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mavlink: send LINK_NODE_STATUS

This commit is contained in:
Daniel Agar 2021-01-17 11:40:39 -05:00 committed by Lorenz Meier
parent 4cbbd0ebf3
commit 5097d531bf
4 changed files with 98 additions and 1 deletions
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2
msg/telemetry_status.msg
View File

@ -17,7 +17,7 @@ bool ftp
uint8 streams
uint32 data_rate # configured maximum data rate (Bytes/s)
float32 data_rate # configured maximum data rate (Bytes/s)
float32 rate_multiplier

9
src/modules/mavlink/mavlink_main.cpp
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@ -1608,6 +1608,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
configure_stream_local("DEBUG_VECT", 1.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
configure_stream_local("LINK_NODE_STATUS", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
@ -1664,6 +1665,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_FLOAT_ARRAY", 10.0f);
configure_stream_local("DEBUG_VECT", 10.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
configure_stream_local("LINK_NODE_STATUS", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
@ -1715,6 +1717,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
configure_stream_local("DEBUG_VECT", 1.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
configure_stream_local("LINK_NODE_STATUS", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
@ -1798,6 +1801,7 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
configure_stream_local("DEBUG_VECT", 50.0f);
configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
configure_stream_local("LINK_NODE_STATUS", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
@ -1817,6 +1821,11 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
configure_stream_local("RC_CHANNELS", 0.5f);
configure_stream_local("SYS_STATUS", 0.1f);
configure_stream_local("VFR_HUD", 1.0f);
#if !defined(CONSTRAINED_FLASH)
configure_stream_local("LINK_NODE_STATUS", 1.0f);
#endif // !CONSTRAINED_FLASH
break;
default:

4
src/modules/mavlink/mavlink_messages.cpp
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@ -137,6 +137,7 @@ using matrix::wrap_2pi;
# include "streams/DEBUG_FLOAT_ARRAY.hpp"
# include "streams/DEBUG_VECT.hpp"
# include "streams/NAMED_VALUE_FLOAT.hpp"
# include "streams/LINK_NODE_STATUS.hpp"
#endif // !CONSTRAINED_FLASH
// ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
@ -3144,6 +3145,9 @@ static const StreamListItem streams_list[] = {
#if defined(GPS_STATUS_HPP)
create_stream_list_item<MavlinkStreamGPSStatus>(),
#endif // GPS_STATUS_HPP
#if defined(LINK_NODE_STATUS_HPP)
create_stream_list_item<MavlinkStreamLinkNodeStatus>(),
#endif // LINK_NODE_STATUS_HPP
#if defined(STORAGE_INFORMATION_HPP)
create_stream_list_item<MavlinkStreamStorageInformation>(),
#endif // STORAGE_INFORMATION_HPP

84
src/modules/mavlink/streams/LINK_NODE_STATUS.hpp Normal file
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@ -0,0 +1,84 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef LINK_NODE_STATUS_HPP
#define LINK_NODE_STATUS_HPP
class MavlinkStreamLinkNodeStatus : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamLinkNodeStatus(mavlink); }
static constexpr const char *get_name_static() { return "LINK_NODE_STATUS"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_LINK_NODE_STATUS; }
const char *get_name() const override { return get_name_static(); }
uint16_t get_id() override { return get_id_static(); }
unsigned get_size() override
{
return MAVLINK_MSG_ID_LINK_NODE_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
private:
explicit MavlinkStreamLinkNodeStatus(Mavlink *mavlink) : MavlinkStream(mavlink) {}
bool send() override
{
if (_mavlink->get_free_tx_buf() >= get_size()) {
mavlink_link_node_status_t link_node_status{};
const telemetry_status_s &tstatus = _mavlink->telemetry_status();
link_node_status.tx_buf = 0; // % TODO
link_node_status.rx_buf = 0; // % TODO
link_node_status.tx_rate = tstatus.tx_rate_avg;
link_node_status.rx_rate = tstatus.rx_rate_avg;
link_node_status.rx_parse_err = tstatus.rx_parse_errors;
link_node_status.tx_overflows = tstatus.tx_buffer_overruns;
link_node_status.rx_overflows = tstatus.rx_buffer_overruns;
link_node_status.messages_sent = tstatus.tx_message_count;
link_node_status.messages_received = tstatus.rx_message_count;
link_node_status.messages_lost = tstatus.rx_message_lost_count;
link_node_status.timestamp = hrt_absolute_time();
mavlink_msg_link_node_status_send_struct(_mavlink->get_channel(), &link_node_status);
return true;
}
return false;
}
};
#endif // LINK_NODE_STATUS_HPP