mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-14 21:23:52 +01:00
337 lines
11 KiB
C++
337 lines
11 KiB
C++
|
#ifndef MAVLINKPROTOBUFMANAGER_HPP
|
||
|
|
#define MAVLINKPROTOBUFMANAGER_HPP
|
||
|
|
|
||
|
|
#include <deque>
|
||
|
|
#include <google/protobuf/message.h>
|
||
|
|
#include <iostream>
|
||
|
|
#include <tr1/memory>
|
||
|
|
|
||
|
|
#include <checksum.h>
|
||
|
|
#include <common/mavlink.h>
|
||
|
|
#include <mavlink_types.h>
|
||
|
|
#include <pixhawk/pixhawk.pb.h>
|
||
|
|
|
||
|
|
namespace mavlink {
|
||
|
|
class ProtobufManager {
|
||
|
|
public:
|
||
|
|
ProtobufManager()
|
||
|
|
: mRegisteredTypeCount(0)
|
||
|
|
, mStreamID(0)
|
||
|
|
, mVerbose(false)
|
||
|
|
, kExtendedHeaderSize(MAVLINK_EXTENDED_HEADER_LEN)
|
||
|
|
, kExtendedPayloadMaxSize(MAVLINK_MAX_EXTENDED_PAYLOAD_LEN)
|
||
|
|
{
|
||
|
|
// register GLOverlay
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::GLOverlay> msg(new px::GLOverlay);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register ObstacleList
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::ObstacleList> msg(new px::ObstacleList);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register ObstacleMap
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::ObstacleMap> msg(new px::ObstacleMap);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register Path
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::Path> msg(new px::Path);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register PointCloudXYZI
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::PointCloudXYZI> msg(new px::PointCloudXYZI);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register PointCloudXYZRGB
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::PointCloudXYZRGB> msg(new px::PointCloudXYZRGB);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
// register RGBDImage
|
||
|
|
{
|
||
|
|
std::tr1::shared_ptr<px::RGBDImage> msg(new px::RGBDImage);
|
||
|
|
registerType(msg);
|
||
|
|
}
|
||
|
|
|
||
|
|
srand(time(NULL));
|
||
|
|
mStreamID = rand() + 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool fragmentMessage(uint8_t system_id, uint8_t component_id,
|
||
|
|
uint8_t target_system, uint8_t target_component,
|
||
|
|
const google::protobuf::Message & protobuf_msg,
|
||
|
|
std::vector<mavlink_extended_message_t> & fragments) const
|
||
|
|
{
|
||
|
|
TypeMap::const_iterator it = mTypeMap.find(protobuf_msg.GetTypeName());
|
||
|
|
|
||
|
|
if (it == mTypeMap.end()) {
|
||
|
|
std::cout << "# WARNING: Protobuf message with type "
|
||
|
|
<< protobuf_msg.GetTypeName() << " is not registered."
|
||
|
|
<< std::endl;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint8_t typecode = it->second;
|
||
|
|
|
||
|
|
std::string data = protobuf_msg.SerializeAsString();
|
||
|
|
|
||
|
|
int fragmentCount = (protobuf_msg.ByteSize() + kExtendedPayloadMaxSize - 1) / kExtendedPayloadMaxSize;
|
||
|
|
unsigned int offset = 0;
|
||
|
|
|
||
|
|
for (int i = 0; i < fragmentCount; ++i) {
|
||
|
|
mavlink_extended_message_t fragment;
|
||
|
|
|
||
|
|
// write extended header data
|
||
|
|
uint8_t *payload = reinterpret_cast<uint8_t *>(fragment.base_msg.payload64);
|
||
|
|
unsigned int length = 0;
|
||
|
|
uint8_t flags = 0;
|
||
|
|
|
||
|
|
if (i < fragmentCount - 1) {
|
||
|
|
length = kExtendedPayloadMaxSize;
|
||
|
|
flags |= 0x1;
|
||
|
|
} else {
|
||
|
|
length = protobuf_msg.ByteSize() - kExtendedPayloadMaxSize * (fragmentCount - 1);
|
||
|
|
}
|
||
|
|
|
||
|
|
memcpy(payload, &target_system, 1);
|
||
|
|
memcpy(payload + 1, &target_component, 1);
|
||
|
|
memcpy(payload + 2, &typecode, 1);
|
||
|
|
memcpy(payload + 3, &length, 4);
|
||
|
|
memcpy(payload + 7, &mStreamID, 2);
|
||
|
|
memcpy(payload + 9, &offset, 4);
|
||
|
|
memcpy(payload + 13, &flags, 1);
|
||
|
|
|
||
|
|
fragment.base_msg.msgid = MAVLINK_MSG_ID_EXTENDED_MESSAGE;
|
||
|
|
mavlink_finalize_message(&fragment.base_msg, system_id, component_id, kExtendedHeaderSize, 0);
|
||
|
|
|
||
|
|
// write extended payload data
|
||
|
|
fragment.extended_payload_len = length;
|
||
|
|
memcpy(fragment.extended_payload, &data[offset], length);
|
||
|
|
|
||
|
|
fragments.push_back(fragment);
|
||
|
|
offset += length;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# INFO: Split extended message with size "
|
||
|
|
<< protobuf_msg.ByteSize() << " into "
|
||
|
|
<< fragmentCount << " fragments." << std::endl;
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool cacheFragment(mavlink_extended_message_t & msg)
|
||
|
|
{
|
||
|
|
if (!validFragment(msg)) {
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# WARNING: Message is not a valid fragment. "
|
||
|
|
<< "Dropping message..." << std::endl;
|
||
|
|
}
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// read extended header
|
||
|
|
uint8_t *payload = reinterpret_cast<uint8_t *>(msg.base_msg.payload64);
|
||
|
|
uint8_t typecode = 0;
|
||
|
|
unsigned int length = 0;
|
||
|
|
unsigned short streamID = 0;
|
||
|
|
unsigned int offset = 0;
|
||
|
|
uint8_t flags = 0;
|
||
|
|
|
||
|
|
memcpy(&typecode, payload + 2, 1);
|
||
|
|
memcpy(&length, payload + 3, 4);
|
||
|
|
memcpy(&streamID, payload + 7, 2);
|
||
|
|
memcpy(&offset, payload + 9, 4);
|
||
|
|
memcpy(&flags, payload + 13, 1);
|
||
|
|
|
||
|
|
if (typecode >= mTypeMap.size()) {
|
||
|
|
std::cout << "# WARNING: Protobuf message with type code "
|
||
|
|
<< static_cast<int>(typecode) << " is not registered." << std::endl;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool reassemble = false;
|
||
|
|
|
||
|
|
FragmentQueue::iterator it = mFragmentQueue.find(streamID);
|
||
|
|
if (it == mFragmentQueue.end()) {
|
||
|
|
if (offset == 0) {
|
||
|
|
mFragmentQueue[streamID].push_back(msg);
|
||
|
|
|
||
|
|
if ((flags & 0x1) != 0x1) {
|
||
|
|
reassemble = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# INFO: Added fragment to new queue."
|
||
|
|
<< std::endl;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# WARNING: Message is not a valid fragment. "
|
||
|
|
<< "Dropping message..." << std::endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
std::deque<mavlink_extended_message_t> & queue = it->second;
|
||
|
|
|
||
|
|
if (queue.empty()) {
|
||
|
|
if (offset == 0) {
|
||
|
|
queue.push_back(msg);
|
||
|
|
|
||
|
|
if ((flags & 0x1) != 0x1) {
|
||
|
|
reassemble = true;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# WARNING: Message is not a valid fragment. "
|
||
|
|
<< "Dropping message..." << std::endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
if (fragmentDataSize(queue.back()) + fragmentOffset(queue.back()) != offset) {
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# WARNING: Previous fragment(s) have been lost. "
|
||
|
|
<< "Dropping message and clearing queue..." << std::endl;
|
||
|
|
}
|
||
|
|
queue.clear();
|
||
|
|
} else {
|
||
|
|
queue.push_back(msg);
|
||
|
|
|
||
|
|
if ((flags & 0x1) != 0x1) {
|
||
|
|
reassemble = true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (reassemble) {
|
||
|
|
std::deque<mavlink_extended_message_t> & queue = mFragmentQueue[streamID];
|
||
|
|
|
||
|
|
std::string data;
|
||
|
|
for (size_t i = 0; i < queue.size(); ++i) {
|
||
|
|
mavlink_extended_message_t & mavlink_msg = queue.at(i);
|
||
|
|
|
||
|
|
data.append(reinterpret_cast<char *>(&mavlink_msg.extended_payload[0]),
|
||
|
|
static_cast<size_t>(mavlink_msg.extended_payload_len));
|
||
|
|
}
|
||
|
|
|
||
|
|
mMessages.at(typecode)->ParseFromString(data);
|
||
|
|
|
||
|
|
mMessageAvailable.at(typecode) = true;
|
||
|
|
|
||
|
|
queue.clear();
|
||
|
|
|
||
|
|
if (mVerbose) {
|
||
|
|
std::cerr << "# INFO: Reassembled fragments for message with typename "
|
||
|
|
<< mMessages.at(typecode)->GetTypeName() << " and size "
|
||
|
|
<< mMessages.at(typecode)->ByteSize()
|
||
|
|
<< "." << std::endl;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool getMessage(std::tr1::shared_ptr<google::protobuf::Message> & msg)
|
||
|
|
{
|
||
|
|
for (size_t i = 0; i < mMessageAvailable.size(); ++i) {
|
||
|
|
if (mMessageAvailable.at(i)) {
|
||
|
|
msg = mMessages.at(i);
|
||
|
|
mMessageAvailable.at(i) = false;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
void registerType(const std::tr1::shared_ptr<google::protobuf::Message> & msg)
|
||
|
|
{
|
||
|
|
mTypeMap[msg->GetTypeName()] = mRegisteredTypeCount;
|
||
|
|
++mRegisteredTypeCount;
|
||
|
|
mMessages.push_back(msg);
|
||
|
|
mMessageAvailable.push_back(false);
|
||
|
|
}
|
||
|
|
|
||
|
|
bool validFragment(const mavlink_extended_message_t & msg) const
|
||
|
|
{
|
||
|
|
if (msg.base_msg.magic != MAVLINK_STX ||
|
||
|
|
msg.base_msg.len != kExtendedHeaderSize ||
|
||
|
|
msg.base_msg.msgid != MAVLINK_MSG_ID_EXTENDED_MESSAGE) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
uint16_t checksum;
|
||
|
|
checksum = crc_calculate(reinterpret_cast<const uint8_t *>(&msg.base_msg.len), MAVLINK_CORE_HEADER_LEN);
|
||
|
|
crc_accumulate_buffer(&checksum, reinterpret_cast<const char *>(&msg.base_msg.payload64), kExtendedHeaderSize);
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
static const uint8_t mavlink_message_crcs[256] = MAVLINK_MESSAGE_CRCS;
|
||
|
|
crc_accumulate(mavlink_message_crcs[msg.base_msg.msgid], &checksum);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
if (mavlink_ck_a(&(msg.base_msg)) != (uint8_t)(checksum & 0xFF) &&
|
||
|
|
mavlink_ck_b(&(msg.base_msg)) != (uint8_t)(checksum >> 8)) {
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
unsigned int fragmentDataSize(const mavlink_extended_message_t & msg) const
|
||
|
|
{
|
||
|
|
const uint8_t *payload = reinterpret_cast<const uint8_t *>(msg.base_msg.payload64);
|
||
|
|
|
||
|
|
return *(reinterpret_cast<const unsigned int *>(payload + 3));
|
||
|
|
}
|
||
|
|
|
||
|
|
unsigned int fragmentOffset(const mavlink_extended_message_t & msg) const
|
||
|
|
{
|
||
|
|
const uint8_t *payload = reinterpret_cast<const uint8_t *>(msg.base_msg.payload64);
|
||
|
|
|
||
|
|
return *(reinterpret_cast<const unsigned int *>(payload + 9));
|
||
|
|
}
|
||
|
|
|
||
|
|
int mRegisteredTypeCount;
|
||
|
|
unsigned short mStreamID;
|
||
|
|
bool mVerbose;
|
||
|
|
|
||
|
|
typedef std::map<std::string, uint8_t> TypeMap;
|
||
|
|
TypeMap mTypeMap;
|
||
|
|
std::vector< std::tr1::shared_ptr<google::protobuf::Message> > mMessages;
|
||
|
|
std::vector<bool> mMessageAvailable;
|
||
|
|
|
||
|
|
typedef std::map<unsigned short, std::deque<mavlink_extended_message_t> > FragmentQueue;
|
||
|
|
FragmentQueue mFragmentQueue;
|
||
|
|
|
||
|
|
const int kExtendedHeaderSize;
|
||
|
|
/**
|
||
|
|
* Extended header structure
|
||
|
|
* =========================
|
||
|
|
* byte 0 - target_system
|
||
|
|
* byte 1 - target_component
|
||
|
|
* byte 2 - extended message id (type code)
|
||
|
|
* bytes 3-6 - extended payload size in bytes
|
||
|
|
* byte 7-8 - stream ID
|
||
|
|
* byte 9-12 - fragment offset
|
||
|
|
* byte 13 - fragment flags (bit 0 - 1=more fragments, 0=last fragment)
|
||
|
|
*/
|
||
|
|
|
||
|
|
const int kExtendedPayloadMaxSize;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif // ifndef MAVLINKPROTOBUFMANAGER_HPP
|