mirror of https://github.com/ArduPilot/ardupilot
142 lines
3.9 KiB
C++
142 lines
3.9 KiB
C++
/*
|
|
* AP_CommLink.h
|
|
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
|
|
*
|
|
* This file 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 file 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/>.
|
|
*/
|
|
|
|
#ifndef AP_CommLink_H
|
|
#define AP_CommLink_H
|
|
|
|
#include <inttypes.h>
|
|
#include "../AP_Common/AP_Common.h"
|
|
#include "../AP_Common/AP_Vector.h"
|
|
#include "../GCS_MAVLink/GCS_MAVLink.h"
|
|
|
|
class FastSerial;
|
|
|
|
namespace apo {
|
|
|
|
class AP_Controller;
|
|
class AP_Navigator;
|
|
class AP_Guide;
|
|
class AP_HardwareAbstractionLayer;
|
|
|
|
enum {
|
|
SEVERITY_LOW, SEVERITY_MED, SEVERITY_HIGH
|
|
};
|
|
|
|
// forward declarations
|
|
//class ArduPilotOne;
|
|
//class AP_Controller;
|
|
|
|
/// CommLink class
|
|
class AP_CommLink {
|
|
public:
|
|
|
|
AP_CommLink(FastSerial * link, AP_Navigator * navigator, AP_Guide * guide,
|
|
AP_Controller * controller, AP_HardwareAbstractionLayer * hal, const uint16_t heartBeatTimeout);
|
|
virtual void send() = 0;
|
|
virtual void receive() = 0;
|
|
virtual void sendMessage(uint8_t id, uint32_t param = 0) = 0;
|
|
virtual void sendText(uint8_t severity, const char *str) = 0;
|
|
virtual void sendText(uint8_t severity, const prog_char_t *str) = 0;
|
|
virtual void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2) = 0;
|
|
virtual void sendParameters() = 0;
|
|
virtual void requestCmds() = 0;
|
|
|
|
/// check if heartbeat is lost
|
|
bool heartBeatLost() {
|
|
if (_heartBeatTimeout == 0)
|
|
return false;
|
|
else
|
|
return ((micros() - _lastHeartBeat) / 1e6) > _heartBeatTimeout;
|
|
}
|
|
|
|
protected:
|
|
FastSerial * _link;
|
|
AP_Navigator * _navigator;
|
|
AP_Guide * _guide;
|
|
AP_Controller * _controller;
|
|
AP_HardwareAbstractionLayer * _hal;
|
|
uint16_t _heartBeatTimeout; /// vehicle heartbeat timeout, s
|
|
uint32_t _lastHeartBeat; /// time of last heartbeat, s
|
|
};
|
|
|
|
class MavlinkComm: public AP_CommLink {
|
|
public:
|
|
MavlinkComm(FastSerial * link, AP_Navigator * nav, AP_Guide * guide,
|
|
AP_Controller * controller, AP_HardwareAbstractionLayer * hal, uint16_t heartBeatTimeout);
|
|
|
|
virtual void send();
|
|
void sendMessage(uint8_t id, uint32_t param = 0);
|
|
virtual void receive();
|
|
void sendText(uint8_t severity, const char *str);
|
|
void sendText(uint8_t severity, const prog_char_t *str);
|
|
void acknowledge(uint8_t id, uint8_t sum1, uint8_t sum2);
|
|
|
|
/**
|
|
* sends parameters one at a time
|
|
*/
|
|
void sendParameters();
|
|
|
|
/**
|
|
* request commands one at a time
|
|
*/
|
|
void requestCmds();
|
|
|
|
private:
|
|
|
|
// options
|
|
bool _useRelativeAlt;
|
|
|
|
// commands
|
|
bool _sendingCmds;
|
|
bool _receivingCmds;
|
|
uint16_t _cmdTimeLastSent;
|
|
uint16_t _cmdTimeLastReceived;
|
|
uint16_t _cmdDestSysId;
|
|
uint16_t _cmdDestCompId;
|
|
uint16_t _cmdRequestIndex;
|
|
uint16_t _cmdNumberRequested;
|
|
uint16_t _cmdMax;
|
|
Vector<mavlink_command_t *> _cmdList;
|
|
|
|
// parameters
|
|
static uint8_t _paramNameLengthMax;
|
|
uint16_t _parameterCount;
|
|
AP_Var * _queuedParameter;
|
|
uint16_t _queuedParameterIndex;
|
|
|
|
// channel
|
|
mavlink_channel_t _channel;
|
|
uint16_t _packetDrops;
|
|
static uint8_t _nChannels;
|
|
|
|
void _handleMessage(mavlink_message_t * msg);
|
|
|
|
uint16_t _countParameters();
|
|
|
|
AP_Var * _findParameter(uint16_t index);
|
|
|
|
// check the target
|
|
uint8_t _checkTarget(uint8_t sysid, uint8_t compid);
|
|
|
|
};
|
|
|
|
} // namespace apo
|
|
|
|
#endif // AP_CommLink_H
|
|
// vim:ts=4:sw=4:tw=78:expandtab
|