbuffer_init(&_logbuffer, 5); /* if we are passing on mavlink messages, we need to prepare a buffer for this instance */ - if (_passing_on) { - /* initialize message buffer if multiplexing is on */ - if (OK != message_buffer_init(300)) { + 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 * MAVLINK_MAX_PACKET_LEN + 2)) { errx(1, "can't allocate message buffer, exiting"); } @@ -2049,32 +2082,50 @@ Mavlink::task_main(int argc, char *argv[]) } } - /* pass messages from other UARTs */ - if (_passing_on) { + /* pass messages from other UARTs or FTP worker */ + if (_passing_on || _ftp_on) { bool is_part; - void *read_ptr; + uint8_t *read_ptr; + uint8_t *write_ptr; - /* guard get ptr by mutex */ pthread_mutex_lock(&_message_buffer_mutex); - int available = message_buffer_get_ptr(&read_ptr, &is_part); + int available = message_buffer_get_ptr((void**)&read_ptr, &is_part); pthread_mutex_unlock(&_message_buffer_mutex); if (available > 0) { - /* write first part of buffer */ - _mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr); - message_buffer_mark_read(available); + // Reconstruct message from buffer + + mavlink_message_t msg; + write_ptr = (uint8_t*)&msg; + + // Pull a single message from the buffer + int 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) { - /* guard get ptr by mutex */ - pthread_mutex_lock(&_message_buffer_mutex); - available = message_buffer_get_ptr(&read_ptr, &is_part); - pthread_mutex_unlock(&_message_buffer_mutex); - - _mavlink_resend_uart(_channel, (const mavlink_message_t*)read_ptr); + 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); + + _mavlink_resend_uart(_channel, &msg); } } @@ -2124,7 +2175,7 @@ Mavlink::task_main(int argc, char *argv[]) /* close mavlink logging device */ close(_mavlink_fd); - if (_passing_on) { + if (_passing_on || _ftp_on) { message_buffer_destroy(); pthread_mutex_destroy(&_message_buffer_mutex); } @@ -2266,7 +2317,7 @@ Mavlink::stream(int argc, char *argv[]) static void usage() { - warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]"); + 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[]) |