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GCS_MAVLink: added private channel mask

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this allows a channel to be marked "private". A private channel gets
heartbeats, but doesn't get forwarded packets or broadcast messages

This is used by solo gimbal driver
This commit is contained in:
Andrew Tridgell 2018-11-22 10:17:59 +11:00
parent 635540b4d6
commit 1e354d53c9
4 changed files with 36 additions and 3 deletions
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15
libraries/GCS_MAVLink/GCS.h
View File

@ -207,6 +207,18 @@ public:
// return a bitmap of streaming channels
static uint8_t streaming_channel_mask(void) { return chan_is_streaming; }
// set a channel as private. Private channels get sent heartbeats, but
// don't get broadcast packets or forwarded packets
static void set_channel_private(mavlink_channel_t chan);
// return true if channel is private
static bool is_private(mavlink_channel_t _chan) {
return (mavlink_private & (1U<<(unsigned)_chan)) != 0;
}
// return true if channel is private
bool is_private(void) const { return is_private(chan); }
// send queued parameters if needed
void send_queued_parameters(void);
@ -463,6 +475,9 @@ private:
// bitmask of what mavlink channels are active
static uint8_t mavlink_active;
// bitmask of what mavlink channels are private
static uint8_t mavlink_private;
// bitmask of what mavlink channels are streaming
static uint8_t chan_is_streaming;

11
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -50,6 +50,10 @@ uint8_t GCS_MAVLINK::mavlink_active = 0;
uint8_t GCS_MAVLINK::chan_is_streaming = 0;
uint32_t GCS_MAVLINK::reserve_param_space_start_ms;
// private channels are ones used for point-to-point protocols, and
// don't get broadcasts or fwded packets
uint8_t GCS_MAVLINK::mavlink_private = 0;
GCS *GCS::_singleton = nullptr;
GCS_MAVLINK::GCS_MAVLINK()
@ -900,7 +904,10 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
// we exclude radio packets because we historically used this to
// make it possible to use the CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
const uint8_t mask = (1U<<(chan-MAVLINK_COMM_0));
if (!(mask & mavlink_private)) {
mavlink_active |= mask;
}
}
if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) &&
(status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) &&
@ -985,7 +992,7 @@ GCS_MAVLINK::update(uint32_t max_time_us)
// send a timesync message every 10 seconds; this is for data
// collection purposes
if (tnow - _timesync_request.last_sent_ms > _timesync_request.interval_ms) {
if (tnow - _timesync_request.last_sent_ms > _timesync_request.interval_ms && !is_private()) {
if (HAVE_PAYLOAD_SPACE(chan, TIMESYNC)) {
send_timesync();
_timesync_request.last_sent_ms = tnow;

9
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -69,6 +69,15 @@ void GCS_MAVLINK::lock_channel(mavlink_channel_t _chan, bool lock)
}
}
// set a channel as private. Private channels get sent heartbeats, but
// don't get broadcast packets or forwarded packets
void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)
{
const uint8_t mask = (1U<<(unsigned)_chan);
mavlink_private |= mask;
mavlink_active &= ~mask;
}
// return a MAVLink variable type given a AP_Param type
uint8_t mav_var_type(enum ap_var_type t)
{

4
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -143,7 +143,9 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
(broadcast_component ||
target_component == routes[i].compid ||
!match_system))) {
if (in_channel != routes[i].channel && !sent_to_chan[routes[i].channel]) {
if (in_channel != routes[i].channel &&
!sent_to_chan[routes[i].channel] &&
!GCS_MAVLINK::is_private(routes[i].channel)) {
if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg->len) +
GCS_MAVLINK::packet_overhead_chan(routes[i].channel)) {
#if ROUTING_DEBUG