diff options
Diffstat (limited to 'src/modules/mavlink/mavlink_main.h')
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 48 |
1 files changed, 47 insertions, 1 deletions
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 5a118a0ad..66d82b471 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -138,6 +138,8 @@ public: static bool instance_exists(const char *device_name, Mavlink *self); + static void forward_message(mavlink_message_t *msg, Mavlink *self); + static int get_uart_fd(unsigned index); int get_uart_fd(); @@ -153,10 +155,12 @@ public: void set_mode(enum MAVLINK_MODE); enum MAVLINK_MODE get_mode() { return _mode; } - bool get_hil_enabled() { return _hil_enabled; }; + bool get_hil_enabled() { return _hil_enabled; } bool get_flow_control_enabled() { return _flow_control_enabled; } + bool get_forwarding_on() { return _forwarding_on; } + /** * Handle waypoint related messages. */ @@ -196,6 +200,16 @@ public: bool _task_should_exit; /**< if true, mavlink task should exit */ + int get_mavlink_fd() { return _mavlink_fd; } + + + /* Functions for waiting to start transmission until message received. */ + void set_has_received_messages(bool received_messages) { _received_messages = received_messages; } + bool get_has_received_messages() { return _received_messages; } + void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; } + bool get_wait_to_transmit() { return _wait_to_transmit; } + bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); } + protected: Mavlink *next; @@ -210,6 +224,8 @@ private: /* states */ bool _hil_enabled; /**< Hardware In the Loop mode */ bool _is_usb_uart; /**< Port is USB */ + bool _wait_to_transmit; /**< Wait to transmit until received messages. */ + bool _received_messages; /**< Whether we've received valid mavlink messages. */ unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */ @@ -234,6 +250,8 @@ private: mavlink_wpm_storage *_wpm; bool _verbose; + bool _forwarding_on; + bool _passing_on; int _uart_fd; int _baudrate; int _datarate; @@ -252,6 +270,18 @@ private: bool _flow_control_enabled; + struct mavlink_message_buffer { + int write_ptr; + int read_ptr; + int size; + char *data; + }; + mavlink_message_buffer _message_buffer; + + pthread_mutex_t _message_buffer_mutex; + + + /** * Send one parameter. * @@ -315,6 +345,22 @@ private: int configure_stream(const char *stream_name, const float rate); void configure_stream_threadsafe(const char *stream_name, const float rate); + int message_buffer_init(int size); + + void message_buffer_destroy(); + + int message_buffer_count(); + + int message_buffer_is_empty(); + + bool message_buffer_write(void *ptr, int size); + + int message_buffer_get_ptr(void **ptr, bool *is_part); + + void message_buffer_mark_read(int n); + + void pass_message(mavlink_message_t *msg); + static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); /** |