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Implemented multipart status message

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David Jablonski 2020-03-04 11:23:46 +01:00 committed by Julian Oes
parent 49d22edc33
commit a0bf7425ae
2 changed files with 29 additions and 5 deletions
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2
msg/mavlink_log.msg
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@ -1,6 +1,6 @@
uint64 timestamp # time since system start (microseconds)
char[50] text
char[127] text
uint8 severity # log level (same as in the linux kernel, starting with 0)
uint8 ORB_QUEUE_LENGTH = 5

32
src/modules/mavlink/mavlink_messages.cpp
View File

@ -399,7 +399,9 @@ private:
MavlinkStreamStatustext &operator = (const MavlinkStreamStatustext &) = delete;
protected:
explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
int id;
explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink), id(0)
{}
bool send(const hrt_abstime t) override
@ -411,11 +413,33 @@ protected:
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;
strncpy(msg.text, (const char *)mavlink_log.text, sizeof(msg.text));
msg.text[sizeof(msg.text) - 1] = '\0';
msg.chunk_seq = 0;
msg.id = id++;
unsigned text_size;
mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
while ((text_size = strlen(text)) > 0) {
unsigned chunk_size = math::min(text_size, max_chunk_size);
strncpy(msg.text, text, chunk_size);
// pad with zeros
if (chunk_size < max_chunk_size) {
memset(&msg.text + chunk_size, 0, max_chunk_size - 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;
}