mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-13 13:50:34 +08:00
Beat Küng
3198610f85
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
125 lines
3.9 KiB
C++
125 lines
3.9 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2017 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file mavlink_command_sender.h
|
|
* Mavlink commands sender with support for retransmission.
|
|
*
|
|
* @author Julian Oes <julian@oes.ch>
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <px4_platform_common/tasks.h>
|
|
#include <px4_platform_common/sem.h>
|
|
#include <drivers/drv_hrt.h>
|
|
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_command_ack.h>
|
|
|
|
#include "timestamped_list.h"
|
|
#include "mavlink_bridge_header.h"
|
|
#include <v2.0/mavlink_types.h>
|
|
|
|
/**
|
|
* @class MavlinkCommandSender
|
|
*/
|
|
class MavlinkCommandSender
|
|
{
|
|
public:
|
|
/**
|
|
* initialize: call this once on startup (this function is not thread-safe!)
|
|
*/
|
|
static void initialize();
|
|
|
|
static MavlinkCommandSender &instance();
|
|
|
|
/**
|
|
* Send a command on a channel and keep it in a queue for retransmission.
|
|
* thread-safe
|
|
* @return 0 on success, <0 otherwise
|
|
*/
|
|
int handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel);
|
|
|
|
/**
|
|
* Check timeouts to verify if an commands need retransmission.
|
|
* thread-safe
|
|
*/
|
|
void check_timeout(mavlink_channel_t channel);
|
|
|
|
/**
|
|
* Handle mavlink command_ack.
|
|
* thread-safe
|
|
*/
|
|
void handle_mavlink_command_ack(const mavlink_command_ack_t &ack, uint8_t from_sysid, uint8_t from_compid,
|
|
uint8_t channel);
|
|
|
|
private:
|
|
MavlinkCommandSender() = default;
|
|
|
|
~MavlinkCommandSender();
|
|
|
|
static void lock()
|
|
{
|
|
do {} while (px4_sem_wait(&_lock) != 0);
|
|
}
|
|
|
|
static void unlock()
|
|
{
|
|
px4_sem_post(&_lock);
|
|
}
|
|
|
|
static MavlinkCommandSender *_instance;
|
|
static px4_sem_t _lock;
|
|
|
|
// There are MAVLINK_COMM_0 to MAVLINK_COMM_3, so it should be 4.
|
|
static const unsigned MAX_MAVLINK_CHANNEL = 4;
|
|
|
|
typedef struct {
|
|
mavlink_command_long_t command = {};
|
|
hrt_abstime timestamp_us = 0;
|
|
hrt_abstime last_time_sent_us = 0;
|
|
int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1}; // -1: channel did not request this command to be sent, -2: channel got an ack for this command
|
|
} command_item_t;
|
|
|
|
TimestampedList<command_item_t> _commands{3};
|
|
|
|
bool _debug_enabled = false;
|
|
static constexpr uint8_t RETRIES = 3;
|
|
static constexpr uint64_t TIMEOUT_US = 500000;
|
|
|
|
/* do not allow copying or assigning this class */
|
|
MavlinkCommandSender(const MavlinkCommandSender &) = delete;
|
|
MavlinkCommandSender operator=(const MavlinkCommandSender &) = delete;
|
|
};
|