mirror of https://github.com/ArduPilot/ardupilot
152 lines
4.2 KiB
C++
152 lines
4.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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Common GCS MAVLink functions for all vehicle types
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <GCS.h>
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extern const AP_HAL::HAL& hal;
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GCS_MAVLINK::GCS_MAVLINK() :
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waypoint_receive_timeout(1000)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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void
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GCS_MAVLINK::init(AP_HAL::UARTDriver *port)
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{
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GCS_Class::init(port);
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if (port == (AP_HAL::BetterStream*)hal.uartA) {
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mavlink_comm_0_port = port;
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chan = MAVLINK_COMM_0;
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initialised = true;
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} else if (port == (AP_HAL::BetterStream*)hal.uartC) {
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mavlink_comm_1_port = port;
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chan = MAVLINK_COMM_1;
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initialised = true;
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#if MAVLINK_COMM_NUM_BUFFERS > 2
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} else if (port == (AP_HAL::BetterStream*)hal.uartD) {
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mavlink_comm_2_port = port;
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chan = MAVLINK_COMM_2;
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initialised = true;
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#endif
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}
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_queued_parameter = NULL;
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reset_cli_timeout();
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}
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uint16_t
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GCS_MAVLINK::_count_parameters()
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{
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// if we haven't cached the parameter count yet...
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if (0 == _parameter_count) {
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AP_Param *vp;
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AP_Param::ParamToken token;
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vp = AP_Param::first(&token, NULL);
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do {
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_parameter_count++;
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} while (NULL != (vp = AP_Param::next_scalar(&token, NULL)));
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}
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return _parameter_count;
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}
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/**
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* @brief Send the next pending parameter, called from deferred message
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* handling code
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*/
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void
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GCS_MAVLINK::queued_param_send()
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{
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if (!initialised || _queued_parameter == NULL) {
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return;
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}
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uint16_t bytes_allowed;
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uint8_t count;
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uint32_t tnow = hal.scheduler->millis();
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// use at most 30% of bandwidth on parameters. The constant 26 is
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// 1/(1000 * 1/8 * 0.001 * 0.3)
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bytes_allowed = 57 * (tnow - _queued_parameter_send_time_ms) * 26;
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if (bytes_allowed > comm_get_txspace(chan)) {
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bytes_allowed = comm_get_txspace(chan);
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}
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count = bytes_allowed / (MAVLINK_MSG_ID_PARAM_VALUE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
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while (_queued_parameter != NULL && count--) {
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AP_Param *vp;
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float value;
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// copy the current parameter and prepare to move to the next
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vp = _queued_parameter;
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// if the parameter can be cast to float, report it here and break out of the loop
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value = vp->cast_to_float(_queued_parameter_type);
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char param_name[AP_MAX_NAME_SIZE];
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vp->copy_name_token(_queued_parameter_token, param_name, sizeof(param_name), true);
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mavlink_msg_param_value_send(
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chan,
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param_name,
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value,
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mav_var_type(_queued_parameter_type),
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_queued_parameter_count,
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_queued_parameter_index);
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_queued_parameter = AP_Param::next_scalar(&_queued_parameter_token, &_queued_parameter_type);
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_queued_parameter_index++;
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}
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_queued_parameter_send_time_ms = tnow;
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}
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/**
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* @brief Send the next pending waypoint, called from deferred message
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* handling code
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*/
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void
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GCS_MAVLINK::queued_waypoint_send()
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{
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if (initialised &&
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waypoint_receiving &&
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waypoint_request_i <= waypoint_request_last) {
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mavlink_msg_mission_request_send(
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chan,
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waypoint_dest_sysid,
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waypoint_dest_compid,
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waypoint_request_i);
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}
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}
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void GCS_MAVLINK::reset_cli_timeout() {
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_cli_timeout = hal.scheduler->millis();
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}
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void GCS_MAVLINK::send_meminfo(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
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extern unsigned __brkval;
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#else
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unsigned __brkval = 0;
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#endif
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mavlink_msg_meminfo_send(chan, __brkval, hal.util->available_memory());
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}
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