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