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Code Issues Releases Activity

OP-1776 - Optimize RX exchanging, changes for radiocombridge

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This commit is contained in:
Alessio Morale 2015-03-11 00:54:02 +01:00
parent 5657f4757b
commit 2a729c1742
1 changed files with 77 additions and 73 deletions
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150
flight/modules/RadioComBridge/RadioComBridge.c
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@ -108,8 +108,8 @@ static void radioRxTask(void *parameters);
static void PPMInputTask(void *parameters);
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte);
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t *rxbuffer, uint8_t count);
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t *rxbuffer, uint8_t count);
static void objectPersistenceUpdatedCb(UAVObjEvent *objEv);
static void registerObject(UAVObjHandle obj);
@ -403,14 +403,12 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
#endif
if (PIOS_COM_RADIO) {
uint8_t serial_data[1];
uint8_t serial_data[16];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
if (data->parseUAVTalk) {
// Pass the data through the UAVTalk parser.
for (uint8_t i = 0; i < bytes_to_process; i++) {
ProcessRadioStream(data->radioUAVTalkCon, data->telemUAVTalkCon, serial_data[i]);
}
ProcessRadioStream(data->radioUAVTalkCon, data->telemUAVTalkCon, serial_data, bytes_to_process);
} else if (PIOS_COM_TELEMETRY) {
// Send the data straight to the telemetry port.
// Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
@ -448,12 +446,10 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
}
#endif /* PIOS_INCLUDE_USB */
if (inputPort) {
uint8_t serial_data[1];
uint8_t serial_data[16];
uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
ProcessTelemetryStream(data->telemUAVTalkCon, data->radioUAVTalkCon, serial_data[i]);
}
ProcessTelemetryStream(data->telemUAVTalkCon, data->radioUAVTalkCon, serial_data, bytes_to_process);
}
} else {
vTaskDelay(5);
@ -597,42 +593,46 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
* @param[in] outConnectionHandle The UAVTalk connection handle on the radio port.
* @param[in] rxbyte The received byte.
*/
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte)
static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t *rxbuffer, uint8_t count)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(inConnectionHandle, rxbyte);
uint8_t position = 0;
UAVTalkRxState state = UAVTALK_STATE_ERROR;
if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain telemetry objects
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
switch (objId) {
case OPLINKSTATUS_OBJID:
case OPLINKSETTINGS_OBJID:
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKSTATUS_OBJID):
case MetaObjectId(OPLINKSETTINGS_OBJID):
case MetaObjectId(OPLINKRECEIVER_OBJID):
UAVTalkReceiveObject(inConnectionHandle);
break;
case OBJECTPERSISTENCE_OBJID:
case MetaObjectId(OBJECTPERSISTENCE_OBJID):
// receive object locally
// some objects will send back a response to telemetry
// FIXME:
// OPLM will ack or nack all objects requests and acked object sends
// Receiver will probably also ack / nack the same messages
// This has some consequences like :
// Second ack/nack will not match an open transaction or will apply to wrong transaction
// Question : how does GCS handle receiving the same object twice
// The OBJECTPERSISTENCE logic can be broken too if for example OPLM nacks and then REVO acks...
UAVTalkReceiveObject(inConnectionHandle);
// relay packet to remote modem
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
default:
// all other packets are relayed to the remote modem
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
// Keep reading until we receive a completed packet.
while (count > 0) {
state = UAVTalkProcessInputStreamQuiet(inConnectionHandle, rxbuffer, &count, &position);
if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain telemetry objects
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
switch (objId) {
case OPLINKSTATUS_OBJID:
case OPLINKSETTINGS_OBJID:
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKSTATUS_OBJID):
case MetaObjectId(OPLINKSETTINGS_OBJID):
case MetaObjectId(OPLINKRECEIVER_OBJID):
UAVTalkReceiveObject(inConnectionHandle);
break;
case OBJECTPERSISTENCE_OBJID:
case MetaObjectId(OBJECTPERSISTENCE_OBJID):
// receive object locally
// some objects will send back a response to telemetry
// FIXME:
// OPLM will ack or nack all objects requests and acked object sends
// Receiver will probably also ack / nack the same messages
// This has some consequences like :
// Second ack/nack will not match an open transaction or will apply to wrong transaction
// Question : how does GCS handle receiving the same object twice
// The OBJECTPERSISTENCE logic can be broken too if for example OPLM nacks and then REVO acks...
UAVTalkReceiveObject(inConnectionHandle);
// relay packet to remote modem
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
default:
// all other packets are relayed to the remote modem
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
}
}
}
}
@ -644,37 +644,41 @@ static void ProcessTelemetryStream(UAVTalkConnection inConnectionHandle, UAVTalk
* @param[in] outConnectionHandle The UAVTalk connection handle on the telemetry port.
* @param[in] rxbyte The received byte.
*/
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t rxbyte)
static void ProcessRadioStream(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle, uint8_t *rxbuffer, uint8_t count)
{
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(inConnectionHandle, rxbyte);
uint8_t position = 0;
UAVTalkRxState state = UAVTALK_STATE_ERROR;
if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain objects from the remote modem
// Similarly we only want to relay certain objects to the telemetry port
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
switch (objId) {
case OPLINKSTATUS_OBJID:
case OPLINKSETTINGS_OBJID:
case MetaObjectId(OPLINKSTATUS_OBJID):
case MetaObjectId(OPLINKSETTINGS_OBJID):
// Ignore object...
// These objects are shadowed by the modem and are not transmitted to the telemetry port
// - OPLINKSTATUS_OBJID : ground station will receive the OPLM link status instead
// - OPLINKSETTINGS_OBJID : ground station will read and write the OPLM settings instead
break;
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKRECEIVER_OBJID):
// Receive object locally
// These objects are received by the modem and are not transmitted to the telemetry port
// - OPLINKRECEIVER_OBJID : not sure why
// some objects will send back a response to the remote modem
UAVTalkReceiveObject(inConnectionHandle);
break;
default:
// all other packets are relayed to the telemetry port
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
// Keep reading until we receive a completed packet.
while (count > 0) {
state = UAVTalkProcessInputStreamQuiet(inConnectionHandle, rxbuffer, &count, &position);
if (state == UAVTALK_STATE_COMPLETE) {
// We only want to unpack certain objects from the remote modem
// Similarly we only want to relay certain objects to the telemetry port
uint32_t objId = UAVTalkGetPacketObjId(inConnectionHandle);
switch (objId) {
case OPLINKSTATUS_OBJID:
case OPLINKSETTINGS_OBJID:
case MetaObjectId(OPLINKSTATUS_OBJID):
case MetaObjectId(OPLINKSETTINGS_OBJID):
// Ignore object...
// These objects are shadowed by the modem and are not transmitted to the telemetry port
// - OPLINKSTATUS_OBJID : ground station will receive the OPLM link status instead
// - OPLINKSETTINGS_OBJID : ground station will read and write the OPLM settings instead
break;
case OPLINKRECEIVER_OBJID:
case MetaObjectId(OPLINKRECEIVER_OBJID):
// Receive object locally
// These objects are received by the modem and are not transmitted to the telemetry port
// - OPLINKRECEIVER_OBJID : not sure why
// some objects will send back a response to the remote modem
UAVTalkReceiveObject(inConnectionHandle);
break;
default:
// all other packets are relayed to the telemetry port
UAVTalkRelayPacket(inConnectionHandle, outConnectionHandle);
break;
}
}
}
}