mirror of https://github.com/ArduPilot/ardupilot
378 lines
12 KiB
C++
378 lines
12 KiB
C++
#include "GCS.h"
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#include <AC_Fence/AC_Fence.h>
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Scheduler/AP_Scheduler.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Arming/AP_Arming.h>
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#include <AP_VisualOdom/AP_VisualOdom.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_OpticalFlow/AP_OpticalFlow.h>
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#include "MissionItemProtocol_Waypoints.h"
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#include "MissionItemProtocol_Rally.h"
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#include "MissionItemProtocol_Fence.h"
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extern const AP_HAL::HAL& hal;
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// if this assert fails then fix it and the comment in GCS.h where
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// _statustext_queue is declared
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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assert_storage_size<GCS::statustext_t, 58> _assert_statustext_t_size;
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#endif
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void GCS::get_sensor_status_flags(uint32_t &present,
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uint32_t &enabled,
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uint32_t &health)
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{
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update_sensor_status_flags();
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present = control_sensors_present;
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enabled = control_sensors_enabled;
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health = control_sensors_health;
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}
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MissionItemProtocol *GCS::missionitemprotocols[3];
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void GCS::init()
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{
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mavlink_system.sysid = sysid_this_mav();
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}
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/*
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* returns a mask of channels that statustexts should be sent to
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*/
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uint8_t GCS::statustext_send_channel_mask() const
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{
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uint8_t ret = 0;
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ret |= GCS_MAVLINK::active_channel_mask();
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ret |= GCS_MAVLINK::streaming_channel_mask();
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ret &= ~GCS_MAVLINK::private_channel_mask();
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return ret;
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}
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/*
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send a text message to all GCS
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*/
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void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
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{
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uint8_t mask = statustext_send_channel_mask();
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if (!update_send_has_been_called) {
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// we have not yet initialised the streaming-channel-mask,
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// which is done as part of the update() call. So just send
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// it to all channels:
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mask = (1<<_num_gcs)-1;
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}
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send_textv(severity, fmt, arg_list, mask);
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}
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void GCS::send_text(MAV_SEVERITY severity, const char *fmt, ...)
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{
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va_list arg_list;
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va_start(arg_list, fmt);
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send_textv(severity, fmt, arg_list);
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va_end(arg_list);
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}
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void GCS::send_to_active_channels(uint32_t msgid, const char *pkt)
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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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for (uint8_t i=0; i<num_gcs(); i++) {
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GCS_MAVLINK &c = *chan(i);
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if (c.is_private()) {
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continue;
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}
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if (!c.is_active()) {
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continue;
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}
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// size checks done by this method:
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c.send_message(pkt, entry);
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}
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}
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void GCS::send_named_float(const char *name, float value) const
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{
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mavlink_named_value_float_t packet {};
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packet.time_boot_ms = AP_HAL::millis();
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packet.value = value;
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memcpy(packet.name, name, MIN(strlen(name), (uint8_t)MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN));
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gcs().send_to_active_channels(MAVLINK_MSG_ID_NAMED_VALUE_FLOAT,
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(const char *)&packet);
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}
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#if HAL_HIGH_LATENCY2_ENABLED
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void GCS::enable_high_latency_connections(bool enabled)
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{
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high_latency_link_enabled = enabled;
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gcs().send_text(MAV_SEVERITY_NOTICE, "High Latency %s", enabled ? "enabled" : "disabled");
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}
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bool GCS::get_high_latency_status()
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{
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return high_latency_link_enabled;
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}
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#endif // HAL_HIGH_LATENCY2_ENABLED
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/*
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install an alternative protocol handler. This allows another
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protocol to take over the link if MAVLink goes idle. It is used to
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allow for the AP_BLHeli pass-thru protocols to run on hal.serial(0)
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*/
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bool GCS::install_alternative_protocol(mavlink_channel_t c, GCS_MAVLINK::protocol_handler_fn_t handler)
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{
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GCS_MAVLINK *link = chan(c);
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if (link == nullptr) {
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return false;
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}
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if (link->alternative.handler && handler) {
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// already have one installed - we may need to add support for
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// multiple alternative handlers
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return false;
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}
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link->alternative.handler = handler;
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return true;
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}
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void GCS::update_sensor_status_flags()
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{
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control_sensors_present = 0;
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control_sensors_enabled = 0;
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control_sensors_health = 0;
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#if AP_INERTIALSENSOR_ENABLED
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const AP_InertialSensor &ins = AP::ins();
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#endif
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#if AP_AHRS_ENABLED && AP_INERTIALSENSOR_ENABLED
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AP_AHRS &ahrs = AP::ahrs();
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control_sensors_present |= MAV_SYS_STATUS_AHRS;
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if (ahrs.initialised()) {
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control_sensors_enabled |= MAV_SYS_STATUS_AHRS;
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if (ahrs.healthy()) {
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if (!ahrs.have_inertial_nav() || ins.accel_calibrated_ok_all()) {
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control_sensors_health |= MAV_SYS_STATUS_AHRS;
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}
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}
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}
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#endif
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#if AP_COMPASS_ENABLED
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const Compass &compass = AP::compass();
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if (AP::compass().available()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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if (compass.available() && compass.healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
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}
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#endif
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#if AP_BARO_ENABLED
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const AP_Baro &barometer = AP::baro();
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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if (barometer.all_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE;
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}
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#endif
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#if AP_GPS_ENABLED
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const AP_GPS &gps = AP::gps();
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if (gps.status() > AP_GPS::NO_GPS) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_GPS;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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if (gps.is_healthy() && gps.status() >= min_status_for_gps_healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_GPS;
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}
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#endif
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#if AP_BATTERY_ENABLED
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const AP_BattMonitor &battery = AP::battery();
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_BATTERY;
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if (battery.num_instances() > 0) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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if (battery.healthy() && !battery.has_failsafed()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_BATTERY;
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}
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#endif
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#if AP_INERTIALSENSOR_ENABLED
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_GYRO;
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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if (!ins.calibrating()) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_GYRO;
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if (ins.get_accel_health_all()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_ACCEL;
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}
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if (ins.get_gyro_health_all() && ins.gyro_calibrated_ok_all()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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}
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#endif
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#if HAL_LOGGING_ENABLED
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const AP_Logger &logger = AP::logger();
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bool logging_present = logger.logging_present();
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bool logging_enabled = logger.logging_enabled();
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bool logging_healthy = !logger.logging_failed();
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#if AP_GPS_ENABLED
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// some GPS units do logging, so they have to be healthy too:
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logging_present |= gps.logging_present();
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logging_enabled |= gps.logging_enabled();
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logging_healthy &= !gps.logging_failed();
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#endif
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if (logging_present) {
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control_sensors_present |= MAV_SYS_STATUS_LOGGING;
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}
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if (logging_enabled) {
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control_sensors_enabled |= MAV_SYS_STATUS_LOGGING;
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}
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if (logging_healthy) {
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control_sensors_health |= MAV_SYS_STATUS_LOGGING;
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}
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#endif // HAL_LOGGING_ENABLED
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// set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
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#if !defined(HAL_BUILD_AP_PERIPH)
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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if (hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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}
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS;
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (ahrs.get_ekf_type() == 10) {
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// always show EKF type 10 as healthy. This prevents spurious error
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// messages in xplane and other simulators that use EKF type 10
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control_sensors_health |= MAV_SYS_STATUS_AHRS | MAV_SYS_STATUS_SENSOR_GPS | MAV_SYS_STATUS_SENSOR_3D_ACCEL | MAV_SYS_STATUS_SENSOR_3D_GYRO;
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}
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#endif
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#if AP_FENCE_ENABLED
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const AC_Fence *fence = AP::fence();
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if (fence != nullptr) {
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if (fence->sys_status_enabled()) {
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control_sensors_enabled |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (fence->sys_status_present()) {
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control_sensors_present |= MAV_SYS_STATUS_GEOFENCE;
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}
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if (!fence->sys_status_failed()) {
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control_sensors_health |= MAV_SYS_STATUS_GEOFENCE;
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}
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}
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#endif
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// airspeed
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#if AP_AIRSPEED_ENABLED
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const AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
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if (airspeed && airspeed->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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const bool use = airspeed->use();
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const bool enabled = AP::ahrs().airspeed_sensor_enabled();
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if (use) {
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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if (airspeed->all_healthy() && (!use || enabled)) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE;
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}
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}
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#endif
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#if AP_OPTICALFLOW_ENABLED
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const AP_OpticalFlow *optflow = AP::opticalflow();
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if (optflow && optflow->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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if (optflow && optflow->healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW;
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}
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#endif
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#if HAL_VISUALODOM_ENABLED
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const AP_VisualOdom *visual_odom = AP::visualodom();
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if (visual_odom && visual_odom->enabled()) {
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control_sensors_present |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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if (visual_odom->healthy()) {
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control_sensors_health |= MAV_SYS_STATUS_SENSOR_VISION_POSITION;
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}
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}
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#endif
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// give GCS status of prearm checks. This is enabled if any arming checks are enabled.
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// it is healthy if armed or checks are passing
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#if !defined(HAL_BUILD_AP_PERIPH)
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control_sensors_present |= MAV_SYS_STATUS_PREARM_CHECK;
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if (AP::arming().get_enabled_checks()) {
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control_sensors_enabled |= MAV_SYS_STATUS_PREARM_CHECK;
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if (hal.util->get_soft_armed() || AP_Notify::flags.pre_arm_check) {
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control_sensors_health |= MAV_SYS_STATUS_PREARM_CHECK;
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}
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}
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#endif
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update_vehicle_sensor_status_flags();
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}
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bool GCS::out_of_time() const
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{
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#if defined(HAL_BUILD_AP_PERIPH)
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// we are never out of time for AP_Periph
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// as we don't have concept of AP_Scheduler in AP_Periph
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return false;
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#endif
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// while we are in the delay callback we are never out of time:
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if (hal.scheduler->in_delay_callback()) {
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return false;
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}
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// we always want to be able to send messages out while in the error loop:
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if (AP_BoardConfig::in_config_error()) {
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return false;
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}
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if (min_loop_time_remaining_for_message_send_us() <= AP::scheduler().time_available_usec()) {
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return false;
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}
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return true;
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}
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void gcs_out_of_space_to_send(mavlink_channel_t chan)
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{
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GCS_MAVLINK *link = gcs().chan(chan);
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if (link == nullptr) {
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return;
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}
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link->out_of_space_to_send();
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}
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/*
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check there is enough space for a message
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*/
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bool GCS_MAVLINK::check_payload_size(uint16_t max_payload_len)
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{
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if (txspace() < unsigned(packet_overhead()+max_payload_len)) {
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gcs_out_of_space_to_send(chan);
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return false;
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}
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return true;
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}
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