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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-03 07:41:37 +08:00
Merged master
This commit is contained in:
Lorenz Meier
@@ -83,27 +83,41 @@ public:
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/**
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* Display the mavlink status.
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*/
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void status();
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void status();
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static int stream(int argc, char *argv[]);
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static int stream(int argc, char *argv[]);
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static int instance_count();
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static int instance_count();
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static Mavlink *new_instance();
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static Mavlink *new_instance();
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static Mavlink *get_instance(unsigned instance);
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static Mavlink *get_instance(unsigned instance);
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static Mavlink *get_instance_for_device(const char *device_name);
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static Mavlink *get_instance_for_device(const char *device_name);
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static int destroy_all_instances();
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static int destroy_all_instances();
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static bool instance_exists(const char *device_name, Mavlink *self);
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static bool instance_exists(const char *device_name, Mavlink *self);
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static void forward_message(const mavlink_message_t *msg, Mavlink *self);
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static void forward_message(const mavlink_message_t *msg, Mavlink *self);
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static int get_uart_fd(unsigned index);
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static int get_uart_fd(unsigned index);
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int get_uart_fd();
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int get_uart_fd();
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/**
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* Get the MAVLink system id.
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*
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* @return The system ID of this vehicle
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*/
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int get_system_id();
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/**
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* Get the MAVLink component id.
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*
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* @return The component ID of this vehicle
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*/
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int get_component_id();
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const char *_device_name;
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@@ -113,26 +127,33 @@ public:
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MAVLINK_MODE_CAMERA
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};
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void set_mode(enum MAVLINK_MODE);
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enum MAVLINK_MODE get_mode() { return _mode; }
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void set_mode(enum MAVLINK_MODE);
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enum MAVLINK_MODE get_mode() { return _mode; }
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bool get_hil_enabled() { return _hil_enabled; }
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bool get_hil_enabled() { return _hil_enabled; }
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bool get_use_hil_gps() { return _use_hil_gps; }
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bool get_use_hil_gps() { return _use_hil_gps; }
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bool get_flow_control_enabled() { return _flow_control_enabled; }
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bool get_flow_control_enabled() { return _flow_control_enabled; }
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bool get_forwarding_on() { return _forwarding_on; }
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bool get_forwarding_on() { return _forwarding_on; }
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<<<<<<< HEAD
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=======
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/**
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* Handle waypoint related messages.
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*/
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void mavlink_wpm_message_handler(const mavlink_message_t *msg);
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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static int start_helper(int argc, char *argv[]);
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static int start_helper(int argc, char *argv[]);
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/**
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* Handle parameter related messages.
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*/
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void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
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void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg);
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void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
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void get_mavlink_mode_and_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet, uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
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/**
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* Enable / disable Hardware in the Loop simulation mode.
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@@ -142,28 +163,32 @@ public:
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* requested change could not be made or was
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* redundant.
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*/
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int set_hil_enabled(bool hil_enabled);
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int set_hil_enabled(bool hil_enabled);
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<<<<<<< HEAD
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void send_message(const mavlink_message_t *msg);
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void handle_message(const mavlink_message_t *msg);
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MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
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=======
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MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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int get_instance_id();
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int get_instance_id();
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/**
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* Enable / disable hardware flow control.
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*
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* @param enabled True if hardware flow control should be enabled
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*/
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int enable_flow_control(bool enabled);
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int enable_flow_control(bool enabled);
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mavlink_channel_t get_channel();
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const mavlink_channel_t get_channel();
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bool _task_should_exit; /**< if true, mavlink task should exit */
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bool _task_should_exit; /**< if true, mavlink task should exit */
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int get_mavlink_fd() { return _mavlink_fd; }
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int get_mavlink_fd() { return _mavlink_fd; }
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int send_statustext(const char *string);
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int send_statustext(enum MAV_SEVERITY severity, const char *string);
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@@ -171,33 +196,39 @@ public:
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float get_rate_mult();
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/* Functions for waiting to start transmission until message received. */
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void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
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bool get_has_received_messages() { return _received_messages; }
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void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
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bool get_wait_to_transmit() { return _wait_to_transmit; }
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bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
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void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
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bool get_has_received_messages() { return _received_messages; }
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void set_wait_to_transmit(bool wait) { _wait_to_transmit = wait; }
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bool get_wait_to_transmit() { return _wait_to_transmit; }
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bool should_transmit() { return (!_wait_to_transmit || (_wait_to_transmit && _received_messages)); }
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bool message_buffer_write(void *ptr, int size);
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void lockMessageBufferMutex(void) { pthread_mutex_lock(&_message_buffer_mutex); }
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void unlockMessageBufferMutex(void) { pthread_mutex_unlock(&_message_buffer_mutex); }
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protected:
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Mavlink *next;
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Mavlink *next;
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private:
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int _instance_id;
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int _instance_id;
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int _mavlink_fd;
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bool _task_running;
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int _mavlink_fd;
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bool _task_running;
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/* states */
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bool _hil_enabled; /**< Hardware In the Loop mode */
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bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
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bool _is_usb_uart; /**< Port is USB */
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bool _wait_to_transmit; /**< Wait to transmit until received messages. */
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bool _received_messages; /**< Whether we've received valid mavlink messages. */
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bool _hil_enabled; /**< Hardware In the Loop mode */
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bool _use_hil_gps; /**< Accept GPS HIL messages (for example from an external motion capturing system to fake indoor gps) */
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bool _is_usb_uart; /**< Port is USB */
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bool _wait_to_transmit; /**< Wait to transmit until received messages. */
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bool _received_messages; /**< Whether we've received valid mavlink messages. */
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unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
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unsigned _main_loop_delay; /**< mainloop delay, depends on data rate */
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MavlinkOrbSubscription *_subscriptions;
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MavlinkStream *_streams;
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MavlinkOrbSubscription *_subscriptions;
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MavlinkStream *_streams;
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<<<<<<< HEAD
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MavlinkMissionManager *_mission_manager;
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orb_advert_t _mission_pub;
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@@ -205,32 +236,54 @@ private:
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MAVLINK_MODE _mode;
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mavlink_channel_t _channel;
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=======
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orb_advert_t _mission_pub;
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struct mission_s mission;
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MAVLINK_MODE _mode;
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uint8_t _mavlink_wpm_comp_id;
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mavlink_channel_t _channel;
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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struct mavlink_logbuffer _logbuffer;
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unsigned int _total_counter;
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unsigned int _total_counter;
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pthread_t _receive_thread;
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pthread_t _receive_thread;
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<<<<<<< HEAD
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bool _verbose;
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bool _forwarding_on;
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bool _passing_on;
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int _uart_fd;
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int _baudrate;
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int _datarate;
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=======
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/* Allocate storage space for waypoints */
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mavlink_wpm_storage _wpm_s;
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mavlink_wpm_storage *_wpm;
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bool _verbose;
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bool _forwarding_on;
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bool _passing_on;
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bool _ftp_on;
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int _uart_fd;
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int _baudrate;
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int _datarate;
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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/**
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* If the queue index is not at 0, the queue sending
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* logic will send parameters from the current index
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* to len - 1, the end of the param list.
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*/
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unsigned int _mavlink_param_queue_index;
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unsigned int _mavlink_param_queue_index;
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bool mavlink_link_termination_allowed;
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bool mavlink_link_termination_allowed;
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char *_subscribe_to_stream;
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float _subscribe_to_stream_rate;
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char *_subscribe_to_stream;
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float _subscribe_to_stream_rate;
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bool _flow_control_enabled;
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bool _flow_control_enabled;
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struct mavlink_message_buffer {
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int write_ptr;
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@@ -238,11 +291,13 @@ private:
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int size;
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char *data;
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};
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mavlink_message_buffer _message_buffer;
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pthread_mutex_t _message_buffer_mutex;
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perf_counter_t _loop_perf; /**< loop performance counter */
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perf_counter_t _loop_perf; /**< loop performance counter */
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bool _param_initialized;
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param_t _param_system_id;
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param_t _param_component_id;
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@@ -255,7 +310,7 @@ private:
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* @param param The parameter id to send.
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* @return zero on success, nonzero on failure.
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*/
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int mavlink_pm_send_param(param_t param);
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int mavlink_pm_send_param(param_t param);
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/**
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* Send one parameter identified by index.
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@@ -263,7 +318,7 @@ private:
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* @param index The index of the parameter to send.
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* @return zero on success, nonzero else.
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*/
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int mavlink_pm_send_param_for_index(uint16_t index);
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int mavlink_pm_send_param_for_index(uint16_t index);
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/**
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* Send one parameter identified by name.
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@@ -271,14 +326,14 @@ private:
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* @param name The index of the parameter to send.
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* @return zero on success, nonzero else.
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*/
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int mavlink_pm_send_param_for_name(const char *name);
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int mavlink_pm_send_param_for_name(const char *name);
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/**
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* Send a queue of parameters, one parameter per function call.
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*
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* @return zero on success, nonzero on failure
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*/
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int mavlink_pm_queued_send(void);
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int mavlink_pm_queued_send(void);
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/**
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* Start sending the parameter queue.
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@@ -288,13 +343,30 @@ private:
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* mavlink_pm_queued_send().
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* @see mavlink_pm_queued_send()
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*/
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void mavlink_pm_start_queued_send();
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void mavlink_pm_start_queued_send();
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void mavlink_update_system();
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void mavlink_update_system();
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<<<<<<< HEAD
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uint8_t get_system_id();
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uint8_t get_component_id();
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=======
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void mavlink_waypoint_eventloop(uint64_t now);
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void mavlink_wpm_send_waypoint_reached(uint16_t seq);
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void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
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void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
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void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
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void mavlink_wpm_send_waypoint_current(uint16_t seq);
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void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
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void mavlink_wpm_init(mavlink_wpm_storage *state);
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int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
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int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
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void publish_mission();
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void mavlink_missionlib_send_message(mavlink_message_t *msg);
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int mavlink_missionlib_send_gcs_string(const char *string);
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
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@@ -309,8 +381,11 @@ private:
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int message_buffer_is_empty();
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<<<<<<< HEAD
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bool message_buffer_write(const void *ptr, int size);
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=======
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>>>>>>> 94c69e11ae1ec44c80eec1c979201c7d7e51cdb0
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int message_buffer_get_ptr(void **ptr, bool *is_part);
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void message_buffer_mark_read(int n);
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