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mavlink: STATUSTEXT directly use mavlink_log subscription

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- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
This commit is contained in:
Daniel Agar
2020-11-17 19:47:06 -05:00
parent 387659d615
commit ed8a30d73e
5 changed files with 115 additions and 111 deletions
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src/modules/mavlink/mavlink_messages.cpp
+3 -94
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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>(),