mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 09:23:34 +08:00
Beat Küng
38f3b8d356
- sending protocol - uorb event message & template methods for argument packing - libevents submodule to send common events and handle json files - cmake maintains a list of all (PX4) source files for the current build (PX4 modules + libs), which is used to extract event metadata and generate a json file
147 lines
4.2 KiB
C++
147 lines
4.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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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#pragma once
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#include <stdint.h>
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#include "mavlink_bridge_header.h"
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#include <drivers/drv_hrt.h>
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#include <px4_platform_common/atomic.h>
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#include <px4_platform_common/events.h>
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#include <pthread.h>
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using namespace time_literals;
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class Mavlink;
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namespace events
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{
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/**
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* @struct Event
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* Stores all data required for sending an event. This needs to be kept as small as possible,
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* so that we can buffer more events
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*/
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struct Event {
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uint32_t timestamp_ms;
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uint32_t id;
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uint16_t sequence;
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uint8_t log_levels; ///< Log levels: 4 bits MSB: internal, 4 bits LSB: external
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uint8_t arguments[MAX_ARGUMENTS_SIZE];
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};
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/**
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* @class EventBuffer
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* Event buffer that can be shared between threads and multiple SendProtocol instances.
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* All methods are thread-safe.
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*/
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class EventBuffer
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{
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public:
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/**
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* Create an event buffer. Required memory: sizeof(Event) * capacity.
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* @param capacity maximum number of buffered events
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*/
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EventBuffer(int capacity = 20);
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~EventBuffer();
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int init();
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uint16_t get_latest_sequence() const { return _latest_sequence.load(); }
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uint16_t get_oldest_sequence_after(uint16_t sequence) const;
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/**
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* Insert a new event. It's expect to have a later sequence number than the
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* already inserted events.
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*/
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void insert_event(const Event &event);
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bool get_event(uint16_t sequence, Event &event) const;
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int size() const;
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private:
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::px4::atomic<uint16_t> _latest_sequence{events::initial_event_sequence};
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Event *_events{nullptr}; ///< stored events, ringbuffer
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int _capacity;
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int _next{0}; ///< next element to use
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int _size{0};
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mutable pthread_mutex_t _mutex;
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};
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/**
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* @class SendProtocol
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* Handles sending of events
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*/
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class SendProtocol
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{
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public:
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SendProtocol(EventBuffer &buffer, Mavlink &mavlink);
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/**
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* Handle sending of new events by checking the event buffer. Should be called
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* regularly.
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* @param now current time
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*/
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void update(const hrt_abstime &now);
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/**
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* Handle mavlink_request_event_t message. Can be called from another thread than
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* the rest of the class and is therefore thread-safe.
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*/
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void handle_request_event(const mavlink_message_t &msg) const;
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/**
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* Should be called whenever a GCS is connected
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*/
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void on_gcs_connected();
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private:
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void send_event(const Event &event) const;
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void send_current_sequence(const hrt_abstime &now);
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static constexpr hrt_abstime current_sequence_interval{3_s};
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EventBuffer &_buffer;
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uint16_t _latest_sequence;
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hrt_abstime _last_current_sequence_sent{0};
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Mavlink &_mavlink;
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};
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} /* namespace events */
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