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mavlink: add MavlinkULog class to receive ulog data from the logger
This commit is contained in:
Beat Küng
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/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file mavlink_ulog.cpp
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* ULog data streaming via MAVLink
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*
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* @author Beat Küng <beat-kueng@gmx.net>
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*/
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#include "mavlink_ulog.h"
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#include <px4_log.h>
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#include <errno.h>
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bool MavlinkULog::_init = false;
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MavlinkULog *MavlinkULog::_instance = nullptr;
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sem_t MavlinkULog::_lock;
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MavlinkULog::MavlinkULog()
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{
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_ulog_stream_sub = orb_subscribe(ORB_ID(ulog_stream));
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if (_ulog_stream_sub < 0) {
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PX4_ERR("orb_subscribe failed (%i)", errno);
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}
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_waiting_for_initial_ack = true;
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_last_sent_time = hrt_absolute_time(); //(ab)use this timestamp during initialization
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}
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MavlinkULog::~MavlinkULog()
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{
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if (_ulog_stream_ack_pub) {
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orb_unadvertise(_ulog_stream_ack_pub);
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}
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if (_ulog_stream_sub >= 0) {
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orb_unsubscribe(_ulog_stream_sub);
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}
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}
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void MavlinkULog::start_ack_received()
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{
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if (_waiting_for_initial_ack) {
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_last_sent_time = 0;
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_waiting_for_initial_ack = false;
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PX4_DEBUG("got logger ack");
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}
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}
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int MavlinkULog::handle_update(mavlink_channel_t channel)
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{
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static_assert(sizeof(ulog_stream_s::data) == MAVLINK_MSG_LOGGING_DATA_FIELD_DATA_LEN, "Invalid uorb ulog_stream.data length");
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static_assert(sizeof(ulog_stream_s::data) == MAVLINK_MSG_LOGGING_DATA_ACKED_FIELD_DATA_LEN, "Invalid uorb ulog_stream.data length");
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if (_waiting_for_initial_ack) {
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if (hrt_elapsed_time(&_last_sent_time) > 3e5) {
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PX4_WARN("no ack from logger (is it running?)");
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return -1;
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}
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}
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// check if we're waiting for an ACK
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if (_last_sent_time) {
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bool check_for_updates = false;
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if (_ack_received) {
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_last_sent_time = 0;
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check_for_updates = true;
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} else {
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if (hrt_elapsed_time(&_last_sent_time) > ulog_stream_ack_s::ACK_TIMEOUT * 1000) {
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if (++_sent_tries > ulog_stream_ack_s::ACK_MAX_TRIES) {
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return -ETIMEDOUT;
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} else {
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PX4_DEBUG("re-sending ulog mavlink message (try=%i)", _sent_tries);
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_last_sent_time = hrt_absolute_time();
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mavlink_logging_data_acked_t msg;
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msg.sequence = _ulog_data.sequence;
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msg.length = _ulog_data.length;
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msg.first_message_offset = _ulog_data.first_message_offset;
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memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
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mavlink_msg_logging_data_acked_send_struct(channel, &msg);
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}
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}
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}
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if (!check_for_updates) {
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return 0;
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}
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}
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bool updated = false;
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int ret = orb_check(_ulog_stream_sub, &updated);
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while (updated && !ret) {
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orb_copy(ORB_ID(ulog_stream), _ulog_stream_sub, &_ulog_data);
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if (_ulog_data.flags & ulog_stream_s::FLAGS_NEED_ACK) {
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_sent_tries = 1;
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_last_sent_time = hrt_absolute_time();
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lock();
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_wait_for_ack_sequence = _ulog_data.sequence;
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_ack_received = false;
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unlock();
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mavlink_logging_data_acked_t msg;
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msg.sequence = _ulog_data.sequence;
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msg.length = _ulog_data.length;
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msg.first_message_offset = _ulog_data.first_message_offset;
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memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
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mavlink_msg_logging_data_acked_send_struct(channel, &msg);
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} else {
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mavlink_logging_data_t msg;
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msg.sequence = _ulog_data.sequence;
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msg.length = _ulog_data.length;
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msg.first_message_offset = _ulog_data.first_message_offset;
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memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
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mavlink_msg_logging_data_send_struct(channel, &msg);
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}
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ret = orb_check(_ulog_stream_sub, &updated);
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}
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return 0;
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}
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void MavlinkULog::initialize()
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{
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if (_init) {
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return;
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}
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sem_init(&_lock, 1, 1);
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_init = true;
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}
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MavlinkULog* MavlinkULog::try_start()
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{
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MavlinkULog *ret = nullptr;
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bool failed = false;
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lock();
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if (!_instance) {
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ret = _instance = new MavlinkULog();
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if (!_instance) {
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failed = true;
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}
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}
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unlock();
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if (failed) {
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PX4_ERR("alloc failed");
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}
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return ret;
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}
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void MavlinkULog::stop()
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{
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lock();
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if (_instance) {
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delete _instance;
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_instance = nullptr;
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}
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unlock();
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}
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void MavlinkULog::handle_ack(mavlink_logging_ack_t ack)
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{
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lock();
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if (_instance) { // make sure stop() was not called right before
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if (_wait_for_ack_sequence == ack.sequence) {
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_ack_received = true;
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publish_ack(ack.sequence);
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}
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}
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unlock();
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}
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void MavlinkULog::publish_ack(uint16_t sequence)
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{
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ulog_stream_ack_s ack;
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ack.timestamp = hrt_absolute_time();
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ack.sequence = sequence;
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if (_ulog_stream_ack_pub == nullptr) {
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_ulog_stream_ack_pub = orb_advertise_queue(ORB_ID(ulog_stream_ack), &ack, 3);
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} else {
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orb_publish(ORB_ID(ulog_stream_ack), _ulog_stream_ack_pub, &ack);
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}
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}
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