ardupilot/libraries/GCS_MAVLink/GCS.h

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/// @file GCS.h
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/// @brief Interface definition for the various Ground Control System
// protocols.
#pragma once
#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include "GCS_MAVLink.h"
#include <DataFlash/DataFlash.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <stdint.h>
#include "MAVLink_routing.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Mount/AP_Mount.h>
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#include <AP_Avoidance/AP_Avoidance.h>
#include <AP_HAL/utility/RingBuffer.h>
// check if a message will fit in the payload space available
#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
#define CHECK_PAYLOAD_SIZE(id) if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false
#define CHECK_PAYLOAD_SIZE2(id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return false
#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
#define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY 5
#else
#define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY 30
#endif
// GCS Message ID's
/// NOTE: to ensure we never block on sending MAVLink messages
/// please keep each MSG_ to a single MAVLink message. If need be
/// create new MSG_ IDs for additional messages on the same
/// stream
enum ap_message {
MSG_HEARTBEAT,
MSG_ATTITUDE,
MSG_LOCATION,
MSG_EXTENDED_STATUS1,
MSG_EXTENDED_STATUS2,
MSG_NAV_CONTROLLER_OUTPUT,
MSG_CURRENT_WAYPOINT,
MSG_VFR_HUD,
MSG_RADIO_OUT,
MSG_RADIO_IN,
MSG_RAW_IMU1,
MSG_RAW_IMU2,
MSG_RAW_IMU3,
MSG_GPS_RAW,
MSG_SYSTEM_TIME,
MSG_SERVO_OUT,
MSG_NEXT_WAYPOINT,
MSG_NEXT_PARAM,
MSG_STATUSTEXT,
MSG_LIMITS_STATUS,
MSG_FENCE_STATUS,
MSG_AHRS,
MSG_SIMSTATE,
MSG_HWSTATUS,
MSG_WIND,
MSG_RANGEFINDER,
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MSG_TERRAIN,
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MSG_BATTERY2,
MSG_CAMERA_FEEDBACK,
MSG_MOUNT_STATUS,
MSG_OPTICAL_FLOW,
MSG_GIMBAL_REPORT,
MSG_MAG_CAL_PROGRESS,
MSG_MAG_CAL_REPORT,
MSG_EKF_STATUS_REPORT,
MSG_LOCAL_POSITION,
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MSG_PID_TUNING,
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MSG_VIBRATION,
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MSG_RPM,
MSG_MISSION_ITEM_REACHED,
MSG_POSITION_TARGET_GLOBAL_INT,
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MSG_ADSB_VEHICLE,
MSG_RETRY_DEFERRED // this must be last
};
///
/// @class GCS_MAVLINK
/// @brief MAVLink transport control class
///
class GCS_MAVLINK
{
public:
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GCS_MAVLINK();
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FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
void update(run_cli_fn run_cli);
void init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
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void send_message(enum ap_message id);
void send_text(MAV_SEVERITY severity, const char *str);
virtual void data_stream_send(void) = 0;
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void queued_param_send();
void queued_waypoint_send();
void set_snoop(void (*_msg_snoop)(const mavlink_message_t* msg)) {
msg_snoop = _msg_snoop;
}
// packetReceived is called on any successful decode of a mavlink message
virtual void packetReceived(const mavlink_status_t &status,
mavlink_message_t &msg);
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struct statustext_t {
uint8_t bitmask;
mavlink_statustext_t msg;
};
static ObjectArray<statustext_t> _statustext_queue;
// accessor for uart
AP_HAL::UARTDriver *get_uart() { return _port; }
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static const struct AP_Param::GroupInfo var_info[];
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// set to true if this GCS link is active
bool initialised;
// NOTE! The streams enum below and the
// set of AP_Int16 stream rates _must_ be
// kept in the same order
enum streams {STREAM_RAW_SENSORS,
STREAM_EXTENDED_STATUS,
STREAM_RC_CHANNELS,
STREAM_RAW_CONTROLLER,
STREAM_POSITION,
STREAM_EXTRA1,
STREAM_EXTRA2,
STREAM_EXTRA3,
STREAM_PARAMS,
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STREAM_ADSB,
NUM_STREAMS};
// see if we should send a stream now. Called at 50Hz
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bool stream_trigger(enum streams stream_num);
// call to reset the timeout window for entering the cli
void reset_cli_timeout();
uint32_t last_heartbeat_time; // milliseconds
// last time we got a non-zero RSSI from RADIO_STATUS
static uint32_t last_radio_status_remrssi_ms;
// mission item index to be sent on queued msg, delayed or not
uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
// common send functions
void send_meminfo(void);
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void send_power_status(void);
void send_ahrs2(AP_AHRS &ahrs);
bool send_gps_raw(AP_GPS &gps);
void send_system_time(AP_GPS &gps);
void send_radio_in(uint8_t receiver_rssi);
void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
void send_scaled_pressure(AP_Baro &barometer);
void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer);
void send_ahrs(AP_AHRS &ahrs);
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void send_battery2(const AP_BattMonitor &battery);
#if AP_AHRS_NAVEKF_AVAILABLE
void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow);
#endif
void send_autopilot_version(uint8_t major_version, uint8_t minor_version, uint8_t patch_version, uint8_t version_type) const;
void send_local_position(const AP_AHRS &ahrs) const;
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void send_vibration(const AP_InertialSensor &ins) const;
void send_home(const Location &home) const;
static void send_home_all(const Location &home);
void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
void send_servo_output_raw(bool hil);
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static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
// return a bitmap of active channels. Used by libraries to loop
// over active channels to send to all active channels
static uint8_t active_channel_mask(void) { return mavlink_active; }
/*
send a statustext message to active MAVLink connections, or a specific
one. This function is static so it can be called from any library.
*/
static void send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...);
static void send_statustext_chan(MAV_SEVERITY severity, uint8_t dest_chan, const char *fmt, ...);
static void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
static void service_statustext(void);
// send a PARAM_VALUE message to all active MAVLink connections.
static void send_parameter_value_all(const char *param_name, ap_var_type param_type, float param_value);
/*
send a MAVLink message to all components with this vehicle's system id
This is a no-op if no routes to components have been learned
*/
static void send_to_components(const mavlink_message_t* msg) { routing.send_to_components(msg); }
/*
allow forwarding of packets / heartbeats to be blocked as required by some components to reduce traffic
*/
static void disable_channel_routing(mavlink_channel_t chan) { routing.no_route_mask |= (1U<<(chan-MAVLINK_COMM_0)); }
/*
search for a component in the routing table with given mav_type and retrieve it's sysid, compid and channel
returns if a matching component is found
*/
static bool find_by_mavtype(uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel) { return routing.find_by_mavtype(mav_type, sysid, compid, channel); }
/*
set a dataflash pointer for logging
*/
static void set_dataflash(DataFlash_Class *dataflash) {
dataflash_p = dataflash;
}
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// update signing timestamp on GPS lock
static void update_signing_timestamp(uint64_t timestamp_usec);
// return current packet overhead for a channel
static uint8_t packet_overhead_chan(mavlink_channel_t chan);
// FIXME: move this to be private/protected once possible
bool telemetry_delayed(mavlink_channel_t chan);
virtual uint32_t telem_delay() const = 0;
protected:
bool waypoint_receiving; // currently receiving
// the following two variables are only here because of Tracker
uint16_t waypoint_request_i; // request index
uint16_t waypoint_request_last; // last request index
AP_Param * _queued_parameter; ///< next parameter to
// be sent in queue
mavlink_channel_t chan;
uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }
void handle_log_send(DataFlash_Class &dataflash);
// saveable rate of each stream
AP_Int16 streamRates[NUM_STREAMS];
void handle_request_data_stream(mavlink_message_t *msg, bool save);
FUNCTOR_TYPEDEF(set_mode_fn, bool, uint8_t);
void handle_set_mode(mavlink_message_t* msg, set_mode_fn set_mode);
void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_count(AP_Mission &mission, mavlink_message_t *msg);
void handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg);
bool handle_mission_item(mavlink_message_t *msg, AP_Mission &mission);
void handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash);
void handle_param_request_list(mavlink_message_t *msg);
void handle_param_request_read(mavlink_message_t *msg);
void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
void handle_serial_control(mavlink_message_t *msg, AP_GPS &gps);
void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);
void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_setup_signing(const mavlink_message_t *msg);
private:
float adjust_rate_for_stream_trigger(enum streams stream_num);
virtual void handleMessage(mavlink_message_t * msg) = 0;
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/// The stream we are communicating over
AP_HAL::UARTDriver *_port;
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/// Perform queued sending operations
///
enum ap_var_type _queued_parameter_type; ///< type of the next
// parameter
AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for
// next() call
uint16_t _queued_parameter_index; ///< next queued
// parameter's index
uint16_t _queued_parameter_count; ///< saved count of
// parameters for
// queued send
uint32_t _queued_parameter_send_time_ms;
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/// Count the number of reportable parameters.
///
/// Not all parameters can be reported via MAVlink. We count the number
// that are
/// so that we can report to a GCS the number of parameters it should
// expect when it
/// requests the full set.
///
/// @return The number of reportable parameters.
///
uint16_t packet_drops;
// this allows us to detect the user wanting the CLI to start
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uint8_t crlf_count;
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// waypoints
uint16_t waypoint_dest_sysid; // where to send requests
uint16_t waypoint_dest_compid; // "
uint16_t waypoint_count;
uint32_t waypoint_timelast_receive; // milliseconds
uint32_t waypoint_timelast_request; // milliseconds
const uint16_t waypoint_receive_timeout = 8000; // milliseconds
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// number of 50Hz ticks until we next send this stream
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uint8_t stream_ticks[NUM_STREAMS];
// number of extra ticks to add to slow things down for the radio
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uint8_t stream_slowdown;
// millis value to calculate cli timeout relative to.
// exists so we can separate the cli entry time from the system start time
uint32_t _cli_timeout;
uint8_t _log_listing:1; // sending log list
uint8_t _log_sending:1; // sending log data
// next log list entry to send
uint16_t _log_next_list_entry;
// last log list entry to send
uint16_t _log_last_list_entry;
// number of log files
uint16_t _log_num_logs;
// log number for data send
uint16_t _log_num_data;
// offset in log
uint32_t _log_data_offset;
// size of log file
uint32_t _log_data_size;
// number of bytes left to send
uint32_t _log_data_remaining;
// start page of log data
uint16_t _log_data_page;
// deferred message handling
enum ap_message deferred_messages[MSG_RETRY_DEFERRED];
uint8_t next_deferred_message;
uint8_t num_deferred_messages;
// time when we missed sending a parameter for GCS
static uint32_t reserve_param_space_start_ms;
// bitmask of what mavlink channels are active
static uint8_t mavlink_active;
// bitmask of what mavlink channels are streaming
static uint8_t chan_is_streaming;
// mavlink routing object
static MAVLink_routing routing;
// pointer to static dataflash for logging of text messages
static DataFlash_Class *dataflash_p;
static const AP_SerialManager *serialmanager_p;
// a vehicle can optionally snoop on messages for other systems
static void (*msg_snoop)(const mavlink_message_t* msg);
// vehicle specific message send function
virtual bool try_send_message(enum ap_message id) = 0;
virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
void handle_log_request_list(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_data(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_erase(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_request_end(mavlink_message_t *msg, DataFlash_Class &dataflash);
void handle_log_send_listing(DataFlash_Class &dataflash);
bool handle_log_send_data(DataFlash_Class &dataflash);
void lock_channel(mavlink_channel_t chan, bool lock);
// return true if this channel has hardware flow control
bool have_flow_control(void);
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mavlink_signing_t signing;
static mavlink_signing_streams_t signing_streams;
static uint32_t last_signing_save_ms;
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static StorageAccess _signing_storage;
static bool signing_key_save(const struct SigningKey &key);
static bool signing_key_load(struct SigningKey &key);
void load_signing_key(void);
bool signing_enabled(void) const;
static void save_signing_timestamp(bool force_save_now);
};