LibrePilot/flight/OpenPilot/Modules/Telemetry/telemetry.c

/**
 ******************************************************************************
 *
 * @file       telemetry.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Telemetry module, handles telemetry and UAVObject updates
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include "openpilot.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"

// Private constants
#define MAX_QUEUE_SIZE 20
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 1)
#define TASK_PRIORITY_TXPRI (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000

// Private types

// Private variables
static COMPortTypeDef telemetryPort;
static xQueueHandle queue;
static xQueueHandle priorityQueue;
static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryTxPriTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
static uint32_t timeOfLastObjectUpdate;

// Private functions
static void telemetryTxTask(void* parameters);
static void telemetryTxPriTask(void* parameters);
static void telemetryRxTask(void* parameters);
static int32_t transmitData(uint8_t* data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent* ev);
static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();

/**
 * Initialise the telemetry module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t TelemetryInitialize(void)
{
	UAVObjEvent ev;

	// Initialize vars
	timeOfLastObjectUpdate = 0;

	// Create object queues
	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
	priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

	// Get telemetry settings object
	updateSettings();

	// Initialise UAVTalk
	UAVTalkInitialize(&transmitData);

	// Process all registered objects and connect queue for updates
	UAVObjIterate(&registerObject);

	// Create periodic event that will be used to update the telemetry stats
	txErrors = 0;
	txRetries = 0;
	memset(&ev, 0, sizeof(UAVObjEvent));
	EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);

	// Listen to objects of interest
	GCSTelemetryStatsConnectQueue(priorityQueue);
	TelemetrySettingsConnectQueue(priorityQueue);

	// Start telemetry tasks
	xTaskCreate(telemetryTxTask, (signed char*)"TelTx", STACK_SIZE, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
	xTaskCreate(telemetryTxPriTask, (signed char*)"TelPriTx", STACK_SIZE, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
	xTaskCreate(telemetryRxTask, (signed char*)"TelRx", STACK_SIZE, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);

	return 0;
}

/**
 * Register a new object, adds object to local list and connects the queue depending on the object's
 * telemetry settings.
 * \param[in] obj Object to connect
 */
static void registerObject(UAVObjHandle obj)
{
	// Setup object for periodic updates
	addObject(obj);

	// Setup object for telemetry updates
	updateObject(obj);
}

/**
 * Update object's queue connections and timer, depending on object's settings
 * \param[in] obj Object to updates
 */
static void updateObject(UAVObjHandle obj)
{
	UAVObjMetadata metadata;
	int32_t eventMask;

	// Get metadata
	UAVObjGetMetadata(obj, &metadata);

	// Setup object depending on update mode
	if(metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC)
	{
		// Set update period
		setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
		// Connect queue
		eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
		if(UAVObjIsMetaobject(obj))
		{
			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
		}
		UAVObjConnectQueue(obj, priorityQueue, eventMask);
	}
	else if(metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE)
	{
		// Set update period
		setUpdatePeriod(obj, 0);
		// Connect queue
		eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
		if(UAVObjIsMetaobject(obj))
		{
			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
		}
		UAVObjConnectQueue(obj, priorityQueue, eventMask);
	}
	else if(metadata.telemetryUpdateMode == UPDATEMODE_MANUAL)
	{
		// Set update period
		setUpdatePeriod(obj, 0);
		// Connect queue
		eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
		if(UAVObjIsMetaobject(obj))
		{
			eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
		}
		UAVObjConnectQueue(obj, priorityQueue, eventMask);
	}
	else if(metadata.telemetryUpdateMode == UPDATEMODE_NEVER)
	{
		// Set update period
		setUpdatePeriod(obj, 0);
		// Disconnect queue
		UAVObjDisconnectQueue(obj, priorityQueue);
	}
}

/**
 * Processes queue events
 */
static void processObjEvent(UAVObjEvent* ev)
{
	UAVObjMetadata metadata;
	FlightTelemetryStatsData flightStats;
	int32_t retries;
	int32_t success;

	if ( ev->obj == 0 )
	{
		updateTelemetryStats();
	}
	else if ( ev->obj == GCSTelemetryStatsHandle() )
	{
		gcsTelemetryStatsUpdated();
	}
	else if ( ev->obj == TelemetrySettingsHandle() )
	{
		updateSettings();
	}
	else
	{
		// Only process event if connected to GCS or if object FlightTelemetryStats is updated
		FlightTelemetryStatsGet(&flightStats);
		if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle() )
		{
			// Get object metadata
			UAVObjGetMetadata(ev->obj, &metadata);
			// Act on event
			retries = 0;
			success = -1;
			if(ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL)
			{
				// Send update to GCS (with retries)
				while(retries < MAX_RETRIES && success == -1)
				{
					success = UAVTalkSendObject(ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
					++retries;
				}
				// Update stats
				txRetries += (retries-1);
				if ( success == -1 )
				{
					++txErrors;
				}
			}
			else if(ev->event == EV_UPDATE_REQ)
			{
				// Request object update from GCS (with retries)
				while(retries < MAX_RETRIES && success == -1)
				{
					success = UAVTalkSendObjectRequest(ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
					++retries;
				}
				// Update stats
				txRetries += (retries-1);
				if ( success == -1 )
				{
					++txErrors;
				}
			}
			// If this is a metaobject then make necessary telemetry updates
			if(UAVObjIsMetaobject(ev->obj))
			{
				updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
			}
		}
	}
}

/**
 * Telemetry transmit task, regular priority
 */
static void telemetryTxTask(void* parameters)
{
	UAVObjEvent ev;

	// Loop forever
	while(1)
	{
		// Wait for queue message
		if(xQueueReceive(queue, &ev, portMAX_DELAY) == pdTRUE)
		{
			// Process event
			processObjEvent(&ev);
		}
	}
}

/**
 * Telemetry transmit task, high priority
 */
static void telemetryTxPriTask(void* parameters)
{
	UAVObjEvent ev;

	// Loop forever
	while(1)
	{
		// Wait for queue message
		if(xQueueReceive(priorityQueue, &ev, portMAX_DELAY) == pdTRUE)
		{
			// Process event
			processObjEvent(&ev);
		}
	}
}

/**
 * Telemetry transmit task. Processes queue events and periodic updates.
 */
static void telemetryRxTask(void* parameters)
{
	COMPortTypeDef inputPort;
	int32_t len;

	// Task loop
	while (1)
	{
		// TODO: Disabled since the USB HID is not fully functional yet
		inputPort = telemetryPort; // force input port, remove once USB HID is tested
		// Determine input port (USB takes priority over telemetry port)
		//if(!PIOS_USB_HID_CheckAvailable())
		//{
		//	inputPort = telemetryPort;
		//}
		//else
		//{
		//	inputPort = COM_USB_HID;
		//}

		// Block until data are available
		// TODO: Currently we periodically check the buffer for data, update once the PIOS_COM is made blocking
		len = PIOS_COM_ReceiveBufferUsed(inputPort);
		for (int32_t n = 0; n < len; ++n)
		{
			//PIOS_LED_Toggle(LED1);
			UAVTalkProcessInputStream(PIOS_COM_ReceiveBuffer(inputPort));
		}
		vTaskDelay(5); // <- remove when blocking calls are implemented

	}
}

/**
 * Transmit data buffer to the modem or USB port.
 * \param[in] data Data buffer to send
 * \param[in] length Length of buffer
 * \return 0 Success
 */
static int32_t transmitData(uint8_t* data, int32_t length)
{
	COMPortTypeDef outputPort;

	// TODO: Disabled since the USB HID is not fully functional yet
	outputPort = telemetryPort; // force input port, remove once USB HID is tested
	// Determine input port (USB takes priority over telemetry port)
	//if(!PIOS_USB_HID_CheckAvailable())
	//{
	//	outputPort = telemetryPort;
	//}
	//else
	//{
	//	outputPort = COM_USB_HID;
	//}

	// TODO: Update once the PIOS_COM is made blocking (it is implemented as a busy loop for now!)
	//PIOS_LED_Toggle(LED2);
	return PIOS_COM_SendBuffer(outputPort, data, length);
}

/**
 * Setup object for periodic updates.
 * \param[in] obj The object to update
 * \return 0 Success
 * \return -1 Failure
 */
static int32_t addObject(UAVObjHandle obj)
{
	UAVObjEvent ev;

	// Add object for periodic updates
	ev.obj = obj;
	ev.instId = UAVOBJ_ALL_INSTANCES;
	ev.event = EV_UPDATED_MANUAL;
	return EventPeriodicQueueCreate(&ev, queue, 0);
}

/**
 * Set update period of object (it must be already setup for periodic updates)
 * \param[in] obj The object to update
 * \param[in] updatePeriodMs The update period in ms, if zero then periodic updates are disabled
 * \return 0 Success
 * \return -1 Failure
 */
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
{
	UAVObjEvent ev;

	// Add object for periodic updates
	ev.obj = obj;
	ev.instId = UAVOBJ_ALL_INSTANCES;
	ev.event = EV_UPDATED_MANUAL;
	return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
}

/**
 * Called each time the GCS telemetry stats object is updated.
 * Trigger a flight telemetry stats update if a connection is not
 * yet established.
 */
static void gcsTelemetryStatsUpdated()
{
	FlightTelemetryStatsData flightStats;
	GCSTelemetryStatsData gcsStats;
	FlightTelemetryStatsGet(&flightStats);
	GCSTelemetryStatsGet(&gcsStats);
	if ( flightStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED ||
		 gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED )
	{
		updateTelemetryStats();
	}
}

/**
 * Update telemetry statistics and handle connection handshake
 */
static void updateTelemetryStats()
{
	UAVTalkStats utalkStats;
	FlightTelemetryStatsData flightStats;
	GCSTelemetryStatsData gcsStats;
	uint8_t forceUpdate;
	uint8_t connectionTimeout;
	uint32_t timeNow;

	// Get stats
	UAVTalkGetStats(&utalkStats);
	UAVTalkResetStats();

	// Get object data
	FlightTelemetryStatsGet(&flightStats);
	GCSTelemetryStatsGet(&gcsStats);

	// Update stats object
	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
	{
		flightStats.RxDataRate = (float)utalkStats.rxBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
		flightStats.TxDataRate = (float)utalkStats.txBytes / ((float)STATS_UPDATE_PERIOD_MS/1000.0);
		flightStats.RxFailures += utalkStats.rxErrors;
		flightStats.TxFailures += txErrors;
		flightStats.TxRetries += txRetries;
		txErrors = 0;
		txRetries = 0;
	}
	else
	{
		flightStats.RxDataRate = 0;
		flightStats.TxDataRate = 0;
		flightStats.RxFailures = 0;
		flightStats.TxFailures = 0;
		flightStats.TxRetries = 0;
		txErrors = 0;
		txRetries = 0;
	}

	// Check for connection timeout
	timeNow = xTaskGetTickCount()*portTICK_RATE_MS;
	if ( utalkStats.rxObjects > 0 )
	{
		timeOfLastObjectUpdate = timeNow;
	}
	if ( (timeNow - timeOfLastObjectUpdate) > CONNECTION_TIMEOUT_MS )
	{
		connectionTimeout = 1;
	}
	else
	{
		connectionTimeout = 0;
	}

    // Update connection state
	forceUpdate = 1;
	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED )
	{
		// Wait for connection request
		if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_HANDSHAKEREQ  )
		{
			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK;
		}
	}
	else if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_HANDSHAKEACK )
	{
		// Wait for connection
		if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_CONNECTED  )
		{
			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_CONNECTED;
		}
		else if ( gcsStats.Status == GCSTELEMETRYSTATS_STATUS_DISCONNECTED )
		{
			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
		}
	}
	else if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
	{
		if ( gcsStats.Status != GCSTELEMETRYSTATS_STATUS_CONNECTED || connectionTimeout )
		{
			flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
		}
		else
		{
			forceUpdate = 0;
		}
	}
	else
	{
		flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED;
	}

	// Update the telemetry alarm
	if ( flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED )
	{
		AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY);
	}
	else
	{
		AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR);
	}

	// Update object
	FlightTelemetryStatsSet(&flightStats);

	// Force telemetry update if not connected
	if ( forceUpdate )
	{
		FlightTelemetryStatsUpdated();
	}
}

/**
 * Update the telemetry settings, called on startup and
 * each time the settings object is updated
 */
static void updateSettings()
{
	// Set port
	telemetryPort = COM_USART1;
	// Retrieve settings
	TelemetrySettingsGet(&settings);
	// Set port speed
	if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600)
	{
		PIOS_COM_ChangeBaud(telemetryPort, 9600);
	}
	else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600)
	{
		PIOS_COM_ChangeBaud(telemetryPort, 57600);
	}
}