mavlink: STATUSTEXT directly use mavlink_log subscription

- ORB_ID(mavlink_log) increase queue depth now that mavlink ringbuffer is gone

msg/mavlink_log.msg

@@ -3,4 +3,4 @@ uint64 timestamp		# time since system start (microseconds)
 char[127] text
 uint8 severity # log level (same as in the linux kernel, starting with 0)
 
-uint8 ORB_QUEUE_LENGTH = 4
+uint8 ORB_QUEUE_LENGTH = 8

src/modules/mavlink/mavlink_main.cpp

@@ -50,6 +50,7 @@
 
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
+#include <lib/systemlib/mavlink_log.h>
 #include <lib/version/version.h>
 #include <uORB/Publication.hpp>
 
@@ -2151,8 +2152,6 @@ Mavlink::task_main(int argc, char *argv[])
 	/* command ack */
 	uORB::Publication<vehicle_command_ack_s> command_ack_pub{ORB_ID(vehicle_command_ack)};
 
-	uORB::Subscription mavlink_log_sub{ORB_ID(mavlink_log)};
-
 	vehicle_status_s status{};
 	status_sub.copy(&status);
 
@@ -2170,7 +2169,7 @@ Mavlink::task_main(int argc, char *argv[])
 		/* HEARTBEAT is constant rate stream, rate never adjusted */
 		configure_stream("HEARTBEAT", 1.0f);
 
-		/* STATUSTEXT stream is like normal stream but gets messages from logbuffer instead of uORB */
+		/* STATUSTEXT stream */
 		configure_stream("STATUSTEXT", 20.0f);
 
 		/* COMMAND_LONG stream: use unlimited rate to send all commands */
@@ -2362,12 +2361,6 @@ Mavlink::task_main(int argc, char *argv[])
 			}
 		}
 
-		mavlink_log_s mavlink_log;
-
-		if (mavlink_log_sub.update(&mavlink_log)) {
-			_logbuffer.put(&mavlink_log);
-		}
-
 		/* check for shell output */
 		if (_mavlink_shell && _mavlink_shell->available() > 0) {
 			if (get_free_tx_buf() >= MAVLINK_MSG_ID_SERIAL_CONTROL_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) {

src/modules/mavlink/mavlink_main.h

@@ -59,7 +59,6 @@
 #endif
 
 #include <containers/List.hpp>
-#include <drivers/device/ringbuffer.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
 #include <px4_platform_common/cli.h>
@@ -69,10 +68,8 @@
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
 #include <px4_platform_common/posix.h>
-#include <systemlib/mavlink_log.h>
 #include <systemlib/uthash/utlist.h>
 #include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/mavlink_log.h>
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/radio_status.h>
 #include <uORB/topics/telemetry_status.h>
@@ -437,8 +434,6 @@ public:
 
 	void			update_radio_status(const radio_status_s &radio_status);
 
-	ringbuffer::RingBuffer	*get_logbuffer() { return &_logbuffer; }
-
 	unsigned		get_system_type() { return _param_mav_type.get(); }
 
 	Protocol 		get_protocol() const { return _protocol; }
@@ -565,8 +560,6 @@ private:
 
 	mavlink_channel_t	_channel{MAVLINK_COMM_0};
 
-	ringbuffer::RingBuffer	_logbuffer{5, sizeof(mavlink_log_s)};
-
 	pthread_t		_receive_thread {};
 
 	bool			_forwarding_on{false};

src/modules/mavlink/mavlink_messages.cpp

@@ -51,7 +51,6 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
 #include <px4_platform_common/time.h>
-#include <systemlib/mavlink_log.h>
 #include <math.h>
 
 #include <uORB/Subscription.hpp>
@@ -74,7 +73,6 @@
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/mavlink_log.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -124,6 +122,7 @@ using matrix::wrap_2pi;
 #include "streams/PING.hpp"
 #include "streams/PROTOCOL_VERSION.hpp"
 #include "streams/RAW_RPM.hpp"
+#include "streams/STATUSTEXT.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
 #include "streams/WIND_COV.hpp"
 
@@ -464,98 +463,6 @@ protected:
 	}
 };
 
-class MavlinkStreamStatustext : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamStatustext::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "STATUSTEXT";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_STATUSTEXT;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamStatustext(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _mavlink->get_logbuffer()->empty() ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
-	}
-
-private:
-	/* do not allow top copying this class */
-	MavlinkStreamStatustext(MavlinkStreamStatustext &) = delete;
-	MavlinkStreamStatustext &operator = (const MavlinkStreamStatustext &) = delete;
-
-protected:
-	int _id{0};
-
-	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		if (!_mavlink->get_logbuffer()->empty() && _mavlink->is_connected() && _mavlink->get_free_tx_buf() >= get_size()) {
-
-			mavlink_log_s mavlink_log;
-
-			if (_mavlink->get_logbuffer()->get(&mavlink_log)) {
-
-				mavlink_statustext_t msg{};
-				const char *text = mavlink_log.text;
-				constexpr unsigned max_chunk_size = sizeof(msg.text);
-				msg.severity = mavlink_log.severity;
-				msg.chunk_seq = 0;
-				msg.id = _id++;
-				unsigned text_size;
-
-				while ((text_size = strlen(text)) > 0) {
-					unsigned chunk_size = math::min(text_size, max_chunk_size);
-
-					if (chunk_size < max_chunk_size) {
-						memcpy(&msg.text[0], &text[0], chunk_size);
-						// pad with zeros
-						memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size);
-
-					} else {
-						memcpy(&msg.text[0], &text[0], chunk_size);
-					}
-
-					mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
-
-					if (text_size <= max_chunk_size) {
-						break;
-
-					} else {
-						text += max_chunk_size;
-					}
-
-					msg.chunk_seq += 1;
-				}
-
-				return true;
-			}
-		}
-
-		return false;
-	}
-};
-
 class MavlinkStreamCommandLong : public MavlinkStream
 {
 public:
@@ -4377,7 +4284,9 @@ protected:
 
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
+#if defined(STATUSTEXT_HPP)
 	create_stream_list_item<MavlinkStreamStatustext>(),
+#endif // STATUSTEXT_HPP
 	create_stream_list_item<MavlinkStreamCommandLong>(),
 	create_stream_list_item<MavlinkStreamSysStatus>(),
 	create_stream_list_item<MavlinkStreamBatteryStatus>(),

src/modules/mavlink/streams/STATUSTEXT.hpp

@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef STATUSTEXT_HPP
+#define STATUSTEXT_HPP
+
+#include <uORB/topics/mavlink_log.h>
+
+class MavlinkStreamStatustext : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamStatustext(mavlink); }
+
+	static constexpr const char *get_name_static() { return "STATUSTEXT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_STATUSTEXT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _mavlink_log_sub.updated() ? (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES) : 0;
+	}
+
+private:
+	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _mavlink_log_sub{ORB_ID(mavlink_log)};
+	uint16_t _id{0};
+
+	bool send() override
+	{
+		if (_mavlink->is_connected() && (_mavlink->get_free_tx_buf() >= get_size())) {
+
+			mavlink_log_s mavlink_log;
+
+			if (_mavlink_log_sub.update(&mavlink_log)) {
+
+				mavlink_statustext_t msg{};
+				const char *text = mavlink_log.text;
+				constexpr unsigned max_chunk_size = sizeof(msg.text);
+				msg.severity = mavlink_log.severity;
+				msg.chunk_seq = 0;
+				msg.id = _id++;
+				unsigned text_size;
+
+				while ((text_size = strlen(text)) > 0) {
+					unsigned chunk_size = math::min(text_size, max_chunk_size);
+
+					if (chunk_size < max_chunk_size) {
+						memcpy(&msg.text[0], &text[0], chunk_size);
+						// pad with zeros
+						memset(&msg.text[0] + chunk_size, 0, max_chunk_size - chunk_size);
+
+					} else {
+						memcpy(&msg.text[0], &text[0], chunk_size);
+					}
+
+					mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
+
+					if (text_size <= max_chunk_size) {
+						break;
+
+					} else {
+						text += max_chunk_size;
+					}
+
+					msg.chunk_seq += 1;
+				}
+
+				return true;
+			}
+		}
+
+		return false;
+	}
+};
+
+#endif // STATUSTEXT_HPP