mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-29 20:00:35 +08:00
Daniel Agar
124 lines
3.8 KiB
C++
124 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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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/**
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* @file mavlink_command_sender.h
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* Mavlink commands sender with support for retransmission.
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <px4_tasks.h>
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#include <px4_sem.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include "timestamped_list.h"
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#include "mavlink_bridge_header.h"
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#include <v2.0/mavlink_types.h>
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/**
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* @class MavlinkCommandSender
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*/
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class MavlinkCommandSender
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{
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public:
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/**
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* initialize: call this once on startup (this function is not thread-safe!)
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*/
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static void initialize();
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static MavlinkCommandSender &instance();
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/**
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* Send a command on a channel and keep it in a queue for retransmission.
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* thread-safe
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* @return 0 on success, <0 otherwise
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*/
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int handle_vehicle_command(const struct vehicle_command_s &command, mavlink_channel_t channel);
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/**
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* Check timeouts to verify if an commands need retransmission.
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* thread-safe
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*/
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void check_timeout(mavlink_channel_t channel);
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/**
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* Handle mavlink command_ack.
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* thread-safe
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*/
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void handle_mavlink_command_ack(const mavlink_command_ack_t &ack, uint8_t from_sysid, uint8_t from_compid);
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private:
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MavlinkCommandSender();
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~MavlinkCommandSender();
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static void lock()
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{
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do {} while (px4_sem_wait(&_lock) != 0);
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}
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static void unlock()
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{
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px4_sem_post(&_lock);
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}
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static MavlinkCommandSender *_instance;
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static px4_sem_t _lock;
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// There are MAVLINK_COMM_0 to MAVLINK_COMM_3, so it should be 4.
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static const unsigned MAX_MAVLINK_CHANNEL = 4;
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typedef struct {
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mavlink_command_long_t command = {};
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hrt_abstime timestamp_us = 0;
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hrt_abstime last_time_sent_us = 0;
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int8_t num_sent_per_channel[MAX_MAVLINK_CHANNEL] = {-1, -1, -1, -1};
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} command_item_t;
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TimestampedList<command_item_t> _commands;
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bool _debug_enabled = false;
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static const uint8_t RETRIES = 3;
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static const uint64_t TIMEOUT_US = 500000;
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/* do not allow copying or assigning this class */
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MavlinkCommandSender(const MavlinkCommandSender &) = delete;
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MavlinkCommandSender operator=(const MavlinkCommandSender &) = delete;
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};
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