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