diff options
Diffstat (limited to 'src/modules/mavlink_onboard/mavlink_receiver.c')
| -rw-r--r-- | src/modules/mavlink_onboard/mavlink_receiver.c | 344 |
1 files changed, 0 insertions, 344 deletions
diff --git a/src/modules/mavlink_onboard/mavlink_receiver.c b/src/modules/mavlink_onboard/mavlink_receiver.c deleted file mode 100644 index 4658bcc1d..000000000 --- a/src/modules/mavlink_onboard/mavlink_receiver.c +++ /dev/null @@ -1,344 +0,0 @@ -/**************************************************************************** - * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. - * Author: Lorenz Meier <lm@inf.ethz.ch> - * - * 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_receiver.c - * MAVLink protocol message receive and dispatch - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -/* XXX trim includes */ -#include <nuttx/config.h> -#include <unistd.h> -#include <pthread.h> -#include <stdio.h> -#include <math.h> -#include <stdbool.h> -#include <fcntl.h> -#include <mqueue.h> -#include <string.h> -#include "mavlink_bridge_header.h" -#include <drivers/drv_hrt.h> -#include <time.h> -#include <float.h> -#include <unistd.h> -#include <nuttx/sched.h> -#include <sys/prctl.h> -#include <termios.h> -#include <errno.h> -#include <stdlib.h> -#include <poll.h> - -#include <systemlib/param/param.h> -#include <systemlib/systemlib.h> - -#include "util.h" -#include "orb_topics.h" - -/* XXX should be in a header somewhere */ -pthread_t receive_start(int uart); - -static void handle_message(mavlink_message_t *msg); -static void *receive_thread(void *arg); - -static mavlink_status_t status; -static struct vehicle_vicon_position_s vicon_position; -static struct vehicle_command_s vcmd; -static struct offboard_control_setpoint_s offboard_control_sp; - -struct vehicle_global_position_s hil_global_pos; -struct vehicle_attitude_s hil_attitude; -orb_advert_t pub_hil_global_pos = -1; -orb_advert_t pub_hil_attitude = -1; - -static orb_advert_t cmd_pub = -1; -static orb_advert_t flow_pub = -1; - -static orb_advert_t offboard_control_sp_pub = -1; -static orb_advert_t vicon_position_pub = -1; - -extern bool gcs_link; - -static void -handle_message(mavlink_message_t *msg) -{ - if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) { - - mavlink_command_long_t cmd_mavlink; - mavlink_msg_command_long_decode(msg, &cmd_mavlink); - - if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid) - || (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) { - //check for MAVLINK terminate command - if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) { - /* This is the link shutdown command, terminate mavlink */ - warnx("terminating..."); - fflush(stdout); - usleep(50000); - - /* terminate other threads and this thread */ - thread_should_exit = true; - - } else { - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = cmd_mavlink.param1; - vcmd.param2 = cmd_mavlink.param2; - vcmd.param3 = cmd_mavlink.param3; - vcmd.param4 = cmd_mavlink.param4; - vcmd.param5 = cmd_mavlink.param5; - vcmd.param6 = cmd_mavlink.param6; - vcmd.param7 = cmd_mavlink.param7; - vcmd.command = cmd_mavlink.command; - vcmd.target_system = cmd_mavlink.target_system; - vcmd.target_component = cmd_mavlink.target_component; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = cmd_mavlink.confirmation; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - } - - /* publish */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - } - - if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) { - mavlink_optical_flow_t flow; - mavlink_msg_optical_flow_decode(msg, &flow); - - struct optical_flow_s f; - - f.timestamp = hrt_absolute_time(); - f.flow_raw_x = flow.flow_x; - f.flow_raw_y = flow.flow_y; - f.flow_comp_x_m = flow.flow_comp_m_x; - f.flow_comp_y_m = flow.flow_comp_m_y; - f.ground_distance_m = flow.ground_distance; - f.quality = flow.quality; - f.sensor_id = flow.sensor_id; - - /* check if topic is advertised */ - if (flow_pub <= 0) { - flow_pub = orb_advertise(ORB_ID(optical_flow), &f); - - } else { - /* publish */ - orb_publish(ORB_ID(optical_flow), flow_pub, &f); - } - - } - - if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) { - /* Set mode on request */ - mavlink_set_mode_t new_mode; - mavlink_msg_set_mode_decode(msg, &new_mode); - - /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */ - vcmd.param1 = new_mode.base_mode; - vcmd.param2 = new_mode.custom_mode; - vcmd.param3 = 0; - vcmd.param4 = 0; - vcmd.param5 = 0; - vcmd.param6 = 0; - vcmd.param7 = 0; - vcmd.command = MAV_CMD_DO_SET_MODE; - vcmd.target_system = new_mode.target_system; - vcmd.target_component = MAV_COMP_ID_ALL; - vcmd.source_system = msg->sysid; - vcmd.source_component = msg->compid; - vcmd.confirmation = 1; - - /* check if topic is advertised */ - if (cmd_pub <= 0) { - cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd); - - } else { - /* create command */ - orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd); - } - } - - /* Handle Vicon position estimates */ - if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) { - mavlink_vicon_position_estimate_t pos; - mavlink_msg_vicon_position_estimate_decode(msg, &pos); - - vicon_position.x = pos.x; - vicon_position.y = pos.y; - vicon_position.z = pos.z; - - if (vicon_position_pub <= 0) { - vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position); - - } else { - orb_publish(ORB_ID(vehicle_vicon_position), vicon_position_pub, &vicon_position); - } - } - - /* Handle quadrotor motor setpoints */ - - if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) { - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint; - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint); - - if (mavlink_system.sysid < 4) { - - /* switch to a receiving link mode */ - gcs_link = false; - - /* - * rate control mode - defined by MAVLink - */ - - uint8_t ml_mode = 0; - bool ml_armed = false; - - switch (quad_motors_setpoint.mode) { - case 0: - ml_armed = false; - break; - - case 1: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES; - ml_armed = true; - - break; - - case 2: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE; - ml_armed = true; - - break; - - case 3: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY; - break; - - case 4: - ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION; - break; - } - - offboard_control_sp.p1 = (float)quad_motors_setpoint.roll[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p2 = (float)quad_motors_setpoint.pitch[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p3 = (float)quad_motors_setpoint.yaw[mavlink_system.sysid - 1] / (float)INT16_MAX; - offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid - 1] / (float)UINT16_MAX; - - if (quad_motors_setpoint.thrust[mavlink_system.sysid - 1] == 0) { - ml_armed = false; - } - - offboard_control_sp.armed = ml_armed; - offboard_control_sp.mode = ml_mode; - - offboard_control_sp.timestamp = hrt_absolute_time(); - - /* check if topic has to be advertised */ - if (offboard_control_sp_pub <= 0) { - offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp); - - } else { - /* Publish */ - orb_publish(ORB_ID(offboard_control_setpoint), offboard_control_sp_pub, &offboard_control_sp); - } - } - } - -} - - -/** - * Receive data from UART. - */ -static void * -receive_thread(void *arg) -{ - int uart_fd = *((int *)arg); - - const int timeout = 1000; - uint8_t buf[32]; - - mavlink_message_t msg; - - prctl(PR_SET_NAME, "mavlink_onboard_rcv", getpid()); - - struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } }; - - ssize_t nread = 0; - - while (!thread_should_exit) { - if (poll(fds, 1, timeout) > 0) { - if (nread < sizeof(buf)) { - /* to avoid reading very small chunks wait for data before reading */ - usleep(1000); - } - - /* non-blocking read. read may return negative values */ - nread = read(uart_fd, buf, sizeof(buf)); - - /* if read failed, this loop won't execute */ - for (ssize_t i = 0; i < nread; i++) { - if (mavlink_parse_char(chan, buf[i], &msg, &status)) { - /* handle generic messages and commands */ - handle_message(&msg); - } - } - } - } - - return NULL; -} - -pthread_t -receive_start(int uart) -{ - pthread_attr_t receiveloop_attr; - pthread_attr_init(&receiveloop_attr); - - struct sched_param param; - param.sched_priority = SCHED_PRIORITY_MAX - 40; - (void)pthread_attr_setschedparam(&receiveloop_attr, ¶m); - - pthread_attr_setstacksize(&receiveloop_attr, 2048); - - pthread_t thread; - pthread_create(&thread, &receiveloop_attr, receive_thread, &uart); - return thread; -} |