mirror of https://github.com/ArduPilot/ardupilot
829 lines
32 KiB
C++
829 lines
32 KiB
C++
/// @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 <AP_Logger/AP_Logger.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_Proximity/AP_Proximity.h>
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#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AP_Camera/AP_Camera.h>
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#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_Common/AP_FWVersion.h>
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#include <AP_RTC/JitterCorrection.h>
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#include <AP_Common/Bitmask.h>
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#define GCS_DEBUG_SEND_MESSAGE_TIMINGS 0
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// check if a message will fit in the payload space available
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#define PAYLOAD_SIZE(chan, id) (GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
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#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= PAYLOAD_SIZE(chan, id))
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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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// 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 : uint8_t {
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MSG_HEARTBEAT,
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MSG_ATTITUDE,
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MSG_LOCATION,
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MSG_SYS_STATUS,
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MSG_POWER_STATUS,
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MSG_MEMINFO,
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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_SERVO_OUTPUT_RAW,
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MSG_RADIO_IN,
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MSG_RAW_IMU,
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MSG_SCALED_IMU,
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MSG_SCALED_IMU2,
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MSG_SCALED_IMU3,
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MSG_SCALED_PRESSURE,
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MSG_SCALED_PRESSURE2,
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MSG_SCALED_PRESSURE3,
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MSG_SENSOR_OFFSETS,
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MSG_GPS_RAW,
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MSG_GPS_RTK,
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MSG_GPS2_RAW,
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MSG_GPS2_RTK,
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MSG_SYSTEM_TIME,
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MSG_SERVO_OUT,
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MSG_NEXT_MISSION_REQUEST,
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MSG_NEXT_PARAM,
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MSG_FENCE_STATUS,
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MSG_AHRS,
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MSG_SIMSTATE,
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MSG_AHRS2,
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MSG_AHRS3,
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MSG_HWSTATUS,
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MSG_WIND,
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MSG_RANGEFINDER,
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MSG_DISTANCE_SENSOR,
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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_WHEEL_DISTANCE,
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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_BATTERY_STATUS,
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MSG_AOA_SSA,
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MSG_LANDING,
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MSG_ESC_TELEMETRY,
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MSG_NAMED_FLOAT,
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MSG_LAST // MSG_LAST must be the last entry in this enum
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};
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// convenience macros for defining which ap_message ids are in which streams:
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#define MAV_STREAM_ENTRY(stream_name) \
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{ \
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GCS_MAVLINK::stream_name, \
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stream_name ## _msgs, \
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ARRAY_SIZE(stream_name ## _msgs) \
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}
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#define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 }
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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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friend class GCS;
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GCS_MAVLINK();
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void update_receive(uint32_t max_time_us=1000);
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void update_send();
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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 *fmt, ...);
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void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
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void queued_param_send();
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void queued_mission_request_send();
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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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// accessor for uart
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AP_HAL::UARTDriver *get_uart() { return _port; }
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virtual uint8_t sysid_my_gcs() const = 0;
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virtual bool sysid_enforce() const { return false; }
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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 : uint8_t {
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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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};
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bool is_high_bandwidth() { return chan == MAVLINK_COMM_0; }
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// return true if this channel has hardware flow control
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bool have_flow_control();
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bool is_active() const {
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return GCS_MAVLINK::active_channel_mask() & (1 << (chan-MAVLINK_COMM_0));
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}
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bool is_streaming() const {
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return GCS_MAVLINK::streaming_channel_mask() & (1 << (chan-MAVLINK_COMM_0));
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}
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mavlink_channel_t get_chan() const { return chan; }
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uint32_t get_last_heartbeat_time() const { return last_heartbeat_time; };
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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_heartbeat(void) const;
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void send_meminfo(void);
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void send_fence_status() const;
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void send_power_status(void);
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void send_battery_status(const AP_BattMonitor &battery,
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const uint8_t instance) const;
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bool send_battery_status() const;
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void send_distance_sensor() const;
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// send_rangefinder sends only if a downward-facing instance is
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// found. Rover overrides this!
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virtual void send_rangefinder() const;
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void send_proximity() const;
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virtual void send_nav_controller_output() const = 0;
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void send_ahrs2();
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void send_ahrs3();
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void send_system_time();
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void send_radio_in();
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void send_raw_imu();
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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));
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void send_scaled_pressure();
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void send_scaled_pressure2();
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virtual void send_scaled_pressure3(); // allow sub to override this
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void send_sensor_offsets();
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virtual void send_simstate() const;
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void send_ahrs();
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void send_battery2();
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#if AP_AHRS_NAVEKF_AVAILABLE
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void send_opticalflow();
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#endif
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virtual void send_attitude() const;
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void send_autopilot_version() const;
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void send_local_position() const;
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void send_vfr_hud();
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void send_vibration() const;
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void send_mount_status() const;
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void send_named_float(const char *name, float value) const;
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void send_gimbal_report() const;
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void send_home() const;
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void send_ekf_origin() const;
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virtual void send_position_target_global_int() { };
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void send_servo_output_raw();
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static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
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void send_accelcal_vehicle_position(uint32_t position);
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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));
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void send_sys_status();
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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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// return a bitmap of streaming channels
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static uint8_t streaming_channel_mask(void) { return chan_is_streaming; }
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// set a channel as private. Private channels get sent heartbeats, but
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// don't get broadcast packets or forwarded packets
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static void set_channel_private(mavlink_channel_t chan);
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// return true if channel is private
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static bool is_private(mavlink_channel_t _chan) {
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return (mavlink_private & (1U<<(unsigned)_chan)) != 0;
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}
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// return true if channel is private
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bool is_private(void) const { return is_private(chan); }
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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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// 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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// alternative protocol function handler
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FUNCTOR_TYPEDEF(protocol_handler_fn_t, bool, uint8_t, AP_HAL::UARTDriver *);
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struct stream_entries {
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const streams stream_id;
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const ap_message *ap_message_ids;
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const uint8_t num_ap_message_ids;
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};
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// vehicle subclass cpp files should define this:
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static const struct stream_entries all_stream_entries[];
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virtual uint64_t capabilities() const;
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protected:
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virtual bool in_hil_mode() const { return false; }
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bool mavlink_coordinate_frame_to_location_alt_frame(uint8_t coordinate_frame,
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Location::ALT_FRAME &frame);
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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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bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg);
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virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
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virtual bool set_mode(uint8_t mode) = 0;
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void set_ekf_origin(const Location& loc);
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virtual MAV_TYPE frame_type() const = 0;
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virtual MAV_MODE base_mode() const = 0;
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virtual uint32_t custom_mode() const = 0;
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virtual MAV_STATE system_status() const = 0;
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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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// saveable rate of each stream
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AP_Int16 streamRates[NUM_STREAMS];
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virtual bool persist_streamrates() const { return false; }
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void handle_request_data_stream(mavlink_message_t *msg);
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virtual void handle_command_ack(const mavlink_message_t* msg);
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void handle_set_mode(mavlink_message_t* msg);
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void handle_command_int(mavlink_message_t* msg);
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MAV_RESULT handle_command_int_do_set_home(const mavlink_command_int_t &packet);
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virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
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virtual bool set_home_to_current_location(bool lock) = 0;
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virtual bool set_home(const Location& loc, bool lock) = 0;
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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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virtual 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_common_param_message(mavlink_message_t *msg);
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void handle_param_set(mavlink_message_t *msg);
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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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virtual bool params_ready() const { return true; }
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virtual void handle_rc_channels_override(const mavlink_message_t *msg);
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void handle_system_time_message(const mavlink_message_t *msg);
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void handle_common_rally_message(mavlink_message_t *msg);
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void handle_rally_fetch_point(mavlink_message_t *msg);
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void handle_rally_point(mavlink_message_t *msg);
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virtual void handle_mount_message(const mavlink_message_t *msg);
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void handle_fence_message(mavlink_message_t *msg);
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void handle_param_value(mavlink_message_t *msg);
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void handle_radio_status(mavlink_message_t *msg, AP_Logger &dataflash, bool log_radio);
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void handle_serial_control(const mavlink_message_t *msg);
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void handle_vision_position_delta(mavlink_message_t *msg);
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void handle_common_message(mavlink_message_t *msg);
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void handle_set_gps_global_origin(const mavlink_message_t *msg);
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void handle_setup_signing(const mavlink_message_t *msg);
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virtual bool should_zero_rc_outputs_on_reboot() const { return false; }
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MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet);
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// reset a message interval via mavlink:
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MAV_RESULT handle_command_set_message_interval(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_get_message_interval(const mavlink_command_long_t &packet);
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bool get_ap_message_interval(ap_message id, uint16_t &interval_ms) const;
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MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
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void handle_send_autopilot_version(const mavlink_message_t *msg);
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MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
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virtual void send_banner();
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void handle_device_op_read(mavlink_message_t *msg);
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void handle_device_op_write(mavlink_message_t *msg);
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void send_timesync();
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// returns the time a timesync message was most likely received:
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uint64_t timesync_receive_timestamp_ns() const;
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// returns a timestamp suitable for packing into the ts1 field of TIMESYNC:
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uint64_t timesync_timestamp_ns() const;
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void handle_timesync(mavlink_message_t *msg);
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struct {
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int64_t sent_ts1;
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uint32_t last_sent_ms;
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const uint16_t interval_ms = 10000;
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} _timesync_request;
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void handle_statustext(mavlink_message_t *msg);
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bool telemetry_delayed() const;
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virtual uint32_t telem_delay() const = 0;
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MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_flash_bootloader(const mavlink_command_long_t &packet);
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// generally this should not be overridden; Plane overrides it to ensure
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// failsafe isn't triggered during calibation
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virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet);
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virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet);
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virtual MAV_RESULT _handle_command_preflight_calibration_baro();
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MAV_RESULT handle_command_preflight_can(const mavlink_command_long_t &packet);
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void handle_command_long(mavlink_message_t* msg);
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MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_command_mount(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_do_send_banner(const mavlink_command_long_t &packet);
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MAV_RESULT handle_command_do_set_roi(const mavlink_command_int_t &packet);
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MAV_RESULT handle_command_do_set_roi(const mavlink_command_long_t &packet);
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virtual MAV_RESULT handle_command_do_set_roi(const Location &roi_loc);
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MAV_RESULT handle_command_do_gripper(const mavlink_command_long_t &packet);
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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);
|
|
|
|
// vehicle-overridable message send function
|
|
virtual bool try_send_message(enum ap_message id);
|
|
|
|
// message sending functions:
|
|
bool try_send_compass_message(enum ap_message id);
|
|
bool try_send_mission_message(enum ap_message id);
|
|
void send_hwstatus();
|
|
void handle_data_packet(mavlink_message_t *msg);
|
|
|
|
virtual bool vehicle_initialised() const { return true; }
|
|
|
|
// 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;
|
|
|
|
// these methods are called after vfr_hud_velned is updated
|
|
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;
|
|
Vector3f vfr_hud_velned;
|
|
|
|
static constexpr const float magic_force_arm_value = 2989.0f;
|
|
static constexpr const float magic_force_disarm_value = 21196.0f;
|
|
|
|
private:
|
|
|
|
MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode);
|
|
|
|
virtual void handleMessage(mavlink_message_t * msg) = 0;
|
|
|
|
MAV_RESULT handle_servorelay_message(const mavlink_command_long_t &packet);
|
|
|
|
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;
|
|
|
|
/// Count the number of reportable parameters.
|
|
///
|
|
/// Not all parameters can be reported via MAVlink. We count the number
|
|
// that are
|
|
/// so that we can report to a GCS the number of parameters it should
|
|
// expect when it
|
|
/// requests the full set.
|
|
///
|
|
/// @return The number of reportable parameters.
|
|
///
|
|
uint16_t packet_drops;
|
|
|
|
// waypoints
|
|
uint16_t waypoint_dest_sysid; // where to send requests
|
|
uint16_t waypoint_dest_compid; // "
|
|
uint32_t waypoint_timelast_receive; // milliseconds
|
|
uint32_t waypoint_timelast_request; // milliseconds
|
|
const uint16_t waypoint_receive_timeout = 8000; // milliseconds
|
|
|
|
// number of extra ms to add to slow things down for the radio
|
|
uint16_t stream_slowdown_ms;
|
|
|
|
// perf counters
|
|
AP_HAL::Util::perf_counter_t _perf_packet;
|
|
AP_HAL::Util::perf_counter_t _perf_update;
|
|
char _perf_packet_name[16];
|
|
char _perf_update_name[16];
|
|
|
|
// 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[2] = {
|
|
{ MSG_HEARTBEAT, },
|
|
{ MSG_NEXT_PARAM, },
|
|
};
|
|
// 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();
|
|
// 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{MSG_LAST};
|
|
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{MSG_LAST};
|
|
|
|
ap_message next_deferred_bucket_message_to_send();
|
|
void find_next_bucket_to_send();
|
|
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{MSG_LAST};
|
|
|
|
// 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;
|
|
// 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;
|
|
|
|
// pointer to static frsky_telem for queueing of text messages
|
|
static AP_Frsky_Telem *frsky_telemetry_p;
|
|
|
|
static const AP_SerialManager *serialmanager_p;
|
|
|
|
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<pending_param_request> param_requests;
|
|
static ObjectBuffer<pending_param_reply> param_replies;
|
|
|
|
// have we registered the IO timer callback?
|
|
static bool param_timer_registered;
|
|
|
|
// IO timer callback for parameters
|
|
void param_io_timer(void);
|
|
|
|
// send an async parameter reply
|
|
bool send_parameter_reply(void);
|
|
|
|
void send_distance_sensor(const 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) = 0;
|
|
void handle_common_mission_message(mavlink_message_t *msg);
|
|
|
|
void handle_vicon_position_estimate(mavlink_message_t *msg);
|
|
void handle_vision_position_estimate(mavlink_message_t *msg);
|
|
void handle_global_vision_position_estimate(mavlink_message_t *msg);
|
|
void handle_att_pos_mocap(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 uint16_t payload_size);
|
|
void log_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);
|
|
|
|
void lock_channel(mavlink_channel_t chan, bool lock);
|
|
|
|
/*
|
|
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);
|
|
|
|
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);
|
|
|
|
// 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;
|
|
|
|
void send_global_position_int();
|
|
|
|
void zero_rc_outputs();
|
|
|
|
#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;
|
|
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
|
|
|
|
};
|
|
|
|
/// @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;
|
|
}
|
|
|
|
void send_text(MAV_SEVERITY severity, const char *fmt, ...);
|
|
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
|
|
virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
|
|
void service_statustext(void);
|
|
virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;
|
|
virtual const GCS_MAVLINK &chan(const uint8_t ofs) const = 0;
|
|
virtual uint8_t num_gcs() const = 0;
|
|
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_home() const;
|
|
void send_ekf_origin() const;
|
|
|
|
void send_parameter_value(const char *param_name,
|
|
ap_var_type param_type,
|
|
float param_value);
|
|
|
|
void update_send();
|
|
void update_receive();
|
|
virtual void setup_uarts(AP_SerialManager &serial_manager);
|
|
|
|
bool out_of_time() const {
|
|
return _out_of_time;
|
|
}
|
|
void set_out_of_time(bool val) {
|
|
_out_of_time = val;
|
|
}
|
|
|
|
/*
|
|
set a frsky_telem pointer for queueing
|
|
*/
|
|
void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
|
|
frsky_telemetry_p = frsky_telemetry;
|
|
}
|
|
|
|
// static frsky_telem pointer to support queueing text messages
|
|
AP_Frsky_Telem *frsky_telemetry_p;
|
|
|
|
|
|
// 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);
|
|
|
|
protected:
|
|
|
|
uint32_t control_sensors_present;
|
|
uint32_t control_sensors_enabled;
|
|
uint32_t control_sensors_health;
|
|
virtual void update_sensor_status_flags(void) = 0;
|
|
|
|
private:
|
|
|
|
static GCS *_singleton;
|
|
|
|
struct statustext_t {
|
|
uint8_t bitmask;
|
|
mavlink_statustext_t msg;
|
|
};
|
|
|
|
#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
|
|
static const uint8_t _status_capacity = 5;
|
|
#else
|
|
static const uint8_t _status_capacity = 30;
|
|
#endif
|
|
|
|
// a lock for the statustext queue, to make it safe to use send_text()
|
|
// from multiple threads
|
|
HAL_Semaphore _statustext_sem;
|
|
|
|
// queue of outgoing statustext messages
|
|
ObjectArray<statustext_t> _statustext_queue{_status_capacity};
|
|
|
|
// true if we are running short on time in our main loop
|
|
bool _out_of_time;
|
|
|
|
// 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;
|
|
uint8_t timeout_s;
|
|
HAL_Semaphore sem;
|
|
} _passthru;
|
|
|
|
// timer called to implement pass-thru
|
|
void passthru_timer();
|
|
};
|
|
|
|
GCS &gcs();
|