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+/****************************************************************************
+ *
+ * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_main.h
+ * MAVLink 1.0 protocol interface definition.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <nuttx/fs/fs.h>
+#include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
+#include <pthread.h>
+#include <mavlink/mavlink_log.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/mission.h>
+#include <uORB/topics/mission_result.h>
+
+#include "mavlink_bridge_header.h"
+#include "mavlink_orb_subscription.h"
+#include "mavlink_stream.h"
+#include "mavlink_messages.h"
+#include "mavlink_mission.h"
+
+
+class Mavlink
+{
+
+public:
+ /**
+ * Constructor
+ */
+ Mavlink();
+
+ /**
+ * Destructor, also kills the mavlinks task.
+ */
+ ~Mavlink();
+
+ /**
+ * Start the mavlink task.
+ *
+ * @return OK on success.
+ */
+ static int start(int argc, char *argv[]);
+
+ /**
+ * Display the mavlink status.
+ */
+ void display_status();
+
+ static int stream_command(int argc, char *argv[]);
+
+ static int instance_count();
+
+ static Mavlink *new_instance();
+
+ static Mavlink *get_instance(unsigned instance);
+
+ static Mavlink *get_instance_for_device(const char *device_name);
+
+ static int destroy_all_instances();
+
+ static bool instance_exists(const char *device_name, Mavlink *self);
+
+ static void forward_message(const mavlink_message_t *msg, Mavlink *self);
+
+ static int get_uart_fd(unsigned index);
+
+ int get_uart_fd();
+
+ /**
+ * Get the MAVLink system id.
+ *
+ * @return The system ID of this vehicle
+ */
+ int get_system_id();
+
+ /**
+ * Get the MAVLink component id.
+ *
+ * @return The component ID of this vehicle
+ */
+ int get_component_id();
+
+ const char *_device_name;
+
+ enum MAVLINK_MODE {
+ MAVLINK_MODE_NORMAL = 0,
+ MAVLINK_MODE_CUSTOM,
+ MAVLINK_MODE_CAMERA
+ };
+
+ void set_mode(enum MAVLINK_MODE);
+ enum MAVLINK_MODE get_mode() { return _mode; }
+
+ bool get_hil_enabled() { return _hil_enabled; }
+
+ bool get_use_hil_gps() { return _use_hil_gps; }
+
+ bool get_flow_control_enabled() { return _flow_control_enabled; }
+
+ bool get_forwarding_on() { return _forwarding_on; }
+
+ static int start_helper(int argc, char *argv[]);
+
+ /**
+ * Handle parameter related messages.
+ */
+ void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
+
+ void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
+
+ /**
+ * Enable / disable Hardware in the Loop simulation mode.
+ *
+ * @param hil_enabled The new HIL enable/disable state.
+ * @return OK if the HIL state changed, ERROR if the
+ * requested change could not be made or was
+ * redundant.
+ */
+ int set_hil_enabled(bool hil_enabled);
+
+ void send_message(const mavlink_message_t *msg);
+
+ void handle_message(const mavlink_message_t *msg);
+
+ MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
+
+ int get_instance_id();
+
+ /**
+ * Enable / disable hardware flow control.
+ *
+ * @param enabled True if hardware flow control should be enabled
+ */
+ int enable_flow_control(bool enabled);
+
+ mavlink_channel_t get_channel();
+
+ void configure_stream_threadsafe(const char *stream_name, float rate);
+
+ bool _task_should_exit; /**< if true, mavlink task should exit */
+
+ int get_mavlink_fd() { return _mavlink_fd; }
+
+ /**
+ * Send a status text with loglevel INFO
+ *
+ * @param string the message to send (will be capped by mavlink max string length)
+ */
+ int 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);
+
+ /**
+ * 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);
+
+ /**
+ * Send a status text with loglevel
+ *
+ * @param string the message to send (will be capped by mavlink max string length)
+ * @param severity the log level, one of
+ */
+ int send_statustext(unsigned severity, const char *string);
+ MavlinkStream * get_streams() const { return _streams; }
+
+ float get_rate_mult();
+
+ /* 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)); }
+
+ bool message_buffer_write(const void *ptr, int size);
+
+ void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
+ void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
+
+ /**
+ * Count a transmision error
+ */
+ void count_txerr();
+
+protected:
+ Mavlink *next;
+
+private:
+ int _instance_id;
+
+ int _mavlink_fd;
+ bool _task_running;
+
+ /* states */
+ bool _hil_enabled; /**< Hardware In the Loop mode */
+ bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
+ 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 */
+
+ MavlinkOrbSubscription *_subscriptions;
+ MavlinkStream *_streams;
+
+ MavlinkMissionManager *_mission_manager;
+
+ orb_advert_t _mission_pub;
+ int _mission_result_sub;
+ MAVLINK_MODE _mode;
+
+ mavlink_channel_t _channel;
+
+ struct mavlink_logbuffer _logbuffer;
+ unsigned int _total_counter;
+
+ pthread_t _receive_thread;
+
+ bool _verbose;
+ bool _forwarding_on;
+ bool _passing_on;
+ bool _ftp_on;
+ int _uart_fd;
+ int _baudrate;
+ int _datarate;
+
+ /**
+ * If the queue index is not at 0, the queue sending
+ * logic will send parameters from the current index
+ * to len - 1, the end of the param list.
+ */
+ unsigned int _mavlink_param_queue_index;
+
+ bool mavlink_link_termination_allowed;
+
+ char *_subscribe_to_stream;
+ float _subscribe_to_stream_rate;
+
+ 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;
+
+ bool _param_initialized;
+ param_t _param_system_id;
+ param_t _param_component_id;
+ param_t _param_system_type;
+ param_t _param_use_hil_gps;
+
+ 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);
+
+ /**
+ * 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);
+
+ /**
+ * Send one parameter identified by name.
+ *
+ * @param name The index of the parameter to send.
+ * @return zero on success, nonzero else.
+ */
+ int mavlink_pm_send_param_for_name(const char *name);
+
+ /**
+ * Send a queue of parameters, one parameter per function call.
+ *
+ * @return zero on success, nonzero on failure
+ */
+ int mavlink_pm_queued_send(void);
+
+ /**
+ * Start sending the parameter queue.
+ *
+ * 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()
+ */
+ 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);
+
+ int message_buffer_init(int size);
+
+ void message_buffer_destroy();
+
+ int message_buffer_count();
+
+ int message_buffer_is_empty();
+
+ int message_buffer_get_ptr(void **ptr, bool *is_part);
+
+ void message_buffer_mark_read(int n);
+
+ void pass_message(const mavlink_message_t *msg);
+
+ static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
+
+ /**
+ * Main mavlink task.
+ */
+ int task_main(int argc, char *argv[]);
+};