mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
f947e18358
Co-authored-by: dawid.kopec.spectalight@gmail.com returning true from this function means that we should run the command locally. We really don't want to do that unless the command (or other targetted message) was actually sent at us!
402 lines
14 KiB
C++
402 lines
14 KiB
C++
/*
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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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/// @file MAVLink_routing.h
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/// @brief handle routing of MAVLink packets by sysid/componentid
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#include <stdio.h>
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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.h"
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#include "MAVLink_routing.h"
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extern const AP_HAL::HAL& hal;
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#define ROUTING_DEBUG 0
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// constructor
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MAVLink_routing::MAVLink_routing(void) : num_routes(0) {}
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/*
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forward a MAVLink message to the right port. This also
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automatically learns the route for the sender if it is not
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already known.
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This returns true if the message should be processed locally
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Theory of MAVLink routing:
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When a flight controller receives a message it should process it
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locally if any of these conditions hold:
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1a) the message has no target_system field
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1b) the message has a target_system of zero
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1c) the message has the flight controllers target system and has no
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target_component field
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1d) the message has the flight controllers target system and has
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the flight controllers target_component
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1e) the message has the flight controllers target system and the
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flight controller has not seen any messages on any of its links
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from a system that has the messages
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target_system/target_component combination
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When a flight controller receives a message it should forward it
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onto another different link if any of these conditions hold for that
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link:
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2a) the message has no target_system field
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2b) the message has a target_system of zero
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2c) the message does not have the flight controllers target_system
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and the flight controller has seen a message from the messages
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target_system on the link
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2d) the message has the flight controllers target_system and has a
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target_component field and the flight controllers has seen a
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message from the target_system/target_component combination on
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the link
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Note: This proposal assumes that ground stations will not send command
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packets to a non-broadcast destination (sysid/compid combination)
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until they have received at least one package from that destination
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over the link. This is essential to prevent a flight controller from
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acting on a message that is not meant for it. For example, a PARAM_SET
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cannot be sent to a specific sysid/compid combination until the GCS
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has seen a packet from that sysid/compid combination on the link.
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The GCS must also reset what sysid/compid combinations it has seen on
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a link when it sees a SYSTEM_TIME message with a decrease in
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time_boot_ms from a particular sysid/compid. That is essential to
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detect a reset of the flight controller, which implies a reset of its
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routing table.
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*/
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bool MAVLink_routing::check_and_forward(mavlink_channel_t in_channel, const mavlink_message_t &msg)
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{
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// handle the case of loopback of our own messages, due to
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// incorrect serial configuration.
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if (msg.sysid == mavlink_system.sysid &&
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msg.compid == mavlink_system.compid) {
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return true;
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}
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// learn new routes including private channels
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// so that find_mav_type works for all channels
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learn_route(in_channel, msg);
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if (msg.msgid == MAVLINK_MSG_ID_RADIO ||
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msg.msgid == MAVLINK_MSG_ID_RADIO_STATUS) {
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// don't forward RADIO packets
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return true;
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}
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const bool from_private_channel = GCS_MAVLINK::is_private(in_channel);
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if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
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// heartbeat needs special handling
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if (!from_private_channel) {
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handle_heartbeat(in_channel, msg);
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}
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return true;
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}
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if (msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
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// ADSB packets are not forwarded, they have their own stream rate
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return true;
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}
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// extract the targets for this packet
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int16_t target_system = -1;
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int16_t target_component = -1;
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get_targets(msg, target_system, target_component);
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bool broadcast_system = (target_system == 0 || target_system == -1);
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bool broadcast_component = (target_component == 0 || target_component == -1);
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bool match_system = broadcast_system || (target_system == mavlink_system.sysid);
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bool match_component = match_system && (broadcast_component ||
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(target_component == mavlink_system.compid));
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bool process_locally = match_system && match_component;
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// don't ever forward data from a private channel
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if (from_private_channel) {
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return process_locally;
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}
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if (process_locally && !broadcast_system && !broadcast_component) {
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// nothing more to do - it can only be for us
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return true;
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}
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// forward on any channels matching the targets
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bool forwarded = false;
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bool sent_to_chan[MAVLINK_COMM_NUM_BUFFERS];
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memset(sent_to_chan, 0, sizeof(sent_to_chan));
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for (uint8_t i=0; i<num_routes; i++) {
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// Skip if channel is private and the target system or component IDs do not match
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if ((GCS_MAVLINK::is_private(routes[i].channel)) &&
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(target_system != routes[i].sysid ||
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target_component != routes[i].compid)) {
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continue;
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}
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if (broadcast_system || (target_system == routes[i].sysid &&
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(broadcast_component ||
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target_component == routes[i].compid ||
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!match_system))) {
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if (in_channel != routes[i].channel && !sent_to_chan[routes[i].channel]) {
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if (comm_get_txspace(routes[i].channel) >= ((uint16_t)msg.len) +
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GCS_MAVLINK::packet_overhead_chan(routes[i].channel)) {
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#if ROUTING_DEBUG
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::printf("fwd msg %u from chan %u on chan %u sysid=%d compid=%d\n",
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msg.msgid,
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(unsigned)in_channel,
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(unsigned)routes[i].channel,
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(int)target_system,
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(int)target_component);
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#endif
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_mavlink_resend_uart(routes[i].channel, &msg);
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}
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sent_to_chan[routes[i].channel] = true;
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forwarded = true;
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}
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}
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}
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if ((!forwarded && match_system) ||
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broadcast_system) {
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process_locally = true;
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}
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return process_locally;
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}
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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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void MAVLink_routing::send_to_components(uint32_t msgid, const char *pkt, uint8_t pkt_len)
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{
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const mavlink_msg_entry_t *entry = mavlink_get_msg_entry(msgid);
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if (entry == nullptr) {
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return;
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}
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send_to_components(pkt, entry, pkt_len);
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}
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void MAVLink_routing::send_to_components(const char *pkt, const mavlink_msg_entry_t *entry, const uint8_t pkt_len)
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{
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bool sent_to_chan[MAVLINK_COMM_NUM_BUFFERS] {};
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// check learned routes
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for (uint8_t i=0; i<num_routes; i++) {
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if (routes[i].sysid != mavlink_system.sysid) {
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// our system ID hasn't been seen on this link
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continue;
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}
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if (sent_to_chan[routes[i].channel]) {
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// we've already send it on this link
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continue;
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}
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if (comm_get_txspace(routes[i].channel) <
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((uint16_t)entry->max_msg_len) + GCS_MAVLINK::packet_overhead_chan(routes[i].channel)) {
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// it doesn't fit on this channel
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continue;
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}
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#if ROUTING_DEBUG
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::printf("send msg %u on chan %u sysid=%u compid=%u\n",
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entry->msgid,
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(unsigned)routes[i].channel,
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(unsigned)routes[i].sysid,
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(unsigned)routes[i].compid);
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (entry->max_msg_len > pkt_len) {
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AP_HAL::panic("Passed packet message length (%u > %u)",
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entry->max_msg_len, pkt_len);
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}
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#endif
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_mav_finalize_message_chan_send(routes[i].channel,
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entry->msgid,
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pkt,
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entry->min_msg_len,
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MIN(entry->max_msg_len, pkt_len),
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entry->crc_extra);
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sent_to_chan[routes[i].channel] = true;
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}
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}
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/*
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search for the first vehicle or component in the routing table with given mav_type and retrieve it's sysid, compid and channel
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returns true if a match is found
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*/
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bool MAVLink_routing::find_by_mavtype(uint8_t mavtype, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel)
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{
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// check learned routes
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for (uint8_t i=0; i<num_routes; i++) {
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if (routes[i].mavtype == mavtype) {
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sysid = routes[i].sysid;
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compid = routes[i].compid;
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channel = routes[i].channel;
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return true;
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}
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}
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// if we've reached we have not found the component
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return false;
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}
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/*
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search for the first vehicle or component in the routing table with given mav_type and component id and retrieve its sysid and channel
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returns true if a match is found
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*/
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bool MAVLink_routing::find_by_mavtype_and_compid(uint8_t mavtype, uint8_t compid, uint8_t &sysid, mavlink_channel_t &channel) const
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{
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for (uint8_t i=0; i<num_routes; i++) {
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if ((routes[i].mavtype == mavtype) && (routes[i].compid == compid)) {
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sysid = routes[i].sysid;
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channel = routes[i].channel;
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return true;
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}
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}
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return false;
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}
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/*
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see if the message is for a new route and learn it
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*/
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void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_message_t &msg)
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{
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uint8_t i;
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if (msg.sysid == 0) {
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// don't learn routes to the broadcast system
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return;
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}
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if (msg.sysid == mavlink_system.sysid &&
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msg.compid == mavlink_system.compid) {
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// don't learn routes to ourself. We know where we are.
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return;
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}
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if (msg.sysid == mavlink_system.sysid &&
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msg.compid == MAV_COMP_ID_ALL) {
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// don't learn routes to the broadcast component ID for our
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// own system id. We should still broadcast these, but we
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// should also process them locally.
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return;
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}
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for (i=0; i<num_routes; i++) {
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if (routes[i].sysid == msg.sysid &&
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routes[i].compid == msg.compid &&
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routes[i].channel == in_channel) {
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if (routes[i].mavtype == 0 && msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
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routes[i].mavtype = mavlink_msg_heartbeat_get_type(&msg);
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}
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break;
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}
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}
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if (i == num_routes && i<MAVLINK_MAX_ROUTES) {
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routes[i].sysid = msg.sysid;
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routes[i].compid = msg.compid;
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routes[i].channel = in_channel;
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if (msg.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
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routes[i].mavtype = mavlink_msg_heartbeat_get_type(&msg);
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}
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num_routes++;
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#if ROUTING_DEBUG
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::printf("learned route %u %u via %u\n",
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(unsigned)msg.sysid,
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(unsigned)msg.compid,
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(unsigned)in_channel);
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#endif
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}
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}
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/*
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special handling for heartbeat messages. To ensure routing
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propagation heartbeat messages need to be forwarded on all channels
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except channels where the sysid/compid of the heartbeat could come from
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*/
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void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t &msg)
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{
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uint16_t mask = GCS_MAVLINK::active_channel_mask() & ~GCS_MAVLINK::private_channel_mask();
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// don't send on the incoming channel. This should only matter if
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// the routing table is full
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mask &= ~(1U<<(in_channel-MAVLINK_COMM_0));
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// mask out channels that do not want the heartbeat to be forwarded
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mask &= ~no_route_mask;
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// mask out channels that are known sources for this sysid/compid
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for (uint8_t i=0; i<num_routes; i++) {
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if (routes[i].sysid == msg.sysid && routes[i].compid == msg.compid) {
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mask &= ~(1U<<((unsigned)(routes[i].channel-MAVLINK_COMM_0)));
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}
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}
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if (mask == 0) {
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// nothing to send to
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return;
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}
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// send on the remaining channels
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for (uint8_t i=0; i<MAVLINK_COMM_NUM_BUFFERS; i++) {
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if (mask & (1U<<i)) {
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mavlink_channel_t channel = (mavlink_channel_t)(MAVLINK_COMM_0 + i);
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if (comm_get_txspace(channel) >= ((uint16_t)msg.len) +
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GCS_MAVLINK::packet_overhead_chan(channel)) {
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#if ROUTING_DEBUG
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::printf("fwd HB from chan %u on chan %u from sysid=%u compid=%u\n",
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(unsigned)in_channel,
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(unsigned)channel,
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(unsigned)msg.sysid,
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(unsigned)msg.compid);
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#endif
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_mavlink_resend_uart(channel, &msg);
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}
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}
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}
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}
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/*
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extract target sysid and compid from a message. int16_t is used so
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that the caller can set them to -1 and know when a sysid or compid
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target is found in the message
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*/
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void MAVLink_routing::get_targets(const mavlink_message_t &msg, int16_t &sysid, int16_t &compid)
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{
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const mavlink_msg_entry_t *msg_entry = mavlink_get_msg_entry(msg.msgid);
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if (msg_entry == nullptr) {
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return;
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}
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if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_SYSTEM) {
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sysid = _MAV_RETURN_uint8_t(&msg, msg_entry->target_system_ofs);
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}
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if (msg_entry->flags & MAV_MSG_ENTRY_FLAG_HAVE_TARGET_COMPONENT) {
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compid = _MAV_RETURN_uint8_t(&msg, msg_entry->target_component_ofs);
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}
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}
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