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PX4-Autopilot/src/modules/mavlink/mavlink_main.cpp

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/****************************************************************************
*
* Copyright (c) 2012-2016 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
* 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.
*
****************************************************************************/
/**
* @file mavlink_main.cpp
* MAVLink 1.0 protocol implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_getopt.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <assert.h>
#include <math.h>
#include <poll.h>
#include <termios.h>
#include <time.h>
#ifdef __PX4_POSIX
#include <net/if.h>
#endif
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <systemlib/mcu_version.h>
#include <systemlib/git_version.h>
#include <systemlib/mavlink_log.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
//#include <mathlib/mathlib.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/mavlink_log.h>
#include "mavlink_bridge_header.h"
#include "mavlink_main.h"
#include "mavlink_messages.h"
#include "mavlink_receiver.h"
#include "mavlink_rate_limiter.h"
#ifndef MAVLINK_CRC_EXTRA
#error MAVLINK_CRC_EXTRA has to be defined on PX4 systems
#endif
#define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
#define DEFAULT_DEVICE_NAME "/dev/ttyS1"
#define MAX_DATA_RATE 10000000 ///< max data rate in bytes/s
#define MAIN_LOOP_DELAY 10000 ///< 100 Hz @ 1000 bytes/s data rate
#define FLOW_CONTROL_DISABLE_THRESHOLD 40 ///< picked so that some messages still would fit it.
static Mavlink *_mavlink_instances = nullptr;
/**
* mavlink app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
extern mavlink_system_t mavlink_system;
void mavlink_send_uart_bytes(mavlink_channel_t chan, const uint8_t *ch, int length)
{
Mavlink *m = Mavlink::get_instance((unsigned)chan);
if (m != nullptr) {
m->send_bytes(ch, length);
}
}
void mavlink_start_uart_send(mavlink_channel_t chan, int length)
{
Mavlink *m = Mavlink::get_instance((unsigned)chan);
if (m != nullptr) {
(void)m->begin_send();
}
}
void mavlink_end_uart_send(mavlink_channel_t chan, int length)
{
Mavlink *m = Mavlink::get_instance((unsigned)chan);
if (m != nullptr) {
(void)m->send_packet();
}
}
/*
* Internal function to give access to the channel status for each channel
*/
mavlink_status_t *mavlink_get_channel_status(uint8_t channel)
{
Mavlink *m = Mavlink::get_instance((unsigned)channel);
if (m != nullptr) {
return m->get_status();
} else {
return nullptr;
}
}
/*
* Internal function to give access to the channel buffer for each channel
*/
mavlink_message_t *mavlink_get_channel_buffer(uint8_t channel)
{
Mavlink *m = Mavlink::get_instance((unsigned)channel);
if (m != nullptr) {
return m->get_buffer();
} else {
return nullptr;
}
}
static void usage(void);
bool Mavlink::_boot_complete = false;
bool Mavlink::_config_link_on = false;
Mavlink::Mavlink() :
_device_name("/dev/ttyS1"),
_task_should_exit(false),
next(nullptr),
_instance_id(0),
_mavlink_log_pub(nullptr),
_task_running(false),
_mavlink_buffer{},
_mavlink_status{},
_hil_enabled(false),
_generate_rc(false),
_use_hil_gps(false),
_forward_externalsp(false),
_is_usb_uart(false),
_wait_to_transmit(false),
_received_messages(false),
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_manager(nullptr),
_parameters_manager(nullptr),
_mavlink_ftp(nullptr),
_mavlink_log_handler(nullptr),
_mavlink_shell(nullptr),
_mavlink_ulog(nullptr),
_mavlink_ulog_stop_requested(false),
_mode(MAVLINK_MODE_NORMAL),
_channel(MAVLINK_COMM_0),
_radio_id(0),
_logbuffer(5, sizeof(mavlink_log_s)),
_total_counter(0),
_receive_thread{},
_verbose(false),
_forwarding_on(false),
_ftp_on(false),
_uart_fd(-1),
_baudrate(57600),
_datarate(1000),
_datarate_events(500),
_rate_mult(1.0f),
_last_hw_rate_timestamp(0),
_mavlink_param_queue_index(0),
mavlink_link_termination_allowed(false),
_subscribe_to_stream(nullptr),
_subscribe_to_stream_rate(0.0f),
_udp_initialised(false),
_flow_control_enabled(false),
_last_write_success_time(0),
_last_write_try_time(0),
_mavlink_start_time(0),
_protocol_version_switch(-1),
_protocol_version(0),
_bytes_tx(0),
_bytes_txerr(0),
_bytes_rx(0),
_bytes_timestamp(0),
_rate_tx(0.0f),
_rate_txerr(0.0f),
_rate_rx(0.0f),
#ifdef __PX4_POSIX
_myaddr {},
_src_addr{},
_bcast_addr{},
_src_addr_initialized(false),
_broadcast_address_found(false),
_broadcast_address_not_found_warned(false),
_broadcast_failed_warned(false),
_network_buf{},
_network_buf_len(0),
#endif
_socket_fd(-1),
_protocol(SERIAL),
_network_port(14556),
_remote_port(DEFAULT_REMOTE_PORT_UDP),
_rstatus {},
_message_buffer {},
_message_buffer_mutex {},
_send_mutex {},
_param_initialized(false),
_logging_enabled(false),
_broadcast_mode(Mavlink::BROADCAST_MODE_OFF),
_param_system_id(PARAM_INVALID),
_param_component_id(PARAM_INVALID),
_param_radio_id(PARAM_INVALID),
_param_system_type(PARAM_INVALID),
_param_use_hil_gps(PARAM_INVALID),
_param_forward_externalsp(PARAM_INVALID),
_param_broadcast(PARAM_INVALID),
_system_type(0),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink_el")),
_txerr_perf(perf_alloc(PC_COUNT, "mavlink_txe"))
{
_instance_id = Mavlink::instance_count();
/* set channel according to instance id */
switch (_instance_id) {
case 0:
_channel = MAVLINK_COMM_0;
break;
case 1:
_channel = MAVLINK_COMM_1;
break;
case 2:
_channel = MAVLINK_COMM_2;
break;
case 3:
_channel = MAVLINK_COMM_3;
break;
#ifdef MAVLINK_COMM_4
case 4:
_channel = MAVLINK_COMM_4;
break;
#endif
#ifdef MAVLINK_COMM_5
case 5:
_channel = MAVLINK_COMM_5;
break;
#endif
#ifdef MAVLINK_COMM_6
case 6:
_channel = MAVLINK_COMM_6;
break;
#endif
default:
warnx("instance ID is out of range");
px4_task_exit(1);
break;
}
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_GENERIC;
}
Mavlink::~Mavlink()
{
perf_free(_loop_perf);
perf_free(_txerr_perf);
if (_task_running) {
/* task wakes up every 10ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
//TODO store main task handle in Mavlink instance to allow killing task
//task_delete(_mavlink_task);
break;
}
} while (_task_running);
}
}
void
Mavlink::set_proto_version(unsigned version)
{
if ((version == 1 || version == 0) &&
((_protocol_version_switch == 0) || (_protocol_version_switch == 1))) {
get_status()->flags |= MAVLINK_STATUS_FLAG_OUT_MAVLINK1;
_protocol_version = 1;
} else if (version == 2 &&
((_protocol_version_switch == 0) || (_protocol_version_switch == 2))) {
get_status()->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1);
_protocol_version = 2;
}
}
void
Mavlink::count_txerr()
{
perf_count(_txerr_perf);
}
void
Mavlink::set_mode(enum MAVLINK_MODE mode)
{
_mode = mode;
}
int
Mavlink::instance_count()
{
unsigned inst_index = 0;
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
inst_index++;
}
return inst_index;
}
Mavlink *
Mavlink::get_instance(unsigned instance)
{
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
if (instance == inst->get_instance_id()) {
return inst;
}
}
return nullptr;
}
Mavlink *
Mavlink::get_instance_for_device(const char *device_name)
{
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
if (strcmp(inst->_device_name, device_name) == 0) {
return inst;
}
}
return nullptr;
}
Mavlink *
Mavlink::get_instance_for_network_port(unsigned long port)
{
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
if (inst->_network_port == port) {
return inst;
}
}
return nullptr;
}
int
Mavlink::destroy_all_instances()
{
/* start deleting from the end */
Mavlink *inst_to_del = nullptr;
Mavlink *next_inst = ::_mavlink_instances;
unsigned iterations = 0;
warnx("waiting for instances to stop");
while (next_inst != nullptr) {
inst_to_del = next_inst;
next_inst = inst_to_del->next;
/* set flag to stop thread and wait for all threads to finish */
inst_to_del->_task_should_exit = true;
while (inst_to_del->_task_running) {
printf(".");
fflush(stdout);
usleep(10000);
iterations++;
if (iterations > 1000) {
PX4_ERR("Couldn't stop all mavlink instances.");
return PX4_ERROR;
}
}
}
//we know all threads have exited, so it's safe to manipulate the linked list and delete objects.
while (_mavlink_instances) {
inst_to_del = _mavlink_instances;
LL_DELETE(_mavlink_instances, inst_to_del);
delete(inst_to_del);
}
printf("\n");
warnx("all instances stopped");
return OK;
}
int
Mavlink::get_status_all_instances()
{
Mavlink *inst = ::_mavlink_instances;
unsigned iterations = 0;
while (inst != nullptr) {
printf("\ninstance #%u:\n", iterations);
inst->display_status();
/* move on */
inst = inst->next;
iterations++;
}
/* return an error if there are no instances */
return (iterations == 0);
}
bool
Mavlink::instance_exists(const char *device_name, Mavlink *self)
{
Mavlink *inst = ::_mavlink_instances;
while (inst != nullptr) {
/* don't compare with itself */
if (inst != self && !strcmp(device_name, inst->_device_name)) {
return true;
}
inst = inst->next;
}
return false;
}
void
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{
Mavlink *inst;
LL_FOREACH(_mavlink_instances, inst) {
if (inst != self) {
/* if not in normal mode, we are an onboard link
* onboard links should only pass on messages from the same system ID */
if (!(self->_mode != MAVLINK_MODE_NORMAL && msg->sysid != mavlink_system.sysid)) {
inst->pass_message(msg);
}
}
}
}
int
Mavlink::get_uart_fd(unsigned index)
{
Mavlink *inst = get_instance(index);
if (inst) {
return inst->get_uart_fd();
}
return -1;
}
int
Mavlink::get_uart_fd()
{
return _uart_fd;
}
int
Mavlink::get_instance_id()
{
return _instance_id;
}
mavlink_channel_t
Mavlink::get_channel()
{
return _channel;
}
void Mavlink::mavlink_update_system(void)
{
if (!_param_initialized) {
_param_system_id = param_find("MAV_SYS_ID");
_param_component_id = param_find("MAV_COMP_ID");
_param_proto_ver = param_find("MAV_PROTO_VER");
_param_radio_id = param_find("MAV_RADIO_ID");
_param_system_type = param_find("MAV_TYPE");
_param_use_hil_gps = param_find("MAV_USEHILGPS");
_param_forward_externalsp = param_find("MAV_FWDEXTSP");
_param_broadcast = param_find("MAV_BROADCAST");
/* test param - needs to be referenced, but is unused */
(void)param_find("MAV_TEST_PAR");
}
/* update system and component id */
int32_t system_id;
param_get(_param_system_id, &system_id);
int32_t component_id;
param_get(_param_component_id, &component_id);
int32_t proto = 0;
param_get(_param_proto_ver, &proto);
if (_protocol_version_switch != proto) {
_protocol_version_switch = proto;
set_proto_version(proto);
}
param_get(_param_radio_id, &_radio_id);
/* only allow system ID and component ID updates
* after reboot - not during operation */
if (!_param_initialized) {
if (system_id > 0 && system_id < 255) {
mavlink_system.sysid = system_id;
}
if (component_id > 0 && component_id < 255) {
mavlink_system.compid = component_id;
}
_param_initialized = true;
}
/* warn users that they need to reboot to take this
* into effect
*/
if (system_id != mavlink_system.sysid) {
send_statustext_critical("Save params and reboot to change SYSID");
}
if (component_id != mavlink_system.compid) {
send_statustext_critical("Save params and reboot to change COMPID");
}
int32_t system_type;
param_get(_param_system_type, &system_type);
if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
_system_type = system_type;
}
int32_t use_hil_gps;
param_get(_param_use_hil_gps, &use_hil_gps);
_use_hil_gps = (bool)use_hil_gps;
int32_t forward_externalsp;
param_get(_param_forward_externalsp, &forward_externalsp);
param_get(_param_broadcast, &_broadcast_mode);
_forward_externalsp = (bool)forward_externalsp;
}
int Mavlink::get_system_id()
{
return mavlink_system.sysid;
}
int Mavlink::get_component_id()
{
return mavlink_system.compid;
}
int Mavlink::mavlink_open_uart(int baud, const char *uart_name)
{
#ifndef B460800
#define B460800 460800
#endif
#ifndef B921600
#define B921600 921600
#endif
#ifndef B1000000
#define B1000000 1000000
#endif
/* process baud rate */
int speed;
switch (baud) {
case 0: speed = B0; break;
case 50: speed = B50; break;
case 75: speed = B75; break;
case 110: speed = B110; break;
case 134: speed = B134; break;
case 150: speed = B150; break;
case 200: speed = B200; break;
case 300: speed = B300; break;
case 600: speed = B600; break;
case 1200: speed = B1200; break;
case 1800: speed = B1800; break;
case 2400: speed = B2400; break;
case 4800: speed = B4800; break;
case 9600: speed = B9600; break;
case 19200: speed = B19200; break;
case 38400: speed = B38400; break;
case 57600: speed = B57600; break;
case 115200: speed = B115200; break;
case 230400: speed = B230400; break;
case 460800: speed = B460800; break;
case 921600: speed = B921600; break;
case 1000000: speed = B1000000; break;
#ifdef B1500000
case 1500000: speed = B1500000; break;
#endif
#ifdef B3000000
case 3000000: speed = B3000000; break;
#endif
default:
PX4_ERR("Unsupported baudrate: %d\n\tsupported examples:\n\t9600, 19200, 38400, 57600\t\n115200\n230400\n460800\n921600\n1000000\n",
baud);
return -EINVAL;
}
/* back off 1800 ms to avoid running into the USB setup timing */
while (_mode == MAVLINK_MODE_CONFIG &&
hrt_absolute_time() < 1800U * 1000U) {
usleep(50000);
}
/* open uart */
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
/* if this is a config link, stay here and wait for it to open */
if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
int armed_fd = orb_subscribe(ORB_ID(actuator_armed));
struct actuator_armed_s armed;
/* get the system arming state and abort on arming */
while (_uart_fd < 0) {
/* abort if an arming topic is published and system is armed */
bool updated = false;
orb_check(armed_fd, &updated);
if (updated) {
/* the system is now providing arming status feedback.
* instead of timing out, we resort to abort bringing
* up the terminal.
*/
orb_copy(ORB_ID(actuator_armed), armed_fd, &armed);
if (armed.armed) {
/* this is not an error, but we are done */
return -1;
}
}
usleep(100000);
_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
};
::close(armed_fd);
}
if (_uart_fd < 0) {
return _uart_fd;
}
/* Try to set baud rate */
struct termios uart_config;
int termios_state;
_is_usb_uart = false;
/* Initialize the uart config */
if ((termios_state = tcgetattr(_uart_fd, &uart_config)) < 0) {
warnx("ERR GET CONF %s: %d\n", uart_name, termios_state);
::close(_uart_fd);
return -1;
}
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* USB serial is indicated by /dev/ttyACM0*/
if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) {
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR SET BAUD %s: %d\n", uart_name, termios_state);
::close(_uart_fd);
return -1;
}
} else {
_is_usb_uart = true;
/* USB has no baudrate, but use a magic number for 'fast' */
_baudrate = 2000000;
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB;
}
#if defined (__PX4_LINUX) || defined (__PX4_DARWIN)
/* Put in raw mode */
cfmakeraw(&uart_config);
#endif
if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) {
PX4_WARN("ERR SET CONF %s\n", uart_name);
::close(_uart_fd);
return -1;
}
if (!_is_usb_uart) {
/*
* Setup hardware flow control. If the port has no RTS pin this call will fail,
* which is not an issue, but requires a separate call so we can fail silently.
*/
(void)tcgetattr(_uart_fd, &uart_config);
#ifdef CRTS_IFLOW
uart_config.c_cflag |= CRTS_IFLOW;
#else
uart_config.c_cflag |= CRTSCTS;
#endif
(void)tcsetattr(_uart_fd, TCSANOW, &uart_config);
/* setup output flow control */
if (enable_flow_control(true)) {
PX4_WARN("hardware flow control not supported");
}
} else {
_flow_control_enabled = false;
}
return _uart_fd;
}
int
Mavlink::enable_flow_control(bool enabled)
{
// We can't do this on USB - skip
if (_is_usb_uart) {
_flow_control_enabled = false;
return OK;
}
struct termios uart_config;
int ret = tcgetattr(_uart_fd, &uart_config);
if (enabled) {
uart_config.c_cflag |= CRTSCTS;
} else {
uart_config.c_cflag &= ~CRTSCTS;
}
ret = tcsetattr(_uart_fd, TCSANOW, &uart_config);
if (!ret) {
_flow_control_enabled = enabled;
}
return ret;
}
int
Mavlink::set_hil_enabled(bool hil_enabled)
{
int ret = OK;
/* enable HIL */
if (hil_enabled && !_hil_enabled) {
_hil_enabled = true;
configure_stream("HIL_ACTUATOR_CONTROLS", 200.0f);
}
/* disable HIL */
if (!hil_enabled && _hil_enabled) {
_hil_enabled = false;
configure_stream("HIL_ACTUATOR_CONTROLS", 0.0f);
} else {
ret = PX4_ERROR;
}
return ret;
}
unsigned
Mavlink::get_free_tx_buf()
{
/*
* Check if the OS buffer is full and disable HW
* flow control if it continues to be full
*/
int buf_free = 0;
// if we are using network sockets, return max length of one packet
if (get_protocol() == UDP || get_protocol() == TCP) {
return 1500;
} else {
// No FIONSPACE on Linux todo:use SIOCOUTQ and queue size to emulate FIONSPACE
#if !defined(__PX4_LINUX) && !defined(__PX4_DARWIN)
(void) ioctl(_uart_fd, FIONSPACE, (unsigned long)&buf_free);
#else
//Linux cp210x does not support TIOCOUTQ
buf_free = 256;
#endif
if (get_flow_control_enabled() && buf_free < FLOW_CONTROL_DISABLE_THRESHOLD) {
/* Disable hardware flow control:
* if no successful write since a defined time
* and if the last try was not the last successful write
*/
if (_last_write_try_time != 0 &&
hrt_elapsed_time(&_last_write_success_time) > 500 * 1000UL &&
_last_write_success_time != _last_write_try_time) {
warnx("Disabling hardware flow control");
enable_flow_control(false);
}
}
}
return buf_free;
}
void
Mavlink::begin_send()
{
// must protect the network buffer so other calls from receive_thread do not
// mangle the message.
pthread_mutex_lock(&_send_mutex);
}
int
Mavlink::send_packet()
{
int ret = -1;
#ifdef __PX4_POSIX
/* Only send packets if there is something in the buffer. */
if (_network_buf_len == 0) {
pthread_mutex_unlock(&_send_mutex);
return 0;
}
if (get_protocol() == UDP) {
ret = sendto(_socket_fd, _network_buf, _network_buf_len, 0,
(struct sockaddr *)&_src_addr, sizeof(_src_addr));
struct telemetry_status_s &tstatus = get_rx_status();
/* resend message via broadcast if no valid connection exists */
if ((_mode != MAVLINK_MODE_ONBOARD) && broadcast_enabled() &&
(!get_client_source_initialized()
|| (hrt_elapsed_time(&tstatus.heartbeat_time) > 3 * 1000 * 1000))) {
if (!_broadcast_address_found) {
find_broadcast_address();
}
if (_broadcast_address_found && _network_buf_len > 0) {
int bret = sendto(_socket_fd, _network_buf, _network_buf_len, 0,
(struct sockaddr *)&_bcast_addr, sizeof(_bcast_addr));
if (bret <= 0) {
if (!_broadcast_failed_warned) {
PX4_ERR("sending broadcast failed, errno: %d: %s", errno, strerror(errno));
_broadcast_failed_warned = true;
}
} else {
_broadcast_failed_warned = false;
}
}
}
} else if (get_protocol() == TCP) {
/* not implemented, but possible to do so */
PX4_ERR("TCP transport pending implementation");
}
_network_buf_len = 0;
#endif
pthread_mutex_unlock(&_send_mutex);
return ret;
}
void
Mavlink::send_bytes(const uint8_t *buf, unsigned packet_len)
{
/* If the wait until transmit flag is on, only transmit after we've received messages.
Otherwise, transmit all the time. */
if (!should_transmit()) {
return;
}
_last_write_try_time = hrt_absolute_time();
if (_mavlink_start_time == 0) {
_mavlink_start_time = _last_write_try_time;
}
if (get_protocol() == SERIAL) {
/* check if there is space in the buffer, let it overflow else */
unsigned buf_free = get_free_tx_buf();
if (buf_free < packet_len) {
/* not enough space in buffer to send */
count_txerr();
count_txerrbytes(packet_len);
return;
}
}
size_t ret = -1;
/* send message to UART */
if (get_protocol() == SERIAL) {
ret = ::write(_uart_fd, buf, packet_len);
}
#ifdef __PX4_POSIX
else {
if (_network_buf_len + packet_len < sizeof(_network_buf) / sizeof(_network_buf[0])) {
memcpy(&_network_buf[_network_buf_len], buf, packet_len);
_network_buf_len += packet_len;
ret = packet_len;
}
}
#endif
if (ret != (size_t) packet_len) {
count_txerr();
count_txerrbytes(packet_len);
} else {
_last_write_success_time = _last_write_try_time;
count_txbytes(packet_len);
}
}
void
Mavlink::find_broadcast_address()
{
#if defined (__PX4_LINUX) || defined (__PX4_DARWIN)
struct ifconf ifconf;
int ret;
#if defined(__APPLE__) && defined(__MACH__)
// On Mac, we can't determine the required buffer
// size in advance, so we just use what tends to work.
ifconf.ifc_len = 1024;
#else
// On Linux, we can determine the required size of the
// buffer first by providing NULL to ifc_req.
ifconf.ifc_req = NULL;
ifconf.ifc_len = 0;
ret = ioctl(_socket_fd, SIOCGIFCONF, &ifconf);
if (ret != 0) {
PX4_WARN("getting required buffer size failed");
return;
}
#endif
PX4_DEBUG("need to allocate %d bytes", ifconf.ifc_len);
// Allocate buffer.
ifconf.ifc_req = (struct ifreq *)(new uint8_t[ifconf.ifc_len]);
if (ifconf.ifc_req == nullptr) {
PX4_ERR("Could not allocate ifconf buffer");
return;
}
memset(ifconf.ifc_req, 0, ifconf.ifc_len);
ret = ioctl(_socket_fd, SIOCGIFCONF, &ifconf);
if (ret != 0) {
PX4_ERR("getting network config failed");
delete[] ifconf.ifc_req;
return;
}
size_t offset = 0;
// Later used to point to next network interface in buffer.
struct ifreq *cur_ifreq = (struct ifreq *) & (((uint8_t *)ifconf.ifc_req)[offset]);
// The ugly `for` construct is used because it allows to use
// `continue` and `break`.
for (;
offset < ifconf.ifc_len;
#if defined(__APPLE__) && defined(__MACH__)
// On Mac, to get to next entry in buffer, jump by the size of
// the interface name size plus whatever is greater, either the
// sizeof sockaddr or ifr_addr.sa_len.
offset += IF_NAMESIZE
+ (sizeof(struct sockaddr) > cur_ifreq->ifr_addr.sa_len ?
sizeof(struct sockaddr) : cur_ifreq->ifr_addr.sa_len)
#else
// On Linux, it's much easier to traverse the buffer, every entry
// has the constant length.
offset += sizeof(struct ifreq)
#endif
) {
// Point to next network interface in buffer.
cur_ifreq = (struct ifreq *) & (((uint8_t *)ifconf.ifc_req)[offset]);
PX4_DEBUG("looking at %s", cur_ifreq->ifr_name);
// ignore loopback network
if (strcmp(cur_ifreq->ifr_name, "lo") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo0") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo1") == 0 ||
strcmp(cur_ifreq->ifr_name, "lo2") == 0) {
PX4_DEBUG("skipping loopback");
continue;
}
struct ifreq bc_ifreq;
memset(&bc_ifreq, 0, sizeof(bc_ifreq));
strncpy(bc_ifreq.ifr_name, cur_ifreq->ifr_name, IF_NAMESIZE);
ret = ioctl(_socket_fd, SIOCGIFBRDADDR, &bc_ifreq);
if (ret != 0) {
PX4_DEBUG("getting broadcast address failed for %s", cur_ifreq->ifr_name);
continue;
}
struct in_addr &sin_addr = ((struct sockaddr_in *)&cur_ifreq->ifr_addr)->sin_addr;
// Accept network interfaces to local network only. This means it's an IP starting with:
// 192./172./10.
// Also see https://tools.ietf.org/html/rfc1918#section-3
uint8_t first_byte = sin_addr.s_addr & 0xFF;
if (first_byte != 192 && first_byte != 172 && first_byte != 10) {
continue;
}
if (!_broadcast_address_found) {
PX4_INFO("using network interface %s, IP: %s", cur_ifreq->ifr_name, inet_ntoa(sin_addr));
struct in_addr &bc_addr = ((struct sockaddr_in *)&bc_ifreq.ifr_broadaddr)->sin_addr;
PX4_INFO("with broadcast IP: %s", inet_ntoa(bc_addr));
_bcast_addr.sin_family = AF_INET;
_bcast_addr.sin_addr = bc_addr;
_broadcast_address_found = true;
} else {
PX4_INFO("ignoring additional network interface %s, IP: %s",
cur_ifreq->ifr_name, inet_ntoa(sin_addr));
}
}
if (_broadcast_address_found) {
_bcast_addr.sin_port = htons(_remote_port);
int broadcast_opt = 1;
if (setsockopt(_socket_fd, SOL_SOCKET, SO_BROADCAST, &broadcast_opt, sizeof(broadcast_opt)) < 0) {
PX4_WARN("setting broadcast permission failed");
}
_broadcast_address_not_found_warned = false;
} else {
if (!_broadcast_address_not_found_warned) {
PX4_WARN("no broadcasting address found");
_broadcast_address_not_found_warned = true;
}
}
delete[] ifconf.ifc_req;
#endif
}
void
Mavlink::init_udp()
{
#if defined (__PX4_LINUX) || defined (__PX4_DARWIN)
PX4_DEBUG("Setting up UDP with port %d", _network_port);
_myaddr.sin_family = AF_INET;
_myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
_myaddr.sin_port = htons(_network_port);
if ((_socket_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
PX4_WARN("create socket failed: %s", strerror(errno));
return;
}
if (bind(_socket_fd, (struct sockaddr *)&_myaddr, sizeof(_myaddr)) < 0) {
PX4_WARN("bind failed: %s", strerror(errno));
return;
}
/* set default target address, but not for onboard mode (will be set on first received packet) */
if (!_src_addr_initialized) {
_src_addr.sin_family = AF_INET;
inet_aton("127.0.0.1", &_src_addr.sin_addr);
}
_src_addr.sin_port = htons(_remote_port);
#endif
}
void
Mavlink::handle_message(const mavlink_message_t *msg)
{
if (!accepting_commands()) {
return;
}
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
/* handle packet with parameter component */
_parameters_manager->handle_message(msg);
/* handle packet with ftp component */
_mavlink_ftp->handle_message(msg);
/* handle packet with log component */
_mavlink_log_handler->handle_message(msg);
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(msg, this);
}
}
void
Mavlink::send_statustext_info(const char *string)
{
mavlink_log_info(&_mavlink_log_pub, string);
}
void
Mavlink::send_statustext_critical(const char *string)
{
mavlink_log_critical(&_mavlink_log_pub, string);
}
void
Mavlink::send_statustext_emergency(const char *string)
{
mavlink_log_emergency(&_mavlink_log_pub, string);
}
void Mavlink::send_autopilot_capabilites()
{
struct vehicle_status_s status;
MavlinkOrbSubscription *status_sub = this->add_orb_subscription(ORB_ID(vehicle_status));
if (status_sub->update(&status)) {
mavlink_autopilot_version_t msg = {};
msg.capabilities = MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MISSION_INT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_COMMAND_INT;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_FTP;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET;
msg.capabilities |= MAV_PROTOCOL_CAPABILITY_MAVLINK2;
msg.flight_sw_version = version_tag_to_number(px4_git_tag);
msg.middleware_sw_version = version_tag_to_number(px4_git_tag);
msg.os_sw_version = version_tag_to_number(os_git_tag);
msg.board_version = px4_board_version;
memcpy(&msg.flight_custom_version, &px4_git_version_binary, sizeof(msg.flight_custom_version));
memcpy(&msg.middleware_custom_version, &px4_git_version_binary, sizeof(msg.middleware_custom_version));
memset(&msg.os_custom_version, 0, sizeof(msg.os_custom_version));
#ifdef CONFIG_CDCACM_VENDORID
msg.vendor_id = CONFIG_CDCACM_VENDORID;
#else
msg.vendor_id = 0;
#endif
#ifdef CONFIG_CDCACM_PRODUCTID
msg.product_id = CONFIG_CDCACM_PRODUCTID;
#else
msg.product_id = 0;
#endif
uint32_t uid[3];
mcu_unique_id(uid);
msg.uid = (((uint64_t)uid[1]) << 32) | uid[2];
mavlink_msg_autopilot_version_send_struct(get_channel(), &msg);
}
}
MavlinkOrbSubscription *Mavlink::add_orb_subscription(const orb_id_t topic, int instance)
{
/* check if already subscribed to this topic */
MavlinkOrbSubscription *sub;
LL_FOREACH(_subscriptions, sub) {
if (sub->get_topic() == topic && sub->get_instance() == instance) {
/* already subscribed */
return sub;
}
}
/* add new subscription */
MavlinkOrbSubscription *sub_new = new MavlinkOrbSubscription(topic, instance);
LL_APPEND(_subscriptions, sub_new);
return sub_new;
}
unsigned int
Mavlink::interval_from_rate(float rate)
{
return (rate > 0.0f) ? (1000000.0f / rate) : 0;
}
int
Mavlink::configure_stream(const char *stream_name, const float rate)
{
/* calculate interval in us, 0 means disabled stream */
unsigned int interval = interval_from_rate(rate);
/* search if stream exists */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
if (strcmp(stream_name, stream->get_name()) == 0) {
if (interval > 0) {
/* set new interval */
stream->set_interval(interval);
} else {
/* delete stream */
LL_DELETE(_streams, stream);
delete stream;
}
return OK;
}
}
if (interval <= 0) {
/* stream was not active and is requested to be disabled, do nothing */
return OK;
}
/* search for stream with specified name in supported streams list */
for (unsigned int i = 0; streams_list[i] != nullptr; i++) {
if (strcmp(stream_name, streams_list[i]->get_name()) == 0) {
/* create new instance */
stream = streams_list[i]->new_instance(this);
stream->set_interval(interval);
LL_APPEND(_streams, stream);
return OK;
}
}
/* if we reach here, the stream list does not contain the stream */
warnx("stream %s not found", stream_name);
return PX4_ERROR;
}
void
Mavlink::adjust_stream_rates(const float multiplier)
{
/* do not allow to push us to zero */
if (multiplier < 0.0005f) {
return;
}
/* search if stream exists */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
/* set new interval */
unsigned interval = stream->get_interval();
interval /= multiplier;
/* allow max ~2000 Hz */
if (interval < 1600) {
interval = 500;
}
/* set new interval */
stream->set_interval(interval * multiplier);
}
}
void
Mavlink::configure_stream_threadsafe(const char *stream_name, const float rate)
{
/* orb subscription must be done from the main thread,
* set _subscribe_to_stream and _subscribe_to_stream_rate fields
* which polled in mavlink main loop */
if (!_task_should_exit) {
/* wait for previous subscription completion */
while (_subscribe_to_stream != nullptr) {
usleep(MAIN_LOOP_DELAY / 2);
}
/* copy stream name */
unsigned n = strlen(stream_name) + 1;
char *s = new char[n];
strcpy(s, stream_name);
/* set subscription task */
_subscribe_to_stream_rate = rate;
_subscribe_to_stream = s;
/* wait for subscription */
do {
usleep(MAIN_LOOP_DELAY / 2);
} while (_subscribe_to_stream != nullptr);
delete[] s;
}
}
int
Mavlink::message_buffer_init(int size)
{
_message_buffer.size = size;
_message_buffer.write_ptr = 0;
_message_buffer.read_ptr = 0;
_message_buffer.data = (char *)malloc(_message_buffer.size);
int ret;
if (_message_buffer.data == 0) {
ret = PX4_ERROR;
_message_buffer.size = 0;
} else {
ret = OK;
}
return ret;
}
void
Mavlink::message_buffer_destroy()
{
_message_buffer.size = 0;
_message_buffer.write_ptr = 0;
_message_buffer.read_ptr = 0;
free(_message_buffer.data);
}
int
Mavlink::message_buffer_count()
{
int n = _message_buffer.write_ptr - _message_buffer.read_ptr;
if (n < 0) {
n += _message_buffer.size;
}
return n;
}
int
Mavlink::message_buffer_is_empty()
{
return _message_buffer.read_ptr == _message_buffer.write_ptr;
}
bool
Mavlink::message_buffer_write(const void *ptr, int size)
{
// bytes available to write
int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
if (available < 0) {
available += _message_buffer.size;
}
if (size > available) {
// buffer overflow
return false;
}
char *c = (char *) ptr;
int n = _message_buffer.size - _message_buffer.write_ptr; // bytes to end of the buffer
if (n < size) {
// message goes over end of the buffer
memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), c, n);
_message_buffer.write_ptr = 0;
} else {
n = 0;
}
// now: n = bytes already written
int p = size - n; // number of bytes to write
memcpy(&(_message_buffer.data[_message_buffer.write_ptr]), &(c[n]), p);
_message_buffer.write_ptr = (_message_buffer.write_ptr + p) % _message_buffer.size;
return true;
}
int
Mavlink::message_buffer_get_ptr(void **ptr, bool *is_part)
{
// bytes available to read
int available = _message_buffer.write_ptr - _message_buffer.read_ptr;
if (available == 0) {
return 0; // buffer is empty
}
int n = 0;
if (available > 0) {
// read pointer is before write pointer, all available bytes can be read
n = available;
*is_part = false;
} else {
// read pointer is after write pointer, read bytes from read_ptr to end of the buffer
n = _message_buffer.size - _message_buffer.read_ptr;
*is_part = _message_buffer.write_ptr > 0;
}
*ptr = &(_message_buffer.data[_message_buffer.read_ptr]);
return n;
}
void
Mavlink::message_buffer_mark_read(int n)
{
_message_buffer.read_ptr = (_message_buffer.read_ptr + n) % _message_buffer.size;
}
void
Mavlink::pass_message(const mavlink_message_t *msg)
{
if (_forwarding_on) {
/* size is 8 bytes plus variable payload */
int size = MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len;
pthread_mutex_lock(&_message_buffer_mutex);
message_buffer_write(msg, size);
pthread_mutex_unlock(&_message_buffer_mutex);
}
}
float
Mavlink::get_rate_mult()
{
return _rate_mult;
}
MavlinkShell *
Mavlink::get_shell()
{
if (!_mavlink_shell) {
_mavlink_shell = new MavlinkShell();
if (!_mavlink_shell) {
PX4_ERR("Failed to allocate a shell");
} else {
int ret = _mavlink_shell->start();
if (ret != 0) {
PX4_ERR("Failed to start shell (%i)", ret);
delete _mavlink_shell;
_mavlink_shell = nullptr;
}
}
}
return _mavlink_shell;
}
void
Mavlink::close_shell()
{
if (_mavlink_shell) {
delete _mavlink_shell;
_mavlink_shell = nullptr;
}
}
void
Mavlink::update_rate_mult()
{
float const_rate = 0.0f;
float rate = 0.0f;
/* scale down rates if their theoretical bandwidth is exceeding the link bandwidth */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
if (stream->const_rate()) {
const_rate += (stream->get_interval() > 0) ? stream->get_size_avg() * 1000000.0f / stream->get_interval() : 0;
} else {
rate += (stream->get_interval() > 0) ? stream->get_size_avg() * 1000000.0f / stream->get_interval() : 0;
}
}
float mavlink_ulog_streaming_rate_inv = 1.0f;
if (_mavlink_ulog) {
mavlink_ulog_streaming_rate_inv = 1.f - _mavlink_ulog->current_data_rate();
}
/* scale up and down as the link permits */
float bandwidth_mult = (float)(_datarate * mavlink_ulog_streaming_rate_inv - const_rate) / rate;
/* if we do not have flow control, limit to the set data rate */
if (!get_flow_control_enabled()) {
bandwidth_mult = fminf(1.0f, bandwidth_mult);
}
/* check if we have radio feedback */
struct telemetry_status_s &tstatus = get_rx_status();
bool radio_critical = false;
bool radio_found = false;
/* 2nd pass: Now check hardware limits */
if (tstatus.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
radio_found = true;
if (tstatus.txbuf < RADIO_BUFFER_LOW_PERCENTAGE) {
radio_critical = true;
}
}
float hardware_mult = _rate_mult;
/* scale down if we have a TX err rate suggesting link congestion */
if (_rate_txerr > 0.0f && !radio_critical) {
hardware_mult = (_rate_tx) / (_rate_tx + _rate_txerr);
} else if (radio_found && tstatus.telem_time != _last_hw_rate_timestamp) {
if (tstatus.txbuf < RADIO_BUFFER_CRITICAL_LOW_PERCENTAGE) {
/* this indicates link congestion, reduce rate by 20% */
hardware_mult *= 0.80f;
} else if (tstatus.txbuf < RADIO_BUFFER_LOW_PERCENTAGE) {
/* this indicates link congestion, reduce rate by 2.5% */
hardware_mult *= 0.975f;
} else if (tstatus.txbuf > RADIO_BUFFER_HALF_PERCENTAGE) {
/* this indicates spare bandwidth, increase by 2.5% */
hardware_mult *= 1.025f;
/* limit to a max multiplier of 1 */
hardware_mult = fminf(1.0f, hardware_mult);
}
} else if (!radio_found) {
/* no limitation, set hardware to 1 */
hardware_mult = 1.0f;
}
_last_hw_rate_timestamp = tstatus.telem_time;
/* pick the minimum from bandwidth mult and hardware mult as limit */
_rate_mult = fminf(bandwidth_mult, hardware_mult);
/* ensure the rate multiplier never drops below 5% so that something is always sent */
_rate_mult = fmaxf(0.05f, _rate_mult);
}
int
Mavlink::task_main(int argc, char *argv[])
{
int ch;
_baudrate = 57600;
_datarate = 0;
_mode = MAVLINK_MODE_NORMAL;
#ifdef __PX4_NUTTX
/* the NuttX optarg handler does not
* ignore argv[0] like the POSIX handler
* does, nor does it deal with non-flag
* verbs well. So we remove the application
* name and the verb.
*/
argc -= 2;
argv += 2;
#endif
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
int myoptind = 1;
const char *myoptarg = NULL;
#ifdef __PX4_POSIX
char *eptr;
int temp_int_arg;
#endif
while ((ch = px4_getopt(argc, argv, "b:r:d:u:o:m:t:fpvwx", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
_baudrate = strtoul(myoptarg, NULL, 10);
if (_baudrate < 9600 || _baudrate > 3000000) {
warnx("invalid baud rate '%s'", myoptarg);
err_flag = true;
}
break;
case 'r':
_datarate = strtoul(myoptarg, NULL, 10);
if (_datarate < 10 || _datarate > MAX_DATA_RATE) {
warnx("invalid data rate '%s'", myoptarg);
err_flag = true;
}
break;
case 'd':
_device_name = myoptarg;
set_protocol(SERIAL);
break;
#ifdef __PX4_POSIX
case 'u':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if (*eptr == '\0') {
_network_port = temp_int_arg;
set_protocol(UDP);
} else {
warnx("invalid data udp_port '%s'", myoptarg);
err_flag = true;
}
break;
case 'o':
temp_int_arg = strtoul(myoptarg, &eptr, 10);
if (*eptr == '\0') {
_remote_port = temp_int_arg;
set_protocol(UDP);
} else {
warnx("invalid remote udp_port '%s'", myoptarg);
err_flag = true;
}
break;
case 't':
_src_addr.sin_family = AF_INET;
if (inet_aton(myoptarg, &_src_addr.sin_addr)) {
_src_addr_initialized = true;
} else {
warnx("invalid partner ip '%s'", myoptarg);
err_flag = true;
}
break;
#else
case 'u':
case 'o':
case 't':
warnx("UDP options not supported on this platform");
err_flag = true;
break;
#endif
// case 'e':
// mavlink_link_termination_allowed = true;
// break;
case 'm':
if (strcmp(myoptarg, "custom") == 0) {
_mode = MAVLINK_MODE_CUSTOM;
} else if (strcmp(myoptarg, "camera") == 0) {
// left in here for compatibility
_mode = MAVLINK_MODE_ONBOARD;
} else if (strcmp(myoptarg, "onboard") == 0) {
_mode = MAVLINK_MODE_ONBOARD;
} else if (strcmp(myoptarg, "osd") == 0) {
_mode = MAVLINK_MODE_OSD;
} else if (strcmp(myoptarg, "magic") == 0) {
_mode = MAVLINK_MODE_MAGIC;
} else if (strcmp(myoptarg, "config") == 0) {
_mode = MAVLINK_MODE_CONFIG;
} else if (strcmp(myoptarg, "iridium") == 0) {
_mode = MAVLINK_MODE_IRIDIUM;
_rstatus.type = telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_IRIDIUM;
}
break;
case 'f':
_forwarding_on = true;
break;
case 'v':
_verbose = true;
break;
case 'w':
_wait_to_transmit = true;
break;
case 'x':
_ftp_on = true;
break;
default:
err_flag = true;
break;
}
}
if (err_flag) {
usage();
return PX4_ERROR;
}
if (_datarate == 0) {
/* convert bits to bytes and use 1/2 of bandwidth by default */
_datarate = _baudrate / 20;
}
if (_datarate > MAX_DATA_RATE) {
_datarate = MAX_DATA_RATE;
}
if (get_protocol() == SERIAL) {
if (Mavlink::instance_exists(_device_name, this)) {
warnx("%s already running", _device_name);
return PX4_ERROR;
}
PX4_INFO("mode: %s, data rate: %d B/s on %s @ %dB",
mavlink_mode_str(_mode), _datarate, _device_name, _baudrate);
/* flush stdout in case MAVLink is about to take it over */
fflush(stdout);
/* default values for arguments */
_uart_fd = mavlink_open_uart(_baudrate, _device_name);
if (_uart_fd < 0 && _mode != MAVLINK_MODE_CONFIG) {
warn("could not open %s", _device_name);
return PX4_ERROR;
} else if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
/* the config link is optional */
return OK;
}
} else if (get_protocol() == UDP) {
if (Mavlink::get_instance_for_network_port(_network_port) != nullptr) {
warnx("port %d already occupied", _network_port);
return PX4_ERROR;
}
PX4_INFO("mode: %s, data rate: %d B/s on udp port %hu remote port %hu",
mavlink_mode_str(_mode), _datarate, _network_port, _remote_port);
}
/* initialize send mutex */
pthread_mutex_init(&_send_mutex, NULL);
/* if we are passing on mavlink messages, we need to prepare a buffer for this instance */
if (_forwarding_on || _ftp_on) {
/* initialize message buffer if multiplexing is on or its needed for FTP.
* make space for two messages plus off-by-one space as we use the empty element
* marker ring buffer approach.
*/
if (OK != message_buffer_init(2 * sizeof(mavlink_message_t) + 1)) {
warnx("msg buf:");
return 1;
}
/* initialize message buffer mutex */
pthread_mutex_init(&_message_buffer_mutex, NULL);
}
/* Initialize system properties */
mavlink_update_system();
/* start the MAVLink receiver */
MavlinkReceiver::receive_start(&_receive_thread, this);
MavlinkOrbSubscription *param_sub = add_orb_subscription(ORB_ID(parameter_update));
uint64_t param_time = 0;
MavlinkOrbSubscription *status_sub = add_orb_subscription(ORB_ID(vehicle_status));
uint64_t status_time = 0;
MavlinkOrbSubscription *ack_sub = add_orb_subscription(ORB_ID(vehicle_command_ack));
/* We don't want to miss the first advertise of an ACK, so we subscribe from the
* beginning and not just when the topic exists. */
ack_sub->subscribe_from_beginning(true);
uint64_t ack_time = 0;
MavlinkOrbSubscription *mavlink_log_sub = add_orb_subscription(ORB_ID(mavlink_log));
struct vehicle_status_s status;
status_sub->update(&status_time, &status);
struct vehicle_command_ack_s command_ack;
ack_sub->update(&ack_time, &command_ack);
/* add default streams depending on mode */
if (_mode != MAVLINK_MODE_IRIDIUM) {
/* HEARTBEAT is constant rate stream, rate never adjusted */
configure_stream("HEARTBEAT", 1.0f);
/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
configure_stream("STATUSTEXT", 20.0f);
/* COMMAND_LONG stream: use high rate to avoid commands skipping */
configure_stream("COMMAND_LONG", 100.0f);
}
/* PARAM_VALUE stream */
_parameters_manager = (MavlinkParametersManager *) MavlinkParametersManager::new_instance(this);
_parameters_manager->set_interval(interval_from_rate(120.0f));
LL_APPEND(_streams, _parameters_manager);
/* MAVLINK_FTP stream */
_mavlink_ftp = (MavlinkFTP *) MavlinkFTP::new_instance(this);
_mavlink_ftp->set_interval(interval_from_rate(80.0f));
LL_APPEND(_streams, _mavlink_ftp);
/* MAVLINK_Log_Handler */
_mavlink_log_handler = (MavlinkLogHandler *) MavlinkLogHandler::new_instance(this);
_mavlink_log_handler->set_interval(interval_from_rate(80.0f));
LL_APPEND(_streams, _mavlink_log_handler);
/* MISSION_STREAM stream, actually sends all MISSION_XXX messages at some rate depending on
* remote requests rate. Rate specified here controls how much bandwidth we will reserve for
* mission messages. */
_mission_manager = (MavlinkMissionManager *) MavlinkMissionManager::new_instance(this);
_mission_manager->set_interval(interval_from_rate(10.0f));
_mission_manager->set_verbose(_verbose);
LL_APPEND(_streams, _mission_manager);
switch (_mode) {
case MAVLINK_MODE_NORMAL:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("EXTENDED_SYS_STATE", 1.0f);
configure_stream("HIGHRES_IMU", 1.5f);
configure_stream("ATTITUDE", 20.0f);
configure_stream("RC_CHANNELS", 5.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream("ALTITUDE", 1.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("ADSB_VEHICLE", 2.0f);
configure_stream("COLLISION", 2.0f);
configure_stream("DISTANCE_SENSOR", 0.5f);
configure_stream("OPTICAL_FLOW_RAD", 1.0f);
configure_stream("VISION_POSITION_NED", 1.0f);
configure_stream("ESTIMATOR_STATUS", 0.5f);
configure_stream("NAV_CONTROLLER_OUTPUT", 1.5f);
configure_stream("GLOBAL_POSITION_INT", 5.0f);
configure_stream("LOCAL_POSITION_NED", 1.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 1.5f);
configure_stream("ATTITUDE_TARGET", 2.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("NAMED_VALUE_FLOAT", 1.0f);
configure_stream("VFR_HUD", 4.0f);
configure_stream("WIND_COV", 1.0f);
break;
case MAVLINK_MODE_ONBOARD:
configure_stream("SYS_STATUS", 1.0f);
configure_stream("EXTENDED_SYS_STATE", 2.0f);
configure_stream("HIGHRES_IMU", 50.0f);
configure_stream("ATTITUDE", 250.0f);
configure_stream("RC_CHANNELS", 20.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 10.0f);
configure_stream("ALTITUDE", 10.0f);
configure_stream("GPS_RAW_INT", 5.0f);
configure_stream("ADSB_VEHICLE", 10.0f);
configure_stream("COLLISION", 10.0f);
configure_stream("DISTANCE_SENSOR", 10.0f);
configure_stream("OPTICAL_FLOW_RAD", 10.0f);
configure_stream("VISION_POSITION_NED", 10.0f);
configure_stream("ESTIMATOR_STATUS", 1.0f);
configure_stream("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream("GLOBAL_POSITION_INT", 50.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("NAMED_VALUE_FLOAT", 10.0f);
configure_stream("VFR_HUD", 10.0f);
configure_stream("WIND_COV", 10.0f);
configure_stream("POSITION_TARGET_LOCAL_NED", 10.0f);
configure_stream("SYSTEM_TIME", 1.0f);
configure_stream("TIMESYNC", 10.0f);
configure_stream("CAMERA_CAPTURE", 2.0f);
//camera trigger is rate limited at the source, do not limit here
configure_stream("CAMERA_TRIGGER", 500.0f);
configure_stream("ACTUATOR_CONTROL_TARGET0", 10.0f);
break;
case MAVLINK_MODE_OSD:
configure_stream("SYS_STATUS", 5.0f);
configure_stream("EXTENDED_SYS_STATE", 1.0f);
configure_stream("ATTITUDE", 25.0f);
configure_stream("RC_CHANNELS", 5.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 1.0f);
configure_stream("ALTITUDE", 1.0f);
configure_stream("GPS_RAW_INT", 1.0f);
configure_stream("ESTIMATOR_STATUS", 1.0f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 10.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("VFR_HUD", 25.0f);
configure_stream("WIND_COV", 2.0f);
configure_stream("SYSTEM_TIME", 1.0f);
break;
case MAVLINK_MODE_MAGIC:
//stream nothing
break;
case MAVLINK_MODE_CONFIG:
// Enable a number of interesting streams we want via USB
configure_stream("SYS_STATUS", 1.0f);
configure_stream("EXTENDED_SYS_STATE", 2.0f);
configure_stream("HIGHRES_IMU", 50.0f);
configure_stream("ATTITUDE", 100.0f);
configure_stream("RC_CHANNELS", 10.0f);
configure_stream("SERVO_OUTPUT_RAW_0", 20.0f);
configure_stream("SERVO_OUTPUT_RAW_1", 20.0f);
configure_stream("ALTITUDE", 10.0f);
configure_stream("GPS_RAW_INT", 10.0f);
configure_stream("ADSB_VEHICLE", 20.0f);
configure_stream("COLLISION", 20.0f);
configure_stream("DISTANCE_SENSOR", 10.0f);
configure_stream("OPTICAL_FLOW_RAD", 10.0f);
configure_stream("VISION_POSITION_NED", 10.0f);
configure_stream("ESTIMATOR_STATUS", 5.0f);
configure_stream("NAV_CONTROLLER_OUTPUT", 10.0f);
configure_stream("GLOBAL_POSITION_INT", 10.0f);
configure_stream("LOCAL_POSITION_NED", 30.0f);
configure_stream("POSITION_TARGET_GLOBAL_INT", 10.0f);
configure_stream("ATTITUDE_TARGET", 8.0f);
configure_stream("HOME_POSITION", 0.5f);
configure_stream("NAMED_VALUE_FLOAT", 50.0f);
configure_stream("VFR_HUD", 20.0f);
configure_stream("WIND_COV", 10.0f);
configure_stream("CAMERA_TRIGGER", 500.0f);
configure_stream("MISSION_ITEM", 50.0f);
configure_stream("ACTUATOR_CONTROL_TARGET0", 30.0f);
configure_stream("MANUAL_CONTROL", 5.0f);
break;
case MAVLINK_MODE_IRIDIUM:
configure_stream("HIGH_LATENCY", 0.1f);
break;
default:
break;
}
/* set main loop delay depending on data rate to minimize CPU overhead */
_main_loop_delay = (MAIN_LOOP_DELAY * 1000) / _datarate;
/* hard limit to 500 Hz at max */
if (_main_loop_delay < 2000) {
_main_loop_delay = 2000;
}
/* hard limit to 100 Hz at least */
if (_main_loop_delay > 10000) {
_main_loop_delay = 10000;
}
/* now the instance is fully initialized and we can bump the instance count */
LL_APPEND(_mavlink_instances, this);
/* init socket if necessary */
if (get_protocol() == UDP) {
init_udp();
}
/* if the protocol is serial, we send the system version blindly */
if (get_protocol() == SERIAL) {
send_autopilot_capabilites();
}
while (!_task_should_exit) {
/* main loop */
usleep(_main_loop_delay);
perf_begin(_loop_perf);
hrt_abstime t = hrt_absolute_time();
update_rate_mult();
_mission_manager->check_active_mission();
if (param_sub->update(&param_time, nullptr)) {
/* parameters updated */
mavlink_update_system();
}
/* radio config check */
if (_uart_fd >= 0 && _radio_id != 0 && _rstatus.type == telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO) {
/* request to configure radio and radio is present */
FILE *fs = fdopen(_uart_fd, "w");
if (fs) {
/* switch to AT command mode */
usleep(1200000);
fprintf(fs, "+++\n");
usleep(1200000);
if (_radio_id > 0) {
/* set channel */
fprintf(fs, "ATS3=%u\n", _radio_id);
usleep(200000);
} else {
/* reset to factory defaults */
fprintf(fs, "AT&F\n");
usleep(200000);
}
/* write config */
fprintf(fs, "AT&W");
usleep(200000);
/* reboot */
fprintf(fs, "ATZ");
usleep(200000);
// XXX NuttX suffers from a bug where
// fclose() also closes the fd, not just
// the file stream. Since this is a one-time
// config thing, we leave the file struct
// allocated.
//fclose(fs);
} else {
PX4_WARN("open fd %d failed", _uart_fd);
}
/* reset param and save */
_radio_id = 0;
param_set(_param_radio_id, &_radio_id);
}
if (status_sub->update(&status_time, &status)) {
/* switch HIL mode if required */
set_hil_enabled(status.hil_state == vehicle_status_s::HIL_STATE_ON);
set_manual_input_mode_generation(status.rc_input_mode == vehicle_status_s::RC_IN_MODE_GENERATED);
}
/* send command ACK */
uint16_t current_command_ack = 0;
if (ack_sub->update(&ack_time, &command_ack)) {
mavlink_command_ack_t msg;
msg.result = command_ack.result;
msg.command = command_ack.command;
current_command_ack = command_ack.command;
mavlink_msg_command_ack_send_struct(get_channel(), &msg);
}
struct mavlink_log_s mavlink_log;
if (mavlink_log_sub->update_if_changed(&mavlink_log)) {
_logbuffer.put(&mavlink_log);
}
/* check for shell output */
if (_mavlink_shell && _mavlink_shell->available() > 0) {
mavlink_serial_control_t msg;
msg.baudrate = 0;
msg.flags = SERIAL_CONTROL_FLAG_REPLY;
msg.timeout = 0;
msg.device = SERIAL_CONTROL_DEV_SHELL;
msg.count = _mavlink_shell->read(msg.data, sizeof(msg.data));
mavlink_msg_serial_control_send_struct(get_channel(), &msg);
}
/* check for ulog streaming messages */
if (_mavlink_ulog) {
if (_mavlink_ulog_stop_requested) {
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
_mavlink_ulog_stop_requested = false;
} else {
if (current_command_ack == vehicle_command_s::VEHICLE_CMD_LOGGING_START) {
_mavlink_ulog->start_ack_received();
}
int ret = _mavlink_ulog->handle_update(get_channel());
if (ret < 0) { //abort the streaming on error
if (ret != -1) {
PX4_WARN("mavlink ulog stream update failed, stopping (%i)", ret);
}
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
}
}
}
/* check for requested subscriptions */
if (_subscribe_to_stream != nullptr) {
if (OK == configure_stream(_subscribe_to_stream, _subscribe_to_stream_rate)) {
if (_subscribe_to_stream_rate > 0.0f) {
if (get_protocol() == SERIAL) {
PX4_DEBUG("stream %s on device %s enabled with rate %.1f Hz", _subscribe_to_stream, _device_name,
(double)_subscribe_to_stream_rate);
} else if (get_protocol() == UDP) {
PX4_DEBUG("stream %s on UDP port %d enabled with rate %.1f Hz", _subscribe_to_stream, _network_port,
(double)_subscribe_to_stream_rate);
}
} else {
if (get_protocol() == SERIAL) {
PX4_INFO("stream %s on device %s disabled", _subscribe_to_stream, _device_name);
} else if (get_protocol() == UDP) {
PX4_INFO("stream %s on UDP port %d disabled", _subscribe_to_stream, _network_port);
}
}
} else {
if (get_protocol() == SERIAL) {
PX4_WARN("stream %s on device %s not found", _subscribe_to_stream, _device_name);
} else if (get_protocol() == UDP) {
PX4_WARN("stream %s on UDP port %d not found", _subscribe_to_stream, _network_port);
}
}
_subscribe_to_stream = nullptr;
}
/* update streams */
MavlinkStream *stream;
LL_FOREACH(_streams, stream) {
stream->update(t);
}
/* pass messages from other UARTs or FTP worker */
if (_forwarding_on || _ftp_on) {
bool is_part;
uint8_t *read_ptr;
uint8_t *write_ptr;
pthread_mutex_lock(&_message_buffer_mutex);
int available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
pthread_mutex_unlock(&_message_buffer_mutex);
if (available > 0) {
// Reconstruct message from buffer
mavlink_message_t msg;
write_ptr = (uint8_t *)&msg;
// Pull a single message from the buffer
size_t read_count = available;
if (read_count > sizeof(mavlink_message_t)) {
read_count = sizeof(mavlink_message_t);
}
memcpy(write_ptr, read_ptr, read_count);
// We hold the mutex until after we complete the second part of the buffer. If we don't
// we may end up breaking the empty slot overflow detection semantics when we mark the
// possibly partial read below.
pthread_mutex_lock(&_message_buffer_mutex);
message_buffer_mark_read(read_count);
/* write second part of buffer if there is some */
if (is_part && read_count < sizeof(mavlink_message_t)) {
write_ptr += read_count;
available = message_buffer_get_ptr((void **)&read_ptr, &is_part);
read_count = sizeof(mavlink_message_t) - read_count;
memcpy(write_ptr, read_ptr, read_count);
message_buffer_mark_read(available);
}
pthread_mutex_unlock(&_message_buffer_mutex);
resend_message(&msg);
}
}
/* update TX/RX rates*/
if (t > _bytes_timestamp + 1000000) {
if (_bytes_timestamp != 0) {
float dt = (t - _bytes_timestamp) / 1000.0f;
_rate_tx = _bytes_tx / dt;
_rate_txerr = _bytes_txerr / dt;
_rate_rx = _bytes_rx / dt;
_bytes_tx = 0;
_bytes_txerr = 0;
_bytes_rx = 0;
}
_bytes_timestamp = t;
}
perf_end(_loop_perf);
/* confirm task running only once fully initialized */
_task_running = true;
}
/* first wait for threads to complete before tearing down anything */
pthread_join(_receive_thread, NULL);
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
/* delete streams */
MavlinkStream *stream_to_del = nullptr;
MavlinkStream *stream_next = _streams;
while (stream_next != nullptr) {
stream_to_del = stream_next;
stream_next = stream_to_del->next;
delete stream_to_del;
}
_streams = nullptr;
/* delete subscriptions */
MavlinkOrbSubscription *sub_to_del = nullptr;
MavlinkOrbSubscription *sub_next = _subscriptions;
while (sub_next != nullptr) {
sub_to_del = sub_next;
sub_next = sub_to_del->next;
delete sub_to_del;
}
_subscriptions = nullptr;
if (_uart_fd >= 0 && !_is_usb_uart) {
/* close UART */
::close(_uart_fd);
}
if (_socket_fd >= 0) {
close(_socket_fd);
_socket_fd = -1;
}
if (_forwarding_on || _ftp_on) {
message_buffer_destroy();
pthread_mutex_destroy(&_message_buffer_mutex);
}
if (_mavlink_ulog) {
_mavlink_ulog->stop();
_mavlink_ulog = nullptr;
}
warnx("exiting channel %i", (int)_channel);
return OK;
}
int Mavlink::start_helper(int argc, char *argv[])
{
/* create the instance in task context */
Mavlink *instance = new Mavlink();
int res;
if (!instance) {
/* out of memory */
res = -ENOMEM;
warnx("OUT OF MEM");
} else {
/* this will actually only return once MAVLink exits */
res = instance->task_main(argc, argv);
instance->_task_running = false;
}
return res;
}
int
Mavlink::start(int argc, char *argv[])
{
MavlinkULog::initialize();
// Wait for the instance count to go up one
// before returning to the shell
int ic = Mavlink::instance_count();
if (ic == Mavlink::MAVLINK_MAX_INSTANCES) {
warnx("Maximum MAVLink instance count of %d reached.",
(int)Mavlink::MAVLINK_MAX_INSTANCES);
return 1;
}
// Instantiate thread
char buf[24];
sprintf(buf, "mavlink_if%d", ic);
// This is where the control flow splits
// between the starting task and the spawned
// task - start_helper() only returns
// when the started task exits.
px4_task_spawn_cmd(buf,
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2500,
(px4_main_t)&Mavlink::start_helper,
(char *const *)argv);
// Ensure that this shell command
// does not return before the instance
// is fully initialized. As this is also
// the only path to create a new instance,
// this is effectively a lock on concurrent
// instance starting. XXX do a real lock.
// Sleep 500 us between each attempt
const unsigned sleeptime = 500;
// Wait 100 ms max for the startup.
const unsigned limit = 100 * 1000 / sleeptime;
unsigned count = 0;
while (ic == Mavlink::instance_count() && count < limit) {
::usleep(sleeptime);
count++;
}
return OK;
}
void
Mavlink::display_status()
{
if (_rstatus.heartbeat_time > 0) {
printf("\tGCS heartbeat:\t%llu us ago\n", (unsigned long long)hrt_elapsed_time(&_rstatus.heartbeat_time));
}
printf("\tmavlink chan: #%u\n", _channel);
if (_rstatus.timestamp > 0) {
printf("\ttype:\t\t");
switch (_rstatus.type) {
case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_3DR_RADIO:
printf("3DR RADIO\n");
printf("\trssi:\t\t%d\n", _rstatus.rssi);
printf("\tremote rssi:\t%u\n", _rstatus.remote_rssi);
printf("\ttxbuf:\t\t%u\n", _rstatus.txbuf);
printf("\tnoise:\t\t%d\n", _rstatus.noise);
printf("\tremote noise:\t%u\n", _rstatus.remote_noise);
printf("\trx errors:\t%u\n", _rstatus.rxerrors);
printf("\tfixed:\t\t%u\n", _rstatus.fixed);
break;
case telemetry_status_s::TELEMETRY_STATUS_RADIO_TYPE_USB:
printf("USB CDC\n");
break;
default:
printf("GENERIC LINK OR RADIO\n");
break;
}
} else {
printf("\tno telem status.\n");
}
printf("\tflow control:\t%s\n", (_flow_control_enabled) ? "ON" : "OFF");
printf("\trates:\n");
printf("\ttx: %.3f kB/s\n", (double)_rate_tx);
printf("\ttxerr: %.3f kB/s\n", (double)_rate_txerr);
printf("\trx: %.3f kB/s\n", (double)_rate_rx);
printf("\trate mult: %.3f\n", (double)_rate_mult);
if (_mavlink_ulog) {
printf("\tULog rate: %.1f%% of max %.1f%%\n", (double)_mavlink_ulog->current_data_rate()*100.,
(double)_mavlink_ulog->maximum_data_rate()*100.);
}
printf("\taccepting commands: %s\n", (accepting_commands()) ? "YES" : "NO");
printf("\tMAVLink version: %i\n", _protocol_version);
printf("\ttransport protocol: ");
switch (_protocol) {
case UDP:
printf("UDP (%i)\n", _network_port);
break;
case TCP:
printf("TCP\n");
break;
case SERIAL:
printf("serial (%s @%i)\n", _device_name, _baudrate);
break;
}
}
int
Mavlink::stream_command(int argc, char *argv[])
{
const char *device_name = DEFAULT_DEVICE_NAME;
float rate = -1.0f;
const char *stream_name = nullptr;
unsigned short network_port = 0;
char *eptr;
int temp_int_arg;
bool provided_device = false;
bool provided_network_port = false;
/*
* Called via main with original argv
* mavlink start
*
* Remove 2
*/
argc -= 2;
argv += 2;
/* don't exit from getopt loop to leave getopt global variables in consistent state,
* set error flag instead */
bool err_flag = false;
int i = 0;
while (i < argc) {
if (0 == strcmp(argv[i], "-r") && i < argc - 1) {
rate = strtod(argv[i + 1], nullptr);
if (rate < 0.0f) {
err_flag = true;
}
i++;
} else if (0 == strcmp(argv[i], "-d") && i < argc - 1) {
provided_device = true;
device_name = argv[i + 1];
i++;
} else if (0 == strcmp(argv[i], "-s") && i < argc - 1) {
stream_name = argv[i + 1];
i++;
} else if (0 == strcmp(argv[i], "-u") && i < argc - 1) {
provided_network_port = true;
temp_int_arg = strtoul(argv[i + 1], &eptr, 10);
if (*eptr == '\0') {
network_port = temp_int_arg;
} else {
err_flag = true;
}
i++;
} else {
err_flag = true;
}
i++;
}
if (!err_flag && rate >= 0.0f && stream_name != nullptr) {
Mavlink *inst = nullptr;
if (provided_device && !provided_network_port) {
inst = get_instance_for_device(device_name);
} else if (provided_network_port && !provided_device) {
inst = get_instance_for_network_port(network_port);
} else if (provided_device && provided_network_port) {
warnx("please provide either a device name or a network port");
return 1;
}
if (inst != nullptr) {
inst->configure_stream_threadsafe(stream_name, rate);
} else {
// If the link is not running we should complain, but not fall over
// because this is so easy to get wrong and not fatal. Warning is sufficient.
if (provided_device) {
warnx("mavlink for device %s is not running", device_name);
} else {
warnx("mavlink for network on port %hu is not running", network_port);
}
return 1;
}
} else {
PX4_INFO("usage: mavlink stream [-d device] [-u network_port] -s stream -r rate");
return 1;
}
return OK;
}
void
Mavlink::set_boot_complete()
{
_boot_complete = true;
#ifdef __PX4_POSIX
Mavlink *inst;
LL_FOREACH(::_mavlink_instances, inst) {
if ((inst->get_mode() != MAVLINK_MODE_ONBOARD) &&
(!inst->broadcast_enabled()) &&
((inst->get_protocol() == UDP) || (inst->get_protocol() == TCP))) {
PX4_INFO("MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)");
}
}
#endif
}
static void usage()
{
PX4_INFO("usage: mavlink {start|status|stream|stop-all|boot_complete}");
PX4_INFO(" [-d device]");
#ifdef __PX4_POSIX
PX4_INFO(" [-u network_port]");
PX4_INFO(" [-o remote_port]");
PX4_INFO(" [-t partner_ip]");
#endif
PX4_INFO(" [-b baudrate]");
PX4_INFO(" [-r rate]");
PX4_INFO(" [-m mode]");
PX4_INFO(" [-s stream]");
PX4_INFO(" [-f]");
PX4_INFO(" [-p]");
PX4_INFO(" [-v]");
PX4_INFO(" [-w]");
PX4_INFO(" [-x]");
}
int mavlink_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
return 1;
}
if (!strcmp(argv[1], "start")) {
return Mavlink::start(argc, argv);
} else if (!strcmp(argv[1], "stop")) {
PX4_WARN("mavlink stop is deprecated, use stop-all instead");
usage();
return 1;
} else if (!strcmp(argv[1], "stop-all")) {
return Mavlink::destroy_all_instances();
} else if (!strcmp(argv[1], "status")) {
return Mavlink::get_status_all_instances();
} else if (!strcmp(argv[1], "stream")) {
return Mavlink::stream_command(argc, argv);
} else if (!strcmp(argv[1], "boot_complete")) {
Mavlink::set_boot_complete();
return 0;
} else {
usage();
return 1;
}
return 0;
}
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