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MAVLink app: Fix network code to always prefer localhost, work still with remote targets

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This commit is contained in:
Lorenz Meier
2016-01-31 20:16:26 +01:00
parent 5f8ee1ea1a
commit 56cd54ab71
3 changed files with 36 additions and 28 deletions
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src/modules/mavlink/mavlink_main.cpp
+4 -5
View File
@@ -942,11 +942,10 @@ Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID
struct telemetry_status_s &tstatus = get_rx_status();
/* resend heartbeat via broadcast */
if ((_mode != MAVLINK_MODE_ONBOARD)
&& (_mavlink_start_time > 0 && (hrt_elapsed_time(&_mavlink_start_time) > 4 * 1000 * 1000))
&& (((hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000) ||
(tstatus.heartbeat_time == 0)) &&
msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
if ((_mode != MAVLINK_MODE_ONBOARD) &&
(!get_client_source_initialized()
|| (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000))
&& (msgid == MAVLINK_MSG_ID_HEARTBEAT)) {
int bret = sendto(_socket_fd, buf, packet_len, 0, (struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
src/modules/mavlink/mavlink_main.h
+3
View File
@@ -345,6 +345,9 @@ public:
bool get_client_source_initialized() { return _src_addr_initialized; };
#endif
uint64_t get_start_time() { return _mavlink_start_time; }
static bool boot_complete() { return _boot_complete; }
bool is_usb_uart() { return _is_usb_uart; }
src/modules/mavlink/mavlink_receiver.cpp
+29 -23
View File
@@ -1814,32 +1814,38 @@ MavlinkReceiver::receive_thread(void *arg)
struct sockaddr_in * srcaddr_last = _mavlink->get_client_source_address();
int localhost = (127 << 24) + 1;
if ((srcaddr_last->sin_addr.s_addr == htonl(localhost) && srcaddr.sin_addr.s_addr != htonl(localhost))
|| (_mavlink->get_mode() == Mavlink::MAVLINK_MODE_ONBOARD && !_mavlink->get_client_source_initialized())) {
// if we were sending to localhost before but have a new host then accept him
// This is causing issues on Linux, so use default port for now
// this will kill tablet testing on Linux and VMs
#ifndef __PX4_LINUX
srcaddr_last->sin_addr.s_addr = srcaddr.sin_addr.s_addr;
srcaddr_last->sin_port = srcaddr.sin_port;
#endif
_mavlink->set_client_source_initialized();
}
#endif
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
if (!_mavlink->get_client_source_initialized()) {
// set the address either if localhost or if 3 seconds have passed
// this ensures that a GCS running on localhost can get a hold of
// the system within the first N seconds
hrt_abstime stime = _mavlink->get_start_time();
if ((stime != 0 && (hrt_elapsed_time(&stime) > 3 * 1000 * 1000))
|| (srcaddr_last->sin_addr.s_addr == htonl(localhost))) {
srcaddr_last->sin_addr.s_addr = srcaddr.sin_addr.s_addr;
srcaddr_last->sin_port = srcaddr.sin_port;
_mavlink->set_client_source_initialized();
}
}
#endif
// only start accepting messages once we're sure who we talk to
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
if (_mavlink->get_client_source_initialized()) {
/* if read failed, this loop won't execute */
for (ssize_t i = 0; i < nread; i++) {
if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &status)) {
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
}
/* count received bytes (nread will be -1 on read error) */
if (nread > 0) {
_mavlink->count_rxbytes(nread);
}
}
}
}