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Mavlink NuttX network support (#10200)

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This commit is contained in:
garfieldG
2018-09-18 23:29:58 -04:00
committed by Daniel Agar
parent 31f3bcfc3a
commit f14125c160
4 changed files with 149 additions and 28 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+21 -5
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@@ -67,6 +67,13 @@
#ifndef __PX4_POSIX
#include <termios.h>
#endif
#ifdef CONFIG_NET
#include <net/if.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#endif
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
@@ -97,6 +104,12 @@
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
#ifdef CONFIG_NET
#define MAVLINK_RECEIVER_NET_ADDED_STACK 1360
#else
#define MAVLINK_RECEIVER_NET_ADDED_STACK 0
#endif
using matrix::wrap_2pi;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
@@ -2558,7 +2571,7 @@ void MavlinkReceiver::handle_message_debug_vect(mavlink_message_t *msg)
}
/**
* Receive data from UART.
* Receive data from UART/UDP
*/
void *
MavlinkReceiver::receive_thread(void *arg)
@@ -2574,9 +2587,12 @@ MavlinkReceiver::receive_thread(void *arg)
// poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc.
const int timeout = 10;
#ifdef __PX4_POSIX
#if defined(__PX4_POSIX)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1600 * 5];
#elif defined(CONFIG_NET)
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
uint8_t buf[1000];
#else
/* the serial port buffers internally as well, we just need to fit a small chunk */
uint8_t buf[64];
@@ -2590,7 +2606,7 @@ MavlinkReceiver::receive_thread(void *arg)
fds[0].events = POLLIN;
}
#ifdef __PX4_POSIX
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
struct sockaddr_in srcaddr = {};
socklen_t addrlen = sizeof(srcaddr);
@@ -2625,7 +2641,7 @@ MavlinkReceiver::receive_thread(void *arg)
}
}
#ifdef __PX4_POSIX
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
if (_mavlink->get_protocol() == UDP) {
if (fds[0].revents & POLLIN) {
@@ -2757,7 +2773,7 @@ MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
param.sched_priority = SCHED_PRIORITY_MAX - 80;
(void)pthread_attr_setschedparam(&receiveloop_attr, &param);
pthread_attr_setstacksize(&receiveloop_attr, PX4_STACK_ADJUSTED(2840));
pthread_attr_setstacksize(&receiveloop_attr, PX4_STACK_ADJUSTED(2840 + MAVLINK_RECEIVER_NET_ADDED_STACK));
pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);
pthread_attr_destroy(&receiveloop_attr);