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MAVLink parameters: Send all updated parameters asynchronously

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Parameters can change not just based on GCS request, but also due to internal code or requests by a different valid connected control authority such a cloud service. This change ensures that all connected systems get updated via MAVLink asynchronously.
This commit is contained in:
Lorenz Meier
2018-01-08 09:27:22 +01:00
parent 2170e7eba0
commit f284385c3f
2 changed files with 144 additions and 23 deletions
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src/modules/mavlink/mavlink_parameters.h
+35 -7
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2018 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
@@ -37,6 +37,7 @@
*
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Lorenz Meier <lorenz@px4.io>
* @author Beat Kueng <beat@px4.io>
*/
#pragma once
@@ -47,6 +48,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/uavcan_parameter_request.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
class Mavlink;
@@ -79,6 +81,21 @@ protected:
/// @return true if a parameter was sent
bool send_one();
/**
* Handle any open param send transfer
*/
bool send_params();
/**
* Send UAVCAN params
*/
bool send_uavcan();
/**
* Send untransmitted params
*/
bool send_untransmitted();
int send_param(param_t param, int component_id = -1);
// Item of a single-linked list to store requested uavcan parameters
@@ -87,22 +104,33 @@ protected:
struct _uavcan_open_request_list_item *next;
};
// Request the next uavcan parameter
/**
* Request the next uavcan parameter
*/
void request_next_uavcan_parameter();
// Enque one uavcan parameter reqest. We store 10 at max.
/**
* Enqueue one uavcan parameter reqest. We store 10 at max.
*/
void enque_uavcan_request(uavcan_parameter_request_s *req);
// Drop the first reqest from the list
/**
* Drop the first reqest from the list
*/
void dequeue_uavcan_request();
_uavcan_open_request_list_item *_uavcan_open_request_list; // Pointer to the first item in the linked list
bool _uavcan_waiting_for_request_response; // We have reqested a parameter and wait for the response
uint16_t _uavcan_queued_request_items; // Number of stored parameter requests currently in the list
_uavcan_open_request_list_item *_uavcan_open_request_list; ///< Pointer to the first item in the linked list
bool _uavcan_waiting_for_request_response; ///< We have reqested a parameter and wait for the response
uint16_t _uavcan_queued_request_items; ///< Number of stored parameter requests currently in the list
orb_advert_t _rc_param_map_pub;
struct rc_parameter_map_s _rc_param_map;
orb_advert_t _uavcan_parameter_request_pub;
int _uavcan_parameter_value_sub;
int _mavlink_parameter_sub;
hrt_abstime _param_update_time;
int _param_update_index;
Mavlink *_mavlink;
};