path: root/src/modules/mavlink/mavlink_main.h

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/**
 * @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 "mavlink_bridge_header.h"
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"

// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
	MAVLINK_WPM_STATE_IDLE = 0,
	MAVLINK_WPM_STATE_SENDLIST,
	MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
	MAVLINK_WPM_STATE_GETLIST,
	MAVLINK_WPM_STATE_GETLIST_GETWPS,
	MAVLINK_WPM_STATE_GETLIST_GOTALL,
	MAVLINK_WPM_STATE_ENUM_END
};

enum MAVLINK_WPM_CODES {
	MAVLINK_WPM_CODE_OK = 0,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
	MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
	MAVLINK_WPM_CODE_ENUM_END
};


#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000


struct mavlink_wpm_storage {
	uint16_t size;
	uint16_t max_size;
	enum MAVLINK_WPM_STATES current_state;
	int16_t current_wp_id;	///< Waypoint in current transmission
	uint16_t current_count;
	uint8_t current_partner_sysid;
	uint8_t current_partner_compid;
	uint64_t timestamp_lastaction;
	uint64_t timestamp_last_send_setpoint;
	uint64_t timestamp_last_send_request;
	uint32_t timeout;
	int current_dataman_id;
};


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(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; }

	/**
	 * Handle waypoint related messages.
	 */
	void			mavlink_wpm_message_handler(const mavlink_message_t *msg);

	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);

	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; }

	MavlinkStream * get_streams() const { return _streams; }


	/* 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(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;

	orb_advert_t		_mission_pub;
	struct mission_s	mission;
	MAVLINK_MODE		_mode;

	uint8_t			_mavlink_wpm_comp_id;
	mavlink_channel_t	_channel;

	struct mavlink_logbuffer _logbuffer;
	unsigned int		_total_counter;

	pthread_t		_receive_thread;

	/* Allocate storage space for waypoints */
	mavlink_wpm_storage	_wpm_s;
	mavlink_wpm_storage	*_wpm;

	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();

	void			mavlink_waypoint_eventloop(uint64_t now);
	void 			mavlink_wpm_send_waypoint_reached(uint16_t seq);
	void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
	void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
	void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
	void mavlink_wpm_send_waypoint_current(uint16_t seq);
	void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
	void mavlink_wpm_init(mavlink_wpm_storage *state);
	int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
	int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
	void publish_mission();

	void mavlink_missionlib_send_message(mavlink_message_t *msg);
	int mavlink_missionlib_send_gcs_string(const char *string);

	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(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[]);

};