mavlink: STATUSTEXT directly use mavlink_log subscription

- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone
2026-10-21 21:43:33 +08:00 · 2020-11-17 19:47:06 -05:00
parent 387659d615
commit ed8a30d73e
5 changed files with 115 additions and 111 deletions
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef STATUSTEXT_HPP
+#define STATUSTEXT_HPP
+
+#include <uORB/topics/mavlink_log.h>
+
+class MavlinkStreamStatustext : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamStatustext(mavlink); }
+
+	static constexpr const char *get_name_static() { return "STATUSTEXT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_STATUSTEXT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _mavlink_log_sub.updated() ? (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)};
+	uint16_t _id{0};
+
+	bool send() override
+	{
+		if (_mavlink->is_connected() && (_mavlink->get_free_tx_buf() >= get_size())) {
+
+			mavlink_log_s mavlink_log;
+
+			if (_mavlink_log_sub.update(&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;
+	}
+};
+
+#endif // STATUSTEXT_HPP