mirror of https://github.com/ArduPilot/ardupilot
411 lines
16 KiB
C++
411 lines
16 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file GCS.h
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/// @brief Interface definition for the various Ground Control System
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// protocols.
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Common/AP_Common.h>
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#include "GCS_MAVLink.h"
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#include <DataFlash/DataFlash.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <stdint.h>
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#include "MAVLink_routing.h"
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Mount/AP_Mount.h>
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#include <AP_Avoidance/AP_Avoidance.h>
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#include <AP_HAL/utility/RingBuffer.h>
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// check if a message will fit in the payload space available
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#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
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#define CHECK_PAYLOAD_SIZE(id) if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false
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#define CHECK_PAYLOAD_SIZE2(id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return false
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#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY 5
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#else
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#define GCS_MAVLINK_PAYLOAD_STATUS_CAPACITY 30
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#endif
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// GCS Message ID's
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/// NOTE: to ensure we never block on sending MAVLink messages
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/// please keep each MSG_ to a single MAVLink message. If need be
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/// create new MSG_ IDs for additional messages on the same
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/// stream
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enum ap_message {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_EXTENDED_STATUS1,
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MSG_EXTENDED_STATUS2,
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MSG_NAV_CONTROLLER_OUTPUT,
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MSG_CURRENT_WAYPOINT,
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MSG_VFR_HUD,
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MSG_RADIO_OUT,
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MSG_RADIO_IN,
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MSG_RAW_IMU1,
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MSG_RAW_IMU2,
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MSG_RAW_IMU3,
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MSG_GPS_RAW,
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MSG_SYSTEM_TIME,
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MSG_SERVO_OUT,
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MSG_NEXT_WAYPOINT,
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MSG_NEXT_PARAM,
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MSG_STATUSTEXT,
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MSG_LIMITS_STATUS,
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MSG_FENCE_STATUS,
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MSG_AHRS,
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MSG_SIMSTATE,
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MSG_HWSTATUS,
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MSG_WIND,
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MSG_RANGEFINDER,
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MSG_TERRAIN,
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MSG_BATTERY2,
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MSG_CAMERA_FEEDBACK,
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MSG_MOUNT_STATUS,
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MSG_OPTICAL_FLOW,
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MSG_GIMBAL_REPORT,
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MSG_MAG_CAL_PROGRESS,
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MSG_MAG_CAL_REPORT,
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MSG_EKF_STATUS_REPORT,
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MSG_LOCAL_POSITION,
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MSG_PID_TUNING,
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MSG_VIBRATION,
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MSG_RPM,
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MSG_MISSION_ITEM_REACHED,
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MSG_POSITION_TARGET_GLOBAL_INT,
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MSG_ADSB_VEHICLE,
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MSG_RETRY_DEFERRED // this must be last
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};
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///
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/// @class GCS_MAVLINK
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/// @brief MAVLink transport control class
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///
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class GCS_MAVLINK
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{
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public:
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GCS_MAVLINK();
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FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
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void update(run_cli_fn run_cli);
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void init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
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void setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
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void send_message(enum ap_message id);
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void send_text(MAV_SEVERITY severity, const char *str);
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virtual void data_stream_send(void) = 0;
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void queued_param_send();
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void queued_waypoint_send();
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void set_snoop(void (*_msg_snoop)(const mavlink_message_t* msg)) {
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msg_snoop = _msg_snoop;
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}
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// packetReceived is called on any successful decode of a mavlink message
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virtual void packetReceived(const mavlink_status_t &status,
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mavlink_message_t &msg);
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struct statustext_t {
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uint8_t bitmask;
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mavlink_statustext_t msg;
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};
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static ObjectArray<statustext_t> _statustext_queue;
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// accessor for uart
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AP_HAL::UARTDriver *get_uart() { return _port; }
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static const struct AP_Param::GroupInfo var_info[];
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// set to true if this GCS link is active
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bool initialised;
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// NOTE! The streams enum below and the
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// set of AP_Int16 stream rates _must_ be
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// kept in the same order
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enum streams {STREAM_RAW_SENSORS,
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STREAM_EXTENDED_STATUS,
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STREAM_RC_CHANNELS,
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STREAM_RAW_CONTROLLER,
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STREAM_POSITION,
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STREAM_EXTRA1,
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STREAM_EXTRA2,
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STREAM_EXTRA3,
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STREAM_PARAMS,
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STREAM_ADSB,
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NUM_STREAMS};
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// see if we should send a stream now. Called at 50Hz
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bool stream_trigger(enum streams stream_num);
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// call to reset the timeout window for entering the cli
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void reset_cli_timeout();
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uint32_t last_heartbeat_time; // milliseconds
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// last time we got a non-zero RSSI from RADIO_STATUS
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static uint32_t last_radio_status_remrssi_ms;
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// mission item index to be sent on queued msg, delayed or not
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uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;
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// common send functions
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void send_meminfo(void);
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void send_power_status(void);
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void send_ahrs2(AP_AHRS &ahrs);
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bool send_gps_raw(AP_GPS &gps);
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void send_system_time(AP_GPS &gps);
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void send_radio_in(uint8_t receiver_rssi);
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void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
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void send_scaled_pressure(AP_Baro &barometer);
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void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer);
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void send_ahrs(AP_AHRS &ahrs);
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void send_battery2(const AP_BattMonitor &battery);
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#if AP_AHRS_NAVEKF_AVAILABLE
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void send_opticalflow(AP_AHRS_NavEKF &ahrs, const OpticalFlow &optflow);
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#endif
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void send_autopilot_version(uint8_t major_version, uint8_t minor_version, uint8_t patch_version, uint8_t version_type) const;
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void send_local_position(const AP_AHRS &ahrs) const;
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void send_vibration(const AP_InertialSensor &ins) const;
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void send_home(const Location &home) const;
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static void send_home_all(const Location &home);
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void send_heartbeat(uint8_t type, uint8_t base_mode, uint32_t custom_mode, uint8_t system_status);
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void send_servo_output_raw(bool hil);
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static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
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// return a bitmap of active channels. Used by libraries to loop
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// over active channels to send to all active channels
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static uint8_t active_channel_mask(void) { return mavlink_active; }
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/*
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send a statustext message to active MAVLink connections, or a specific
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one. This function is static so it can be called from any library.
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*/
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static void send_statustext_all(MAV_SEVERITY severity, const char *fmt, ...);
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static void send_statustext_chan(MAV_SEVERITY severity, uint8_t dest_chan, const char *fmt, ...);
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static void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
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static void service_statustext(void);
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// send a PARAM_VALUE message to all active MAVLink connections.
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static void send_parameter_value_all(const char *param_name, ap_var_type param_type, float param_value);
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/*
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send a MAVLink message to all components with this vehicle's system id
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This is a no-op if no routes to components have been learned
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*/
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static void send_to_components(const mavlink_message_t* msg) { routing.send_to_components(msg); }
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/*
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allow forwarding of packets / heartbeats to be blocked as required by some components to reduce traffic
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*/
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static void disable_channel_routing(mavlink_channel_t chan) { routing.no_route_mask |= (1U<<(chan-MAVLINK_COMM_0)); }
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/*
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search for a component in the routing table with given mav_type and retrieve it's sysid, compid and channel
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returns if a matching component is found
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*/
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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); }
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/*
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set a dataflash pointer for logging
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*/
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static void set_dataflash(DataFlash_Class *dataflash) {
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dataflash_p = dataflash;
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}
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// update signing timestamp on GPS lock
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static void update_signing_timestamp(uint64_t timestamp_usec);
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// return current packet overhead for a channel
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static uint8_t packet_overhead_chan(mavlink_channel_t chan);
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// FIXME: move this to be private/protected once possible
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bool telemetry_delayed(mavlink_channel_t chan);
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virtual uint32_t telem_delay() const = 0;
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protected:
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// overridable method to check for packet acceptance. Allows for
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// enforcement of GCS sysid
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virtual bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) { return true; }
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bool waypoint_receiving; // currently receiving
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// the following two variables are only here because of Tracker
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uint16_t waypoint_request_i; // request index
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uint16_t waypoint_request_last; // last request index
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AP_Param * _queued_parameter; ///< next parameter to
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// be sent in queue
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mavlink_channel_t chan;
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uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }
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void handle_log_send(DataFlash_Class &dataflash);
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// saveable rate of each stream
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AP_Int16 streamRates[NUM_STREAMS];
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void handle_request_data_stream(mavlink_message_t *msg, bool save);
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FUNCTOR_TYPEDEF(set_mode_fn, bool, uint8_t);
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void handle_set_mode(mavlink_message_t* msg, set_mode_fn set_mode);
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void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_count(AP_Mission &mission, mavlink_message_t *msg);
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void handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg);
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bool handle_mission_item(mavlink_message_t *msg, AP_Mission &mission);
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void handle_param_set(mavlink_message_t *msg, DataFlash_Class *DataFlash);
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void handle_param_request_list(mavlink_message_t *msg);
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void handle_param_request_read(mavlink_message_t *msg);
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void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
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void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
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void handle_serial_control(mavlink_message_t *msg, AP_GPS &gps);
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void handle_gps_inject(const mavlink_message_t *msg, AP_GPS &gps);
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void handle_log_message(mavlink_message_t *msg, DataFlash_Class &dataflash);
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void handle_setup_signing(const mavlink_message_t *msg);
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uint8_t handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
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uint8_t handle_rc_bind(const mavlink_command_long_t &packet);
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private:
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float adjust_rate_for_stream_trigger(enum streams stream_num);
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virtual void handleMessage(mavlink_message_t * msg) = 0;
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/// The stream we are communicating over
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AP_HAL::UARTDriver *_port;
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/// Perform queued sending operations
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///
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enum ap_var_type _queued_parameter_type; ///< type of the next
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// parameter
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AP_Param::ParamToken _queued_parameter_token; ///AP_Param token for
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// next() call
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uint16_t _queued_parameter_index; ///< next queued
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// parameter's index
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uint16_t _queued_parameter_count; ///< saved count of
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// parameters for
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// queued send
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uint32_t _queued_parameter_send_time_ms;
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/// Count the number of reportable parameters.
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///
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/// Not all parameters can be reported via MAVlink. We count the number
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// that are
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/// so that we can report to a GCS the number of parameters it should
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// expect when it
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/// requests the full set.
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///
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/// @return The number of reportable parameters.
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///
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uint16_t packet_drops;
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// this allows us to detect the user wanting the CLI to start
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uint8_t crlf_count;
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// waypoints
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uint16_t waypoint_dest_sysid; // where to send requests
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uint16_t waypoint_dest_compid; // "
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uint16_t waypoint_count;
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uint32_t waypoint_timelast_receive; // milliseconds
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uint32_t waypoint_timelast_request; // milliseconds
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const uint16_t waypoint_receive_timeout = 8000; // milliseconds
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// number of 50Hz ticks until we next send this stream
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uint8_t stream_ticks[NUM_STREAMS];
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// number of extra ticks to add to slow things down for the radio
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uint8_t stream_slowdown;
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// millis value to calculate cli timeout relative to.
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// exists so we can separate the cli entry time from the system start time
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uint32_t _cli_timeout;
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uint8_t _log_listing:1; // sending log list
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uint8_t _log_sending:1; // sending log data
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// next log list entry to send
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uint16_t _log_next_list_entry;
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// last log list entry to send
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uint16_t _log_last_list_entry;
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// number of log files
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uint16_t _log_num_logs;
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// log number for data send
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uint16_t _log_num_data;
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// offset in log
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uint32_t _log_data_offset;
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// size of log file
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uint32_t _log_data_size;
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// number of bytes left to send
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uint32_t _log_data_remaining;
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// start page of log data
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uint16_t _log_data_page;
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// deferred message handling
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enum ap_message deferred_messages[MSG_RETRY_DEFERRED];
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uint8_t next_deferred_message;
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uint8_t num_deferred_messages;
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// time when we missed sending a parameter for GCS
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static uint32_t reserve_param_space_start_ms;
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// bitmask of what mavlink channels are active
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static uint8_t mavlink_active;
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// bitmask of what mavlink channels are streaming
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static uint8_t chan_is_streaming;
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// mavlink routing object
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static MAVLink_routing routing;
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// pointer to static dataflash for logging of text messages
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static DataFlash_Class *dataflash_p;
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static const AP_SerialManager *serialmanager_p;
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// a vehicle can optionally snoop on messages for other systems
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static void (*msg_snoop)(const mavlink_message_t* msg);
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// vehicle specific message send function
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virtual bool try_send_message(enum ap_message id) = 0;
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virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
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virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
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void handle_log_request_list(mavlink_message_t *msg, DataFlash_Class &dataflash);
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void handle_log_request_data(mavlink_message_t *msg, DataFlash_Class &dataflash);
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void handle_log_request_erase(mavlink_message_t *msg, DataFlash_Class &dataflash);
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void handle_log_request_end(mavlink_message_t *msg, DataFlash_Class &dataflash);
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void handle_log_send_listing(DataFlash_Class &dataflash);
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bool handle_log_send_data(DataFlash_Class &dataflash);
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void lock_channel(mavlink_channel_t chan, bool lock);
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// return true if this channel has hardware flow control
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bool have_flow_control(void);
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mavlink_signing_t signing;
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static mavlink_signing_streams_t signing_streams;
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static uint32_t last_signing_save_ms;
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static StorageAccess _signing_storage;
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static bool signing_key_save(const struct SigningKey &key);
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static bool signing_key_load(struct SigningKey &key);
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void load_signing_key(void);
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bool signing_enabled(void) const;
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static void save_signing_timestamp(bool force_save_now);
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};
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