mavlink_command_sender.h
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/****************************************************************************
*
* 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"
/**
* @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;
struct command_item_s {
mavlink_command_long_t command = {};
hrt_abstime timestamp_us = 0;
hrt_abstime last_time_sent_us = 0;
// -1: channel did not request this command to be sent, -2: channel got an ack for this command
#if MAVLINK_COMM_NUM_BUFFERS == 4
int8_t num_sent_per_channel[MAVLINK_COMM_NUM_BUFFERS] {-1, -1, -1, -1};
#elif MAVLINK_COMM_NUM_BUFFERS == 6
int8_t num_sent_per_channel[MAVLINK_COMM_NUM_BUFFERS] {-1, -1, -1, -1, -1, -1};
#else
# error Unknown number of MAVLINK_COMM_NUM_BUFFERS
#endif
};
TimestampedList<command_item_s> _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;
};