ardupilot/libraries/GCS_MAVLink/GCS_MAVLink.cpp

170 lines
4.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/// @file GCS_MAVLink.cpp
/*
This provides some support code and variables for MAVLink enabled sketches
*/
#include "GCS.h"
#include "GCS_MAVLink.h"
#include <AP_Common/AP_Common.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_HAL/AP_HAL.h>
extern const AP_HAL::HAL& hal;
#ifdef MAVLINK_SEPARATE_HELPERS
// Shut up warnings about missing declarations; TODO: should be fixed on
// mavlink/pymavlink project for when MAVLINK_SEPARATE_HELPERS is defined
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-declarations"
#include "include/mavlink/v2.0/mavlink_helpers.h"
#pragma GCC diagnostic pop
#endif
AP_HAL::UARTDriver *mavlink_comm_port[MAVLINK_COMM_NUM_BUFFERS];
bool gcs_alternative_active[MAVLINK_COMM_NUM_BUFFERS];
// per-channel lock
static HAL_Semaphore chan_locks[MAVLINK_COMM_NUM_BUFFERS];
mavlink_system_t mavlink_system = {7,1};
// mask of serial ports disabled to allow for SERIAL_CONTROL
static uint8_t mavlink_locked_mask;
// routing table
MAVLink_routing GCS_MAVLINK::routing;
/*
lock a channel, preventing use by MAVLink
*/
void GCS_MAVLINK::lock_channel(mavlink_channel_t _chan, bool lock)
{
if (!valid_channel(chan)) {
return;
}
if (lock) {
mavlink_locked_mask |= (1U<<(unsigned)_chan);
} else {
mavlink_locked_mask &= ~(1U<<(unsigned)_chan);
}
}
// set a channel as private. Private channels get sent heartbeats, but
// don't get broadcast packets or forwarded packets
void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)
{
const uint8_t mask = (1U<<(unsigned)_chan);
mavlink_private |= mask;
mavlink_active &= ~mask;
}
// return a MAVLink parameter type given a AP_Param type
MAV_PARAM_TYPE mav_param_type(enum ap_var_type t)
{
if (t == AP_PARAM_INT8) {
return MAV_PARAM_TYPE_INT8;
}
if (t == AP_PARAM_INT16) {
return MAV_PARAM_TYPE_INT16;
}
if (t == AP_PARAM_INT32) {
return MAV_PARAM_TYPE_INT32;
}
// treat any others as float
return MAV_PARAM_TYPE_REAL32;
}
/// Check for available transmit space on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_txspace(mavlink_channel_t chan)
{
if (!valid_channel(chan)) {
return 0;
}
if ((1U<<chan) & mavlink_locked_mask) {
return 0;
}
int16_t ret = mavlink_comm_port[chan]->txspace();
if (ret < 0) {
ret = 0;
}
return (uint16_t)ret;
}
/// Check for available data on the nominated MAVLink channel
///
/// @param chan Channel to check
/// @returns Number of bytes available
uint16_t comm_get_available(mavlink_channel_t chan)
{
if (!valid_channel(chan)) {
return 0;
}
if ((1U<<chan) & mavlink_locked_mask) {
return 0;
}
int16_t bytes = mavlink_comm_port[chan]->available();
if (bytes == -1) {
return 0;
}
return (uint16_t)bytes;
}
/*
send a buffer out a MAVLink channel
*/
void comm_send_buffer(mavlink_channel_t chan, const uint8_t *buf, uint8_t len)
{
if (!valid_channel(chan)) {
return;
}
if (gcs_alternative_active[chan]) {
// an alternative protocol is active
return;
}
const size_t written = mavlink_comm_port[chan]->write(buf, len);
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (written < len) {
AP_HAL::panic("Short write on UART: %lu < %u", written, len);
}
#else
(void)written;
#endif
}
/*
lock a channel for send
*/
void comm_send_lock(mavlink_channel_t chan)
{
chan_locks[(uint8_t)chan].take_blocking();
}
/*
unlock a channel
*/
void comm_send_unlock(mavlink_channel_t chan)
{
chan_locks[(uint8_t)chan].give();
}