aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

GCS_MAVLink: allow private channels to also be active

Browse Source 
This will allow for logging of private channels.
This commit is contained in:
Peter Barker 2019-08-27 15:15:46 +10:00 committed by Andrew Tridgell
parent db6fef7ebd
commit f158533fe9
5 changed files with 24 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/GCS_MAVLink/GCS.cpp
View File

@ -38,12 +38,24 @@ void GCS::init()
mavlink_system.sysid = sysid_this_mav();
}
/*
* returns a mask of channels that statustexts should be sent to
*/
uint8_t GCS::statustext_send_channel_mask() const
{
uint8_t ret = 0;
ret |= GCS_MAVLINK::active_channel_mask();
ret |= GCS_MAVLINK::streaming_channel_mask();
ret &= ~GCS_MAVLINK::private_channel_mask();
return ret;
}
/*
send a text message to all GCS
*/
void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list)
{
uint8_t mask = GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask();
uint8_t mask = statustext_send_channel_mask();
if (!update_send_has_been_called) {
// we have not yet initialised the streaming-channel-mask,
// which is done as part of the update() call. So just send
@ -69,6 +81,9 @@ void GCS::send_to_active_channels(uint32_t msgid, const char *pkt)
}
for (uint8_t i=0; i<num_gcs(); i++) {
GCS_MAVLINK &c = *chan(i);
if (c.is_private()) {
continue;
}
if (!c.is_active()) {
continue;
}

4
libraries/GCS_MAVLink/GCS.h
View File

@ -281,6 +281,9 @@ public:
// return a bitmap of streaming channels
static uint8_t streaming_channel_mask(void) { return chan_is_streaming; }
// return a bitmap of private channels
static uint8_t private_channel_mask(void) { return mavlink_private; }
// set a channel as private. Private channels get sent heartbeats, but
// don't get broadcast packets or forwarded packets
static void set_channel_private(mavlink_channel_t chan);
@ -877,6 +880,7 @@ public:
void send_text(MAV_SEVERITY severity, const char *fmt, ...) FMT_PRINTF(3, 4);
void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list);
virtual void send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, uint8_t mask);
uint8_t statustext_send_channel_mask() const;
virtual GCS_MAVLINK *chan(const uint8_t ofs) = 0;
virtual const GCS_MAVLINK *chan(const uint8_t ofs) const = 0;

7
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1280,10 +1280,7 @@ void GCS_MAVLINK::packetReceived(const mavlink_status_t &status,
// we exclude radio packets because we historically used this to
// make it possible to use the CLI over the radio
if (msg.msgid != MAVLINK_MSG_ID_RADIO && msg.msgid != MAVLINK_MSG_ID_RADIO_STATUS) {
const uint8_t mask = (1U<<(chan-MAVLINK_COMM_0));
if (!(mask & mavlink_private)) {
mavlink_active |= mask;
}
mavlink_active |= (1U<<(chan-MAVLINK_COMM_0));
}
if (!(status.flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1) &&
(status.flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) &&
@ -1805,7 +1802,7 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, u
// filter destination ports to only allow active ports.
statustext_t statustext{};
if (update_send_has_been_called) {
statustext.bitmask = (GCS_MAVLINK::active_channel_mask() | GCS_MAVLINK::streaming_channel_mask() );
statustext.bitmask = statustext_send_channel_mask();
} else {
// we have not yet initialised the streaming-channel-mask,
// which is done as part of the update() call. So just send

1
libraries/GCS_MAVLink/GCS_MAVLink.cpp
View File

@ -53,7 +53,6 @@ void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)
{
const uint8_t mask = (1U<<(unsigned)_chan);
mavlink_private |= mask;
mavlink_active &= ~mask;
}
// return a MAVLink parameter type given a AP_Param type

4
libraries/GCS_MAVLink/MAVLink_routing.cpp
View File

@ -301,8 +301,8 @@ void MAVLink_routing::learn_route(mavlink_channel_t in_channel, const mavlink_me
*/
void MAVLink_routing::handle_heartbeat(mavlink_channel_t in_channel, const mavlink_message_t &msg)
{
uint16_t mask = GCS_MAVLINK::active_channel_mask();
uint16_t mask = GCS_MAVLINK::active_channel_mask() & ~GCS_MAVLINK::private_channel_mask();
// don't send on the incoming channel. This should only matter if
// the routing table is full
mask &= ~(1U<<(in_channel-MAVLINK_COMM_0));