mavlink: major rewrite, prepare for dynamic mavlink streams configuration, WIP

src/modules/mavlink/mavlink_orb_listener.h

@@ -40,9 +40,12 @@
  */
 
 #include <systemlib/perf_counter.h>
+#include <pthread.h>
 
 #pragma once
 
+#include <drivers/drv_rc_input.h>
+
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/rc_channels.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -68,11 +71,14 @@
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <drivers/drv_rc_input.h>
 #include <uORB/topics/navigation_capabilities.h>
 #include <uORB/topics/mission.h>
 
+#include "mavlink_orb_subscription.h"
+#include "mavlink_stream.h"
+
 class Mavlink;
+class MavlinkStream;
 
 class MavlinkOrbListener
 {
@@ -83,22 +89,14 @@ public:
 	MavlinkOrbListener(Mavlink* parent);
 
 	/**
-	 * Destructor, also kills the mavlinks task.
+	 * Destructor, closes all subscriptions.
 	 */
 	~MavlinkOrbListener();
 
 	static pthread_t uorb_receive_start(Mavlink *mavlink);
 
-	struct listener {
+	MavlinkOrbSubscription *add_subscription(const struct orb_metadata *meta, size_t size, const MavlinkStream *stream, const unsigned int interval);
-		void	(*callback)(const struct listener *l);
+	void add_stream(void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval);
-		int		*subp;
-		uintptr_t	arg;
-		struct listener *next;
-		Mavlink		*mavlink;
-		MavlinkOrbListener* listener;
-	};
-
-	void add_listener(void (*callback)(const struct listener *l), int *subp, uintptr_t arg);
 	static void * uorb_start_helper(void *context);
 
 private:
@@ -107,57 +105,34 @@ private:
 
 	Mavlink*	_mavlink;
 
-	struct listener *_listeners;
+	MavlinkOrbSubscription *_subscriptions;
-	unsigned	_n_listeners;
+	static const unsigned _max_subscriptions = 32;
-	static const unsigned _max_listeners = 32;
+	MavlinkStream *_streams;
 
 	void *uorb_receive_thread(void *arg);
 
-	static void		l_sensor_combined(const struct listener *l);
+	static void msg_heartbeat(const MavlinkStream *stream);
-	static void		l_vehicle_attitude(const struct listener *l);
-	static void		l_vehicle_gps_position(const struct listener *l);
-	static void		l_vehicle_status(const struct listener *l);
-	static void		l_rc_channels(const struct listener *l);
-	static void		l_input_rc(const struct listener *l);
-	static void		l_global_position(const struct listener *l);
-	static void		l_local_position(const struct listener *l);
-	static void		l_global_position_setpoint(const struct listener *l);
-	static void		l_local_position_setpoint(const struct listener *l);
-	static void		l_attitude_setpoint(const struct listener *l);
-	static void		l_actuator_outputs(const struct listener *l);
-	static void		l_actuator_armed(const struct listener *l);
-	static void		l_manual_control_setpoint(const struct listener *l);
-	static void		l_vehicle_attitude_controls(const struct listener *l);
-	static void		l_debug_key_value(const struct listener *l);
-	static void		l_optical_flow(const struct listener *l);
-	static void		l_vehicle_rates_setpoint(const struct listener *l);
-	static void		l_home(const struct listener *l);
-	static void		l_airspeed(const struct listener *l);
-	static void		l_nav_cap(const struct listener *l);
 
-	struct vehicle_global_position_s global_pos;
+//	static void		l_sensor_combined(const struct listener *l);
-	struct vehicle_local_position_s local_pos;
+//	static void		l_vehicle_attitude(const struct listener *l);
-	struct navigation_capabilities_s nav_cap;
+//	static void		l_vehicle_gps_position(const struct listener *l);
-	struct vehicle_status_s v_status;
+//	static void		l_vehicle_status(const struct listener *l);
-	struct rc_channels_s rc;
+//	static void		l_rc_channels(const struct listener *l);
-	struct rc_input_values rc_raw;
+//	static void		l_input_rc(const struct listener *l);
-	struct actuator_armed_s armed;
+//	static void		l_global_position(const struct listener *l);
-	struct actuator_controls_s actuators_0;
+//	static void		l_local_position(const struct listener *l);
-	struct vehicle_attitude_s att;
+//	static void		l_global_position_setpoint(const struct listener *l);
-	struct airspeed_s airspeed;
+//	static void		l_local_position_setpoint(const struct listener *l);
-	struct home_position_s home;
+//	static void		l_attitude_setpoint(const struct listener *l);
-
+//	static void		l_actuator_outputs(const struct listener *l);
-	unsigned int sensors_raw_counter;
+//	static void		l_actuator_armed(const struct listener *l);
-	unsigned int attitude_counter;
+//	static void		l_manual_control_setpoint(const struct listener *l);
-	unsigned int gps_counter;
+//	static void		l_vehicle_attitude_controls(const struct listener *l);
-
+//	static void		l_debug_key_value(const struct listener *l);
-	/*
+//	static void		l_optical_flow(const struct listener *l);
-	 * Last sensor loop time
+//	static void		l_vehicle_rates_setpoint(const struct listener *l);
-	 * some outputs are better timestamped
+//	static void		l_home(const struct listener *l);
-	 * with this "global" reference.
+//	static void		l_airspeed(const struct listener *l);
-	 */
+//	static void		l_nav_cap(const struct listener *l);
-	uint64_t last_sensor_timestamp;
-
-	hrt_abstime last_sent_vfr;
 
 };

src/modules/mavlink/mavlink_orb_subscription.cpp

@@ -0,0 +1,47 @@
+/*
+ * mavlink_orb_subscription.cpp
+ *
+ *  Created on: 23.02.2014
+ *      Author: ton
+ */
+
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <uORB/uORB.h>
+
+#include "mavlink_orb_subscription.h"
+
+MavlinkOrbSubscription::MavlinkOrbSubscription(const struct orb_metadata *meta, size_t size)
+{
+	this->meta = meta;
+	this->data = malloc(size);
+	memset(this->data, 0, size);
+	this->fd = orb_subscribe(meta);
+	this->last_update = 0;
+	this->interval = 0;
+}
+
+MavlinkOrbSubscription::~MavlinkOrbSubscription()
+{
+	close(fd);
+	free(data);
+}
+
+int MavlinkOrbSubscription::set_interval(const unsigned int interval)
+{
+	this->interval = interval;
+	return orb_set_interval(fd, interval);
+}
+
+int MavlinkOrbSubscription::update(const hrt_abstime t)
+{
+	if (last_update != t) {
+		bool updated;
+		orb_check(fd, &updated);
+		if (updated)
+			return orb_copy(meta, fd, &data);
+	}
+	return OK;
+}

src/modules/mavlink/mavlink_orb_subscription.h

@@ -0,0 +1,31 @@
+/*
+ * mavlink_orb_subscription.h
+ *
+ *  Created on: 23.02.2014
+ *      Author: ton
+ */
+
+#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
+#define MAVLINK_ORB_SUBSCRIPTION_H_
+
+#include <systemlib/uthash/utlist.h>
+#include <drivers/drv_hrt.h>
+
+class MavlinkOrbSubscription {
+public:
+	MavlinkOrbSubscription(const struct orb_metadata *meta, size_t size);
+	~MavlinkOrbSubscription();
+
+	int set_interval(const unsigned int interval);
+	int update(const hrt_abstime t);
+
+	const struct orb_metadata *meta;
+	int fd;
+	void *data;
+	hrt_abstime last_update;
+	unsigned int interval;
+	MavlinkOrbSubscription *next;
+};
+
+
+#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */

src/modules/mavlink/mavlink_stream.cpp

@@ -0,0 +1,48 @@
+/*
+ * mavlink_stream.cpp
+ *
+ *  Created on: 24.02.2014
+ *      Author: ton
+ */
+
+#include <stdlib.h>
+
+#include "mavlink_orb_listener.h"
+
+MavlinkStream::MavlinkStream(MavlinkOrbListener *listener, void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval)
+{
+	this->callback = callback;
+	this->arg = arg;
+	this->interval = interval * 1000;
+	this->mavlink = mavlink;
+	this->listener = listener;
+	this->subscriptions_n = subs_n;
+	this->subscriptions = (MavlinkOrbSubscription **) malloc(subs_n * sizeof(MavlinkOrbSubscription *));
+
+	for (int i = 0; i < subs_n; i++) {
+		this->subscriptions[i] = listener->add_subscription(metas[i], sizes[i], this, interval);
+	}
+}
+
+MavlinkStream::~MavlinkStream()
+{
+	free(subscriptions);
+}
+
+/**
+ * Update mavlink stream, i.e. update subscriptions and send message if necessary
+ */
+int MavlinkStream::update(const hrt_abstime t)
+{
+	uint64_t dt = t - last_sent;
+	if (dt > 0 && dt >= interval) {
+		/* interval expired, update all subscriptions */
+		for (unsigned int i = 0; i < subscriptions_n; i++) {
+			subscriptions[i]->update(t);
+		}
+
+		/* format and send mavlink message */
+		callback(this);
+		last_sent = t;
+	}
+}

src/modules/mavlink/mavlink_stream.h

@@ -0,0 +1,33 @@
+/*
+ * mavlink_stream.h
+ *
+ *  Created on: 24.02.2014
+ *      Author: ton
+ */
+
+#ifndef MAVLINK_STREAM_H_
+#define MAVLINK_STREAM_H_
+
+class Mavlink;
+class MavlinkOrbListener;
+class MavlinkOrbSubscription;
+
+class MavlinkStream {
+public:
+	void	(*callback)(const MavlinkStream *);
+	uintptr_t	arg;
+	unsigned int subscriptions_n;
+	MavlinkOrbSubscription **subscriptions;
+	hrt_abstime last_sent;
+	unsigned int interval;
+	MavlinkStream *next;
+	Mavlink		*mavlink;
+	MavlinkOrbListener* listener;
+
+	MavlinkStream(MavlinkOrbListener *listener, void (*callback)(const MavlinkStream *), const unsigned int subs_n, const struct orb_metadata **metas, const size_t *sizes, const uintptr_t arg, const unsigned int interval);
+	~MavlinkStream();
+	int update(const hrt_abstime t);
+};
+
+
+#endif /* MAVLINK_STREAM_H_ */

src/modules/mavlink/module.mk

@@ -39,6 +39,8 @@ MODULE_COMMAND	 = mavlink
 SRCS		 += mavlink_main.cpp \
 			mavlink.c \
 			mavlink_receiver.cpp \
-			mavlink_orb_listener.cpp
+			mavlink_orb_listener.cpp \
+			mavlink_orb_subscription.cpp \
+			mavlink_stream.cpp
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink