/**************************************************************************** * * 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.cpp * MAVLink 1.0 protocol implementation. * * @author Lorenz Meier * @author Julian Oes * @author Anton Babushkin */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include /* isinf / isnan checks */ #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "mavlink_bridge_header.h" #include "mavlink_main.h" #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 # undef ERROR #endif static const int ERROR = -1; #define DEFAULT_DEVICE_NAME "/dev/ttyS1" #define MAX_DATA_RATE 10000 // max data rate in bytes/s #define MAIN_LOOP_DELAY 10000 // 100 Hz @ 1000 bytes/s data rate static Mavlink *_mavlink_instances = nullptr; /* TODO: if this is a class member it crashes */ static struct file_operations fops; /** * mavlink app start / stop handling function * * @ingroup apps */ extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); static uint64_t last_write_times[6] = {0}; /* * Internal function to send the bytes through the right serial port */ void mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length) { Mavlink *instance; switch (channel) { case MAVLINK_COMM_0: instance = Mavlink::get_instance(0); break; case MAVLINK_COMM_1: instance = Mavlink::get_instance(1); break; case MAVLINK_COMM_2: instance = Mavlink::get_instance(2); break; case MAVLINK_COMM_3: instance = Mavlink::get_instance(3); break; #ifdef MAVLINK_COMM_4 case MAVLINK_COMM_4: instance = Mavlink::get_instance(4); break; #endif #ifdef MAVLINK_COMM_5 case MAVLINK_COMM_5: instance = Mavlink::get_instance(5); break; #endif #ifdef MAVLINK_COMM_6 case MAVLINK_COMM_6: instance = Mavlink::get_instance(6); break; #endif } /* no valid instance, bail */ if (!instance) { return; } int uart = instance->get_uart_fd(); ssize_t desired = (sizeof(uint8_t) * length); /* * Check if the OS buffer is full and disable HW * flow control if it continues to be full */ int buf_free = 0; if (instance->get_flow_control_enabled() && 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) { warnx("DISABLING HARDWARE FLOW CONTROL"); instance->enable_flow_control(false); } } else { /* apparently there is space left, although we might be * partially overflooding the buffer already */ last_write_times[(unsigned)channel] = hrt_absolute_time(); } } /* 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); Mavlink::Mavlink() : next(nullptr), _device_name(DEFAULT_DEVICE_NAME), _task_should_exit(false), _mavlink_fd(-1), _task_running(false), _hil_enabled(false), _use_hil_gps(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")) { _wpm = &_wpm_s; mission.count = 0; fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl; _instance_id = Mavlink::instance_count(); /* set channel according to instance id */ switch (_instance_id) { case 0: _channel = MAVLINK_COMM_0; break; case 1: _channel = MAVLINK_COMM_1; break; case 2: _channel = MAVLINK_COMM_2; break; case 3: _channel = MAVLINK_COMM_3; break; #ifdef MAVLINK_COMM_4 case 4: _channel = MAVLINK_COMM_4; break; #endif #ifdef MAVLINK_COMM_5 case 5: _channel = MAVLINK_COMM_5; break; #endif #ifdef MAVLINK_COMM_6 case 6: _channel = MAVLINK_COMM_6; break; #endif default: errx(1, "instance ID is out of range"); break; } } Mavlink::~Mavlink() { perf_free(_loop_perf); if (_task_running) { /* task wakes up every 10ms or so at the longest */ _task_should_exit = true; /* wait for a second for the task to quit at our request */ unsigned i = 0; do { /* wait 20ms */ usleep(20000); /* if we have given up, kill it */ if (++i > 50) { //TODO store main task handle in Mavlink instance to allow killing task //task_delete(_mavlink_task); break; } } while (_task_running); } LL_DELETE(_mavlink_instances, this); } void Mavlink::set_mode(enum MAVLINK_MODE mode) { _mode = mode; } int Mavlink::instance_count() { unsigned inst_index = 0; Mavlink *inst; LL_FOREACH(::_mavlink_instances, inst) { inst_index++; } return inst_index; } Mavlink * Mavlink::get_instance(unsigned instance) { Mavlink *inst; unsigned inst_index = 0; LL_FOREACH(::_mavlink_instances, inst) { if (instance == inst_index) { return inst; } inst_index++; } return nullptr; } Mavlink * Mavlink::get_instance_for_device(const char *device_name) { Mavlink *inst; LL_FOREACH(::_mavlink_instances, inst) { if (strcmp(inst->_device_name, device_name) == 0) { return inst; } } return nullptr; } int Mavlink::destroy_all_instances() { /* start deleting from the end */ Mavlink *inst_to_del = nullptr; Mavlink *next_inst = ::_mavlink_instances; unsigned iterations = 0; warnx("waiting for instances to stop"); while (next_inst != nullptr) { inst_to_del = next_inst; next_inst = inst_to_del->next; /* set flag to stop thread and wait for all threads to finish */ inst_to_del->_task_should_exit = true; while (inst_to_del->_task_running) { printf("."); fflush(stdout); usleep(10000); iterations++; if (iterations > 1000) { warnx("ERROR: Couldn't stop all mavlink instances."); return ERROR; } } } printf("\n"); warnx("all instances stopped"); return OK; } bool Mavlink::instance_exists(const char *device_name, Mavlink *self) { Mavlink *inst = ::_mavlink_instances; while (inst != nullptr) { /* don't compare with itself */ if (inst != self && !strcmp(device_name, inst->_device_name)) { return true; } inst = inst->next; } 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) { Mavlink *inst = get_instance(index); if (inst) { return inst->get_uart_fd(); } return -1; } int Mavlink::get_uart_fd() { return _uart_fd; } int Mavlink::get_instance_id() { return _instance_id; } mavlink_channel_t Mavlink::get_channel() { return _channel; } /**************************************************************************** * MAVLink text message logger ****************************************************************************/ int Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) { switch (cmd) { case (int)MAVLINK_IOC_SEND_TEXT_INFO: case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { const char *txt = (const char *)arg; // printf("logmsg: %s\n", txt); struct mavlink_logmessage msg; strncpy(msg.text, txt, sizeof(msg.text)); Mavlink *inst; LL_FOREACH(_mavlink_instances, inst) { if (!inst->_task_should_exit) { mavlink_logbuffer_write(&inst->_logbuffer, &msg); inst->_total_counter++; } } return OK; } default: return ENOTTY; } } void Mavlink::mavlink_update_system(void) { static bool initialized = false; static param_t param_system_id; static param_t param_component_id; static param_t param_system_type; static param_t param_use_hil_gps; if (!initialized) { param_system_id = param_find("MAV_SYS_ID"); param_component_id = param_find("MAV_COMP_ID"); param_system_type = param_find("MAV_TYPE"); param_use_hil_gps = param_find("MAV_USEHILGPS"); initialized = true; } /* update system and component id */ int32_t system_id; param_get(param_system_id, &system_id); if (system_id > 0 && system_id < 255) { mavlink_system.sysid = system_id; } int32_t component_id; param_get(param_component_id, &component_id); if (component_id > 0 && component_id < 255) { mavlink_system.compid = component_id; } int32_t system_type; param_get(param_system_type, &system_type); if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { mavlink_system.type = system_type; } int32_t use_hil_gps; param_get(param_use_hil_gps, &use_hil_gps); _use_hil_gps = (bool)use_hil_gps; } int Mavlink::mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) { /* process baud rate */ int speed; switch (baud) { case 0: speed = B0; break; case 50: speed = B50; break; case 75: speed = B75; break; case 110: speed = B110; break; case 134: speed = B134; break; case 150: speed = B150; break; case 200: speed = B200; break; case 300: speed = B300; break; case 600: speed = B600; break; case 1200: speed = B1200; break; case 1800: speed = B1800; break; case 2400: speed = B2400; break; case 4800: speed = B4800; break; case 9600: speed = B9600; break; case 19200: speed = B19200; break; case 38400: speed = B38400; break; case 57600: speed = B57600; break; case 115200: speed = B115200; break; case 230400: speed = B230400; break; case 460800: speed = B460800; break; case 921600: speed = B921600; break; default: warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n", baud); return -EINVAL; } /* open uart */ _uart_fd = open(uart_name, O_RDWR | O_NOCTTY); if (_uart_fd < 0) { return _uart_fd; } /* Try to set baud rate */ struct termios uart_config; int termios_state; *is_usb = false; /* Back up the original uart configuration to restore it after exit */ if ((termios_state = tcgetattr(_uart_fd, uart_config_original)) < 0) { warnx("ERR GET CONF %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } /* Fill the struct for the new configuration */ tcgetattr(_uart_fd, &uart_config); /* Clear ONLCR flag (which appends a CR for every LF) */ uart_config.c_oflag &= ~ONLCR; /* USB serial is indicated by /dev/ttyACM0*/ if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state); close(_uart_fd); return -1; } } if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { warnx("ERR SET CONF %s\n", uart_name); close(_uart_fd); return -1; } if (!_is_usb_uart) { /* * Setup hardware flow control. If the port has no RTS pin this call will fail, * which is not an issue, but requires a separate call so we can fail silently. */ (void)tcgetattr(_uart_fd, &uart_config); uart_config.c_cflag |= CRTS_IFLOW; (void)tcsetattr(_uart_fd, TCSANOW, &uart_config); /* setup output flow control */ if (enable_flow_control(true)) { warnx("hardware flow control not supported"); } } return _uart_fd; } int Mavlink::enable_flow_control(bool enabled) { // We can't do this on USB - skip if (_is_usb_uart) { return OK; } struct termios uart_config; int ret = tcgetattr(_uart_fd, &uart_config); if (enabled) { uart_config.c_cflag |= CRTSCTS; } else { uart_config.c_cflag &= ~CRTSCTS; } ret = tcsetattr(_uart_fd, TCSANOW, &uart_config); if (!ret) { _flow_control_enabled = enabled; } return ret; } int Mavlink::set_hil_enabled(bool hil_enabled) { int ret = OK; /* enable HIL */ if (hil_enabled && !_hil_enabled) { _hil_enabled = true; float rate_mult = _datarate / 1000.0f; configure_stream("HIL_CONTROLS", 15.0f * rate_mult); } /* disable HIL */ if (!hil_enabled && _hil_enabled) { _hil_enabled = false; configure_stream("HIL_CONTROLS", 0.0f); } else { ret = ERROR; } return ret; } extern mavlink_system_t mavlink_system; int Mavlink::mavlink_pm_queued_send() { if (_mavlink_param_queue_index < param_count()) { mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index)); _mavlink_param_queue_index++; return 0; } else { return 1; } } void Mavlink::mavlink_pm_start_queued_send() { _mavlink_param_queue_index = 0; } int Mavlink::mavlink_pm_send_param_for_index(uint16_t index) { return mavlink_pm_send_param(param_for_index(index)); } int Mavlink::mavlink_pm_send_param_for_name(const char *name) { return mavlink_pm_send_param(param_find(name)); } int Mavlink::mavlink_pm_send_param(param_t param) { if (param == PARAM_INVALID) { return 1; } /* buffers for param transmission */ static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; float val_buf; static mavlink_message_t tx_msg; /* query parameter type */ param_type_t type = param_type(param); /* copy parameter name */ strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); /* * Map onboard parameter type to MAVLink type, * endianess matches (both little endian) */ uint8_t mavlink_type; if (type == PARAM_TYPE_INT32) { mavlink_type = MAVLINK_TYPE_INT32_T; } else if (type == PARAM_TYPE_FLOAT) { mavlink_type = MAVLINK_TYPE_FLOAT; } else { mavlink_type = MAVLINK_TYPE_FLOAT; } /* * get param value, since MAVLink encodes float and int params in the same * space during transmission, copy param onto float val_buf */ int ret; if ((ret = param_get(param, &val_buf)) != OK) { return ret; } mavlink_msg_param_value_pack_chan(mavlink_system.sysid, mavlink_system.compid, _channel, &tx_msg, name_buf, val_buf, mavlink_type, param_count(), param_get_index(param)); mavlink_missionlib_send_message(&tx_msg); return OK; } void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { /* Start sending parameters */ mavlink_pm_start_queued_send(); mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); } break; case MAVLINK_MSG_ID_PARAM_SET: { /* Handle parameter setting */ if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { mavlink_param_set_t mavlink_param_set; mavlink_msg_param_set_decode(msg, &mavlink_param_set); if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { /* local name buffer to enforce null-terminated string */ char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); /* enforce null termination */ name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; /* attempt to find parameter, set and send it */ param_t param = param_find(name); if (param == PARAM_INVALID) { char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; sprintf(buf, "[mavlink pm] unknown: %s", name); mavlink_missionlib_send_gcs_string(buf); } else { /* set and send parameter */ param_set(param, &(mavlink_param_set.param_value)); mavlink_pm_send_param(param); } } } } break; case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { mavlink_param_request_read_t mavlink_param_request_read; mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { /* when no index is given, loop through string ids and compare them */ if (mavlink_param_request_read.param_index == -1) { /* local name buffer to enforce null-terminated string */ char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); /* enforce null termination */ name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; /* attempt to find parameter and send it */ mavlink_pm_send_param_for_name(name); } else { /* when index is >= 0, send this parameter again */ mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); } } } break; } } void Mavlink::publish_mission() { /* Initialize mission publication if necessary */ if (_mission_pub < 0) { _mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission); } else { orb_publish(ORB_ID(offboard_mission), _mission_pub, &mission); } } int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) { /* only support global waypoints for now */ switch (mavlink_mission_item->frame) { case MAV_FRAME_GLOBAL: mission_item->lat = (double)mavlink_mission_item->x; mission_item->lon = (double)mavlink_mission_item->y; mission_item->altitude = mavlink_mission_item->z; mission_item->altitude_is_relative = false; break; case MAV_FRAME_GLOBAL_RELATIVE_ALT: mission_item->lat = (double)mavlink_mission_item->x; mission_item->lon = (double)mavlink_mission_item->y; mission_item->altitude = mavlink_mission_item->z; mission_item->altitude_is_relative = true; break; case MAV_FRAME_LOCAL_NED: case MAV_FRAME_LOCAL_ENU: return MAV_MISSION_UNSUPPORTED_FRAME; case MAV_FRAME_MISSION: default: return MAV_MISSION_ERROR; } switch (mavlink_mission_item->command) { case MAV_CMD_NAV_TAKEOFF: mission_item->pitch_min = mavlink_mission_item->param2; break; default: mission_item->acceptance_radius = mavlink_mission_item->param2; break; } mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F); mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command; mission_item->time_inside = mavlink_mission_item->param1; mission_item->autocontinue = mavlink_mission_item->autocontinue; // mission_item->index = mavlink_mission_item->seq; mission_item->origin = ORIGIN_MAVLINK; return OK; } int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) { if (mission_item->altitude_is_relative) { mavlink_mission_item->frame = MAV_FRAME_GLOBAL; } else { mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; } switch (mission_item->nav_cmd) { case NAV_CMD_TAKEOFF: mavlink_mission_item->param2 = mission_item->pitch_min; break; default: mavlink_mission_item->param2 = mission_item->acceptance_radius; break; } mavlink_mission_item->x = (float)mission_item->lat; mavlink_mission_item->y = (float)mission_item->lon; mavlink_mission_item->z = mission_item->altitude; mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F; mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction; mavlink_mission_item->command = mission_item->nav_cmd; mavlink_mission_item->param1 = mission_item->time_inside; mavlink_mission_item->autocontinue = mission_item->autocontinue; // mavlink_mission_item->seq = mission_item->index; return OK; } void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) { state->size = 0; state->max_size = MAVLINK_WPM_MAX_WP_COUNT; state->current_state = MAVLINK_WPM_STATE_IDLE; state->current_partner_sysid = 0; state->current_partner_compid = 0; state->timestamp_lastaction = 0; state->timestamp_last_send_setpoint = 0; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; state->current_dataman_id = 0; } /* * @brief Sends an waypoint ack message */ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) { mavlink_message_t msg; mavlink_mission_ack_t wpa; wpa.target_system = sysid; wpa.target_component = compid; wpa.type = type; mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } } /* * @brief Broadcasts the new target waypoint and directs the MAV to fly there * * This function broadcasts its new active waypoint sequence number and * sends a message to the controller, advising it to fly to the coordinates * of the waypoint with a given orientation * * @param seq The waypoint sequence number the MAV should fly to. */ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) { if (seq < _wpm->size) { mavlink_message_t msg; mavlink_mission_current_t wpc; wpc.seq = seq; mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); } else if (seq == 0 && _wpm->size == 0) { /* don't broadcast if no WPs */ } else { mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); if (_verbose) { warnx("ERROR: index out of bounds"); } } } void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) { mavlink_message_t msg; mavlink_mission_count_t wpc; wpc.target_system = sysid; wpc.target_component = compid; wpc.count = mission.count; mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } } void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) { struct mission_item_s mission_item; ssize_t len = sizeof(struct mission_item_s); dm_item_t dm_current; if (_wpm->current_dataman_id == 0) { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; } else { dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; } if (dm_read(dm_current, seq, &mission_item, len) == len) { /* create mission_item_s from mavlink_mission_item_t */ mavlink_mission_item_t wp; map_mission_item_to_mavlink_mission_item(&mission_item, &wp); mavlink_message_t msg; wp.target_system = sysid; wp.target_component = compid; wp.seq = seq; mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } } else { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); if (_verbose) { warnx("ERROR: could not read WP%u", seq); } } } void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) { if (seq < _wpm->max_size) { mavlink_message_t msg; mavlink_mission_request_t wpr; wpr.target_system = sysid; wpr.target_component = compid; wpr.seq = seq; mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } } else { mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); if (_verbose) { warnx("ERROR: Waypoint index exceeds list capacity"); } } } /* * @brief emits a message that a waypoint reached * * This function broadcasts a message that a waypoint is reached. * * @param seq The waypoint sequence number the MAV has reached. */ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) { mavlink_message_t msg; mavlink_mission_item_reached_t wp_reached; wp_reached.seq = seq; mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } } void Mavlink::mavlink_waypoint_eventloop(uint64_t now) { /* check for timed-out operations */ if (now - _wpm->timestamp_lastaction > _wpm->timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { mavlink_missionlib_send_gcs_string("Operation timeout"); if (_verbose) { warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); } _wpm->current_state = MAVLINK_WPM_STATE_IDLE; _wpm->current_partner_sysid = 0; _wpm->current_partner_compid = 0; } } void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) { uint64_t now = hrt_absolute_time(); switch (msg->msgid) { case MAVLINK_MSG_ID_MISSION_ACK: { mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { _wpm->timestamp_lastaction = now; if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (_wpm->current_wp_id == _wpm->size - 1) { _wpm->current_state = MAVLINK_WPM_STATE_IDLE; _wpm->current_wp_id = 0; } } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); if (_verbose) { warnx("REJ. WP CMD: curr partner id mismatch"); } } break; } case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { mavlink_mission_set_current_t wpc; mavlink_msg_mission_set_current_decode(msg, &wpc); if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { _wpm->timestamp_lastaction = now; if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.seq < _wpm->size) { mission.current_index = wpc.seq; publish_mission(); /* don't answer yet, wait for the navigator to respond, then publish the mission_result */ // mavlink_wpm_send_waypoint_current(wpc.seq); } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); if (_verbose) { warnx("IGN WP CURR CMD: Not in list"); } } } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); if (_verbose) { warnx("IGN WP CURR CMD: Busy"); } } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); if (_verbose) { warnx("REJ. WP CMD: target id mismatch"); } } break; } case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { mavlink_mission_request_list_t wprl; mavlink_msg_mission_request_list_decode(msg, &wprl); if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { _wpm->timestamp_lastaction = now; if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (_wpm->size > 0) { _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; _wpm->current_wp_id = 0; _wpm->current_partner_sysid = msg->sysid; _wpm->current_partner_compid = msg->compid; } else { if (_verbose) { warnx("No waypoints send"); } } _wpm->current_count = _wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count); } else { mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); if (_verbose) { warnx("IGN REQUEST LIST: Busy"); } } } else { mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); if (_verbose) { warnx("REJ. REQUEST LIST: target id mismatch"); } } break; } case MAVLINK_MSG_ID_MISSION_REQUEST: { mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { _wpm->timestamp_lastaction = now; if (wpr.seq >= _wpm->size) { mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); } break; } /* * Ensure that we are in the correct state and that the first request has id 0 * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) */ if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpr.seq == 0) { if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); if (_verbose) { warnx("REJ. WP CMD: First id != 0"); } break; } } else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpr.seq == _wpm->current_wp_id) { if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } } else if (wpr.seq == _wpm->current_wp_id + 1) { if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, _wpm->current_wp_id, _wpm->current_wp_id + 1); } break; } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", _wpm->current_state); } break; } _wpm->current_wp_id = wpr.seq; _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; if (wpr.seq < _wpm->size) { mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } else { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); if (_verbose) { warnx("ERROR: Waypoint %u out of bounds", wpr.seq); } } } else { //we we're target but already communicating with someone else if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) { mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } } break; } case MAVLINK_MSG_ID_MISSION_COUNT: { mavlink_mission_count_t wpc; mavlink_msg_mission_count_decode(msg, &wpc); if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { _wpm->timestamp_lastaction = now; if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.count > NUM_MISSIONS_SUPPORTED) { if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); } mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE); break; } if (wpc.count == 0) { mavlink_missionlib_send_gcs_string("COUNT 0"); if (_verbose) { warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); } break; } if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); } _wpm->current_state = MAVLINK_WPM_STATE_GETLIST; _wpm->current_wp_id = 0; _wpm->current_partner_sysid = msg->sysid; _wpm->current_partner_compid = msg->compid; _wpm->current_count = wpc.count; mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { if (_wpm->current_wp_id == 0) { mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", _wpm->current_wp_id); } } } else { mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); if (_verbose) { warnx("IGN MISSION_COUNT CMD: Busy"); } } } else { mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); if (_verbose) { warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } } break; case MAVLINK_MSG_ID_MISSION_ITEM: { mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) { _wpm->timestamp_lastaction = now; /* * ensure that we are in the correct state and that the first waypoint has id 0 * and the following waypoints have the correct ids */ if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { if (wp.seq != 0) { mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); break; } } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (wp.seq >= _wpm->current_count) { mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); break; } if (wp.seq != _wpm->current_wp_id) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, _wpm->current_wp_id); mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); break; } } _wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; struct mission_item_s mission_item; int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); if (ret != OK) { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret); _wpm->current_state = MAVLINK_WPM_STATE_IDLE; break; } ssize_t len = sizeof(struct mission_item_s); dm_item_t dm_next; if (_wpm->current_dataman_id == 0) { dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; mission.dataman_id = 1; } else { dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; mission.dataman_id = 0; } if (dm_write(dm_next, wp.seq, DM_PERSIST_IN_FLIGHT_RESET, &mission_item, len) != len) { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); _wpm->current_state = MAVLINK_WPM_STATE_IDLE; break; } // if (wp.current) { // warnx("current is: %d", wp.seq); // mission.current_index = wp.seq; // } // XXX ignore current set mission.current_index = -1; _wpm->current_wp_id = wp.seq + 1; if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); } mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); mission.count = _wpm->current_count; publish_mission(); _wpm->current_dataman_id = mission.dataman_id; _wpm->size = _wpm->current_count; _wpm->current_state = MAVLINK_WPM_STATE_IDLE; } else { mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); if (_verbose) { warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } break; } case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { mavlink_mission_clear_all_t wpca; mavlink_msg_mission_clear_all_decode(msg, &wpca); if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { _wpm->timestamp_lastaction = now; _wpm->size = 0; /* prepare mission topic */ mission.dataman_id = -1; mission.count = 0; mission.current_index = -1; publish_mission(); if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); } else { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); } } else { mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); } } } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) { mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); if (_verbose) { warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } break; } default: { /* other messages might should get caught by mavlink and others */ break; } } } void Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg) { uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg); mavlink_send_uart_bytes(_channel, missionlib_msg_buf, len); } int Mavlink::mavlink_missionlib_send_gcs_string(const char *string) { const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN; mavlink_statustext_t statustext; int i = 0; while (i < len - 1) { statustext.text[i] = string[i]; if (string[i] == '\0') { break; } i++; } if (i > 1) { /* Enforce null termination */ statustext.text[i] = '\0'; mavlink_msg_statustext_send(_channel, statustext.severity, statustext.text); return OK; } else { return 1; } } MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic) { /* check if already subscribed to this topic */ MavlinkOrbSubscription *sub; LL_FOREACH(_subscriptions, sub) { if (sub->get_topic() == topic) { /* already subscribed */ return sub; } } /* add new subscription */ MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic); LL_APPEND(_subscriptions, sub_new); return sub_new; } int Mavlink::configure_stream(const char *stream_name, const float rate) { /* calculate interval in us, 0 means disabled stream */ unsigned int interval = (rate > 0.0f) ? (1000000.0f / rate) : 0; /* search if stream exists */ MavlinkStream *stream; LL_FOREACH(_streams, stream) { if (strcmp(stream_name, stream->get_name()) == 0) { if (interval > 0) { /* set new interval */ stream->set_interval(interval); } else { /* delete stream */ LL_DELETE(_streams, stream); delete stream; } return OK; } } if (interval > 0) { /* search for stream with specified name in supported streams list */ for (unsigned int i = 0; streams_list[i] != nullptr; i++) { if (strcmp(stream_name, streams_list[i]->get_name()) == 0) { /* create new instance */ stream = streams_list[i]->new_instance(); stream->set_channel(get_channel()); stream->set_interval(interval); stream->subscribe(this); LL_APPEND(_streams, stream); return OK; } } } else { /* stream not found, nothing to disable */ return OK; } return ERROR; } void Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate) { /* orb subscription must be done from the main thread, * set _subscribe_to_stream and _subscribe_to_stream_rate fields * which polled in mavlink main loop */ if (!_task_should_exit) { /* wait for previous subscription completion */ while (_subscribe_to_stream != nullptr) { usleep(MAIN_LOOP_DELAY / 2); } /* copy stream name */ unsigned n = strlen(stream_name) + 1; char *s = new char[n]; strcpy(s, stream_name); /* set subscription task */ _subscribe_to_stream_rate = rate; _subscribe_to_stream = s; /* wait for subscription */ do { usleep(MAIN_LOOP_DELAY / 2); } while (_subscribe_to_stream != nullptr); } } 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; _baudrate = 57600; _datarate = 0; _mode = MAVLINK_MODE_NORMAL; /* work around some stupidity in task_create's argv handling */ argc -= 2; argv += 2; /* don't exit from getopt loop to leave getopt global variables in consistent state, * set error flag instead */ bool err_flag = false; while ((ch = getopt(argc, argv, "b:r:d:m:fpvw")) != EOF) { switch (ch) { case 'b': _baudrate = strtoul(optarg, NULL, 10); if (_baudrate < 9600 || _baudrate > 921600) { warnx("invalid baud rate '%s'", optarg); err_flag = true; } break; case 'r': _datarate = strtoul(optarg, NULL, 10); if (_datarate < 10 || _datarate > MAX_DATA_RATE) { warnx("invalid data rate '%s'", optarg); err_flag = true; } break; case 'd': _device_name = optarg; break; // case 'e': // mavlink_link_termination_allowed = true; // break; case 'm': if (strcmp(optarg, "custom") == 0) { _mode = MAVLINK_MODE_CUSTOM; } else if (strcmp(optarg, "camera") == 0) { _mode = MAVLINK_MODE_CAMERA; } 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; } } if (err_flag) { usage(); return ERROR; } if (_datarate == 0) { /* convert bits to bytes and use 1/2 of bandwidth by default */ _datarate = _baudrate / 20; } if (_datarate > MAX_DATA_RATE) { _datarate = MAX_DATA_RATE; } if (Mavlink::instance_exists(_device_name, this)) { warnx("mavlink instance for %s already running", _device_name); return ERROR; } /* inform about mode */ switch (_mode) { case MAVLINK_MODE_NORMAL: warnx("mode: NORMAL"); break; case MAVLINK_MODE_CUSTOM: warnx("mode: CUSTOM"); break; case MAVLINK_MODE_CAMERA: warnx("mode: CAMERA"); break; default: warnx("ERROR: Unknown mode"); break; } _mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER; warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate); /* flush stdout in case MAVLink is about to take it over */ fflush(stdout); struct termios uart_config_original; /* default values for arguments */ _uart_fd = mavlink_open_uart(_baudrate, _device_name, &uart_config_original, &_is_usb_uart); if (_uart_fd < 0) { warn("could not open %s", _device_name); return ERROR; } /* 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); /* initialize logging device */ _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); /* Initialize system properties */ mavlink_update_system(); /* start the MAVLink receiver */ _receive_thread = MavlinkReceiver::receive_start(this); /* initialize waypoint manager */ mavlink_wpm_init(_wpm); int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); struct mission_result_s mission_result; memset(&mission_result, 0, sizeof(mission_result)); _task_running = true; MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update)); MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status)); 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; configure_stream("HEARTBEAT", 1.0f); switch (_mode) { case MAVLINK_MODE_NORMAL: configure_stream("SYS_STATUS", 1.0f); configure_stream("GPS_GLOBAL_ORIGIN", 0.5f); configure_stream("HIGHRES_IMU", 1.0f * rate_mult); configure_stream("ATTITUDE", 10.0f * rate_mult); configure_stream("VFR_HUD", 10.0f * rate_mult); configure_stream("GPS_RAW_INT", 1.0f * rate_mult); configure_stream("GLOBAL_POSITION_INT", 3.0f * rate_mult); 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); configure_stream("DISTANCE_SENSOR", 0.5f); break; case MAVLINK_MODE_CAMERA: configure_stream("SYS_STATUS", 1.0f); configure_stream("ATTITUDE", 15.0f * rate_mult); configure_stream("GLOBAL_POSITION_INT", 15.0f * rate_mult); configure_stream("CAMERA_CAPTURE", 1.0f); break; default: break; } /* don't send parameters on startup without request */ _mavlink_param_queue_index = param_count(); MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult); MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult); /* set main loop delay depending on data rate to minimize CPU overhead */ _main_loop_delay = MAIN_LOOP_DELAY / rate_mult; /* now the instance is fully initialized and we can bump the instance count */ LL_APPEND(_mavlink_instances, this); while (!_task_should_exit) { /* main loop */ usleep(_main_loop_delay); perf_begin(_loop_perf); hrt_abstime t = hrt_absolute_time(); if (param_sub->update(t)) { /* parameters updated */ mavlink_update_system(); } if (status_sub->update(t)) { /* switch HIL mode if required */ 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)) { if (_subscribe_to_stream_rate > 0.0f) { warnx("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name, _subscribe_to_stream_rate); } else { warnx("stream %s on device %s disabled", _subscribe_to_stream, _device_name); } } else { warnx("stream %s not found", _subscribe_to_stream, _device_name); } delete _subscribe_to_stream; _subscribe_to_stream = nullptr; } /* update streams */ MavlinkStream *stream; LL_FOREACH(_streams, stream) { stream->update(t); } bool updated; orb_check(mission_result_sub, &updated); if (updated) { orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); if (_verbose) { warnx("Got mission result: new current: %d", mission_result.index_current_mission); } if (mission_result.mission_reached) { mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); } mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); } else { if (slow_rate_limiter.check(t)) { mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); } } if (fast_rate_limiter.check(t)) { mavlink_pm_queued_send(); mavlink_waypoint_eventloop(hrt_absolute_time()); if (!mavlink_logbuffer_is_empty(&_logbuffer)) { struct mavlink_logmessage msg; int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg); if (lb_ret == OK) { mavlink_missionlib_send_gcs_string(msg.text); } } } /* 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); } delete _subscribe_to_stream; _subscribe_to_stream = nullptr; /* delete streams */ MavlinkStream *stream_to_del = nullptr; MavlinkStream *stream_next = _streams; while (stream_next != nullptr) { stream_to_del = stream_next; stream_next = stream_to_del->next; delete stream_to_del; } _streams = nullptr; /* delete subscriptions */ MavlinkOrbSubscription *sub_to_del = nullptr; MavlinkOrbSubscription *sub_next = _subscriptions; while (sub_next != nullptr) { sub_to_del = sub_next; sub_next = sub_to_del->next; delete sub_to_del; } _subscriptions = nullptr; warnx("waiting for UART receive thread"); /* wait for threads to complete */ pthread_join(_receive_thread, NULL); /* reset the UART flags to original state */ tcsetattr(_uart_fd, TCSANOW, &uart_config_original); /* close UART */ close(_uart_fd); /* 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); warnx("exiting"); _task_running = false; return OK; } int Mavlink::start_helper(int argc, char *argv[]) { /* create the instance in task context */ Mavlink *instance = new Mavlink(); /* this will actually only return once MAVLink exits */ int res = instance->task_main(argc, argv); /* delete instance on main thread end */ delete instance; return res; } int Mavlink::start(int argc, char *argv[]) { // Wait for the instance count to go up one // before returning to the shell int ic = Mavlink::instance_count(); // Instantiate thread char buf[24]; sprintf(buf, "mavlink_if%d", ic); // This is where the control flow splits // between the starting task and the spawned // task - start_helper() only returns // when the started task exits. task_spawn_cmd(buf, SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 2048, (main_t)&Mavlink::start_helper, (const char **)argv); // Ensure that this shell command // does not return before the instance // is fully initialized. As this is also // the only path to create a new instance, // this is effectively a lock on concurrent // instance starting. XXX do a real lock. // Sleep 500 us between each attempt const unsigned sleeptime = 500; // Wait 100 ms max for the startup. const unsigned limit = 100 * 1000 / sleeptime; unsigned count = 0; while (ic == Mavlink::instance_count() && count < limit) { ::usleep(sleeptime); count++; } return OK; } void Mavlink::status() { warnx("running"); } int Mavlink::stream(int argc, char *argv[]) { const char *device_name = DEFAULT_DEVICE_NAME; float rate = -1.0f; const char *stream_name = nullptr; int ch; argc -= 2; argv += 2; /* don't exit from getopt loop to leave getopt global variables in consistent state, * set error flag instead */ bool err_flag = false; int i = 0; while (i < argc) { if (0 == strcmp(argv[i], "-r") && i < argc - 1) { rate = strtod(argv[i + 1], nullptr); if (rate < 0.0f) { err_flag = true; } i++; } else if (0 == strcmp(argv[i], "-d") && i < argc - 1) { device_name = argv[i + 1]; i++; } else if (0 == strcmp(argv[i], "-s") && i < argc - 1) { stream_name = argv[i + 1]; i++; } else { err_flag = true; } i++; } if (!err_flag && rate >= 0.0 && stream_name != nullptr) { Mavlink *inst = get_instance_for_device(device_name); if (inst != nullptr) { inst->configure_stream_threadsafe(stream_name, rate); } else { // If the link is not running we should complain, but not fall over // because this is so easy to get wrong and not fatal. Warning is sufficient. errx(0, "mavlink for device %s is not running", device_name); } } else { errx(1, "usage: mavlink stream [-d device] -s stream -r rate"); } return OK; } static void usage() { 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[]) { if (argc < 2) { usage(); exit(1); } if (!strcmp(argv[1], "start")) { return Mavlink::start(argc, argv); } else if (!strcmp(argv[1], "stop")) { warnx("mavlink stop is deprecated, use stop-all instead"); usage(); exit(1); } else if (!strcmp(argv[1], "stop-all")) { return Mavlink::destroy_all_instances(); // } else if (!strcmp(argv[1], "status")) { // mavlink::g_mavlink->status(); } else if (!strcmp(argv[1], "stream")) { return Mavlink::stream(argc, argv); } else { usage(); exit(1); } return 0; }