ULog streaming class. More...

#include <mavlink_ulog.h>

Collaboration diagram for MavlinkULog:

Public Member Functions
void	stop ()
	stop the stream. More...

int	handle_update (mavlink_channel_t channel)
	periodic update method: check for ulog stream messages and handle retransmission. More...

void	handle_ack (mavlink_logging_ack_t ack)
	ack from mavlink for a data message More...

void	start_ack_received ()
	this is called when we got an vehicle_command_ack from the logger More...

float	current_data_rate () const

float	maximum_data_rate () const

Static Public Member Functions
static void	initialize ()
	initialize: call this once on startup (this function is not thread-safe!) More...

static MavlinkULog *	try_start (int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component)
	try to start a new stream. More...

Private Member Functions
	MavlinkULog (int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component)

	~MavlinkULog ()=default

void	publish_ack (uint16_t sequence)

	MavlinkULog (const MavlinkULog &)=delete

MavlinkULog	operator= (const MavlinkULog &)=delete

Static Private Member Functions
static void	lock ()

static void	unlock ()

Private Attributes
uORB::SubscriptionData< ulog_stream_s >	_ulog_stream_sub {ORB_ID(ulog_stream)}

uORB::Publication< ulog_stream_ack_s >	_ulog_stream_ack_pub {ORB_ID(ulog_stream_ack)}

uint16_t	_wait_for_ack_sequence

uint8_t	_sent_tries = 0

volatile bool	_ack_received = false
	set to true if a matching ack received More...

hrt_abstime	_last_sent_time = 0
	last time we sent a message that requires an ack More...

bool	_waiting_for_initial_ack = false

const uint8_t	_target_system

const uint8_t	_target_component

const float	_max_rate_factor
	maximum rate percentage at which we're allowed to push data More...

const int	_max_num_messages
	maximum number of messages we can send within _rate_calculation_delta_t More...

float	_current_rate_factor
	currently used rate percentage More...

int	_current_num_msgs = 0
	number of messages sent within the current time interval More...

hrt_abstime	_next_rate_check
	next timestamp at which to update the rate More...

Static Private Attributes
static px4_sem_t	_lock

static bool	_init = false

static MavlinkULog *	_instance = nullptr

static const float	_rate_calculation_delta_t = 0.1f
	rate update interval More...

Detailed Description

ULog streaming class.

At most one instance (stream) can exist, assigned to a specific mavlink channel.

Definition at line 60 of file mavlink_ulog.h.

Constructor & Destructor Documentation

◆ MavlinkULog() [1/2]

MavlinkULog::MavlinkULog	(	int	datarate,
		float	max_rate_factor,
		uint8_t	target_system,
		uint8_t	target_component
	)

private

Definition at line 52 of file mavlink_ulog.cpp.

References _last_sent_time, _next_rate_check, _rate_calculation_delta_t, _ulog_stream_sub, _waiting_for_initial_ack, hrt_absolute_time(), and uORB::SubscriptionData< T >::update().

Referenced by maximum_data_rate(), and try_start().

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◆ ~MavlinkULog()

MavlinkULog::~MavlinkULog ( )

privatedefault

Referenced by maximum_data_rate().

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◆ MavlinkULog() [2/2]

MavlinkULog::MavlinkULog ( const MavlinkULog & )

privatedelete

Member Function Documentation

◆ current_data_rate()

float MavlinkULog::current_data_rate ( ) const

inline

Definition at line 98 of file mavlink_ulog.h.

References _current_rate_factor.

Referenced by Mavlink::display_status(), and Mavlink::update_rate_mult().

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◆ handle_ack()

void MavlinkULog::handle_ack ( mavlink_logging_ack_t ack )

ack from mavlink for a data message

Definition at line 233 of file mavlink_ulog.cpp.

References _ack_received, _instance, _wait_for_ack_sequence, lock(), publish_ack(), and unlock().

Referenced by MavlinkReceiver::handle_message_logging_ack().

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◆ handle_update()

int MavlinkULog::handle_update ( mavlink_channel_t channel )

periodic update method: check for ulog stream messages and handle retransmission.

Returns: 0 on success, <0 otherwise

Definition at line 78 of file mavlink_ulog.cpp.

References _ack_received, _current_num_msgs, _current_rate_factor, _last_sent_time, _max_num_messages, _max_rate_factor, _next_rate_check, _rate_calculation_delta_t, _sent_tries, _target_component, _target_system, _ulog_stream_sub, _wait_for_ack_sequence, _waiting_for_initial_ack, ulog_stream_s::data, ulog_stream_s::first_message_offset, ulog_stream_s::flags, uORB::SubscriptionData< T >::get(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), ulog_stream_s::length, lock(), msg, ulog_stream_s::msg_sequence, ulog_stream_s::timestamp, unlock(), and uORB::SubscriptionData< T >::update().

Referenced by Mavlink::task_main().

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◆ initialize()

void MavlinkULog::initialize ( )

static

initialize: call this once on startup (this function is not thread-safe!)

Definition at line 187 of file mavlink_ulog.cpp.

References _init, and _lock.

Referenced by Mavlink::start().

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◆ lock()

static void MavlinkULog::lock ( )

inlinestaticprivate

Definition at line 107 of file mavlink_ulog.h.

References _lock.

Referenced by handle_ack(), handle_update(), stop(), and try_start().

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◆ maximum_data_rate()

float MavlinkULog::maximum_data_rate ( ) const

inline

Definition at line 99 of file mavlink_ulog.h.

References _max_rate_factor, MavlinkULog(), and ~MavlinkULog().

Referenced by Mavlink::display_status().

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◆ operator=()

MavlinkULog MavlinkULog::operator= ( const MavlinkULog & )

privatedelete

◆ publish_ack()

void MavlinkULog::publish_ack ( uint16_t sequence )

private

Definition at line 247 of file mavlink_ulog.cpp.

References _ulog_stream_ack_pub, hrt_absolute_time(), ulog_stream_ack_s::msg_sequence, uORB::Publication< T >::publish(), and ulog_stream_ack_s::timestamp.

Referenced by handle_ack(), and unlock().

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◆ start_ack_received()

void MavlinkULog::start_ack_received ( )

this is called when we got an vehicle_command_ack from the logger

Definition at line 69 of file mavlink_ulog.cpp.

References _last_sent_time, and _waiting_for_initial_ack.

Referenced by Mavlink::task_main().

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◆ stop()

void MavlinkULog::stop ( )

stop the stream.

It also deletes the singleton object, so make sure cleanup all pointers to it. thread-safe

Definition at line 221 of file mavlink_ulog.cpp.

References _instance, lock(), and unlock().

Referenced by Mavlink::task_main().

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◆ try_start()

MavlinkULog * MavlinkULog::try_start	(	int	datarate,
		float	max_rate_factor,
		uint8_t	target_system,
		uint8_t	target_component
	)

static

try to start a new stream.

This fails if a stream is already running. thread-safe

Parameters

datarate	maximum link data rate in B/s
max_rate_factor	let ulog streaming use a maximum of max_rate_factor * datarate
target_system	ID for mavlink message
target_component	ID for mavlink message

Returns: instance, or nullptr

Definition at line 197 of file mavlink_ulog.cpp.

References _instance, lock(), MavlinkULog(), and unlock().

Referenced by Mavlink::try_start_ulog_streaming().

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◆ unlock()

static void MavlinkULog::unlock ( )

inlinestaticprivate

Definition at line 112 of file mavlink_ulog.h.

References _lock, and publish_ack().

Referenced by handle_ack(), handle_update(), stop(), and try_start().

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Member Data Documentation

◆ _ack_received

volatile bool MavlinkULog::_ack_received = false

private

set to true if a matching ack received

Definition at line 128 of file mavlink_ulog.h.

Referenced by handle_ack(), and handle_update().

◆ _current_num_msgs

int MavlinkULog::_current_num_msgs = 0

private

number of messages sent within the current time interval

Definition at line 137 of file mavlink_ulog.h.

Referenced by handle_update().

◆ _current_rate_factor

float MavlinkULog::_current_rate_factor

private

currently used rate percentage

Definition at line 136 of file mavlink_ulog.h.

Referenced by current_data_rate(), and handle_update().

◆ _init

bool MavlinkULog::_init = false

staticprivate

Definition at line 120 of file mavlink_ulog.h.

Referenced by initialize().

◆ _instance

MavlinkULog * MavlinkULog::_instance = nullptr

staticprivate

Definition at line 121 of file mavlink_ulog.h.

Referenced by handle_ack(), stop(), and try_start().

◆ _last_sent_time

hrt_abstime MavlinkULog::_last_sent_time = 0

private

last time we sent a message that requires an ack

Definition at line 129 of file mavlink_ulog.h.

Referenced by handle_update(), MavlinkULog(), and start_ack_received().

◆ _lock

px4_sem_t MavlinkULog::_lock

staticprivate

Definition at line 119 of file mavlink_ulog.h.

Referenced by initialize(), lock(), and unlock().

◆ _max_num_messages

const int MavlinkULog::_max_num_messages

private

maximum number of messages we can send within _rate_calculation_delta_t

Definition at line 135 of file mavlink_ulog.h.

Referenced by handle_update().

◆ _max_rate_factor

const float MavlinkULog::_max_rate_factor

private

maximum rate percentage at which we're allowed to push data

Definition at line 134 of file mavlink_ulog.h.

Referenced by handle_update(), and maximum_data_rate().

◆ _next_rate_check

hrt_abstime MavlinkULog::_next_rate_check

private

next timestamp at which to update the rate

Definition at line 138 of file mavlink_ulog.h.

Referenced by handle_update(), and MavlinkULog().

◆ _rate_calculation_delta_t

const float MavlinkULog::_rate_calculation_delta_t = 0.1f

staticprivate

rate update interval

Definition at line 122 of file mavlink_ulog.h.

Referenced by handle_update(), and MavlinkULog().

◆ _sent_tries

uint8_t MavlinkULog::_sent_tries = 0

private

Definition at line 127 of file mavlink_ulog.h.

Referenced by handle_update().

◆ _target_component

const uint8_t MavlinkULog::_target_component

private

Definition at line 132 of file mavlink_ulog.h.

Referenced by handle_update().

◆ _target_system

const uint8_t MavlinkULog::_target_system

private

Definition at line 131 of file mavlink_ulog.h.

Referenced by handle_update().

◆ _ulog_stream_ack_pub

uORB::Publication<ulog_stream_ack_s> MavlinkULog::_ulog_stream_ack_pub {ORB_ID(ulog_stream_ack)}

private

Definition at line 125 of file mavlink_ulog.h.

Referenced by publish_ack().

◆ _ulog_stream_sub

uORB::SubscriptionData<ulog_stream_s> MavlinkULog::_ulog_stream_sub {ORB_ID(ulog_stream)}

private

Definition at line 124 of file mavlink_ulog.h.

Referenced by handle_update(), and MavlinkULog().

◆ _wait_for_ack_sequence

uint16_t MavlinkULog::_wait_for_ack_sequence

private

Definition at line 126 of file mavlink_ulog.h.

Referenced by handle_ack(), and handle_update().

◆ _waiting_for_initial_ack

bool MavlinkULog::_waiting_for_initial_ack = false

private

Definition at line 130 of file mavlink_ulog.h.

Referenced by handle_update(), MavlinkULog(), and start_ack_received().

The documentation for this class was generated from the following files:

src/modules/mavlink/mavlink_ulog.h
src/modules/mavlink/mavlink_ulog.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MavlinkULog() [1/2]

◆ ~MavlinkULog()

◆ MavlinkULog() [2/2]

Member Function Documentation

◆ current_data_rate()

◆ handle_ack()

◆ handle_update()

◆ initialize()

◆ lock()

◆ maximum_data_rate()

◆ operator=()

◆ publish_ack()

◆ start_ack_received()

◆ stop()

◆ try_start()

◆ unlock()

Member Data Documentation

◆ _ack_received

◆ _current_num_msgs

◆ _current_rate_factor

◆ _init

◆ _instance

◆ _last_sent_time

◆ _lock

◆ _max_num_messages

◆ _max_rate_factor

◆ _next_rate_check

◆ _rate_calculation_delta_t

◆ _sent_tries

◆ _target_component

◆ _target_system

◆ _ulog_stream_ack_pub

◆ _ulog_stream_sub

◆ _wait_for_ack_sequence

◆ _waiting_for_initial_ack