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mavlink: STATUSTEXT directly use mavlink_log subscription 

- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
This commit is contained in:
Daniel Agar 2020-11-14 21:56:53 -05:00
parent 387659d615
commit ed8a30d73e
5 changed files with 115 additions and 111 deletions
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2
msg/mavlink_log.msg
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@ -3,4 +3,4 @@ uint64 timestamp # time since system start (microseconds)
char[127] text
uint8 severity # log level (same as in the linux kernel, starting with 0)
uint8 ORB_QUEUE_LENGTH = 4
uint8 ORB_QUEUE_LENGTH = 8

11
src/modules/mavlink/mavlink_main.cpp
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@ -50,6 +50,7 @@
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/systemlib/mavlink_log.h>
#include <lib/version/version.h>
#include <uORB/Publication.hpp>
@ -2151,8 +2152,6 @@ Mavlink::task_main(int argc, char *argv[])
/* command ack */
uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
uORB::Subscription mavlink_log_sub{ORB_ID(mavlink_log)};
vehicle_status_s status{};
status_sub.copy(&status);
@ -2170,7 +2169,7 @@ Mavlink::task_main(int argc, char *argv[])
/* HEARTBEAT is constant rate stream, rate never adjusted */
configure_stream("HEARTBEAT", 1.0f);
/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
/* STATUSTEXT stream */
configure_stream("STATUSTEXT", 20.0f);
/* COMMAND_LONG stream: use unlimited rate to send all commands */
@ -2362,12 +2361,6 @@ Mavlink::task_main(int argc, char *argv[])
}
}
mavlink_log_s mavlink_log;
if (mavlink_log_sub.update(&mavlink_log)) {
_logbuffer.put(&mavlink_log);
}
/* check for shell output */
if (_mavlink_shell && _mavlink_shell->available() > 0) {
if (get_free_tx_buf() >= MAVLINK_MSG_ID_SERIAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {

7
src/modules/mavlink/mavlink_main.h
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@ -59,7 +59,6 @@
#endif
#include <containers/List.hpp>
#include <drivers/device/ringbuffer.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
#include <px4_platform_common/cli.h>
@ -69,10 +68,8 @@
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/uthash/utlist.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/radio_status.h>
#include <uORB/topics/telemetry_status.h>
@ -437,8 +434,6 @@ public:
void update_radio_status(const radio_status_s &radio_status);
ringbuffer::RingBuffer *get_logbuffer() { return &_logbuffer; }
unsigned get_system_type() { return _param_mav_type.get(); }
Protocol get_protocol() const { return _protocol; }
@ -565,8 +560,6 @@ private:
mavlink_channel_t _channel{MAVLINK_COMM_0};
ringbuffer::RingBuffer _logbuffer{5, sizeof(mavlink_log_s)};
pthread_t _receive_thread {};
bool _forwarding_on{false};

97
src/modules/mavlink/mavlink_messages.cpp
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@ -51,7 +51,6 @@
#include <lib/mathlib/mathlib.h>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/time.h>
#include <systemlib/mavlink_log.h>
#include <math.h>
#include <uORB/Subscription.hpp>
@ -74,7 +73,6 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
@ -124,6 +122,7 @@ using matrix::wrap_2pi;
#include "streams/PING.hpp"
#include "streams/PROTOCOL_VERSION.hpp"
#include "streams/RAW_RPM.hpp"
#include "streams/STATUSTEXT.hpp"
#include "streams/STORAGE_INFORMATION.hpp"
#include "streams/WIND_COV.hpp"
@ -464,98 +463,6 @@ protected:
}
};
class MavlinkStreamStatustext : public MavlinkStream
{
public:
const char *get_name() const override
{
return MavlinkStreamStatustext::get_name_static();
}
static constexpr const char *get_name_static()
{
return "STATUSTEXT";
}
static constexpr uint16_t get_id_static()
{
return MAVLINK_MSG_ID_STATUSTEXT;
}
uint16_t get_id() override
{
return get_id_static();
}
static MavlinkStream *new_instance(Mavlink *mavlink)
{
return new MavlinkStreamStatustext(mavlink);
}
unsigned get_size() override
{
return _mavlink->get_logbuffer()->empty() ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
}
private:
/* do not allow top copying this class */
MavlinkStreamStatustext(MavlinkStreamStatustext &) = delete;
MavlinkStreamStatustext &operator = (const MavlinkStreamStatustext &) = delete;
protected:
int _id{0};
explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
{}
bool send() override
{
if (!_mavlink->get_logbuffer()->empty() && _mavlink->is_connected() && _mavlink->get_free_tx_buf() >= get_size()) {
mavlink_log_s mavlink_log;
if (_mavlink->get_logbuffer()->get(&mavlink_log)) {
mavlink_statustext_t msg{};
const char *text = mavlink_log.text;
constexpr unsigned max_chunk_size = sizeof(msg.text);
msg.severity = mavlink_log.severity;
msg.chunk_seq = 0;
msg.id = _id++;
unsigned text_size;
while ((text_size = strlen(text)) > 0) {
unsigned chunk_size = math::min(text_size, max_chunk_size);
if (chunk_size < max_chunk_size) {
memcpy(&msg.text[0], &text[0], chunk_size);
// pad with zeros
memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size);
} else {
memcpy(&msg.text[0], &text[0], chunk_size);
}
mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
if (text_size <= max_chunk_size) {
break;
} else {
text += max_chunk_size;
}
msg.chunk_seq += 1;
}
return true;
}
}
return false;
}
};
class MavlinkStreamCommandLong : public MavlinkStream
{
public:
@ -4377,7 +4284,9 @@ protected:
static const StreamListItem streams_list[] = {
create_stream_list_item<MavlinkStreamHeartbeat>(),
#if defined(STATUSTEXT_HPP)
create_stream_list_item<MavlinkStreamStatustext>(),
#endif // STATUSTEXT_HPP
create_stream_list_item<MavlinkStreamCommandLong>(),
create_stream_list_item<MavlinkStreamSysStatus>(),
create_stream_list_item<MavlinkStreamBatteryStatus>(),

109
src/modules/mavlink/streams/STATUSTEXT.hpp Normal file
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@ -0,0 +1,109 @@
/****************************************************************************
*
* 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 STATUSTEXT_HPP
#define STATUSTEXT_HPP
#include <uORB/topics/mavlink_log.h>
class MavlinkStreamStatustext : public MavlinkStream
{
public:
static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamStatustext(mavlink); }
static constexpr const char *get_name_static() { return "STATUSTEXT"; }
static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_STATUSTEXT; }
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_log_sub.updated() ? (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
}
private:
explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {}
uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)};
uint16_t _id{0};
bool send() override
{
if (_mavlink->is_connected() && (_mavlink->get_free_tx_buf() >= get_size())) {
mavlink_log_s mavlink_log;
if (_mavlink_log_sub.update(&mavlink_log)) {
mavlink_statustext_t msg{};
const char *text = mavlink_log.text;
constexpr unsigned max_chunk_size = sizeof(msg.text);
msg.severity = mavlink_log.severity;
msg.chunk_seq = 0;
msg.id = _id++;
unsigned text_size;
while ((text_size = strlen(text)) > 0) {
unsigned chunk_size = math::min(text_size, max_chunk_size);
if (chunk_size < max_chunk_size) {
memcpy(&msg.text[0], &text[0], chunk_size);
// pad with zeros
memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size);
} else {
memcpy(&msg.text[0], &text[0], chunk_size);
}
mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
if (text_size <= max_chunk_size) {
break;
} else {
text += max_chunk_size;
}
msg.chunk_seq += 1;
}
return true;
}
}
return false;
}
};
#endif // STATUSTEXT_HPP