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AP_ADSB: Allow for multiple backends in the future drivers

This commit is contained in:
Tom Pittenger 2020-11-05 16:24:47 -08:00 committed by Peter Barker
parent 58c7f8279d
commit e94697cb4c
6 changed files with 116 additions and 26 deletions
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80
libraries/AP_ADSB/AP_ADSB.cpp
View File

@ -50,12 +50,12 @@ AP_ADSB *AP_ADSB::_singleton;
// table of user settable parameters
const AP_Param::GroupInfo AP_ADSB::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable ADSB
// @Description: Enable ADS-B
// @Values: 0:Disabled,1:Enabled
// @Param: TYPE
// @DisplayName: ADSB Type
// @Description: Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
// @Values: 0:Disabled,1:uAvionix-MAVLink
// @User: Standard
AP_GROUPINFO_FLAGS("ENABLE", 0, AP_ADSB, _enabled, 0, AP_PARAM_FLAG_ENABLE),
AP_GROUPINFO_FLAGS("TYPE", 0, AP_ADSB, _type[0], 0, AP_PARAM_FLAG_ENABLE),
// index 1 is reserved - was BEHAVIOR
@ -194,17 +194,24 @@ void AP_ADSB::init(void)
in_state.list_size_allocated = in_state.list_size_param;
}
if (_backend == nullptr) {
_backend = new AP_ADSB_uAvionix_MAVLink(*this);
if (_backend == nullptr) {
_init_failed = true;
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB: Unable to initialize ADSB driver");
return;
if (detected_num_instances == 0) {
for (uint8_t i=0; i<ADSB_MAX_INSTANCES; i++) {
detect_instance(i);
if (_backend[i] != nullptr) {
// we loaded a driver for this instance, so it must be
// present (although it may not be healthy)
detected_num_instances = i+1;
}
}
}
if (detected_num_instances == 0) {
_init_failed = true;
gcs().send_text(MAV_SEVERITY_CRITICAL, "ADSB: Unable to initialize ADSB driver");
}
}
/*
* de-initialize and free up some memory
*/
@ -214,11 +221,26 @@ void AP_ADSB::deinit(void)
delete [] in_state.vehicle_list;
in_state.vehicle_list = nullptr;
}
for (uint8_t i=0; i<ADSB_MAX_INSTANCES; i++) {
if (_backend[i] != nullptr) {
delete _backend[i];
_backend[i] = nullptr;
}
}
detected_num_instances = 0;
}
bool AP_ADSB::check_startup()
{
if (!_enabled || _init_failed) {
bool all_backends_disabled = true;
for (uint8_t instance=0; instance<ADSB_MAX_INSTANCES; instance++) {
if (_type[instance] > 0) {
all_backends_disabled = false;
break;
}
}
if (all_backends_disabled || _init_failed) {
if (in_state.vehicle_list != nullptr) {
deinit();
}
@ -231,6 +253,31 @@ bool AP_ADSB::check_startup()
return in_state.vehicle_list != nullptr;
}
// detect if an instance of an ADSB sensor is connected.
void AP_ADSB::detect_instance(uint8_t instance)
{
switch (get_type(instance)) {
case Type::None:
return;
case Type::uAvionix_MAVLink:
if (AP_ADSB_uAvionix_MAVLink::detect()) {
_backend[instance] = new AP_ADSB_uAvionix_MAVLink(*this, instance);
return;
}
break;
}
}
// get instance type from instance
AP_ADSB::Type AP_ADSB::get_type(uint8_t instance) const
{
if (instance < ADSB_MAX_INSTANCES) {
return (Type)(_type[instance].get());
}
return Type::None;
}
bool AP_ADSB::is_valid_callsign(uint16_t octal)
{
// treat "octal" as decimal and test if any decimal digit is > 7
@ -311,9 +358,12 @@ void AP_ADSB::update(void)
out_state.last_config_ms = 0; // send now
}
if (_backend != nullptr) {
_backend->update();
for (uint8_t i=0; i<detected_num_instances; i++) {
if (_backend[i] != nullptr) {
_backend[i]->update();
}
}
}
/*

25
libraries/AP_ADSB/AP_ADSB.h
View File

@ -34,6 +34,8 @@
#include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#define ADSB_MAX_INSTANCES 1 // Maximum number of ADSB sensor instances available on this platform
class AP_ADSB_Backend;
class AP_ADSB {
@ -53,6 +55,12 @@ public:
return _singleton;
}
// ADSB driver types
enum class Type {
None = 0,
uAvionix_MAVLink = 1,
};
struct adsb_vehicle_t {
mavlink_adsb_vehicle_t info; // the whole mavlink struct with all the juicy details. sizeof() == 38
uint32_t last_update_ms; // last time this was refreshed, allows timeouts
@ -92,8 +100,14 @@ public:
// extract a location out of a vehicle item
Location get_location(const adsb_vehicle_t &vehicle) const;
// ADSB is considered enabled if there are any configured backends
bool enabled() const {
return _enabled;
for (uint8_t instance=0; instance<detected_num_instances; instance++) {
if (_type[instance] > 0) {
return true;
}
}
return false;
}
bool init_failed() const {
@ -122,6 +136,8 @@ public:
// confirm a value is a valid callsign
static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
AP_ADSB::Type get_type(uint8_t instance) const;
private:
static AP_ADSB *_singleton;
@ -155,7 +171,9 @@ private:
// mavlink handler
void handle_transceiver_report(const mavlink_channel_t chan, const mavlink_uavionix_adsb_transceiver_health_report_t &packet);
AP_Int8 _enabled;
void detect_instance(uint8_t instance);
AP_Int8 _type[ADSB_MAX_INSTANCES];
Location _my_loc;
@ -211,6 +229,7 @@ private:
} out_state;
uint8_t detected_num_instances;
// special ICAO of interest that ignored filters when != 0
AP_Int32 _special_ICAO_target;
@ -230,7 +249,7 @@ private:
};
// reference to backend
AP_ADSB_Backend *_backend;
AP_ADSB_Backend *_backend[ADSB_MAX_INSTANCES];
};
namespace AP {

5
libraries/AP_ADSB/AP_ADSB_Backend.cpp
View File

@ -20,8 +20,9 @@
/*
base class constructor.
*/
AP_ADSB_Backend::AP_ADSB_Backend(AP_ADSB &frontend) :
_frontend(frontend)
AP_ADSB_Backend::AP_ADSB_Backend(AP_ADSB &frontend, uint8_t instance) :
_frontend(frontend),
_instance(instance)
{
}

13
libraries/AP_ADSB/AP_ADSB_Backend.h
View File

@ -21,16 +21,21 @@ class AP_ADSB_Backend
{
public:
// constructor.
AP_ADSB_Backend(AP_ADSB &frontend);
AP_ADSB_Backend(AP_ADSB &frontend, uint8_t instance);
// we declare a virtual destructor so that ADSB drivers can
// override with a custom destructor if need be
virtual ~AP_ADSB_Backend(void) {}
// static detection function
static bool detect();
virtual void update() = 0;
protected:
uint8_t _instance;
// references
AP_ADSB &_frontend;
private:
};
#endif // HAL_ADSB_ENABLED

10
libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp
View File

@ -15,7 +15,7 @@
#include "AP_ADSB_uAvionix_MAVLink.h"
#if HAL_ADSB_ENABLED
#if HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
#include <stdio.h> // for sprintf
#include <limits.h>
#include <GCS_MAVLink/GCS.h>
@ -31,6 +31,14 @@
extern const AP_HAL::HAL& hal;
// detect if an port is configured as MAVLink
bool AP_ADSB_uAvionix_MAVLink::detect()
{
// this actually requires SerialProtocol_MAVLink or SerialProtocol_MAVLink2 but
// we can't have a running system with that, so its safe to assume it's already defined
return true;
}
void AP_ADSB_uAvionix_MAVLink::update()
{
const uint32_t now = AP_HAL::millis();

9
libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.h
View File

@ -17,13 +17,20 @@
#include "AP_ADSB_Backend.h"
#if HAL_ADSB_ENABLED
#ifndef HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
#define HAL_ADSB_UAVIONIX_MAVLINK_ENABLED HAL_ADSB_ENABLED
#endif
#if HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
class AP_ADSB_uAvionix_MAVLink : public AP_ADSB_Backend {
public:
using AP_ADSB_Backend::AP_ADSB_Backend;
void update() override;
// static detection function
static bool detect();
private:
// send static and dynamic data to ADSB transceiver
void send_configure(const mavlink_channel_t chan);