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Copter: use common deferred message handling

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Andrew Tridgell 2014-03-19 11:07:25 +11:00 committed by Randy Mackay
parent 8da72fccba
commit e4b3323455
1 changed files with 5 additions and 75 deletions
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80
ArduCopter/GCS_Mavlink.pde
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@ -138,7 +138,7 @@ static NOINLINE void send_limits_status(mavlink_channel_t chan)
#endif
static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t packet_drops)
static NOINLINE void send_extended_status1(mavlink_channel_t chan)
{
uint32_t control_sensors_present;
uint32_t control_sensors_enabled;
@ -574,7 +574,7 @@ static bool telemetry_delayed(mavlink_channel_t chan)
// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
bool GCS_MAVLINK::try_send_message(enum ap_message id)
{
int16_t payload_space = comm_get_txspace(chan) - MAVLINK_NUM_NON_PAYLOAD_BYTES;
@ -601,7 +601,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
case MSG_EXTENDED_STATUS1:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
send_extended_status1(chan, packet_drops);
send_extended_status1(chan);
CHECK_PAYLOAD_SIZE(POWER_STATUS);
gcs[chan-MAVLINK_COMM_0].send_power_status();
break;
@ -735,65 +735,6 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
}
#define MAX_DEFERRED_MESSAGES MSG_RETRY_DEFERRED
static struct mavlink_queue {
enum ap_message deferred_messages[MAX_DEFERRED_MESSAGES];
uint8_t next_deferred_message;
uint8_t num_deferred_messages;
} mavlink_queue[MAVLINK_COMM_NUM_BUFFERS];
// send a message using mavlink
static void mavlink_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
uint8_t i, nextid;
struct mavlink_queue *q = &mavlink_queue[(uint8_t)chan];
// see if we can send the deferred messages, if any
while (q->num_deferred_messages != 0) {
if (!mavlink_try_send_message(chan,
q->deferred_messages[q->next_deferred_message],
packet_drops)) {
break;
}
q->next_deferred_message++;
if (q->next_deferred_message == MAX_DEFERRED_MESSAGES) {
q->next_deferred_message = 0;
}
q->num_deferred_messages--;
}
if (id == MSG_RETRY_DEFERRED) {
return;
}
// this message id might already be deferred
for (i=0, nextid = q->next_deferred_message; i < q->num_deferred_messages; i++) {
if (q->deferred_messages[nextid] == id) {
// its already deferred, discard
return;
}
nextid++;
if (nextid == MAX_DEFERRED_MESSAGES) {
nextid = 0;
}
}
if (q->num_deferred_messages != 0 ||
!mavlink_try_send_message(chan, id, packet_drops)) {
// can't send it now, so defer it
if (q->num_deferred_messages == MAX_DEFERRED_MESSAGES) {
// the defer buffer is full, discard
return;
}
nextid = q->next_deferred_message + q->num_deferred_messages;
if (nextid >= MAX_DEFERRED_MESSAGES) {
nextid -= MAX_DEFERRED_MESSAGES;
}
q->deferred_messages[nextid] = id;
q->num_deferred_messages++;
}
}
const AP_Param::GroupInfo GCS_MAVLINK::var_info[] PROGMEM = {
// @Param: RAW_SENS
// @DisplayName: Raw sensor stream rate
@ -919,9 +860,6 @@ GCS_MAVLINK::update(void)
}
}
// Update packet drops counter
packet_drops += status.packet_rx_drop_count;
// handle receiving commands from GCS
if (waypoint_receiving) {
uint32_t tnow = millis();
@ -1064,14 +1002,6 @@ GCS_MAVLINK::data_stream_send(void)
}
void
GCS_MAVLINK::send_message(enum ap_message id)
{
mavlink_send_message(chan,id, packet_drops);
}
void GCS_MAVLINK::handle_guided_request(AP_Mission::Mission_Command &cmd)
{
do_guided(cmd);
@ -1560,11 +1490,11 @@ void gcs_send_text_fmt(const prog_char_t *fmt, ...)
hal.util->vsnprintf_P((char *)gcs[0].pending_status.text,
sizeof(gcs[0].pending_status.text), fmt, arg_list);
va_end(arg_list);
mavlink_send_message(MAVLINK_COMM_0, MSG_STATUSTEXT, 0);
gcs[0].send_message(MSG_STATUSTEXT);
for (uint8_t i=1; i<num_gcs; i++) {
if (gcs[i].initialised) {
gcs[i].pending_status = gcs[0].pending_status;
mavlink_send_message((mavlink_channel_t)i, MSG_STATUSTEXT, 0);
gcs[i].send_message(MSG_STATUSTEXT);
}
}
}