PX4-Autopilot/src/modules/mavlink/mavlink_receiver.h

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/**
 * @file mavlink_receiver.h
 * MAVLink receiver thread
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 */

#pragma once

#include <systemlib/perf_counter.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_mode.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_force_setpoint.h>
#include <uORB/topics/time_offset.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/follow_target.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/gps_inject_data.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/collision_report.h>


#include "mavlink_ftp.h"

#define PX4_EPOCH_SECS 1234567890ULL

class Mavlink;

class MavlinkReceiver
{
public:
	/**
	 * Constructor
	 */
	MavlinkReceiver(Mavlink *parent);

	/**
	 * Destructor, also kills the mavlinks task.
	 */
	~MavlinkReceiver();

	/**
	 * Display the mavlink status.
	 */
	void		print_status();

	/**
	 * Start the receiver thread
	 */
	static void receive_start(pthread_t *thread, Mavlink *parent);

	static void *start_helper(void *context);

private:

	void handle_message(mavlink_message_t *msg);
	void handle_message_command_long(mavlink_message_t *msg);
	void handle_message_command_int(mavlink_message_t *msg);
	void handle_message_optical_flow_rad(mavlink_message_t *msg);
	void handle_message_hil_optical_flow(mavlink_message_t *msg);
	void handle_message_set_mode(mavlink_message_t *msg);
	void handle_message_att_pos_mocap(mavlink_message_t *msg);
	void handle_message_vision_position_estimate(mavlink_message_t *msg);
	void handle_message_gps_global_origin(mavlink_message_t *msg);
	void handle_message_attitude_quaternion_cov(mavlink_message_t *msg);
	void handle_message_local_position_ned_cov(mavlink_message_t *msg);
	void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
	void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
	void handle_message_set_actuator_control_target(mavlink_message_t *msg);
	void handle_message_set_attitude_target(mavlink_message_t *msg);
	void handle_message_radio_status(mavlink_message_t *msg);
	void handle_message_manual_control(mavlink_message_t *msg);
	void handle_message_rc_channels_override(mavlink_message_t *msg);
	void handle_message_heartbeat(mavlink_message_t *msg);
	void handle_message_ping(mavlink_message_t *msg);
	void handle_message_request_data_stream(mavlink_message_t *msg);
	void handle_message_system_time(mavlink_message_t *msg);
	void handle_message_timesync(mavlink_message_t *msg);
	void handle_message_hil_sensor(mavlink_message_t *msg);
	void handle_message_hil_gps(mavlink_message_t *msg);
	void handle_message_hil_state_quaternion(mavlink_message_t *msg);
	void handle_message_distance_sensor(mavlink_message_t *msg);
	void handle_message_follow_target(mavlink_message_t *msg);
	void handle_message_adsb_vehicle(mavlink_message_t *msg);
	void handle_message_collision(mavlink_message_t *msg);
	void handle_message_gps_rtcm_data(mavlink_message_t *msg);
	void handle_message_battery_status(mavlink_message_t *msg);
	void handle_message_serial_control(mavlink_message_t *msg);
	void handle_message_logging_ack(mavlink_message_t *msg);
	void handle_message_play_tune(mavlink_message_t *msg);

	void *receive_thread(void *arg);

	/**
	 * Set the interval at which the given message stream is published.
	 * The rate is the number of messages per second.
	 *
	 * @param msgId the message ID of to change the interval of
	 * @param interval the interval in us to send the message at
	 * @param data_rate the total link data rate in bytes per second
	 *
	 * @return PX4_OK on success, PX4_ERROR on fail
	 */
	int set_message_interval(int msgId, float interval, int data_rate = -1);
	void get_message_interval(int msgId);

	/**
	 * Convert remote timestamp to local hrt time (usec)
	 * Use timesync if available, monotonic boot time otherwise
	 */
	uint64_t sync_stamp(uint64_t usec);

	/**
	 * Exponential moving average filter to smooth time offset
	 */
	void smooth_time_offset(int64_t offset_ns);

	/**
	 * Decode a switch position from a bitfield
	 */
	switch_pos_t decode_switch_pos(uint16_t buttons, unsigned sw);

	/**
	 * Decode a switch position from a bitfield and state
	 */
	int decode_switch_pos_n(uint16_t buttons, unsigned sw);

	bool	evaluate_target_ok(int command, int target_system, int target_component);

	Mavlink	*_mavlink;
	mavlink_status_t _status; ///< receiver status, used for mavlink_parse_char()
	struct vehicle_local_position_s _hil_local_pos;
	struct vehicle_land_detected_s _hil_land_detector;
	struct vehicle_control_mode_s _control_mode;
	orb_advert_t _global_pos_pub;
	orb_advert_t _local_pos_pub;
	orb_advert_t _attitude_pub;
	orb_advert_t _gps_pub;
	orb_advert_t _sensors_pub;
	orb_advert_t _gyro_pub;
	orb_advert_t _accel_pub;
	orb_advert_t _mag_pub;
	orb_advert_t _baro_pub;
	orb_advert_t _airspeed_pub;
	orb_advert_t _battery_pub;
	orb_advert_t _cmd_pub;
	orb_advert_t _flow_pub;
	orb_advert_t _hil_distance_sensor_pub;
	orb_advert_t _flow_distance_sensor_pub;
	orb_advert_t _distance_sensor_pub;
	orb_advert_t _offboard_control_mode_pub;
	orb_advert_t _actuator_controls_pub;
	orb_advert_t _global_vel_sp_pub;
	orb_advert_t _att_sp_pub;
	orb_advert_t _rates_sp_pub;
	orb_advert_t _force_sp_pub;
	orb_advert_t _pos_sp_triplet_pub;
	orb_advert_t _att_pos_mocap_pub;
	orb_advert_t _vision_position_pub;
	orb_advert_t _vision_attitude_pub;
	orb_advert_t _telemetry_status_pub;
	orb_advert_t _rc_pub;
	orb_advert_t _manual_pub;
	orb_advert_t _land_detector_pub;
	orb_advert_t _time_offset_pub;
	orb_advert_t _follow_target_pub;
	orb_advert_t _transponder_report_pub;
	orb_advert_t _collision_report_pub;
	orb_advert_t _control_state_pub;
	static const int _gps_inject_data_queue_size = 6;
	orb_advert_t _gps_inject_data_pub;
	orb_advert_t _command_ack_pub;
	int _control_mode_sub;
	uint64_t _global_ref_timestamp;
	int _hil_frames;
	uint64_t _old_timestamp;
	bool _hil_local_proj_inited;
	float _hil_local_alt0;
	struct map_projection_reference_s _hil_local_proj_ref;
	struct offboard_control_mode_s _offboard_control_mode;
	struct vehicle_attitude_setpoint_s _att_sp;
	struct vehicle_rates_setpoint_s _rates_sp;
	double _time_offset_avg_alpha;
	int64_t _time_offset;
	int	_orb_class_instance;

	static constexpr unsigned MOM_SWITCH_COUNT = 8;

	uint8_t _mom_switch_pos[MOM_SWITCH_COUNT];
	uint16_t _mom_switch_state;

	param_t _p_bat_emergen_thr;
	param_t _p_bat_crit_thr;
	param_t _p_bat_low_thr;

	MavlinkReceiver(const MavlinkReceiver &) = delete;
	MavlinkReceiver operator=(const MavlinkReceiver &) = delete;
};