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Send mavlink heartbeat every second

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This commit is contained in:
Jeremy Lakeman 2013-09-13 14:37:33 +09:30
parent 2a5ba97b48
commit c13c7799f6
4 changed files with 20 additions and 20 deletions
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8
mavlink.c
View File

@ -212,14 +212,14 @@ int mavlink_parse(struct slip_decode_state *state)
if (packet_length==9){
if (state->mavlink_payload[5]==MAVLINK_MSG_ID_RADIO){
// we can assume that radio status packets arrive without corruption
last_radio_rssi=(1.0*state->mavlink_payload[6+5]-state->mavlink_payload[6+8])/1.9;
last_radio_rssi=(1.0*state->mavlink_payload[10]-state->mavlink_payload[13])/1.9;
last_radio_temperature=-999; // doesn't get reported
last_radio_rxpackets=-999; // doesn't get reported
if (config.debug.mavlink||gettime_ms()-last_rssi_time>30000) {
INFOF("Link budget = %+ddB, remote link budget = %+ddB, buffer space = %d",
INFOF("Link budget = %+ddB, remote link budget = %+ddB, buffer space = %d%%",
last_radio_rssi,
(int)((1.0*state->mavlink_payload[6+6]-state->mavlink_payload[6+9])/1.9),
state->mavlink_payload[6+7]);
(int)((1.0*state->mavlink_payload[11]-state->mavlink_payload[14])/1.9),
state->mavlink_payload[12]);
last_rssi_time=gettime_ms();
}
}

19
overlay_interface.c
View File

@ -497,9 +497,6 @@ overlay_interface_init(const char *name, struct in_addr src_addr, struct in_addr
be safe on the RFD900 radios, and that also allows us to receive RSSI reports inline */
interface->slip_decode_state.encapsulator=SLIP_FORMAT_MAVLINK;
interface->alarm.poll.events=POLLIN|POLLOUT;
// Queue a hearbeat now
interface->tx_bytes_pending=0;
mavlink_heartbeat(interface->txbuffer,&interface->tx_bytes_pending);
watch(&interface->alarm);
break;
@ -734,11 +731,17 @@ static void write_stream_buffer(overlay_interface *interface){
int total_written=0;
while ((interface->tx_bytes_pending>0 || interface->tx_packet) &&
(bytes_allowed>0 || interface->throttle_burst_write_size==0)) {
if (interface->tx_bytes_pending==0 && interface->tx_packet){
// TODO firmware heartbeat packets
// prepare a new link layer packet in txbuffer
if (mavlink_encode_packet(interface))
break;
if (interface->next_heartbeat <= now){
// Queue a hearbeat now
mavlink_heartbeat(interface->txbuffer,&interface->tx_bytes_pending);
interface->next_heartbeat = now+1000;
}else{
// prepare a new link layer packet in txbuffer
if (mavlink_encode_packet(interface))
break;
}
}
int bytes = interface->tx_bytes_pending;
@ -783,8 +786,6 @@ static void write_stream_buffer(overlay_interface *interface){
} else {
// Nothing to write, so clear POLLOUT flag
interface->alarm.poll.events&=~POLLOUT;
// try to empty another packet from the queue ASAP
overlay_queue_schedule_next(gettime_ms());
}
watch(&interface->alarm);
}

12
rhizome_packetformats.c
View File

@ -329,13 +329,12 @@ int overlay_rhizome_saw_advertisements(int i, struct decode_context *context, st
WHY("Error parsing manifest body");
goto next;
}
const char *id=alloca_tohex_bid(m->cryptoSignPublic);
/* trim manifest ID to a prefix for ease of debugging
(that is the only use of this */
if (config.debug.rhizome_ads){
long long version = rhizome_manifest_get_ll(m, "version");
DEBUGF("manifest id=%s version=%lld", id, version);
DEBUGF("manifest id=%s version=%lld", alloca_tohex_bid(m->cryptoSignPublic), version);
}
/* Crude signature presence test */
@ -352,11 +351,10 @@ int overlay_rhizome_saw_advertisements(int i, struct decode_context *context, st
goto next;
}
if (rhizome_ignore_manifest_check(m->cryptoSignPublic,
crypto_sign_edwards25519sha512batch_PUBLICKEYBYTES)){
if (rhizome_ignore_manifest_check(m->cryptoSignPublic, RHIZOME_MANIFEST_ID_BYTES)){
/* Ignoring manifest that has caused us problems recently */
if (config.debug.rhizome_ads)
DEBUGF("Ignoring manifest with errors: %s", id);
DEBUGF("Ignoring manifest with errors: %s", alloca_tohex_bid(m->cryptoSignPublic));
goto next;
}
@ -366,13 +364,13 @@ int overlay_rhizome_saw_advertisements(int i, struct decode_context *context, st
/* Don't waste any time on this manifest in future attempts for at least
a minute. */
rhizome_queue_ignore_manifest(m->cryptoSignPublic,
crypto_sign_edwards25519sha512batch_PUBLICKEYBYTES, 60000);
RHIZOME_MANIFEST_ID_BYTES, 60000);
goto next;
}
/* Manifest is okay, so see if it is worth storing */
// are we already fetching this bundle [or later]?
rhizome_manifest *mf=rhizome_fetch_search(id, crypto_sign_edwards25519sha512batch_PUBLICKEYBYTES);
rhizome_manifest *mf=rhizome_fetch_search(m->cryptoSignPublic, RHIZOME_MANIFEST_ID_BYTES);
if (mf && mf->version >= m->version)
goto next;

1
serval.h
View File

@ -454,6 +454,7 @@ typedef struct overlay_interface {
uint32_t throttle_bytes_per_second;
uint32_t throttle_burst_write_size;
uint64_t next_tx_allowed;
time_ms_t next_heartbeat;
struct slip_decode_state slip_decode_state;