mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
122 lines
4.6 KiB
C++
122 lines
4.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2021 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
#include "MavlinkStatustextHandler.hpp"
|
|
#include <mathlib/mathlib.h>
|
|
|
|
bool MavlinkStatustextHandler::should_publish_previous(const mavlink_statustext_t &msg_statustext)
|
|
{
|
|
// Check if the previous message has not been published yet. This can
|
|
// happen if the last chunk has been dropped, let's publish what we have.
|
|
if (_last_log_id > 0 && msg_statustext.id != _last_log_id) {
|
|
// We add a note that a part is missing at the end.
|
|
const size_t offset = strlen(_log_msg.text);
|
|
strncpy(_log_msg.text + offset, "[ missing ... ]",
|
|
sizeof(_log_msg.text) - offset);
|
|
_log_msg.text[sizeof(_log_msg.text) - 1] = '\0';
|
|
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool MavlinkStatustextHandler::should_publish_current(const mavlink_statustext_t &msg_statustext, const uint64_t &now)
|
|
{
|
|
if (msg_statustext.id > 0) {
|
|
// Multi statustext message.
|
|
if (_last_log_id != msg_statustext.id) {
|
|
// On the first one arriving, we save the timestamp and severity.
|
|
_log_msg.timestamp = now;
|
|
_log_msg.severity = msg_statustext.severity;
|
|
}
|
|
|
|
if (msg_statustext.chunk_seq == 0) {
|
|
// We start from 0 with a new message.
|
|
strncpy(_log_msg.text, msg_statustext.text,
|
|
math::min(sizeof(_log_msg.text), sizeof(msg_statustext.text)));
|
|
_log_msg.text[sizeof(msg_statustext.text)] = '\0';
|
|
|
|
} else {
|
|
if (msg_statustext.chunk_seq != _last_log_chunk_seq + 1) {
|
|
const size_t offset = strlen(_log_msg.text);
|
|
strncpy(_log_msg.text + offset, "[ missing ... ]",
|
|
sizeof(_log_msg.text) - offset);
|
|
_log_msg.text[sizeof(_log_msg.text) - offset - 1] = '\0';
|
|
}
|
|
|
|
// We add a consecutive chunk.
|
|
const size_t offset = strlen(_log_msg.text);
|
|
const size_t max_to_add = math::min(sizeof(_log_msg.text) - offset - 1, sizeof(msg_statustext.text));
|
|
strncpy(_log_msg.text + offset, msg_statustext.text, max_to_add);
|
|
_log_msg.text[math::min(offset + max_to_add, sizeof(_log_msg.text) - 1)] = '\0';
|
|
}
|
|
|
|
_last_log_chunk_seq = msg_statustext.chunk_seq;
|
|
|
|
const bool publication_message_is_full = sizeof(_log_msg.text) - 1 == strlen(_log_msg.text);
|
|
const bool found_zero_termination = strnlen(msg_statustext.text,
|
|
sizeof(msg_statustext.text)) < sizeof(msg_statustext.text);
|
|
|
|
if (publication_message_is_full || found_zero_termination) {
|
|
_last_log_id = 0;
|
|
_last_log_chunk_seq = -1;
|
|
return true;
|
|
|
|
} else {
|
|
_last_log_id = msg_statustext.id;
|
|
return false;
|
|
}
|
|
|
|
} else {
|
|
// Single statustext message.
|
|
_log_msg.timestamp = now;
|
|
_log_msg.severity = msg_statustext.severity;
|
|
|
|
static_assert(sizeof(_log_msg.text) > sizeof(msg_statustext.text),
|
|
"_log_msg.text not big enough to hold msg_statustext.text");
|
|
|
|
strncpy(_log_msg.text, msg_statustext.text,
|
|
math::min(sizeof(_log_msg.text),
|
|
sizeof(msg_statustext.text)));
|
|
|
|
// We need to 0-terminate after the copied text which does not have to be
|
|
// 0-terminated on the wire.
|
|
_log_msg.text[sizeof(msg_statustext.text) - 1] = '\0';
|
|
|
|
_last_log_id = 0;
|
|
return true;
|
|
|
|
}
|
|
}
|