/// @file GCS.h /// @brief Interface definition for the various Ground Control System // protocols. #pragma once #include #ifndef HAL_GCS_ENABLED #define HAL_GCS_ENABLED 1 #endif #if HAL_GCS_ENABLED #include #include #include "GCS_MAVLink.h" #include #include #include "MAVLink_routing.h" #include #include #include #include #include #include #include #include #include #include #include #include "ap_message.h" #define GCS_DEBUG_SEND_MESSAGE_TIMINGS 0 #ifndef HAL_HIGH_LATENCY2_ENABLED #define HAL_HIGH_LATENCY2_ENABLED !HAL_MINIMIZE_FEATURES #endif #ifndef HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED #define HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED (HAVE_FILESYSTEM_SUPPORT && BOARD_FLASH_SIZE > 1024) #endif // macros used to determine if a message will fit in the space available. void gcs_out_of_space_to_send(mavlink_channel_t chan); // important note: despite the names, these messages do NOT check to // see if the payload will fit in the buffer. They check to see if // the packed message along with any channel overhead will fit. // PAYLOAD_SIZE returns the amount of space required to send the // mavlink message with id id on channel chan. Mavlink2 has higher // overheads than mavlink1, for example. // check if a message will fit in the payload space available #define PAYLOAD_SIZE(chan, id) (unsigned(GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)) // HAVE_PAYLOAD_SPACE evaluates to an expression that can be used // anywhere in the code to determine if the mavlink message with ID id // can currently fit in the output of _chan. Note the use of the "," // operator here to increment a counter. #define HAVE_PAYLOAD_SPACE(_chan, id) (comm_get_txspace(_chan) >= PAYLOAD_SIZE(_chan, id) ? true : (gcs_out_of_space_to_send(_chan), false)) // CHECK_PAYLOAD_SIZE - macro which may only be used within a // GCS_MAVLink object's methods. It inserts code which will // immediately return false from the current function if there is no // room to fit the mavlink message with id id on the current object's // output #define CHECK_PAYLOAD_SIZE(id) if (txspace() < unsigned(packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN)) { gcs_out_of_space_to_send(chan); return false; } // CHECK_PAYLOAD_SIZE2 - macro which inserts code which will // immediately return false from the current function if there is no // room to fit the mavlink message with id id on the mavlink output // channel "chan". It is expecting there to be a "chan" variable in // scope. #define CHECK_PAYLOAD_SIZE2(id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return false // CHECK_PAYLOAD_SIZE2_VOID - macro which inserts code which will // immediately return from the current (void) function if there is no // room to fit the mavlink message with id id on the mavlink output // channel "chan". #define CHECK_PAYLOAD_SIZE2_VOID(chan, id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return // convenience macros for defining which ap_message ids are in which streams: #define MAV_STREAM_ENTRY(stream_name) \ { \ GCS_MAVLINK::stream_name, \ stream_name ## _msgs, \ ARRAY_SIZE(stream_name ## _msgs) \ } #define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 } #define GCS_MAVLINK_NUM_STREAM_RATES 10 class GCS_MAVLINK_Parameters { public: GCS_MAVLINK_Parameters(); static const struct AP_Param::GroupInfo var_info[]; // saveable rate of each stream AP_Int16 streamRates[GCS_MAVLINK_NUM_STREAM_RATES]; }; #if HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED class DefaultIntervalsFromFiles { public: DefaultIntervalsFromFiles(uint16_t max_num); ~DefaultIntervalsFromFiles(); void set(ap_message id, uint16_t interval); uint16_t num_intervals() const { return _num_intervals; } bool get_interval_for_ap_message_id(ap_message id, uint16_t &interval) const; ap_message id_at(uint8_t ofs) const; uint16_t interval_at(uint8_t ofs) const; private: struct from_file_default_interval { ap_message id; uint16_t interval; }; from_file_default_interval *_intervals; uint16_t _num_intervals; uint16_t _max_intervals; }; #endif /// /// @class GCS_MAVLINK /// @brief MAVLink transport control class /// class GCS_MAVLINK { public: friend class GCS; GCS_MAVLINK(GCS_MAVLINK_Parameters ¶meters, AP_HAL::UARTDriver &uart); virtual ~GCS_MAVLINK() {} void update_receive(uint32_t max_time_us=1000); void update_send(); bool init(uint8_t instance); void send_message(enum ap_message id); void send_text(MAV_SEVERITY severity, const char *fmt, ...) const FMT_PRINTF(3, 4); void queued_param_send(); void queued_mission_request_send(); bool sending_mavlink1() const; // returns true if we are requesting any items from the GCS: bool requesting_mission_items() const; /// Check for available transmit space uint16_t txspace() const { if (_locked) { return 0; } // there were concerns over return a too-large value for // txspace (in case we tried to do too much with the space in // a single loop): return MIN(_port->txspace(), 8192U); } // this is called when we discover we'd like to send something but can't: void out_of_space_to_send() { out_of_space_to_send_count++; } void send_mission_ack(const mavlink_message_t &msg, MAV_MISSION_TYPE mission_type, MAV_MISSION_RESULT result) const { CHECK_PAYLOAD_SIZE2_VOID(chan, MISSION_ACK); mavlink_msg_mission_ack_send(chan, msg.sysid, msg.compid, result, mission_type); } static const MAV_MISSION_TYPE supported_mission_types[3]; // packetReceived is called on any successful decode of a mavlink message virtual void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg); // send a mavlink_message_t out this GCS_MAVLINK connection. // Caller is responsible for ensuring space. void send_message(uint32_t msgid, const char *pkt) const { const mavlink_msg_entry_t *entry = mavlink_get_msg_entry(msgid); if (entry == nullptr) { return; } send_message(pkt, entry); } void send_message(const char *pkt, const mavlink_msg_entry_t *entry) const { _mav_finalize_message_chan_send(chan, entry->msgid, pkt, entry->min_msg_len, entry->max_msg_len, entry->crc_extra); } // accessor for uart AP_HAL::UARTDriver *get_uart() { return _port; } virtual uint8_t sysid_my_gcs() const = 0; virtual bool sysid_enforce() const { return false; } void send_parameter_value(const char *param_name, ap_var_type param_type, float param_value); // NOTE! The streams enum below and the // set of AP_Int16 stream rates _must_ be // kept in the same order enum streams : uint8_t { STREAM_RAW_SENSORS, STREAM_EXTENDED_STATUS, STREAM_RC_CHANNELS, STREAM_RAW_CONTROLLER, STREAM_POSITION, STREAM_EXTRA1, STREAM_EXTRA2, STREAM_EXTRA3, STREAM_PARAMS, STREAM_ADSB, NUM_STREAMS }; // streams must be moved out into the top level for // GCS_MAVLINK_Parameters to be able to use it. This is an // extensive change, so we 'll just keep them in sync with a // static assert for now: static_assert(NUM_STREAMS == GCS_MAVLINK_NUM_STREAM_RATES, "num streams must equal num stream rates"); bool is_high_bandwidth() { return chan == MAVLINK_COMM_0; } // return true if this channel has hardware flow control bool have_flow_control(); bool is_active() const { return GCS_MAVLINK::active_channel_mask() & (1 << (chan-MAVLINK_COMM_0)); } bool is_streaming() const { return sending_bucket_id != no_bucket_to_send; } mavlink_channel_t get_chan() const { return chan; } uint32_t get_last_heartbeat_time() const { return last_heartbeat_time; }; uint32_t last_heartbeat_time; // milliseconds static uint32_t last_radio_status_remrssi_ms() { return last_radio_status.remrssi_ms; } static float telemetry_radio_rssi(); // 0==no signal, 1==full signal // mission item index to be sent on queued msg, delayed or not uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE; // common send functions void send_heartbeat(void) const; void send_meminfo(void); void send_fence_status() const; void send_power_status(void); #if HAL_WITH_MCU_MONITORING void send_mcu_status(void); #endif void send_battery_status(const uint8_t instance) const; bool send_battery_status(); void send_distance_sensor(); // send_rangefinder sends only if a downward-facing instance is // found. Rover overrides this! virtual void send_rangefinder() const; void send_proximity(); virtual void send_nav_controller_output() const = 0; virtual void send_pid_tuning() = 0; void send_ahrs2(); void send_system_time() const; void send_rc_channels() const; void send_rc_channels_raw() const; void send_raw_imu(); void send_scaled_pressure_instance(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_boot_ms, float press_abs, float press_diff, int16_t temperature, int16_t temperature_press_diff)); void send_scaled_pressure(); void send_scaled_pressure2(); virtual void send_scaled_pressure3(); // allow sub to override this void send_simstate() const; void send_sim_state() const; void send_ahrs(); void send_battery2(); #if AP_OPTICALFLOW_ENABLED void send_opticalflow(); #endif virtual void send_attitude() const; virtual void send_attitude_quaternion() const; void send_autopilot_version() const; void send_extended_sys_state() const; void send_local_position() const; void send_vfr_hud(); void send_vibration() const; void send_gimbal_device_attitude_status() const; void send_named_float(const char *name, float value) const; void send_home_position() const; void send_gps_global_origin() const; virtual void send_attitude_target() {}; virtual void send_position_target_global_int() { }; virtual void send_position_target_local_ned() { }; void send_servo_output_raw(); void send_accelcal_vehicle_position(uint32_t position); void send_scaled_imu(uint8_t instance, void (*send_fn)(mavlink_channel_t chan, uint32_t time_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag, int16_t temperature)); void send_sys_status(); void send_set_position_target_global_int(uint8_t target_system, uint8_t target_component, const Location& loc); void send_rpm() const; void send_generator_status() const; virtual void send_winch_status() const {}; void send_water_depth() const; int8_t battery_remaining_pct(const uint8_t instance) const; #if HAL_HIGH_LATENCY2_ENABLED void send_high_latency2() const; #endif // HAL_HIGH_LATENCY2_ENABLED void send_uavionix_adsb_out_status() const; void send_autopilot_state_for_gimbal_device() const; // lock a channel, preventing use by MAVLink void lock(bool _lock) { _locked = _lock; } // returns true if this channel isn't available for MAVLink bool locked() const { return _locked; } // return a bitmap of active channels. Used by libraries to loop // over active channels to send to all active channels static uint8_t active_channel_mask(void) { return mavlink_active; } // return a bitmap of streaming channels static uint8_t streaming_channel_mask(void) { return chan_is_streaming; } // return a bitmap of private channels static uint8_t private_channel_mask(void) { return mavlink_private; } // 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); } #if HAL_HIGH_LATENCY2_ENABLED // return true if the link should be sending. Will return false if is a high latency link AND is not active bool should_send() { return is_high_latency_link ? high_latency_link_enabled : true; } #endif /* send a MAVLink message to all components with this vehicle's system id This is a no-op if no routes to components have been learned */ static void send_to_components(uint32_t msgid, const char *pkt, uint8_t pkt_len) { routing.send_to_components(msgid, pkt, pkt_len); } /* allow forwarding of packets / heartbeats to be blocked as required by some components to reduce traffic */ static void disable_channel_routing(mavlink_channel_t chan) { routing.no_route_mask |= (1U<<(chan-MAVLINK_COMM_0)); } /* search for a component in the routing table with given mav_type and retrieve it's sysid, compid and channel returns if a matching component is found */ static bool find_by_mavtype(uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel) { return routing.find_by_mavtype(mav_type, sysid, compid, channel); } /* search for the first vehicle or component in the routing table with given mav_type and component id and retrieve its sysid and channel returns true if a match is found */ static bool find_by_mavtype_and_compid(uint8_t mav_type, uint8_t compid, uint8_t &sysid, mavlink_channel_t &channel) { return routing.find_by_mavtype_and_compid(mav_type, compid, sysid, channel); } // update signing timestamp on GPS lock static void update_signing_timestamp(uint64_t timestamp_usec); // return current packet overhead for a channel static uint8_t packet_overhead_chan(mavlink_channel_t chan); // alternative protocol function handler FUNCTOR_TYPEDEF(protocol_handler_fn_t, bool, uint8_t, AP_HAL::UARTDriver *); struct stream_entries { const streams stream_id; const ap_message *ap_message_ids; const uint8_t num_ap_message_ids; }; // vehicle subclass cpp files should define this: static const struct stream_entries all_stream_entries[]; virtual uint64_t capabilities() const; uint16_t get_stream_slowdown_ms() const { return stream_slowdown_ms; } uint8_t get_last_txbuf() const { return last_txbuf; } MAV_RESULT set_message_interval(uint32_t msg_id, int32_t interval_us); protected: bool mavlink_coordinate_frame_to_location_alt_frame(MAV_FRAME coordinate_frame, Location::AltFrame &frame); // overridable method to check for packet acceptance. Allows for // enforcement of GCS sysid bool accept_packet(const mavlink_status_t &status, const mavlink_message_t &msg) const; void set_ekf_origin(const Location& loc); virtual MAV_MODE base_mode() const = 0; MAV_STATE system_status() const; virtual MAV_STATE vehicle_system_status() const = 0; virtual MAV_VTOL_STATE vtol_state() const { return MAV_VTOL_STATE_UNDEFINED; } virtual MAV_LANDED_STATE landed_state() const { return MAV_LANDED_STATE_UNDEFINED; } // return a MAVLink parameter type given a AP_Param type static MAV_PARAM_TYPE mav_param_type(enum ap_var_type t); AP_Param * _queued_parameter; ///< next parameter to // be sent in queue mavlink_channel_t chan; uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); } // saveable rate of each stream AP_Int16 *streamRates; void handle_heartbeat(const mavlink_message_t &msg) const; virtual bool persist_streamrates() const { return false; } void handle_request_data_stream(const mavlink_message_t &msg); virtual void handle_command_ack(const mavlink_message_t &msg); void handle_set_mode(const mavlink_message_t &msg); void handle_command_int(const mavlink_message_t &msg); MAV_RESULT handle_command_int_do_set_home(const mavlink_command_int_t &packet); virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet); virtual bool set_home_to_current_location(bool lock) = 0; virtual bool set_home(const Location& loc, bool lock) = 0; virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_set_home(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_aux_function(const mavlink_command_long_t &packet); void handle_mission_request_list(const mavlink_message_t &msg); void handle_mission_request(const mavlink_message_t &msg) const; void handle_mission_request_int(const mavlink_message_t &msg) const; void handle_mission_clear_all(const mavlink_message_t &msg) const; // Note that there exists a relatively new mavlink DO command, // MAV_CMD_DO_SET_MISSION_CURRENT which provides an acknowledgement // that the command has been received, rather than the GCS having to // rely on getting back an identical sequence number as some currently // do. virtual void handle_mission_set_current(AP_Mission &mission, const mavlink_message_t &msg); void handle_mission_count(const mavlink_message_t &msg); void handle_mission_write_partial_list(const mavlink_message_t &msg); void handle_mission_item(const mavlink_message_t &msg); void handle_distance_sensor(const mavlink_message_t &msg); void handle_obstacle_distance(const mavlink_message_t &msg); void handle_obstacle_distance_3d(const mavlink_message_t &msg); void handle_adsb_message(const mavlink_message_t &msg); void handle_osd_param_config(const mavlink_message_t &msg) const; void handle_common_param_message(const mavlink_message_t &msg); void handle_param_set(const mavlink_message_t &msg); void handle_param_request_list(const mavlink_message_t &msg); void handle_param_request_read(const mavlink_message_t &msg); virtual bool params_ready() const { return true; } void handle_rc_channels_override(const mavlink_message_t &msg); void handle_system_time_message(const mavlink_message_t &msg); void handle_common_rally_message(const mavlink_message_t &msg); void handle_rally_fetch_point(const mavlink_message_t &msg); void handle_rally_point(const mavlink_message_t &msg) const; #if HAL_MOUNT_ENABLED virtual void handle_mount_message(const mavlink_message_t &msg); #endif void handle_fence_message(const mavlink_message_t &msg); void handle_param_value(const mavlink_message_t &msg); void handle_radio_status(const mavlink_message_t &msg, bool log_radio); void handle_serial_control(const mavlink_message_t &msg); void handle_vision_position_delta(const mavlink_message_t &msg); void handle_common_message(const mavlink_message_t &msg); void handle_set_gps_global_origin(const mavlink_message_t &msg); void handle_setup_signing(const mavlink_message_t &msg) const; virtual MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet); // reset a message interval via mavlink: MAV_RESULT handle_command_set_message_interval(const mavlink_command_long_t &packet); MAV_RESULT handle_command_get_message_interval(const mavlink_command_long_t &packet); bool get_ap_message_interval(ap_message id, uint16_t &interval_ms) const; MAV_RESULT handle_command_request_message(const mavlink_command_long_t &packet); MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet); void handle_send_autopilot_version(const mavlink_message_t &msg); MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet); virtual void send_banner(); // send a (textual) message to the GCS that a received message has // been deprecated void send_received_message_deprecation_warning(const char *message); void handle_device_op_read(const mavlink_message_t &msg); void handle_device_op_write(const mavlink_message_t &msg); void send_timesync(); // returns the time a timesync message was most likely received: uint64_t timesync_receive_timestamp_ns() const; // returns a timestamp suitable for packing into the ts1 field of TIMESYNC: uint64_t timesync_timestamp_ns() const; void handle_timesync(const mavlink_message_t &msg); struct { int64_t sent_ts1; uint32_t last_sent_ms; const uint16_t interval_ms = 10000; } _timesync_request; void handle_statustext(const mavlink_message_t &msg) const; void handle_named_value(const mavlink_message_t &msg) const; bool telemetry_delayed() const; virtual uint32_t telem_delay() const = 0; MAV_RESULT handle_command_run_prearm_checks(const mavlink_command_long_t &packet); MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet); MAV_RESULT handle_command_flash_bootloader(const mavlink_command_long_t &packet); // generally this should not be overridden; Plane overrides it to ensure // failsafe isn't triggered during calibration virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet); virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet); virtual MAV_RESULT _handle_command_preflight_calibration_baro(); MAV_RESULT handle_command_preflight_can(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet); MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet); void handle_command_long(const mavlink_message_t &msg); MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_set_roi_sysid(const uint8_t sysid); MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet); MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet); MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet); MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_send_banner(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet); MAV_RESULT handle_command_do_set_roi(const mavlink_command_long_t &packet); virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc); MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_sprayer(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &packet); MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet); MAV_RESULT handle_command_do_fence_enable(const mavlink_command_long_t &packet); MAV_RESULT handle_command_debug_trap(const mavlink_command_long_t &packet); MAV_RESULT handle_command_set_ekf_source_set(const mavlink_command_long_t &packet); /* handle MAV_CMD_CAN_FORWARD and CAN_FRAME messages for CAN over MAVLink */ void can_frame_callback(uint8_t bus, const AP_HAL::CANFrame &); MAV_RESULT handle_can_forward(const mavlink_command_long_t &packet, const mavlink_message_t &msg); void handle_can_frame(const mavlink_message_t &msg) const; #if AP_OPTICALFLOW_ENABLED void handle_optical_flow(const mavlink_message_t &msg); #endif MAV_RESULT handle_fixed_mag_cal_yaw(const mavlink_command_long_t &packet); // default empty handling of LANDING_TARGET virtual void handle_landing_target(const mavlink_landing_target_t &packet, uint32_t timestamp_ms) { } // vehicle-overridable message send function virtual bool try_send_message(enum ap_message id); virtual void send_global_position_int(); // message sending functions: bool try_send_mission_message(enum ap_message id); void send_hwstatus(); void handle_data_packet(const mavlink_message_t &msg); // these two methods are called after current_loc is updated: virtual int32_t global_position_int_alt() const; virtual int32_t global_position_int_relative_alt() const; virtual float vfr_hud_climbrate() const; virtual float vfr_hud_airspeed() const; virtual int16_t vfr_hud_throttle() const { return 0; } virtual float vfr_hud_alt() const; #if HAL_HIGH_LATENCY2_ENABLED virtual int16_t high_latency_target_altitude() const { return 0; } virtual uint8_t high_latency_tgt_heading() const { return 0; } virtual uint16_t high_latency_tgt_dist() const { return 0; } virtual uint8_t high_latency_tgt_airspeed() const { return 0; } virtual uint8_t high_latency_wind_speed() const { return 0; } virtual uint8_t high_latency_wind_direction() const { return 0; } int8_t high_latency_air_temperature() const; MAV_RESULT handle_control_high_latency(const mavlink_command_long_t &packet); // true if this is a high latency link bool is_high_latency_link; bool high_latency_link_enabled; #endif // HAL_HIGH_LATENCY2_ENABLED static constexpr const float magic_force_arm_value = 2989.0f; static constexpr const float magic_force_disarm_value = 21196.0f; void manual_override(class RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false); uint8_t receiver_rssi() const; /* correct an offboard timestamp in microseconds to a local time since boot in milliseconds */ uint32_t correct_offboard_timestamp_usec_to_ms(uint64_t offboard_usec, uint16_t payload_size); // converts a COMMAND_LONG packet to a COMMAND_INT packet, where // the command-long packet is assumed to be in the supplied frame. // If location is not present in the command then just omit frame. static void convert_COMMAND_LONG_to_COMMAND_INT(const mavlink_command_long_t &in, mavlink_command_int_t &out, MAV_FRAME frame = MAV_FRAME_GLOBAL_RELATIVE_ALT); // methods to extract a Location object from a command_long or command_int bool location_from_command_t(const mavlink_command_long_t &in, MAV_FRAME in_frame, Location &out); bool location_from_command_t(const mavlink_command_int_t &in, Location &out); private: const AP_SerialManager::UARTState *uartstate; // last time we got a non-zero RSSI from RADIO_STATUS static struct LastRadioStatus { uint32_t remrssi_ms; uint8_t rssi; uint32_t received_ms; // time RADIO_STATUS received } last_radio_status; void log_mavlink_stats(); uint32_t last_accel_cal_ms; // used to rate limit accel cals for bad links MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode); // send a (textual) message to the GCS that a received message has // been deprecated uint32_t last_deprecation_warning_send_time_ms; const char *last_deprecation_message; void service_statustext(void); virtual void handleMessage(const mavlink_message_t &msg) = 0; MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet); static bool command_long_stores_location(const MAV_CMD command); bool calibrate_gyros(); /// The stream we are communicating over AP_HAL::UARTDriver *_port; /// Perform queued sending operations /// enum ap_var_type _queued_parameter_type; ///< type of the next // parameter AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for // next() call uint16_t _queued_parameter_index; ///< next queued // parameter's index uint16_t _queued_parameter_count; ///< saved count of // parameters for // queued send uint32_t _queued_parameter_send_time_ms; // number of extra ms to add to slow things down for the radio uint16_t stream_slowdown_ms; // last reported radio buffer percent available uint8_t last_txbuf = 100; // outbound ("deferred message") queue. // "special" messages such as heartbeat, next_param etc are stored // separately to stream-rated messages like AHRS2 etc. If these // were to be stored in buckets then they would be slowed down // based on stream_slowdown, which we have not traditionally done. struct deferred_message_t { const ap_message id; uint16_t interval_ms; uint16_t last_sent_ms; // from AP_HAL::millis16() } deferred_message[3] = { { MSG_HEARTBEAT, }, { MSG_NEXT_PARAM, }, { MSG_HIGH_LATENCY2, }, }; // returns index of id in deferred_message[] or -1 if not present int8_t get_deferred_message_index(const ap_message id) const; // returns index of a message in deferred_message[] which should // be sent (or -1 if none to send at the moment) int8_t deferred_message_to_send_index(uint16_t now16_ms); // cache of which deferred message should be sent next: int8_t next_deferred_message_to_send_cache = -1; struct deferred_message_bucket_t { Bitmask ap_message_ids; uint16_t interval_ms; uint16_t last_sent_ms; // from AP_HAL::millis16() }; deferred_message_bucket_t deferred_message_bucket[10]; static const uint8_t no_bucket_to_send = -1; static const ap_message no_message_to_send = (ap_message)-1; uint8_t sending_bucket_id = no_bucket_to_send; Bitmask bucket_message_ids_to_send; ap_message next_deferred_bucket_message_to_send(uint16_t now16_ms); void find_next_bucket_to_send(uint16_t now16_ms); void remove_message_from_bucket(int8_t bucket, ap_message id); // bitmask of IDs the code has spontaneously decided it wants to // send out. Examples include HEARTBEAT (gcs_send_heartbeat) Bitmask pushed_ap_message_ids; // returns true if it is OK to send a message while we are in // delay callback. In particular, when we are doing sensor init // we still send heartbeats. bool should_send_message_in_delay_callback(const ap_message id) const; // if true is returned, interval will contain the default interval for id bool get_default_interval_for_ap_message(const ap_message id, uint16_t &interval) const; // if true is returned, interval will contain the default interval for id bool get_default_interval_for_mavlink_message_id(const uint32_t mavlink_message_id, uint16_t &interval) const; // returns an interval in milliseconds for any ap_message in stream id uint16_t get_interval_for_stream(GCS_MAVLINK::streams id) const; // set an inverval for a specific mavlink message. Returns false // on failure (typically because there is no mapping from that // mavlink ID to an ap_message) bool set_mavlink_message_id_interval(const uint32_t mavlink_id, const uint16_t interval_ms); // map a mavlink ID to an ap_message which, if passed to // try_send_message, will cause a mavlink message with that id to // be emitted. Returns MSG_LAST if no such mapping exists. ap_message mavlink_id_to_ap_message_id(const uint32_t mavlink_id) const; // set the interval at which an ap_message should be emitted (in ms) bool set_ap_message_interval(enum ap_message id, uint16_t interval_ms); // call set_ap_message_interval for each entry in a stream, // the interval being based on the stream's rate void initialise_message_intervals_for_stream(GCS_MAVLINK::streams id); // call initialise_message_intervals_for_stream on every stream: void initialise_message_intervals_from_streamrates(); // boolean that indicated that message intervals have been set // from streamrates: bool deferred_messages_initialised; #if HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED // read configuration files from (e.g.) SD and ROMFS, set // intervals from same void initialise_message_intervals_from_config_files(); // read file, set message intervals from it: void get_intervals_from_filepath(const char *path, DefaultIntervalsFromFiles &); #endif // return interval deferred message bucket should be sent after. // When sending parameters and waypoints this may be longer than // the interval specified in "deferred" uint16_t get_reschedule_interval_ms(const deferred_message_bucket_t &deferred) const; bool do_try_send_message(const ap_message id); // time when we missed sending a parameter for GCS static uint32_t reserve_param_space_start_ms; // 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; // mavlink routing object static MAVLink_routing routing; struct pending_param_request { mavlink_channel_t chan; int16_t param_index; char param_name[AP_MAX_NAME_SIZE+1]; }; struct pending_param_reply { mavlink_channel_t chan; float value; enum ap_var_type p_type; int16_t param_index; uint16_t count; char param_name[AP_MAX_NAME_SIZE+1]; }; // queue of pending parameter requests and replies static ObjectBuffer param_requests; static ObjectBuffer param_replies; // have we registered the IO timer callback? static bool param_timer_registered; // IO timer callback for parameters void param_io_timer(void); uint8_t send_parameter_async_replies(); enum class FTP_OP : uint8_t { None = 0, TerminateSession = 1, ResetSessions = 2, ListDirectory = 3, OpenFileRO = 4, ReadFile = 5, CreateFile = 6, WriteFile = 7, RemoveFile = 8, CreateDirectory = 9, RemoveDirectory = 10, OpenFileWO = 11, TruncateFile = 12, Rename = 13, CalcFileCRC32 = 14, BurstReadFile = 15, Ack = 128, Nack = 129, }; enum class FTP_ERROR : uint8_t { None = 0, Fail = 1, FailErrno = 2, InvalidDataSize = 3, InvalidSession = 4, NoSessionsAvailable = 5, EndOfFile = 6, UnknownCommand = 7, FileExists = 8, FileProtected = 9, FileNotFound = 10, }; struct pending_ftp { uint32_t offset; mavlink_channel_t chan; uint16_t seq_number; FTP_OP opcode; FTP_OP req_opcode; bool burst_complete; uint8_t size; uint8_t session; uint8_t sysid; uint8_t compid; uint8_t data[239]; }; enum class FTP_FILE_MODE { Read, Write, }; struct ftp_state { ObjectBuffer *requests; ObjectBuffer *replies; // session specific info, currently only support a single session over all links int fd = -1; FTP_FILE_MODE mode; // work around AP_Filesystem not supporting file modes int16_t current_session; uint32_t last_send_ms; uint8_t need_banner_send_mask; }; static struct ftp_state ftp; static void ftp_error(struct pending_ftp &response, FTP_ERROR error); // FTP helper method for packing a NAK static int gen_dir_entry(char *dest, size_t space, const char * path, const struct dirent * entry); // FTP helper for emitting a dir response static void ftp_list_dir(struct pending_ftp &request, struct pending_ftp &response); bool ftp_init(void); void handle_file_transfer_protocol(const mavlink_message_t &msg); void send_ftp_replies(void); void ftp_worker(void); void ftp_push_replies(pending_ftp &reply); void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const; virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0; virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) {}; void handle_common_mission_message(const mavlink_message_t &msg); void handle_vicon_position_estimate(const mavlink_message_t &msg); void handle_vision_position_estimate(const mavlink_message_t &msg); void handle_global_vision_position_estimate(const mavlink_message_t &msg); void handle_att_pos_mocap(const mavlink_message_t &msg); void handle_odometry(const mavlink_message_t &msg); void handle_common_vision_position_estimate_data(const uint64_t usec, const float x, const float y, const float z, const float roll, const float pitch, const float yaw, const float covariance[21], const uint8_t reset_counter, const uint16_t payload_size); void handle_vision_speed_estimate(const mavlink_message_t &msg); void handle_landing_target(const mavlink_message_t &msg); void lock_channel(const mavlink_channel_t chan, bool lock); mavlink_signing_t signing; static mavlink_signing_streams_t signing_streams; static uint32_t last_signing_save_ms; static StorageAccess _signing_storage; static bool signing_key_save(const struct SigningKey &key); static bool signing_key_load(struct SigningKey &key); void load_signing_key(void); bool signing_enabled(void) const; static void save_signing_timestamp(bool force_save_now); #if HAL_MAVLINK_INTERVALS_FROM_FILES_ENABLED // structure containing default intervals read from files for this // link: DefaultIntervalsFromFiles *default_intervals_from_files; #endif // alternative protocol handler support struct { GCS_MAVLINK::protocol_handler_fn_t handler; uint32_t last_mavlink_ms; uint32_t last_alternate_ms; bool active; } alternative; JitterCorrection lag_correction; // we cache the current location and send it even if the AHRS has // no idea where we are: struct Location global_position_current_loc; uint8_t last_tx_seq; uint16_t send_packet_count; uint16_t out_of_space_to_send_count; // number of times HAVE_PAYLOAD_SPACE and friends have returned false #if GCS_DEBUG_SEND_MESSAGE_TIMINGS struct { uint32_t longest_time_us; ap_message longest_id; uint32_t no_space_for_message; uint16_t statustext_last_sent_ms; uint32_t behind; uint32_t out_of_time; uint16_t fnbts_maxtime; uint32_t max_retry_deferred_body_us; uint8_t max_retry_deferred_body_type; } try_send_message_stats; uint16_t max_slowdown_ms; #endif uint32_t last_mavlink_stats_logged; uint8_t last_battery_status_idx; // if we've ever sent a DISTANCE_SENSOR message out of an // orientation we continue to send it out, even if it is not // longer valid. uint8_t proximity_ever_valid_bitmask; // true if we should NOT do MAVLink on this port (usually because // someone's doing SERIAL_CONTROL over mavlink) bool _locked; }; /// @class GCS /// @brief global GCS object class GCS { public: GCS() { if (_singleton == nullptr) { _singleton = this; } else { #if CONFIG_HAL_BOARD == HAL_BOARD_SITL // this is a serious problem, but we don't need to kill a // real vehicle AP_HAL::panic("GCS must be singleton"); #endif } }; static class GCS *get_singleton() { return _singleton; } virtual uint32_t custom_mode() const = 0; virtual MAV_TYPE frame_type() const = 0; virtual const char* frame_string() const { return nullptr; } struct statustext_t { mavlink_statustext_t msg; uint16_t entry_created_ms; uint8_t bitmask; }; class StatusTextQueue : public ObjectArray { public: using ObjectArray::ObjectArray; HAL_Semaphore &semaphore() { return _sem; } void prune(); private: // a lock for the statustext queue, to make it safe to use send_text() // from multiple threads HAL_Semaphore _sem; uint32_t last_prune_ms; }; StatusTextQueue &statustext_queue() { return _statustext_queue; } // last time traffic was seen from my designated GCS. traffic // includes heartbeats and some manual control messages. uint32_t sysid_myggcs_last_seen_time_ms() const { return _sysid_mygcs_last_seen_time_ms; } // called when valid traffic has been seen from our GCS void sysid_myggcs_seen(uint32_t seen_time_ms) { _sysid_mygcs_last_seen_time_ms = seen_time_ms; } void send_to_active_channels(uint32_t msgid, const char *pkt); void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4); void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list); virtual void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t mask); uint8_t statustext_send_channel_mask() const; virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0; virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0; // return the number of valid GCS objects uint8_t num_gcs() const { return _num_gcs; }; void send_message(enum ap_message id); void send_mission_item_reached_message(uint16_t mission_index); void send_named_float(const char *name, float value) const; void send_parameter_value(const char *param_name, ap_var_type param_type, float param_value); static class MissionItemProtocol_Waypoints *_missionitemprotocol_waypoints; static class MissionItemProtocol_Rally *_missionitemprotocol_rally; #if AP_FENCE_ENABLED static class MissionItemProtocol_Fence *_missionitemprotocol_fence; #endif class MissionItemProtocol *get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const; void try_send_queued_message_for_type(MAV_MISSION_TYPE type) const; void update_send(); void update_receive(); // minimum amount of time (in microseconds) that must remain in // the main scheduler loop before we are allowed to send any // mavlink messages. We want to prioritise the main flight // control loop over communications virtual uint16_t min_loop_time_remaining_for_message_send_us() const { return 200; } void init(); void setup_console(); void setup_uarts(); bool out_of_time() const; // frsky backend class AP_Frsky_Telem *frsky; #if AP_LTM_TELEM_ENABLED // LTM backend AP_LTM_Telem ltm_telemetry; #endif #if AP_DEVO_TELEM_ENABLED // Devo backend AP_DEVO_Telem devo_telemetry; #endif // install an alternative protocol handler bool install_alternative_protocol(mavlink_channel_t chan, GCS_MAVLINK::protocol_handler_fn_t handler); // get the VFR_HUD throttle int16_t get_hud_throttle(void) const { return num_gcs()>0?chan(0)->vfr_hud_throttle():0; } // update uart pass-thru void update_passthru(); void get_sensor_status_flags(uint32_t &present, uint32_t &enabled, uint32_t &health); virtual bool vehicle_initialised() const { return true; } virtual bool simple_input_active() const { return false; } virtual bool supersimple_input_active() const { return false; } // set message interval for a given serial port and message id // this function is for use by lua scripts, most consumers should use the channel level function MAV_RESULT set_message_interval(uint8_t port_num, uint32_t msg_id, int32_t interval_us); uint8_t get_channel_from_port_number(uint8_t port_num); #if HAL_HIGH_LATENCY2_ENABLED void enable_high_latency_connections(bool enabled); #endif // HAL_HIGH_LATENCY2_ENABLED protected: virtual uint8_t sysid_this_mav() const = 0; virtual GCS_MAVLINK *new_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart) = 0; uint32_t control_sensors_present; uint32_t control_sensors_enabled; uint32_t control_sensors_health; virtual void update_vehicle_sensor_status_flags() {} GCS_MAVLINK_Parameters chan_parameters[MAVLINK_COMM_NUM_BUFFERS]; uint8_t _num_gcs; GCS_MAVLINK *_chan[MAVLINK_COMM_NUM_BUFFERS]; private: static GCS *_singleton; void create_gcs_mavlink_backend(GCS_MAVLINK_Parameters ¶ms, AP_HAL::UARTDriver &uart); char statustext_printf_buffer[256+1]; virtual AP_GPS::GPS_Status min_status_for_gps_healthy() const { // NO_FIX simply excludes NO_GPS return AP_GPS::GPS_Status::NO_FIX; } void update_sensor_status_flags(); // time we last saw traffic from our GCS uint32_t _sysid_mygcs_last_seen_time_ms; void service_statustext(void); #if HAL_MEM_CLASS <= HAL_MEM_CLASS_192 || CONFIG_HAL_BOARD == HAL_BOARD_SITL static const uint8_t _status_capacity = 7; #else static const uint8_t _status_capacity = 30; #endif // queue of outgoing statustext messages. Each entry consumes 58 // bytes of RAM on stm32 StatusTextQueue _statustext_queue{_status_capacity}; // true if we have already allocated protocol objects: bool initialised_missionitemprotocol_objects; // true if update_send has ever been called: bool update_send_has_been_called; // handle passthru between two UARTs struct { bool enabled; bool timer_installed; AP_HAL::UARTDriver *port1; AP_HAL::UARTDriver *port2; uint32_t start_ms; uint32_t last_ms; uint32_t last_port1_data_ms; uint32_t baud1; uint32_t baud2; uint8_t timeout_s; HAL_Semaphore sem; } _passthru; // timer called to implement pass-thru void passthru_timer(); // this contains the index of the GCS_MAVLINK backend we will // first call update_send on. It is incremented each time // GCS::update_send is called so we don't starve later links of // time in which they are permitted to send messages. uint8_t first_backend_to_send; }; GCS &gcs(); // send text when we do have a GCS #if !defined(HAL_BUILD_AP_PERIPH) #define GCS_SEND_TEXT(severity, format, args...) gcs().send_text(severity, format, ##args) #else extern "C" { void can_printf(const char *fmt, ...); } #define GCS_SEND_TEXT(severity, format, args...) (void)severity; can_printf(format, ##args) #endif #elif defined(HAL_BUILD_AP_PERIPH) && !defined(STM32F1) // map send text to can_printf() on larger AP_Periph boards extern "C" { void can_printf(const char *fmt, ...); } #define GCS_SEND_TEXT(severity, format, args...) can_printf(format, ##args) #else // HAL_GCS_ENABLED // empty send text when we have no GCS #define GCS_SEND_TEXT(severity, format, args...) #endif // HAL_GCS_ENABLED