diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.cpp')
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 226 |
1 files changed, 217 insertions, 9 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index 18df577fe..f4a4ce86c 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -81,6 +81,7 @@ #include "mavlink_messages.h" #include "mavlink_receiver.h" #include "mavlink_rate_limiter.h" +#include "mavlink_commands.h" /* oddly, ERROR is not defined for c++ */ #ifdef ERROR @@ -166,12 +167,12 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length int buf_free = 0; if (instance->get_flow_control_enabled() - && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { + && ioctl(uart, FIONWRITE, (unsigned long)&buf_free) == 0) { if (buf_free == 0) { if (last_write_times[(unsigned)channel] != 0 && - hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { + hrt_elapsed_time(&last_write_times[(unsigned)channel]) > 500 * 1000UL) { warnx("DISABLING HARDWARE FLOW CONTROL"); instance->enable_flow_control(false); @@ -185,12 +186,17 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length } } - ssize_t ret = write(uart, ch, desired); - - if (ret != desired) { - // XXX do something here, but change to using FIONWRITE and OS buf size for detection + /* If the wait until transmit flag is on, only transmit after we've received messages. + Otherwise, transmit all the time. */ + if (instance->should_transmit()) { + ssize_t ret = write(uart, ch, desired); + if (ret != desired) { + // XXX do something here, but change to using FIONWRITE and OS buf size for detection + } } + + } static void usage(void); @@ -203,14 +209,21 @@ Mavlink::Mavlink() : _task_running(false), _hil_enabled(false), _is_usb_uart(false), + _wait_to_transmit(false), + _received_messages(false), _main_loop_delay(1000), _subscriptions(nullptr), _streams(nullptr), _mission_pub(-1), + _verbose(false), + _forwarding_on(false), + _passing_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({}), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "mavlink")) @@ -261,7 +274,6 @@ Mavlink::Mavlink() : errx(1, "instance ID is out of range"); break; } - } Mavlink::~Mavlink() @@ -394,6 +406,18 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self) return false; } +void +Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self) +{ + + Mavlink *inst; + LL_FOREACH(_mavlink_instances, inst) { + if (inst != self) { + inst->pass_message(msg); + } + } +} + int Mavlink::get_uart_fd(unsigned index) { @@ -1617,6 +1641,125 @@ 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; +} + +void +Mavlink::message_buffer_destroy() +{ + _message_buffer.size = 0; + _message_buffer.write_ptr = 0; + _message_buffer.read_ptr = 0; + free(_message_buffer.data); +} + +int +Mavlink::message_buffer_count() +{ + int n = _message_buffer.write_ptr - _message_buffer.read_ptr; + + if (n < 0) { + n += _message_buffer.size; + } + + return n; +} + +int +Mavlink::message_buffer_is_empty() +{ + return _message_buffer.read_ptr == _message_buffer.write_ptr; +} + + +bool +Mavlink::message_buffer_write(void *ptr, int size) +{ + // bytes available to write + int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1; + + if (available < 0) { + available += _message_buffer.size; + } + + if (size > available) { + // buffer overflow + return false; + } + + char *c = (char *) ptr; + int n = _message_buffer.size - _message_buffer.write_ptr; // bytes to end of the buffer + + if (n < size) { + // message goes over end of the buffer + memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n); + _message_buffer.write_ptr = 0; + + } else { + n = 0; + } + + // now: n = bytes already written + int p = size - n; // number of bytes to write + memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p); + _message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size; + return true; +} + +int +Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part) +{ + // bytes available to read + int available = _message_buffer.write_ptr - _message_buffer.read_ptr; + + if (available == 0) { + return 0; // buffer is empty + } + + int n = 0; + + if (available > 0) { + // read pointer is before write pointer, all available bytes can be read + n = available; + *is_part = false; + + } else { + // read pointer is after write pointer, read bytes from read_ptr to end of the buffer + n = _message_buffer.size - _message_buffer.read_ptr; + *is_part = _message_buffer.write_ptr > 0; + } + + *ptr = &(_message_buffer.data[_message_buffer.read_ptr]); + return n; +} + +void +Mavlink::message_buffer_mark_read(int n) +{ + _message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size; +} + +void +Mavlink::pass_message(mavlink_message_t *msg) +{ + if (_passing_on) { + /* size is 8 bytes plus variable payload */ + int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len; + pthread_mutex_lock(&_message_buffer_mutex); + message_buffer_write(msg, size); + pthread_mutex_unlock(&_message_buffer_mutex); + } +} + + + +int Mavlink::task_main(int argc, char *argv[]) { int ch; @@ -1632,7 +1775,7 @@ Mavlink::task_main(int argc, char *argv[]) * set error flag instead */ bool err_flag = false; - while ((ch = getopt(argc, argv, "b:r:d:m:v")) != EOF) { + while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { switch (ch) { case 'b': _baudrate = strtoul(optarg, NULL, 10); @@ -1672,10 +1815,22 @@ Mavlink::task_main(int argc, char *argv[]) break; + case 'f': + _forwarding_on = true; + break; + + case 'p': + _passing_on = true; + break; + case 'v': _verbose = true; break; + case 'w': + _wait_to_transmit = true; + break; + default: err_flag = true; break; @@ -1740,6 +1895,17 @@ Mavlink::task_main(int argc, char *argv[]) /* initialize mavlink text message buffering */ 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(500)) { + errx(1, "can't allocate message buffer, exiting"); + } + + /* initialize message buffer mutex */ + pthread_mutex_init(&_message_buffer_mutex, NULL); + } + /* create the device node that's used for sending text log messages, etc. */ register_driver(MAVLINK_LOG_DEVICE, &fops, 0666, NULL); @@ -1766,6 +1932,8 @@ Mavlink::task_main(int argc, char *argv[]) struct vehicle_status_s *status = (struct vehicle_status_s *) status_sub->get_data(); + MavlinkCommandsStream commands_stream(this, _channel); + /* add default streams depending on mode and intervals depending on datarate */ float rate_mult = _datarate / 1000.0f; @@ -1783,6 +1951,8 @@ Mavlink::task_main(int argc, char *argv[]) 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); break; case MAVLINK_MODE_CAMERA: @@ -1826,6 +1996,9 @@ 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)) { @@ -1884,6 +2057,37 @@ Mavlink::task_main(int argc, char *argv[]) } } + /* pass messages from other UARTs */ + if (_passing_on) { + + bool is_part; + void *read_ptr; + + /* guard get ptr by mutex */ + pthread_mutex_lock(&_message_buffer_mutex); + int available = message_buffer_get_ptr(&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); + + /* 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); + message_buffer_mark_read(available); + } + } + } + + + perf_end(_loop_perf); } @@ -1928,6 +2132,10 @@ Mavlink::task_main(int argc, char *argv[]) /* close mavlink logging device */ close(_mavlink_fd); + if (_passing_on) { + message_buffer_destroy(); + pthread_mutex_destroy(&_message_buffer_mutex); + } /* destroy log buffer */ mavlink_logbuffer_destroy(&_logbuffer); @@ -2067,7 +2275,7 @@ 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] [-v]"); + warnx("usage: mavlink {start|stop-all|stream} [-d device] [-b baudrate] [-r rate] [-m mode] [-s stream] [-f] [-p] [-v] [-w]"); } int mavlink_main(int argc, char *argv[]) |