mirror of https://github.com/ArduPilot/ardupilot
AP_Terrain: added checking and reporting messages
this allows the GCS to check the status of the terrain system
This commit is contained in:
Andrew Tridgell
parent
9f76f0276f
commit
eeb4ad56bc
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@ -30,7 +30,7 @@
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#if HAVE_AP_TERRAIN
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#define TERRAIN_DEBUG 1
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#define TERRAIN_DEBUG 0
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extern const AP_HAL::HAL& hal;
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@ -180,6 +180,7 @@ AP_Terrain::grid_cache &AP_Terrain::find_grid(const struct grid_info &info)
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grid.grid.grid_idx_y = info.grid_idx_y;
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grid.grid.lat_degrees = info.lat_degrees;
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grid.grid.lon_degrees = info.lon_degrees;
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grid.grid.version = TERRAIN_GRID_FORMAT_VERSION;
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grid.last_access_ms = hal.scheduler->millis();
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// mark as waiting for disk read
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@ -238,12 +239,10 @@ bool AP_Terrain::height_amsl(const Location &loc, float &height)
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}
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/*
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request any missing 4x4 grids from a block
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request any missing 4x4 grids from a block, given a grid_cache
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*/
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bool AP_Terrain::request_missing(mavlink_channel_t chan, const struct grid_info &info)
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bool AP_Terrain::request_missing(mavlink_channel_t chan, struct grid_cache &gcache)
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{
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// find the grid
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struct grid_cache &gcache = find_grid(info);
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struct grid_block &grid = gcache.grid;
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// see if we are waiting for disk read
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@ -267,6 +266,16 @@ bool AP_Terrain::request_missing(mavlink_channel_t chan, const struct grid_info
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return true;
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}
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/*
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request any missing 4x4 grids from a block
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*/
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bool AP_Terrain::request_missing(mavlink_channel_t chan, const struct grid_info &info)
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{
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// find the grid
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struct grid_cache &gcache = find_grid(info);
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return request_missing(chan, gcache);
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}
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/*
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send any pending terrain request to the GCS
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*/
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@ -277,6 +286,9 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
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return;
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}
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// see if we need to schedule some disk IO
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update();
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// did we request recently?
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if (hal.scheduler->millis() - last_request_time_ms < 2000) {
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// too soon to request again
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@ -312,69 +324,158 @@ void AP_Terrain::send_request(mavlink_channel_t chan)
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}
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}
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// check cache blocks that may have been setup by a TERRAIN_CHECK
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for (uint16_t i=0; i<TERRAIN_GRID_BLOCK_CACHE_SIZE; i++) {
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if (cache[i].state >= GRID_CACHE_VALID) {
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if (request_missing(chan, cache[i])) {
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return;
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}
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}
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}
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// request the current loc last to ensure it has highest last
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// access time
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if (request_missing(chan, info)) {
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return;
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}
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// nothing to request, send a terrain report
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send_terrain_report(chan, loc);
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}
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/*
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count bits in a uint64_t
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*/
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uint8_t AP_Terrain::bitcount64(uint64_t b)
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{
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return __builtin_popcount((unsigned)(b&0xFFFFFFFF)) + __builtin_popcount((unsigned)(b>>32));
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}
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/*
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get some statistics for TERRAIN_REPORT
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*/
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void AP_Terrain::get_statistics(uint16_t &pending, uint16_t &loaded)
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{
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pending = 0;
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loaded = 0;
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for (uint16_t i=0; i<TERRAIN_GRID_BLOCK_CACHE_SIZE; i++) {
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if (cache[i].state == GRID_CACHE_INVALID) {
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continue;
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}
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uint8_t maskbits = TERRAIN_GRID_BLOCK_MUL_X*TERRAIN_GRID_BLOCK_MUL_Y;
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if (cache[i].state == GRID_CACHE_DISKWAIT) {
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pending += maskbits;
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continue;
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}
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uint8_t bitcount = bitcount64(cache[i].grid.bitmap);
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pending += maskbits - bitcount;
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loaded += bitcount;
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}
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}
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/*
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handle terrain messages from GCS
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*/
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void AP_Terrain::handle_data(mavlink_channel_t chan, mavlink_message_t *msg)
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{
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if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_DATA) {
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handle_terrain_data(msg);
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} else if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) {
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handle_terrain_check(chan, msg);
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}
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}
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/*
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send a TERRAIN_REPORT for a location
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*/
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void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc)
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{
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float height = 0;
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uint16_t spacing = 0;
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if (height_amsl(loc, height)) {
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spacing = grid_spacing;
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}
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uint16_t pending, loaded;
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get_statistics(pending, loaded);
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if (comm_get_txspace(chan) >= MAVLINK_NUM_NON_PAYLOAD_BYTES + MAVLINK_MSG_ID_TERRAIN_REPORT_LEN) {
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mavlink_msg_terrain_report_send(chan, loc.lat, loc.lng, spacing, height, pending, loaded);
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}
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}
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/*
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handle terrain data from GCS
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handle TERRAIN_CHECK messages from GCS
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*/
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void AP_Terrain::handle_data(mavlink_message_t *msg)
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void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg)
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{
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mavlink_terrain_data_t packet;
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mavlink_msg_terrain_data_decode(msg, &packet);
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mavlink_terrain_check_t packet;
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mavlink_msg_terrain_check_decode(msg, &packet);
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Location loc;
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loc.lat = packet.lat;
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loc.lng = packet.lon;
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send_terrain_report(chan, loc);
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}
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uint16_t i;
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for (i=0; i<TERRAIN_GRID_BLOCK_CACHE_SIZE; i++) {
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if (cache[i].grid.lat == packet.lat &&
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cache[i].grid.lon == packet.lon &&
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cache[i].grid.spacing == packet.grid_spacing &&
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packet.gridbit < 56) {
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break;
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}
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}
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if (i == TERRAIN_GRID_BLOCK_CACHE_SIZE) {
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// we don't have that grid, ignore data
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return;
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}
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struct grid_cache &gcache = cache[i];
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struct grid_block &grid = gcache.grid;
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uint8_t idx_x = (packet.gridbit / TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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uint8_t idx_y = (packet.gridbit % TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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ASSERT_RANGE(idx_x,0,(TERRAIN_GRID_BLOCK_MUL_X-1)*TERRAIN_GRID_MAVLINK_SIZE);
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ASSERT_RANGE(idx_y,0,(TERRAIN_GRID_BLOCK_MUL_Y-1)*TERRAIN_GRID_MAVLINK_SIZE);
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for (uint8_t x=0; x<TERRAIN_GRID_MAVLINK_SIZE; x++) {
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for (uint8_t y=0; y<TERRAIN_GRID_MAVLINK_SIZE; y++) {
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grid.height[idx_x+x][idx_y+y] = packet.data[x*TERRAIN_GRID_MAVLINK_SIZE+y];
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ASSERT_RANGE(grid.height[idx_x+x][idx_y+y], 1, 20000);
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}
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}
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gcache.grid.bitmap |= ((uint64_t)1) << packet.gridbit;
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// mark dirty for disk IO
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gcache.state = GRID_CACHE_DIRTY;
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/*
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handle TERRAIN_DATA messages from GCS
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*/
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void AP_Terrain::handle_terrain_data(mavlink_message_t *msg)
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{
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mavlink_terrain_data_t packet;
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mavlink_msg_terrain_data_decode(msg, &packet);
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uint16_t i;
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for (i=0; i<TERRAIN_GRID_BLOCK_CACHE_SIZE; i++) {
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if (cache[i].grid.lat == packet.lat &&
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cache[i].grid.lon == packet.lon &&
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cache[i].grid.spacing == packet.grid_spacing &&
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packet.gridbit < 56) {
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break;
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}
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}
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if (i == TERRAIN_GRID_BLOCK_CACHE_SIZE) {
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// we don't have that grid, ignore data
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return;
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}
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struct grid_cache &gcache = cache[i];
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struct grid_block &grid = gcache.grid;
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uint8_t idx_x = (packet.gridbit / TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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uint8_t idx_y = (packet.gridbit % TERRAIN_GRID_BLOCK_MUL_Y) * TERRAIN_GRID_MAVLINK_SIZE;
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ASSERT_RANGE(idx_x,0,(TERRAIN_GRID_BLOCK_MUL_X-1)*TERRAIN_GRID_MAVLINK_SIZE);
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ASSERT_RANGE(idx_y,0,(TERRAIN_GRID_BLOCK_MUL_Y-1)*TERRAIN_GRID_MAVLINK_SIZE);
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for (uint8_t x=0; x<TERRAIN_GRID_MAVLINK_SIZE; x++) {
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for (uint8_t y=0; y<TERRAIN_GRID_MAVLINK_SIZE; y++) {
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grid.height[idx_x+x][idx_y+y] = packet.data[x*TERRAIN_GRID_MAVLINK_SIZE+y];
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ASSERT_RANGE(grid.height[idx_x+x][idx_y+y], 1, 20000);
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}
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}
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gcache.grid.bitmap |= ((uint64_t)1) << packet.gridbit;
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// mark dirty for disk IO
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gcache.state = GRID_CACHE_DIRTY;
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#if TERRAIN_DEBUG
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hal.console->printf("Filled bit %u idx_x=%u idx_y=%u\n",
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(unsigned)packet.gridbit, (unsigned)idx_x, (unsigned)idx_y);
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if (gcache.grid.bitmap == bitmap_mask) {
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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grid.lat*1.0e-7f,
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grid.lon*1.0e-7f,
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grid.height[0][0]);
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Location loc2;
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loc2.lat = grid.lat;
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loc2.lng = grid.lon;
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location_offset(loc2, 28*grid_spacing, 32*grid_spacing);
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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loc2.lat*1.0e-7f,
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loc2.lng*1.0e-7f,
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grid.height[27][31]);
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}
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hal.console->printf("Filled bit %u idx_x=%u idx_y=%u\n",
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(unsigned)packet.gridbit, (unsigned)idx_x, (unsigned)idx_y);
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if (gcache.grid.bitmap == bitmap_mask) {
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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grid.lat*1.0e-7f,
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grid.lon*1.0e-7f,
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grid.height[0][0]);
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Location loc2;
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loc2.lat = grid.lat;
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loc2.lng = grid.lon;
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location_offset(loc2, 28*grid_spacing, 32*grid_spacing);
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hal.console->printf("--lat=%12.7f --lon=%12.7f %u\n",
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loc2.lat*1.0e-7f,
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loc2.lng*1.0e-7f,
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grid.height[27][31]);
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}
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#endif
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// see if we need to schedule some disk IO
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update();
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}
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/*
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@ -420,8 +521,8 @@ void AP_Terrain::check_disk_write(void)
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}
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/*
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update terrain data. Check if we need to request more grids. This
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should be called at 1Hz
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update terrain data. Check if we need to do disk IO for grids. This
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should be called at around 1Hz
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*/
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void AP_Terrain::update(void)
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{
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@ -483,10 +584,14 @@ void AP_Terrain::update(void)
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// we don't know where we are
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return;
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}
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#if TERRAIN_DEBUG
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static uint32_t last_report_ms;
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float height;
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if (height_amsl(loc, height)) {
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if (hal.scheduler->millis() - last_report_ms > 1000 && height_amsl(loc, height)) {
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printf("height %.2f\n", height);
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last_report_ms = hal.scheduler->millis();
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}
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#endif
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}
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@ -585,13 +690,16 @@ void AP_Terrain::write_block(void)
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::close(fd);
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fd = -1;
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io_failure = true;
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}
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} else {
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::fsync(fd);
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#if TERRAIN_DEBUG
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printf("wrote block at %ld %ld ret=%d\n",
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(long)disk_block.block.lat,
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(long)disk_block.block.lon,
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(int)ret);
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printf("wrote block at %ld %ld ret=%d mask=%07llx\n",
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(long)disk_block.block.lat,
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(long)disk_block.block.lon,
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(int)ret,
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(unsigned long long)disk_block.block.bitmap);
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#endif
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}
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disk_io_state = DiskIoDoneWrite;
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}
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@ -610,7 +718,9 @@ void AP_Terrain::read_block(void)
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ssize_t ret = ::read(fd, &disk_block, sizeof(disk_block));
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if (ret != sizeof(disk_block) ||
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disk_block.block.lat != lat ||
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disk_block.block.lon != lon) {
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disk_block.block.lon != lon ||
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disk_block.block.bitmap == 0 ||
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disk_block.block.version != TERRAIN_GRID_FORMAT_VERSION) {
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#if TERRAIN_DEBUG
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printf("read empty block at %ld %ld ret=%d\n",
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(long)lat,
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@ -625,10 +735,11 @@ void AP_Terrain::read_block(void)
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disk_block.block.bitmap = 0;
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} else {
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#if TERRAIN_DEBUG
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printf("read block at %ld %ld ret=%d\n",
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printf("read block at %ld %ld ret=%d mask=%07llx\n",
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(long)lat,
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(long)lon,
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(int)ret);
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(int)ret,
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(unsigned long long)disk_block.block.bitmap);
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#endif
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}
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disk_io_state = DiskIoDoneRead;
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@ -81,8 +81,11 @@ public:
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// send any pending terrain request message
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void send_request(mavlink_channel_t chan);
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// handle terrain data from GCS
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void handle_data(mavlink_message_t *msg);
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// handle terrain data and reports from GCS
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void send_terrain_report(mavlink_channel_t chan, const Location &loc);
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void handle_data(mavlink_channel_t chan, mavlink_message_t *msg);
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void handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg);
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void handle_terrain_data(mavlink_message_t *msg);
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// return terrain height in meters above sea level for a location
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// return false if not available
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@ -206,8 +209,15 @@ private:
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/*
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request any missing 4x4 grids from a block
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*/
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bool request_missing(mavlink_channel_t chan, struct grid_cache &gcache);
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bool request_missing(mavlink_channel_t chan, const struct grid_info &info);
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/*
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get some statistics for TERRAIN_REPORT
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*/
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uint8_t bitcount64(uint64_t b);
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void get_statistics(uint16_t &pending, uint16_t &loaded);
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/*
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disk IO functions
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*/
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