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APM: change to one low priority status buffer per GCS instance

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this allows us to operate the low priority messages on each link
independently.

Thanks to David Buzz for the suggestion!
This commit is contained in:
Andrew Tridgell 2012-09-24 17:39:09 +10:00
parent f5559a6b4a
commit fbc053e6e4
2 changed files with 13 additions and 10 deletions
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4
ArduPlane/GCS.h
View File

@ -133,6 +133,10 @@ public:
// see if we should send a stream now. Called at 50Hz
bool stream_trigger(enum streams stream_num);
// this costs us 51 bytes per instance, but means that low priority
// messages don't block the CPU
mavlink_statustext_t pending_status;
private:
void handleMessage(mavlink_message_t * msg);

19
ArduPlane/GCS_Mavlink.pde
View File

@ -3,10 +3,6 @@
// use this to prevent recursion during sensor init
static bool in_mavlink_delay;
// this costs us 51 bytes, but means that low priority
// messages don't block the CPU
static mavlink_statustext_t pending_status;
// true when we have received at least 1 MAVLink packet
static bool mavlink_active;
@ -456,10 +452,11 @@ static void NOINLINE send_current_waypoint(mavlink_channel_t chan)
static void NOINLINE send_statustext(mavlink_channel_t chan)
{
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
mavlink_msg_statustext_send(
chan,
pending_status.severity,
pending_status.text);
s->severity,
s->text);
}
// are we still delaying telemetry to try to avoid Xbee bricking?
@ -705,8 +702,9 @@ void mavlink_send_text(mavlink_channel_t chan, gcs_severity severity, const char
if (severity == SEVERITY_LOW) {
// send via the deferred queuing system
pending_status.severity = (uint8_t)severity;
strncpy((char *)pending_status.text, str, sizeof(pending_status.text));
mavlink_statustext_t *s = (chan == MAVLINK_COMM_0?&gcs0.pending_status:&gcs3.pending_status);
s->severity = (uint8_t)severity;
strncpy((char *)s->text, str, sizeof(s->text));
mavlink_send_message(chan, MSG_STATUSTEXT, 0);
} else {
// send immediately
@ -2116,10 +2114,11 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
if (fmtstr[i] == 0) break;
}
fmtstr[i] = 0;
pending_status.severity = (uint8_t)SEVERITY_LOW;
gcs0.pending_status.severity = (uint8_t)SEVERITY_LOW;
va_start(ap, fmt);
vsnprintf((char *)pending_status.text, sizeof(pending_status.text), fmtstr, ap);
vsnprintf((char *)gcs0.pending_status.text, sizeof(gcs0.pending_status.text), fmtstr, ap);
va_end(ap);
gcs3.pending_status = gcs0.pending_status;
mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
if (gcs3.initialised) {
mavlink_send_message(MAVLINK_COMM_1, MSG_STATUSTEXT, 0);