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GCS_MAVLink: reverse sense of check_and_forward()

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also increase number of routes on larger systems and improved route
learning logic
This commit is contained in:
Andrew Tridgell 2014-12-17 10:30:09 +11:00
parent a967a682a4
commit b5a5b71512
3 changed files with 19 additions and 14 deletions
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2
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -859,7 +859,7 @@ GCS_MAVLINK::update(void (*run_cli)(AP_HAL::UARTDriver *))
if (msg_snoop != NULL) {
msg_snoop(&msg);
}
if (!routing.check_and_forward(chan, &msg)) {
if (routing.check_and_forward(chan, &msg)) {
handleMessage(&msg);
}
}

20
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -36,10 +36,9 @@ MAVLink_routing::MAVLink_routing(void) : num_routes(0) {}
automatically learns the route for the sender if it is not
already known.
This returns true if the message matched a route and was
forwarded.
This returns true if the message should be processed locally
Theory of MAVLink routing
Theory of MAVLink routing:
When a flight controller receives a message it should process it
locally if any of these conditions hold:
@ -99,7 +98,7 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
if (msg->msgid == MAVLINK_MSG_ID_HEARTBEAT) {
// heartbeat needs special handling
handle_heartbeat(in_channel, msg);
return false;
return true;
}
// extract the targets for this packet
@ -116,7 +115,7 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
if (process_locally && !broadcast_system && !broadcast_component) {
// nothing more to do - it can only be for us
return false;
return true;
}
// forward on any channels matching the targets
@ -146,7 +145,7 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
process_locally = true;
}
return !process_locally;
return process_locally;
}
/*
@ -155,6 +154,11 @@ bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavl
void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t* msg)
{
uint8_t i;
if (msg->sysid == 0 ||
(msg->sysid == mavlink_system.sysid &&
msg->compid == mavlink_system.compid)) {
return;
}
for (i=0; i<num_routes; i++) {
if (routes[i].sysid == msg->sysid &&
routes[i].compid == msg->compid &&
@ -162,9 +166,7 @@ void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_me
break;
}
}
if (i == num_routes && i<MAVLINK_MAX_ROUTES &&
(routes[i].sysid != mavlink_system.sysid ||
routes[i].compid != mavlink_system.compid)) {
if (i == num_routes && i<MAVLINK_MAX_ROUTES) {
routes[i].sysid = msg->sysid;
routes[i].compid = msg->compid;
routes[i].channel = in_channel;

11
libraries/GCS_MAVLink/MAVLink_routing.h
View File

@ -10,9 +10,13 @@
#include <AP_Common.h>
#include <GCS_MAVLink.h>
// 5 routes should be enough for now. This will need to increase as we
// make more extensive use of MAVLink forwarding
// 20 routes should be enough for now. This may need to increase as
// we make more extensive use of MAVLink forwarding
#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
#define MAVLINK_MAX_ROUTES 20
#else
#define MAVLINK_MAX_ROUTES 5
#endif
/*
object to handle MAVLink packet routing
@ -27,8 +31,7 @@ public:
automatically learns the route for the sender if it is not
already known.
This returns true if the message matched a route and was
forwarded.
This returns true if the message should be processed locally
*/
bool check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t* msg);