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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>
*/
#pragma once
#include <stdbool.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_rc_input.h>
#include <uORB/topics/navigation_capabilities.h>
class Mavlink
{
public:
/**
* Constructor
*/
Mavlink(const char *port, unsigned baud_rate);
/**
* Destructor, also kills the mavlinks task.
*/
~Mavlink();
/**
* Start the mavlink task.
*
* @return OK on success.
*/
int start();
/**
* Display the mavlink status.
*/
void status();
static int instance_count();
static Mavlink* new_instance(const char *port, unsigned baud_rate);
static Mavlink* get_instance(unsigned instance);
struct mavlink_subscriptions {
int sensor_sub;
int att_sub;
int global_pos_sub;
int act_0_sub;
int act_1_sub;
int act_2_sub;
int act_3_sub;
int gps_sub;
int man_control_sp_sub;
int safety_sub;
int actuators_sub;
int armed_sub;
int actuators_effective_sub;
int local_pos_sub;
int spa_sub;
int spl_sub;
int triplet_sub;
int debug_key_value;
int input_rc_sub;
int optical_flow;
int rates_setpoint_sub;
int home_sub;
int airspeed_sub;
int navigation_capabilities_sub;
int control_mode_sub;
};
struct mavlink_subscriptions subs;
/** Global position */
struct vehicle_global_position_s global_pos;
/** Local position */
struct vehicle_local_position_s local_pos;
/** navigation capabilities */
struct navigation_capabilities_s nav_cap;
/** Vehicle status */
struct vehicle_status_s v_status;
/** Vehicle control mode */
struct vehicle_control_mode_s control_mode;
/** RC channels */
struct rc_channels_s rc;
/** Actuator armed state */
struct actuator_armed_s armed;
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _mavlink_task; /**< task handle for sensor task */
int _mavlink_fd;
int _mavlink_incoming_fd; /**< file descriptor on which to receive incoming strings */
perf_counter_t _loop_perf; /**< loop performance counter */
/* states */
bool _mavlink_hil_enabled; /**< Hardware in the loop mode */
static Mavlink* _head;
int _params_sub;
orb_advert_t mission_pub = -1;
struct mission_s mission;
uint8_t mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
/**
* Update our local parameter cache.
*/
void parameters_update();
/**
* 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_on_off(bool hil_enabled);
/**
* Handle parameter related messages.
*/
void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
/**
* Send all parameters at once.
*
* This function blocks until all parameters have been sent.
* it delays each parameter by the passed amount of microseconds.
*
* @param delay The delay in us between sending all parameters.
*/
void mavlink_pm_send_all_params(unsigned int delay);
/**
* 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);
/**
* Shim for calling task_main from task_create.
*/
void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
};
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