ardupilot/Tools/Replay/MsgHandler.cpp

596 lines
16 KiB
C++

#include <MsgHandler.h>
extern const AP_HAL::HAL& hal;
void fatal(const char *msg) {
::printf("%s",msg);
::printf("\n");
exit(1);
}
char *xstrdup(const char *string)
{
char *ret = strdup(string);
if (ret == NULL) {
perror("strdup");
fatal("strdup failed");
}
return ret;
}
void MsgHandler::add_field_type(char type, size_t size)
{
size_for_type_table[(type > 'A' ? (type-'A') : (type-'a'))] = size;
}
uint8_t MsgHandler::size_for_type(char type)
{
return size_for_type_table[(uint8_t)(type > 'A' ? (type-'A') : (type-'a'))];
}
void MsgHandler::init_field_types()
{
add_field_type('b', sizeof(int8_t));
add_field_type('c', sizeof(int16_t));
add_field_type('e', sizeof(int32_t));
add_field_type('f', sizeof(float));
add_field_type('h', sizeof(int16_t));
add_field_type('i', sizeof(int32_t));
add_field_type('n', sizeof(char[4]));
add_field_type('B', sizeof(uint8_t));
add_field_type('C', sizeof(uint16_t));
add_field_type('E', sizeof(uint32_t));
add_field_type('H', sizeof(uint16_t));
add_field_type('I', sizeof(uint32_t));
add_field_type('L', sizeof(int32_t));
add_field_type('M', sizeof(uint8_t));
add_field_type('N', sizeof(char[16]));
add_field_type('Z', sizeof(char[64]));
add_field_type('q', sizeof(int64_t));
add_field_type('Q', sizeof(uint64_t));
}
struct MsgHandler::format_field_info *MsgHandler::find_field_info(const char *label)
{
for(uint8_t i=0; i<next_field; i++) {
if (streq(field_info[i].label, label)) {
return &field_info[i];
}
}
return NULL;
}
MsgHandler::MsgHandler(struct log_Format &_f, DataFlash_Class &_dataflash,
uint64_t &_last_timestamp_usec)
: next_field(0), f(_f), dataflash(_dataflash), last_timestamp_usec(_last_timestamp_usec)
{
init_field_types();
parse_format_fields();
}
void MsgHandler::add_field(const char *_label, uint8_t _type, uint8_t _offset,
uint8_t _length)
{
field_info[next_field].label = xstrdup(_label);
field_info[next_field].type = _type;
field_info[next_field].offset = _offset;
field_info[next_field].length = _length;
next_field++;
}
void MsgHandler::parse_format_fields()
{
char *labels = xstrdup(f.labels);
char * arg = labels;
uint8_t label_offset = 0;
char *next_label;
uint8_t msg_offset = 3; // 3 bytes for the header
while ((next_label = strtok(arg, ",")) != NULL) {
if (label_offset > strlen(f.format)) {
free(labels);
printf("too few field times for labels %s (format=%s) (labels=%s)\n",
f.name, f.format, f.labels);
exit(1);
}
uint8_t field_type = f.format[label_offset];
uint8_t length = size_for_type(field_type);
add_field(next_label, field_type, msg_offset, length);
arg = NULL;
msg_offset += length;
label_offset++;
}
if (label_offset != strlen(f.format)) {
free(labels);
printf("too few labels for format (format=%s) (labels=%s)\n",
f.format, f.labels);
}
free(labels);
}
bool MsgHandler::field_value(uint8_t *msg, const char *label, char *ret, uint8_t retlen)
{
struct format_field_info *info = find_field_info(label);
if (info == NULL) {
::printf("No info for (%s)\n",label);
exit(1);
}
uint8_t offset = info->offset;
if (offset == 0) {
return false;
}
memset(ret, '\0', retlen);
memcpy(ret, &msg[offset], (retlen < info->length) ? retlen : info->length);
return true;
}
bool MsgHandler::field_value(uint8_t *msg, const char *label, Vector3f &ret)
{
const char *axes = "XYZ";
uint8_t i;
for(i=0; i<next_field; i++) {
if (!strncmp(field_info[i].label, label, strlen(label)) &&
strlen(field_info[i].label) == strlen(label)+1) {
for (uint8_t j=0; j<3; j++) {
if (field_info[i].label[strlen(label)] == axes[j]) {
field_value_for_type_at_offset(msg,
field_info[i].type,
field_info[i].offset,
ret[j]);
break; // break from finding-label loop
}
}
}
if (i == next_field) {
return 0; // not found
}
}
return true;
}
void MsgHandler::string_for_labels(char *buffer, uint bufferlen)
{
memset(buffer, '\0', bufferlen);
bufferlen--;
char *pos = buffer;
for (uint8_t k=0; k<LOGREADER_MAX_FIELDS; k++) {
if (field_info[k].label != NULL) {
uint8_t remaining = bufferlen - (pos - buffer);
uint8_t label_length = strlen(field_info[k].label);
uint8_t required = label_length;
if (pos != buffer) { // room for a comma
required++;
}
if (required+1 > remaining) { // null termination
break;
}
if (pos != buffer) {
*pos++ = ',';
}
memcpy(pos, field_info[k].label, label_length);
pos += label_length;
}
}
}
MsgHandler::~MsgHandler()
{
for (uint8_t k=0; k<LOGREADER_MAX_FIELDS; k++) {
if (field_info[k].label != NULL) {
free(field_info[k].label);
}
}
}
void MsgHandler::wait_timestamp_usec(uint64_t timestamp)
{
last_timestamp_usec = timestamp;
hal.scheduler->stop_clock(timestamp);
}
void MsgHandler::wait_timestamp(uint32_t timestamp)
{
uint64_t usecs = timestamp*1000UL;
wait_timestamp_usec(usecs);
}
void MsgHandler::location_from_msg(uint8_t *msg,
Location &loc,
const char *label_lat,
const char *label_long,
const char *label_alt)
{
loc.lat = require_field_int32_t(msg, label_lat);
loc.lng = require_field_int32_t(msg, label_long);
loc.alt = require_field_int32_t(msg, label_alt);
loc.options = 0;
}
void MsgHandler::ground_vel_from_msg(uint8_t *msg,
Vector3f &vel,
const char *label_speed,
const char *label_course,
const char *label_vz)
{
uint32_t ground_speed;
int32_t ground_course;
require_field(msg, label_speed, ground_speed);
require_field(msg, label_course, ground_course);
vel[0] = ground_speed*0.01f*cosf(radians(ground_course*0.01f));
vel[1] = ground_speed*0.01f*sinf(radians(ground_course*0.01f));
vel[2] = require_field_float(msg, label_vz);
}
void MsgHandler::attitude_from_msg(uint8_t *msg,
Vector3f &att,
const char *label_roll,
const char *label_pitch,
const char *label_yaw)
{
att[0] = require_field_int16_t(msg, label_roll) * 0.01f;
att[1] = require_field_int16_t(msg, label_pitch) * 0.01f;
att[2] = require_field_uint16_t(msg, label_yaw) * 0.01f;
}
void MsgHandler::field_not_found(uint8_t *msg, const char *label)
{
char all_labels[256];
uint8_t type = msg[2];
string_for_labels(all_labels, 256);
::printf("Field (%s) not found for id=%d; options are (%s)\n",
label, type, all_labels);
abort();
}
void MsgHandler::require_field(uint8_t *msg, const char *label, char *buffer, uint8_t bufferlen)
{
if (! field_value(msg, label, buffer, bufferlen)) {
field_not_found(msg,label);
}
}
float MsgHandler::require_field_float(uint8_t *msg, const char *label)
{
float ret;
require_field(msg, label, ret);
return ret;
}
uint8_t MsgHandler::require_field_uint8_t(uint8_t *msg, const char *label)
{
uint8_t ret;
require_field(msg, label, ret);
return ret;
}
int32_t MsgHandler::require_field_int32_t(uint8_t *msg, const char *label)
{
int32_t ret;
require_field(msg, label, ret);
return ret;
}
uint16_t MsgHandler::require_field_uint16_t(uint8_t *msg, const char *label)
{
uint16_t ret;
require_field(msg, label, ret);
return ret;
}
int16_t MsgHandler::require_field_int16_t(uint8_t *msg, const char *label)
{
int16_t ret;
require_field(msg, label, ret);
return ret;
}
void MsgHandler::wait_timestamp_from_msg(uint8_t *msg)
{
uint64_t time_us;
uint64_t time_ms;
if (field_value(msg, "TimeUS", time_us)) {
// 64-bit timestamp present - great!
wait_timestamp_usec(time_us);
} else if (field_value(msg, "TimeMS", time_ms)) {
// there is special rounding code that needs to be crossed in
// wait_timestamp:
wait_timestamp(time_ms);
} else {
::printf("No timestamp on message");
}
}
/*
* subclasses to handle specific messages below here
*/
void MsgHandler_AHR2::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
attitude_from_msg(msg, ahr2_attitude, "Roll", "Pitch", "Yaw");
}
void MsgHandler_ARM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t ArmState = require_field_uint8_t(msg, "ArmState");
hal.util->set_soft_armed(ArmState);
printf("Armed state: %u at %lu\n",
(unsigned)ArmState,
(unsigned long)hal.scheduler->millis());
}
void MsgHandler_ARSP::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
airspeed.setHIL(require_field_float(msg, "Airspeed"),
require_field_float(msg, "DiffPress"),
require_field_float(msg, "Temp"));
}
void MsgHandler_FRAM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
}
void MsgHandler_ATT::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
attitude_from_msg(msg, attitude, "Roll", "Pitch", "Yaw");
}
void MsgHandler_BARO::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
baro.setHIL(0,
require_field_float(msg, "Press"),
require_field_int16_t(msg, "Temp") * 0.01f);
}
#define DATA_ARMED 10
#define DATA_DISARMED 11
void MsgHandler_Event::process_message(uint8_t *msg)
{
uint8_t id = require_field_uint8_t(msg, "Id");
if (id == DATA_ARMED) {
hal.util->set_soft_armed(true);
printf("Armed at %lu\n",
(unsigned long)hal.scheduler->millis());
} else if (id == DATA_DISARMED) {
hal.util->set_soft_armed(false);
printf("Disarmed at %lu\n",
(unsigned long)hal.scheduler->millis());
}
}
void MsgHandler_GPS2::process_message(uint8_t *msg)
{
// only LOG_GPS_MSG gives us relative altitude. We still log
// the relative altitude when we get a LOG_GPS2_MESSAGE - but
// the value we use (probably) comes from the most recent
// LOG_GPS_MESSAGE message!
update_from_msg_gps(1, msg, false);
}
void MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg, bool responsible_for_relalt)
{
uint64_t time_us;
if (! field_value(msg, "TimeUS", time_us)) {
uint32_t timestamp;
require_field(msg, "T", timestamp);
time_us = timestamp * 1000;
}
wait_timestamp_usec(time_us);
Location loc;
location_from_msg(msg, loc, "Lat", "Lng", "Alt");
Vector3f vel;
ground_vel_from_msg(msg, vel, "Spd", "GCrs", "VZ");
uint8_t status = require_field_uint8_t(msg, "Status");
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
uint32_t(time_us/1000),
loc,
vel,
require_field_uint8_t(msg, "NSats"),
require_field_uint8_t(msg, "HDop"),
require_field_float(msg, "VZ") != 0);
if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
ground_alt_cm = require_field_int32_t(msg, "Alt");
}
if (responsible_for_relalt) {
// this could possibly check for the presence of "RelAlt" label?
int32_t tmp;
if (! field_value(msg, "RAlt", tmp)) {
tmp = require_field_int32_t(msg, "RelAlt");
}
rel_altitude = 0.01f * tmp;
}
}
void MsgHandler_GPS::process_message(uint8_t *msg)
{
update_from_msg_gps(0, msg, true);
}
void MsgHandler_IMU2::process_message(uint8_t *msg)
{
update_from_msg_imu(1, msg);
}
void MsgHandler_IMU3::process_message(uint8_t *msg)
{
update_from_msg_imu(2, msg);
}
void MsgHandler_IMU_Base::update_from_msg_imu(uint8_t imu_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
uint8_t this_imu_mask = 1 << imu_offset;
if (gyro_mask & this_imu_mask) {
Vector3f gyro;
require_field(msg, "Gyr", gyro);
ins.set_gyro(imu_offset, gyro);
}
if (accel_mask & this_imu_mask) {
Vector3f accel2;
require_field(msg, "Acc", accel2);
ins.set_accel(imu_offset, accel2);
}
}
void MsgHandler_IMU::process_message(uint8_t *msg)
{
update_from_msg_imu(0, msg);
}
void MsgHandler_MAG2::process_message(uint8_t *msg)
{
update_from_msg_compass(1, msg);
}
void MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
{
wait_timestamp_from_msg(msg);
Vector3f mag;
require_field(msg, "Mag", mag);
Vector3f mag_offset;
require_field(msg, "Ofs", mag_offset);
compass.setHIL(compass_offset, mag - mag_offset);
// compass_offset is which compass we are setting info for;
// mag_offset is a vector indicating the compass' calibration...
compass.set_offsets(compass_offset, mag_offset);
}
void MsgHandler_MAG::process_message(uint8_t *msg)
{
update_from_msg_compass(0, msg);
}
#include <AP_AHRS.h>
#include <VehicleType.h>
void MsgHandler_MSG::process_message(uint8_t *msg)
{
const uint8_t msg_text_len = 64;
char msg_text[msg_text_len];
require_field(msg, "Message", msg_text, msg_text_len);
if (strncmp(msg_text, "ArduPlane", strlen("ArduPlane")) == 0) {
vehicle = VehicleType::VEHICLE_PLANE;
::printf("Detected Plane\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_FIXED_WING);
ahrs.set_fly_forward(true);
} else if (strncmp(msg_text, "ArduCopter", strlen("ArduCopter")) == 0 ||
strncmp(msg_text, "APM:Copter", strlen("APM:Copter")) == 0) {
vehicle = VehicleType::VEHICLE_COPTER;
::printf("Detected Copter\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_COPTER);
ahrs.set_fly_forward(false);
} else if (strncmp(msg_text, "ArduRover", strlen("ArduRover")) == 0) {
vehicle = VehicleType::VEHICLE_ROVER;
::printf("Detected Rover\n");
ahrs.set_vehicle_class(AHRS_VEHICLE_GROUND);
ahrs.set_fly_forward(true);
}
}
void MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
{
inavpos = Vector3f(require_field_float(msg, "PosX") * 0.01f,
require_field_float(msg, "PosY") * 0.01f,
0);
}
bool MsgHandler::set_parameter(const char *name, float value)
{
const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_USE",
"COMPASS_ORIENT", "COMPASS_ORIENT2",
"COMPASS_ORIENT3"};
for (uint8_t i=0; i<sizeof(ignore_parms)/sizeof(ignore_parms[0]); i++) {
if (strncmp(name, ignore_parms[i], AP_MAX_NAME_SIZE) == 0) {
::printf("Ignoring set of %s to %f\n", name, value);
return true;
}
}
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(name, &var_type);
if (vp == NULL) {
return false;
}
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)vp)->set(value);
::printf("Set %s to %f\n", name, value);
} else if (var_type == AP_PARAM_INT32) {
((AP_Int32 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else if (var_type == AP_PARAM_INT16) {
((AP_Int16 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else if (var_type == AP_PARAM_INT8) {
((AP_Int8 *)vp)->set(value);
::printf("Set %s to %d\n", name, (int)value);
} else {
// we don't support mavlink set on this parameter
return false;
}
return true;
}
void MsgHandler_PARM::process_message(uint8_t *msg)
{
const uint8_t parameter_name_len = AP_MAX_NAME_SIZE + 1; // null-term
char parameter_name[parameter_name_len];
require_field(msg, "Name", parameter_name, parameter_name_len);
set_parameter(parameter_name, require_field_float(msg, "Value"));
}
void MsgHandler_SIM::process_message(uint8_t *msg)
{
wait_timestamp_from_msg(msg);
attitude_from_msg(msg, sim_attitude, "Roll", "Pitch", "Yaw");
}