diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
| -rw-r--r-- | src/modules/mavlink/mavlink_main.h | 89 |
1 files changed, 42 insertions, 47 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 70d13acb0..1e2e94cef 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -58,7 +58,7 @@ #include "mavlink_stream.h" #include "mavlink_messages.h" #include "mavlink_mission.h" - +#include "mavlink_parameters.h" class Mavlink { @@ -160,7 +160,12 @@ public: */ int set_hil_enabled(bool hil_enabled); - void send_message(const mavlink_message_t *msg); + void send_message(const uint8_t msgid, const void *msg); + + /** + * Resend message as is, don't change sequence number and CRC. + */ + void resend_message(mavlink_message_t *msg); void handle_message(const mavlink_message_t *msg); @@ -188,29 +193,33 @@ public: * * @param string the message to send (will be capped by mavlink max string length) */ - int send_statustext_info(const char *string); + void send_statustext_info(const char *string); /** * Send a status text with loglevel CRITICAL * * @param string the message to send (will be capped by mavlink max string length) */ - int send_statustext_critical(const char *string); + void send_statustext_critical(const char *string); /** * Send a status text with loglevel EMERGENCY * * @param string the message to send (will be capped by mavlink max string length) */ - int send_statustext_emergency(const char *string); + void send_statustext_emergency(const char *string); /** - * Send a status text with loglevel + * Send a status text with loglevel, the difference from mavlink_log_xxx() is that message sent + * only on this mavlink connection. Useful for reporting communication specific, not system-wide info + * only to client interested in it. Message will be not sent immediately but queued in buffer as + * for mavlink_log_xxx(). * * @param string the message to send (will be capped by mavlink max string length) - * @param severity the log level, one of + * @param severity the log level */ - int send_statustext(unsigned severity, const char *string); + void send_statustext(unsigned char severity, const char *string); + MavlinkStream * get_streams() const { return _streams; } float get_rate_mult(); @@ -252,6 +261,8 @@ public: */ struct telemetry_status_s& get_rx_status() { return _rstatus; } + struct mavlink_logbuffer *get_logbuffer() { return &_logbuffer; } + protected: Mavlink *next; @@ -274,9 +285,8 @@ private: MavlinkStream *_streams; MavlinkMissionManager *_mission_manager; + MavlinkParametersManager *_parameters_manager; - orb_advert_t _mission_pub; - int _mission_result_sub; MAVLINK_MODE _mode; mavlink_channel_t _channel; @@ -292,7 +302,9 @@ private: bool _ftp_on; int _uart_fd; int _baudrate; - int _datarate; + int _datarate; ///< data rate for normal streams (attitude, position, etc.) + int _datarate_events; ///< data rate for params, waypoints, text messages + float _rate_mult; /** * If the queue index is not at 0, the queue sending @@ -307,6 +319,8 @@ private: float _subscribe_to_stream_rate; bool _flow_control_enabled; + uint64_t _last_write_success_time; + uint64_t _last_write_try_time; unsigned _bytes_tx; unsigned _bytes_txerr; @@ -328,6 +342,7 @@ private: mavlink_message_buffer _message_buffer; pthread_mutex_t _message_buffer_mutex; + pthread_mutex_t _send_mutex; bool _param_initialized; param_t _param_system_id; @@ -338,52 +353,27 @@ private: perf_counter_t _loop_perf; /**< loop performance counter */ perf_counter_t _txerr_perf; /**< TX error counter */ - /** - * Send one parameter. - * - * @param param The parameter id to send. - * @return zero on success, nonzero on failure. - */ - int mavlink_pm_send_param(param_t param); + void mavlink_update_system(); - /** - * Send one parameter identified by index. - * - * @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_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); /** - * Send one parameter identified by name. + * Get the free space in the transmit buffer * - * @param name The index of the parameter to send. - * @return zero on success, nonzero else. + * @return free space in the UART TX buffer */ - int mavlink_pm_send_param_for_name(const char *name); + unsigned get_free_tx_buf(); - /** - * Send a queue of parameters, one parameter per function call. - * - * @return zero on success, nonzero on failure - */ - int mavlink_pm_queued_send(void); + static unsigned int interval_from_rate(float rate); + + int configure_stream(const char *stream_name, const float rate); /** - * Start sending the parameter queue. + * Adjust the stream rates based on the current rate * - * This function will not directly send parameters, but instead - * activate the sending of one parameter on each call of - * mavlink_pm_queued_send(). - * @see mavlink_pm_queued_send() + * @param multiplier if greater than 1, the transmission rate will increase, if smaller than one decrease */ - void mavlink_pm_start_queued_send(); - - void mavlink_update_system(); - - int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); - - int configure_stream(const char *stream_name, const float rate); + void adjust_stream_rates(const float multiplier); int message_buffer_init(int size); @@ -399,6 +389,11 @@ private: void pass_message(const mavlink_message_t *msg); + /** + * Update rate mult so total bitrate will be equal to _datarate. + */ + void update_rate_mult(); + static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); /** |