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131 lines
4.3 KiB
C++
131 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef STATUSTEXT_HPP
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#define STATUSTEXT_HPP
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#include <uORB/topics/mavlink_log.h>
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#include <lib/perf/perf_counter.h>
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class MavlinkStreamStatustext : public MavlinkStream
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{
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public:
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static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamStatustext(mavlink); }
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static constexpr const char *get_name_static() { return "STATUSTEXT"; }
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static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_STATUSTEXT; }
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const char *get_name() const override { return get_name_static(); }
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uint16_t get_id() override { return get_id_static(); }
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unsigned get_size() override
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{
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return _mavlink_log_sub.updated() ? (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
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}
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private:
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explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {}
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~MavlinkStreamStatustext()
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{
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perf_free(_missed_msg_count_perf);
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}
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uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)};
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perf_counter_t _missed_msg_count_perf{perf_alloc(PC_COUNT, MODULE_NAME": STATUSTEXT missed messages")};
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uint16_t _id{0};
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bool send() override
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{
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if (_mavlink->is_gcs_connected()) {
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while (_mavlink_log_sub.updated() && (_mavlink->get_free_tx_buf() >= get_size())) {
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const unsigned last_generation = _mavlink_log_sub.get_last_generation();
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mavlink_log_s mavlink_log;
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if (_mavlink_log_sub.update(&mavlink_log)) {
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// don't send stale messages
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if (hrt_elapsed_time(&mavlink_log.timestamp) < 5_s) {
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if (_mavlink_log_sub.get_last_generation() != (last_generation + 1)) {
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perf_count(_missed_msg_count_perf);
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PX4_DEBUG("channel %d has missed %lld mavlink log messages", _mavlink->get_channel(),
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perf_event_count(_missed_msg_count_perf));
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}
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mavlink_statustext_t msg{};
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const char *text = mavlink_log.text;
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constexpr unsigned max_chunk_size = sizeof(msg.text);
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msg.severity = mavlink_log.severity;
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msg.chunk_seq = 0;
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msg.id = _id++;
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unsigned text_size;
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while ((text_size = strlen(text)) > 0) {
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unsigned chunk_size = math::min(text_size, max_chunk_size);
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if (chunk_size < max_chunk_size) {
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memcpy(&msg.text[0], &text[0], chunk_size);
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// pad with zeros
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memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size);
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} else {
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memcpy(&msg.text[0], &text[0], chunk_size);
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}
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mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
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if (text_size <= max_chunk_size) {
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break;
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} else {
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text += max_chunk_size;
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}
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msg.chunk_seq += 1;
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}
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return true;
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}
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}
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}
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}
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return false;
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}
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};
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#endif // STATUSTEXT_HPP
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