3dr_radio.cpp

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/*
 * Copyright 2014,2015,2016 Vladimir Ermakov.
 *
 * This file is part of the mavros package and subject to the license terms
 * in the top-level LICENSE file of the mavros repository.
 * https://github.com/mavlink/mavros/tree/master/LICENSE.md
 */

#include <mavros/mavros_plugin.h>

#include <mavros_msgs/RadioStatus.h>

namespace mavros {
namespace std_plugins {
class TDRRadioPlugin : public plugin::PluginBase {
public:
        TDRRadioPlugin() : PluginBase(),
                nh("~"),
                has_radio_status(false),
                diag_added(false),
                low_rssi(0)
        { }

        void initialize(UAS &uas_) override
        {
                PluginBase::initialize(uas_);

                nh.param("tdr_radio/low_rssi", low_rssi, 40);

                status_pub = nh.advertise<mavros_msgs::RadioStatus>("radio_status", 10);

                enable_connection_cb();
        }

        Subscriptions get_subscriptions() override
        {
                return {
                        make_handler(&TDRRadioPlugin::handle_radio_status),
                        make_handler(&TDRRadioPlugin::handle_radio),
                };
        }

private:
        ros::NodeHandle nh;

        bool has_radio_status;
        bool diag_added;
        int low_rssi;

        ros::Publisher status_pub;

        std::mutex diag_mutex;
        mavros_msgs::RadioStatus::Ptr last_status;

        /* -*- message handlers -*- */

        void handle_radio_status(const mavlink::mavlink_message_t *msg, mavlink::common::msg::RADIO_STATUS &rst)
        {
                has_radio_status = true;
                handle_message(msg, rst);
        }

        void handle_radio(const mavlink::mavlink_message_t *msg, mavlink::ardupilotmega::msg::RADIO &rst)
        {
                if (has_radio_status)
                        return;

                // actually the same data, but from earlier modems
                handle_message(msg, rst);
        }

        template<typename msgT>
        void handle_message(const mavlink::mavlink_message_t *mmsg, msgT &rst)
        {
                if (mmsg->sysid != '3' || mmsg->compid != 'D')
                        ROS_WARN_THROTTLE_NAMED(30, "radio", "RADIO_STATUS not from 3DR modem?");

                auto msg = boost::make_shared<mavros_msgs::RadioStatus>();

                msg->header.stamp = ros::Time::now();

#define RST_COPY(field) msg->field = rst.field
                RST_COPY(rssi);
                RST_COPY(remrssi);
                RST_COPY(txbuf);
                RST_COPY(noise);
                RST_COPY(remnoise);
                RST_COPY(rxerrors);
                RST_COPY(fixed);
#undef RST_COPY

                // valid for 3DR modem
                msg->rssi_dbm = (rst.rssi / 1.9) - 127;
                msg->remrssi_dbm = (rst.remrssi / 1.9) - 127;

                // add diag at first event
                if (!diag_added) {
                        UAS_DIAG(m_uas).add("3DR Radio", this, &TDRRadioPlugin::diag_run);
                        diag_added = true;
                }

                // store last status for diag
                {
                        std::lock_guard<std::mutex> lock(diag_mutex);
                        last_status = msg;
                }

                status_pub.publish(msg);
        }


        void diag_run(diagnostic_updater::DiagnosticStatusWrapper &stat)
        {
                std::lock_guard<std::mutex> lock(diag_mutex);

                if (!last_status) {
                        stat.summary(2, "No data");
                        return;
                }
                else if (last_status->rssi < low_rssi)
                        stat.summary(1, "Low RSSI");
                else if (last_status->remrssi < low_rssi)
                        stat.summary(1, "Low remote RSSI");
                else
                        stat.summary(0, "Normal");

                stat.addf("RSSI", "%u", last_status->rssi);
                stat.addf("RSSI (dBm)", "%.1f", last_status->rssi_dbm);
                stat.addf("Remote RSSI", "%u", last_status->remrssi);
                stat.addf("Remote RSSI (dBm)", "%.1f", last_status->remrssi_dbm);
                stat.addf("Tx buffer (%)", "%u", last_status->txbuf);
                stat.addf("Noice level", "%u", last_status->noise);
                stat.addf("Remote noice level", "%u", last_status->remnoise);
                stat.addf("Rx errors", "%u", last_status->rxerrors);
                stat.addf("Fixed", "%u", last_status->fixed);
        }

        void connection_cb(bool connected) override
        {
                UAS_DIAG(m_uas).removeByName("3DR Radio");
                diag_added = false;
        }

};
}       // namespace std_plugins
}       // namespace mavros

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(mavros::std_plugins::TDRRadioPlugin, mavros::plugin::PluginBase)