GCS.h

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// protocols.
#pragma once

#include <AP_HAL/AP_HAL.h>
#include <AP_Common/AP_Common.h>
#include "GCS_MAVLink.h"
#include <DataFlash/DataFlash.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
#include <stdint.h>
#include "MAVLink_routing.h"
#include <AP_SerialManager/AP_SerialManager.h>
#include <AP_Mount/AP_Mount.h>
#include <AP_Avoidance/AP_Avoidance.h>
#include <AP_Proximity/AP_Proximity.h>
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_Frsky_Telem/AP_Frsky_Telem.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AP_Camera/AP_Camera.h>
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
#include <AP_VisualOdom/AP_VisualOdom.h>
#include <AP_Common/AP_FWVersion.h>

// check if a message will fit in the payload space available
#define PAYLOAD_SIZE(chan, id) (GCS_MAVLINK::packet_overhead_chan(chan)+MAVLINK_MSG_ID_ ## id ## _LEN)
#define HAVE_PAYLOAD_SPACE(chan, id) (comm_get_txspace(chan) >= PAYLOAD_SIZE(chan, id))
#define CHECK_PAYLOAD_SIZE(id) if (comm_get_txspace(chan) < packet_overhead()+MAVLINK_MSG_ID_ ## id ## _LEN) return false
#define CHECK_PAYLOAD_SIZE2(id) if (!HAVE_PAYLOAD_SPACE(chan, id)) return false

//  GCS Message ID's
enum ap_message : uint8_t {
    MSG_HEARTBEAT,
    MSG_ATTITUDE,
    MSG_LOCATION,
    MSG_EXTENDED_STATUS1,
    MSG_EXTENDED_STATUS2,
    MSG_NAV_CONTROLLER_OUTPUT,
    MSG_CURRENT_WAYPOINT,
    MSG_VFR_HUD,
    MSG_SERVO_OUTPUT_RAW,
    MSG_RADIO_IN,
    MSG_RAW_IMU1,
    MSG_RAW_IMU2,
    MSG_RAW_IMU3,
    MSG_GPS_RAW,
    MSG_GPS_RTK,
    MSG_GPS2_RAW,
    MSG_GPS2_RTK,
    MSG_SYSTEM_TIME,
    MSG_SERVO_OUT,
    MSG_NEXT_WAYPOINT,
    MSG_NEXT_PARAM,
    MSG_FENCE_STATUS,
    MSG_AHRS,
    MSG_SIMSTATE,
    MSG_HWSTATUS,
    MSG_WIND,
    MSG_RANGEFINDER,
    MSG_TERRAIN,
    MSG_BATTERY2,
    MSG_CAMERA_FEEDBACK,
    MSG_MOUNT_STATUS,
    MSG_OPTICAL_FLOW,
    MSG_GIMBAL_REPORT,
    MSG_MAG_CAL_PROGRESS,
    MSG_MAG_CAL_REPORT,
    MSG_EKF_STATUS_REPORT,
    MSG_LOCAL_POSITION,
    MSG_PID_TUNING,
    MSG_VIBRATION,
    MSG_RPM,
    MSG_MISSION_ITEM_REACHED,
    MSG_POSITION_TARGET_GLOBAL_INT,
    MSG_ADSB_VEHICLE,
    MSG_BATTERY_STATUS,
    MSG_AOA_SSA,
    MSG_LANDING,
    MSG_NAMED_FLOAT,
    MSG_LAST // MSG_LAST must be the last entry in this enum
};

// convenience macros for defining which ap_message ids are in which streams:
#define MAV_STREAM_ENTRY(stream_name)           \
    {                                           \
        GCS_MAVLINK::stream_name,               \
        stream_name ## _msgs,                   \
        ARRAY_SIZE(stream_name ## _msgs)        \
    }
#define MAV_STREAM_TERMINATOR { (streams)0, nullptr, 0 }

class GCS_MAVLINK
{
public:
    friend class GCS;
    GCS_MAVLINK();
    void        update(uint32_t max_time_us=1000);
    void        init(AP_HAL::UARTDriver *port, mavlink_channel_t mav_chan);
    void        setup_uart(const AP_SerialManager& serial_manager, AP_SerialManager::SerialProtocol protocol, uint8_t instance);
    void        send_message(enum ap_message id);
    void        send_text(MAV_SEVERITY severity, const char *fmt, ...);
    void        data_stream_send();
    void        queued_param_send();
    void        queued_waypoint_send();
    // packetReceived is called on any successful decode of a mavlink message
    virtual void packetReceived(const mavlink_status_t &status,
                                mavlink_message_t &msg);

    // accessor for uart
    AP_HAL::UARTDriver *get_uart() { return _port; }

    virtual uint8_t sysid_my_gcs() const = 0;

    static const struct AP_Param::GroupInfo        var_info[];

    // set to true if this GCS link is active
    bool            initialised;

    // NOTE! The streams enum below and the
    // set of AP_Int16 stream rates _must_ be
    // kept in the same order
    enum streams : uint8_t {
        STREAM_RAW_SENSORS,
        STREAM_EXTENDED_STATUS,
        STREAM_RC_CHANNELS,
        STREAM_RAW_CONTROLLER,
        STREAM_POSITION,
        STREAM_EXTRA1,
        STREAM_EXTRA2,
        STREAM_EXTRA3,
        STREAM_PARAMS,
        STREAM_ADSB,
        NUM_STREAMS
    };

    // see if we should send a stream now. Called at 50Hz
    bool        stream_trigger(enum streams stream_num);

    bool is_high_bandwidth() { return chan == MAVLINK_COMM_0; }
    // return true if this channel has hardware flow control
    bool have_flow_control();

    mavlink_channel_t get_chan() const { return chan; }
    uint32_t get_last_heartbeat_time() const { return last_heartbeat_time; };

    uint32_t        last_heartbeat_time; // milliseconds

    // last time we got a non-zero RSSI from RADIO_STATUS
    static uint32_t last_radio_status_remrssi_ms;

    // mission item index to be sent on queued msg, delayed or not
    uint16_t mission_item_reached_index = AP_MISSION_CMD_INDEX_NONE;

    // common send functions
    void send_heartbeat(void) const;
    void send_meminfo(void);
    void send_power_status(void);
    void send_battery_status(const AP_BattMonitor &battery,
                             const uint8_t instance) const;
    bool send_battery_status() const;
    bool send_distance_sensor() const;
    void send_rangefinder_downward() const;
    bool send_proximity() const;
    void send_ahrs2();
    void send_system_time();
    void send_radio_in();
    void send_raw_imu();
    virtual void send_scaled_pressure3(); // allow sub to override this
    void send_scaled_pressure();
    void send_sensor_offsets();
    virtual void send_simstate() const;
    void send_ahrs();
    void send_battery2();
#if AP_AHRS_NAVEKF_AVAILABLE
    void send_opticalflow(const OpticalFlow &optflow);
#endif
    virtual void send_attitude() const;
    void send_autopilot_version() const;
    void send_local_position() const;
    void send_vfr_hud();
    void send_vibration() const;
    void send_named_float(const char *name, float value) const;
    void send_home() const;
    void send_ekf_origin() const;
    virtual void send_position_target_global_int() { };
    void send_servo_output_raw();
    static void send_collision_all(const AP_Avoidance::Obstacle &threat, MAV_COLLISION_ACTION behaviour);
    void send_accelcal_vehicle_position(uint32_t position);

    // return a bitmap of active channels. Used by libraries to loop
    // over active channels to send to all active channels    
    static uint8_t active_channel_mask(void) { return mavlink_active; }

    // return a bitmap of streaming channels
    static uint8_t streaming_channel_mask(void) { return chan_is_streaming; }

    // send queued parameters if needed
    void send_queued_parameters(void);

    // push send_message() messages and queued statustext messages etc:
    void retry_deferred();

    /*
      send a MAVLink message to all components with this vehicle's system id
      This is a no-op if no routes to components have been learned
    */
    static void send_to_components(const mavlink_message_t* msg) { routing.send_to_components(msg); }
    
    /*
      allow forwarding of packets / heartbeats to be blocked as required by some components to reduce traffic
    */
    static void disable_channel_routing(mavlink_channel_t chan) { routing.no_route_mask |= (1U<<(chan-MAVLINK_COMM_0)); }
    
    /*
      search for a component in the routing table with given mav_type and retrieve it's sysid, compid and channel
      returns if a matching component is found
     */
    static bool find_by_mavtype(uint8_t mav_type, uint8_t &sysid, uint8_t &compid, mavlink_channel_t &channel) { return routing.find_by_mavtype(mav_type, sysid, compid, channel); }

    // update signing timestamp on GPS lock
    static void update_signing_timestamp(uint64_t timestamp_usec);

    // return current packet overhead for a channel
    static uint8_t packet_overhead_chan(mavlink_channel_t chan);

    // alternative protocol function handler
    FUNCTOR_TYPEDEF(protocol_handler_fn_t, bool, uint8_t, AP_HAL::UARTDriver *);

    struct stream_entries {
        const streams stream_id;
        const ap_message *ap_message_ids;
        const uint8_t num_ap_message_ids;
    };
    // vehicle subclass cpp files should define this:
    static const struct stream_entries all_stream_entries[];

protected:

    virtual bool in_hil_mode() const { return false; }

    // overridable method to check for packet acceptance. Allows for
    // enforcement of GCS sysid
    virtual bool accept_packet(const mavlink_status_t &status, mavlink_message_t &msg) { return true; }
    virtual AP_Mission *get_mission() = 0;
    virtual AP_Rally *get_rally() const = 0;
    virtual Compass *get_compass() const = 0;
    virtual class AP_Camera *get_camera() const = 0;
    virtual AP_AdvancedFailsafe *get_advanced_failsafe() const { return nullptr; };
    virtual AP_VisualOdom *get_visual_odom() const { return nullptr; }
    virtual bool set_mode(uint8_t mode) = 0;
    virtual const AP_FWVersion &get_fwver() const = 0;
    void set_ekf_origin(const Location& loc);

    virtual MAV_TYPE frame_type() const = 0;
    virtual MAV_MODE base_mode() const = 0;
    virtual uint32_t custom_mode() const = 0;
    virtual MAV_STATE system_status() const = 0;

    bool            waypoint_receiving; // currently receiving
    // the following two variables are only here because of Tracker
    uint16_t        waypoint_request_i; // request index
    uint16_t        waypoint_request_last; // last request index

    AP_Param *                  _queued_parameter;      
                                                        // be sent in queue
    mavlink_channel_t           chan;
    uint8_t packet_overhead(void) const { return packet_overhead_chan(chan); }

    // saveable rate of each stream
    AP_Int16        streamRates[NUM_STREAMS];

    virtual bool persist_streamrates() const { return false; }
    void handle_request_data_stream(mavlink_message_t *msg);

    virtual void handle_command_ack(const mavlink_message_t* msg);
    void handle_set_mode(mavlink_message_t* msg);
    void handle_mission_request_list(AP_Mission &mission, mavlink_message_t *msg);
    void handle_mission_request(AP_Mission &mission, mavlink_message_t *msg);
    void handle_mission_clear_all(AP_Mission &mission, mavlink_message_t *msg);
    virtual void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg);
    void handle_mission_count(AP_Mission &mission, mavlink_message_t *msg);
    void handle_mission_write_partial_list(AP_Mission &mission, mavlink_message_t *msg);
    bool handle_mission_item(mavlink_message_t *msg, AP_Mission &mission);

    void handle_common_param_message(mavlink_message_t *msg);
    void handle_param_set(mavlink_message_t *msg);
    void handle_param_request_list(mavlink_message_t *msg);
    void handle_param_request_read(mavlink_message_t *msg);
    virtual bool params_ready() const { return true; }

    void handle_common_gps_message(mavlink_message_t *msg);
    void handle_common_rally_message(mavlink_message_t *msg);
    void handle_rally_fetch_point(mavlink_message_t *msg);
    void handle_rally_point(mavlink_message_t *msg);
    void handle_common_camera_message(const mavlink_message_t *msg);
    void handle_gimbal_report(AP_Mount &mount, mavlink_message_t *msg) const;
    void handle_radio_status(mavlink_message_t *msg, DataFlash_Class &dataflash, bool log_radio);
    void handle_serial_control(const mavlink_message_t *msg);
    void handle_vision_position_delta(mavlink_message_t *msg);

    void handle_common_message(mavlink_message_t *msg);
    void handle_set_gps_global_origin(const mavlink_message_t *msg);
    void handle_setup_signing(const mavlink_message_t *msg);
    MAV_RESULT handle_preflight_reboot(const mavlink_command_long_t &packet, bool disable_overrides);
    MAV_RESULT handle_rc_bind(const mavlink_command_long_t &packet);
    virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);

    void handle_send_autopilot_version(const mavlink_message_t *msg);
    MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);

    virtual void send_banner();

    void handle_device_op_read(mavlink_message_t *msg);
    void handle_device_op_write(mavlink_message_t *msg);

    void send_timesync();
    // returns the time a timesync message was most likely received:
    uint64_t timesync_receive_timestamp_ns() const;
    // returns a timestamp suitable for packing into the ts1 field of TIMESYNC:
    uint64_t timesync_timestamp_ns() const;
    void handle_timesync(mavlink_message_t *msg);
    struct {
        int64_t sent_ts1;
        uint32_t last_sent_ms;
        const uint16_t interval_ms = 10000;
    }  _timesync_request;

    void handle_statustext(mavlink_message_t *msg);

    bool telemetry_delayed() const;
    virtual uint32_t telem_delay() const = 0;

    MAV_RESULT handle_command_preflight_set_sensor_offsets(const mavlink_command_long_t &packet);

    // generally this should not be overridden; Plane overrides it to ensure
    // failsafe isn't triggered during calibation
    virtual MAV_RESULT handle_command_preflight_calibration(const mavlink_command_long_t &packet);

    virtual MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet);
    virtual MAV_RESULT _handle_command_preflight_calibration_baro();

    MAV_RESULT handle_command_mag_cal(const mavlink_command_long_t &packet);
    MAV_RESULT handle_command_long_message(mavlink_command_long_t &packet);
    MAV_RESULT handle_command_camera(const mavlink_command_long_t &packet);
    MAV_RESULT handle_command_do_send_banner(const mavlink_command_long_t &packet);
    MAV_RESULT handle_command_do_set_mode(const mavlink_command_long_t &packet);
    MAV_RESULT handle_command_get_home_position(const mavlink_command_long_t &packet);

    // vehicle-overridable message send function
    virtual bool try_send_message(enum ap_message id);

    // message sending functions:
    bool try_send_compass_message(enum ap_message id);
    bool try_send_mission_message(enum ap_message id);
    bool try_send_camera_message(enum ap_message id);
    bool try_send_gps_message(enum ap_message id);
    void send_hwstatus();
    void handle_data_packet(mavlink_message_t *msg);

    // these two methods are called after current_loc is updated:
    virtual int32_t global_position_int_alt() const;
    virtual int32_t global_position_int_relative_alt() const;

    // these methods are called after vfr_hud_velned is updated
    virtual bool vfr_hud_make_alt_relative() const { return false; }
    virtual float vfr_hud_climbrate() const;
    virtual float vfr_hud_airspeed() const;
    virtual int16_t vfr_hud_throttle() const { return 0; }
    Vector3f vfr_hud_velned;

private:

    float       adjust_rate_for_stream_trigger(enum streams stream_num);

    MAV_RESULT _set_mode_common(const MAV_MODE base_mode, const uint32_t custom_mode);

    virtual void        handleMessage(mavlink_message_t * msg) = 0;

    MAV_RESULT handle_servorelay_message(mavlink_command_long_t &packet);

    bool calibrate_gyros();

    AP_HAL::UARTDriver *_port;

    enum ap_var_type            _queued_parameter_type; 
                                                        // parameter
    AP_Param::ParamToken        _queued_parameter_token; 
                                                         // next() call
    uint16_t                    _queued_parameter_index; 
                                                         // parameter's index
    uint16_t                    _queued_parameter_count; 
                                                         // parameters for
                                                         // queued send
    uint32_t                    _queued_parameter_send_time_ms;

    // that are
    // expect when it
    uint16_t                    packet_drops;

    // waypoints
    uint16_t        waypoint_dest_sysid; // where to send requests
    uint16_t        waypoint_dest_compid; // "
    uint16_t        waypoint_count;
    uint32_t        waypoint_timelast_receive; // milliseconds
    uint32_t        waypoint_timelast_request; // milliseconds
    const uint16_t  waypoint_receive_timeout = 8000; // milliseconds

    // number of 50Hz ticks until we next send this stream
    uint8_t         stream_ticks[NUM_STREAMS];

    // number of extra ticks to add to slow things down for the radio
    uint8_t         stream_slowdown;

    // perf counters
    AP_HAL::Util::perf_counter_t _perf_packet;
    AP_HAL::Util::perf_counter_t _perf_update;
    char _perf_packet_name[16];
    char _perf_update_name[16];

    // deferred message handling.  We size the deferred_message
    // ringbuffer so we can defer every message type
    enum ap_message deferred_messages[MSG_LAST];
    uint8_t next_deferred_message;
    uint8_t num_deferred_messages;

    // time when we missed sending a parameter for GCS
    static uint32_t reserve_param_space_start_ms;
    
    // bitmask of what mavlink channels are active
    static uint8_t mavlink_active;

    // bitmask of what mavlink channels are streaming
    static uint8_t chan_is_streaming;

    // mavlink routing object
    static MAVLink_routing routing;

    // pointer to static frsky_telem for queueing of text messages
    static AP_Frsky_Telem *frsky_telemetry_p;
 
    static const AP_SerialManager *serialmanager_p;

    struct pending_param_request {
        mavlink_channel_t chan;
        int16_t param_index;
        char param_name[AP_MAX_NAME_SIZE+1];
    };

    struct pending_param_reply {
        mavlink_channel_t chan;        
        float value;
        enum ap_var_type p_type;
        int16_t param_index;
        uint16_t count;
        char param_name[AP_MAX_NAME_SIZE+1];
    };

    // queue of pending parameter requests and replies
    static ObjectBuffer<pending_param_request> param_requests;
    static ObjectBuffer<pending_param_reply> param_replies;

    // have we registered the IO timer callback?
    static bool param_timer_registered;

    // IO timer callback for parameters
    void param_io_timer(void);
    
    // send an async parameter reply
    void send_parameter_reply(void);

    void send_distance_sensor(const AP_RangeFinder_Backend *sensor, const uint8_t instance) const;

    virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) = 0;
    virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) = 0;
    void handle_common_mission_message(mavlink_message_t *msg);

    void handle_vicon_position_estimate(mavlink_message_t *msg);
    void handle_vision_position_estimate(mavlink_message_t *msg);
    void handle_global_vision_position_estimate(mavlink_message_t *msg);
    void handle_att_pos_mocap(mavlink_message_t *msg);
    void handle_common_vision_position_estimate_data(const uint64_t usec,
                                                     const float x,
                                                     const float y,
                                                     const float z,
                                                     const float roll,
                                                     const float pitch,
                                                     const float yaw,
                                                     const uint16_t payload_size);
    void log_vision_position_estimate_data(const uint64_t usec,
                                           const float x,
                                           const float y,
                                           const float z,
                                           const float roll,
                                           const float pitch,
                                           const float yaw);
    void push_deferred_messages();

    void lock_channel(mavlink_channel_t chan, bool lock);

    /*
      correct an offboard timestamp in microseconds to a local time
      since boot in milliseconds
     */
    uint32_t correct_offboard_timestamp_usec_to_ms(uint64_t offboard_usec, uint16_t payload_size);
    
    mavlink_signing_t signing;
    static mavlink_signing_streams_t signing_streams;
    static uint32_t last_signing_save_ms;
    
    static StorageAccess _signing_storage;
    static bool signing_key_save(const struct SigningKey &key);
    static bool signing_key_load(struct SigningKey &key);
    void load_signing_key(void);
    bool signing_enabled(void) const;
    static void save_signing_timestamp(bool force_save_now);

    // alternative protocol handler support
    struct {
        GCS_MAVLINK::protocol_handler_fn_t handler;
        uint32_t last_mavlink_ms;
        uint32_t last_alternate_ms;
        bool active;
    } alternative;

    // state associated with offboard transport lag correction
    struct {
        bool initialised;
        int64_t link_offset_usec;
        uint32_t min_sample_counter;
        int64_t min_sample_us;
    } lag_correction;

    // we cache the current location and send it even if the AHRS has
    // no idea where we are:
    struct Location global_position_current_loc;

    void send_global_position_int();
};

class GCS
{

public:

    GCS() {
        if (_singleton  == nullptr) {
            _singleton = this;
        } else {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
            // this is a serious problem, but we don't need to kill a
            // real vehicle
            AP_HAL::panic("GCS must be singleton");
#endif
        }
    };

    static class GCS *instance() {
        return _singleton;
    }

    void send_text(MAV_SEVERITY severity, const char *fmt, ...);
    virtual void send_statustext(MAV_SEVERITY severity, uint8_t dest_bitmask, const char *text);
    void service_statustext(void);
    virtual GCS_MAVLINK &chan(const uint8_t ofs) = 0;
    virtual const GCS_MAVLINK &chan(const uint8_t ofs) const = 0;
    virtual uint8_t num_gcs() const = 0;
    void send_message(enum ap_message id);
    void send_mission_item_reached_message(uint16_t mission_index);
    void send_named_float(const char *name, float value) const;
    void send_home() const;
    void send_ekf_origin() const;

    void send_parameter_value(const char *param_name,
                              ap_var_type param_type,
                              float param_value);

    // push send_message() messages and queued statustext messages etc:
    void retry_deferred();
    void data_stream_send();
    void update();
    virtual void setup_uarts(AP_SerialManager &serial_manager);

    bool out_of_time() const {
        return _out_of_time;
    }
    void set_out_of_time(bool val) {
        _out_of_time = val;
    }

    /*
      set a dataflash pointer for logging
     */
    void set_dataflash(DataFlash_Class *dataflash) {
        dataflash_p = dataflash;
    }

    // pointer to static dataflash for logging of text messages
    DataFlash_Class *dataflash_p;


    /*
      set a frsky_telem pointer for queueing
     */
    void register_frsky_telemetry_callback(AP_Frsky_Telem *frsky_telemetry) {
        frsky_telemetry_p = frsky_telemetry;
    }

    // static frsky_telem pointer to support queueing text messages
    AP_Frsky_Telem *frsky_telemetry_p;

    
    // install an alternative protocol handler
    bool install_alternative_protocol(mavlink_channel_t chan, GCS_MAVLINK::protocol_handler_fn_t handler);
    
private:

    static GCS *_singleton;

    struct statustext_t {
        uint8_t                 bitmask;
        mavlink_statustext_t    msg;
    };

#if HAL_CPU_CLASS <= HAL_CPU_CLASS_150 || CONFIG_HAL_BOARD == HAL_BOARD_SITL
    static const uint8_t _status_capacity = 5;
#else
    static const uint8_t _status_capacity = 30;
#endif

    ObjectArray<statustext_t> _statustext_queue{_status_capacity};

    // true if we are running short on time in our main loop
    bool _out_of_time;
};

GCS &gcs();