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gps injection: use the orb queuing API instead of multiple instances 

It uses a queue length of 6. There are 3 RTCM msgs/s, but due to
fragmentation and WiFi lags, there can be more than that. During several
tests, a length of 6 showed no queue overflows.
This commit is contained in:
Beat Küng 2016-08-02 09:06:59 +02:00 committed by Lorenz Meier
parent 9398a4819f
commit 124e1c26d9
3 changed files with 13 additions and 32 deletions
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27
src/drivers/gps/gps.cpp
View File

@ -138,9 +138,7 @@ private:
bool _fake_gps; ///< fake gps output
int _gps_num; ///< number of GPS connected
static const int _orb_inject_data_fd_count = 4;
int _orb_inject_data_fd[_orb_inject_data_fd_count];
int _orb_inject_data_next = 0;
int _orb_inject_data_fd;
orb_advert_t _dump_communication_pub; ///< if non-null, dump communication
gps_dump_s *_dump_to_device;
@ -259,6 +257,7 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num
_last_rate_rtcm_injection_count(0),
_fake_gps(fake_gps),
_gps_num(gps_num),
_orb_inject_data_fd(-1),
_dump_communication_pub(nullptr),
_dump_to_device(nullptr),
_dump_from_device(nullptr)
@ -276,10 +275,6 @@ GPS::GPS(const char *uart_path, bool fake_gps, bool enable_sat_info, int gps_num
_p_report_sat_info = &_sat_info->_data;
memset(_p_report_sat_info, 0, sizeof(*_p_report_sat_info));
}
for (int i = 0; i < _orb_inject_data_fd_count; ++i) {
_orb_inject_data_fd[i] = -1;
}
}
GPS::~GPS()
@ -426,19 +421,18 @@ int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout)
void GPS::handleInjectDataTopic()
{
if (_orb_inject_data_fd[0] == -1) {
if (_orb_inject_data_fd == -1) {
return;
}
bool updated = false;
do {
int orb_inject_data_cur_fd = _orb_inject_data_fd[_orb_inject_data_next];
orb_check(orb_inject_data_cur_fd, &updated);
orb_check(_orb_inject_data_fd, &updated);
if (updated) {
struct gps_inject_data_s msg;
orb_copy(ORB_ID(gps_inject_data), orb_inject_data_cur_fd, &msg);
orb_copy(ORB_ID(gps_inject_data), _orb_inject_data_fd, &msg);
/* Write the message to the gps device. Note that the message could be fragmented.
* But as we don't write anywhere else to the device during operation, we don't
@ -446,8 +440,6 @@ void GPS::handleInjectDataTopic()
*/
injectData(msg.data, msg.len);
_orb_inject_data_next = (_orb_inject_data_next + 1) % _orb_inject_data_fd_count;
++_last_rate_rtcm_injection_count;
}
} while (updated);
@ -658,9 +650,7 @@ GPS::task_main()
fcntl(_serial_fd, F_SETFL, flags | O_NONBLOCK);
#endif
for (int i = 0; i < _orb_inject_data_fd_count; ++i) {
_orb_inject_data_fd[i] = orb_subscribe_multi(ORB_ID(gps_inject_data), i);
}
_orb_inject_data_fd = orb_subscribe(ORB_ID(gps_inject_data));
initializeCommunicationDump();
@ -834,10 +824,7 @@ GPS::task_main()
PX4_INFO("exiting");
for (size_t i = 0; i < _orb_inject_data_fd_count; ++i) {
orb_unsubscribe(_orb_inject_data_fd[i]);
_orb_inject_data_fd[i] = -1;
}
orb_unsubscribe(_orb_inject_data_fd);
if (_dump_communication_pub) {
orb_unadvertise(_dump_communication_pub);

13
src/modules/mavlink/mavlink_receiver.cpp
View File

@ -125,6 +125,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_time_offset_pub(nullptr),
_follow_target_pub(nullptr),
_transponder_report_pub(nullptr),
_gps_inject_data_pub(nullptr),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_hil_frames(0),
_old_timestamp(0),
@ -143,9 +144,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mom_switch_pos{},
_mom_switch_state(0)
{
for (int i = 0; i < _gps_inject_data_pub_size; ++i) {
_gps_inject_data_pub[i] = nullptr;
}
}
MavlinkReceiver::~MavlinkReceiver()
@ -1873,19 +1871,16 @@ void MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
memcpy(gps_inject_data_topic.data, gps_rtcm_data_msg.data,
math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_rtcm_data_msg.len));
orb_advert_t &pub = _gps_inject_data_pub[_gps_inject_data_next_idx];
orb_advert_t &pub = _gps_inject_data_pub;
if (pub == nullptr) {
int idx = _gps_inject_data_next_idx;
pub = orb_advertise_multi(ORB_ID(gps_inject_data), &gps_inject_data_topic,
&idx, ORB_PRIO_DEFAULT);
pub = orb_advertise_queue(ORB_ID(gps_inject_data), &gps_inject_data_topic,
_gps_inject_data_queue_size);
} else {
orb_publish(ORB_ID(gps_inject_data), pub, &gps_inject_data_topic);
}
_gps_inject_data_next_idx = (_gps_inject_data_next_idx + 1) % _gps_inject_data_pub_size;
}
void

5
src/modules/mavlink/mavlink_receiver.h
View File

@ -218,9 +218,8 @@ private:
orb_advert_t _time_offset_pub;
orb_advert_t _follow_target_pub;
orb_advert_t _transponder_report_pub;
static const int _gps_inject_data_pub_size = 4;
orb_advert_t _gps_inject_data_pub[_gps_inject_data_pub_size];
int _gps_inject_data_next_idx = 0;
static const int _gps_inject_data_queue_size = 6;
orb_advert_t _gps_inject_data_pub;
int _control_mode_sub;
int _hil_frames;
uint64_t _old_timestamp;