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improved packet buffering and add git version and date to web UI #55

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69438ad
new buffering strategy
tridge May 19, 2018
909acb0
added git version and date to web UI
tridge May 19, 2018
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7 changes: 6 additions & 1 deletion platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -20,18 +20,23 @@
# The upload speed below (921600) has worked fine for all modules I tested. If you have upload issues,
# try reducing to 115200.

[version]
build_flags = !echo "-DPIO_SRC_REV="$(git rev-parse HEAD) "-DPIO_BUILD_DATE="$(date +%%Y-%%m-%%d) "-DPIO_BUILD_TIME="$(date +%%H:%%M:%%S)

[env:esp12e]
platform = espressif8266
framework = arduino
board = esp12e
build_flags = -Wl,-Tesp8266.flash.4m.ld
build_flags = ${version.build_flags} -Wl,-Tesp8266.flash.4m.ld

[env:esp01_1m]
platform = espressif8266
framework = arduino
board = esp01_1m
build_flags = ${version.build_flags}

[env:esp01]
platform = espressif8266
framework = arduino
board = esp01
build_flags = ${version.build_flags}
3 changes: 1 addition & 2 deletions src/mavesp8266.h
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ struct linkStatus {
uint32_t packets_received;
uint32_t packets_lost;
uint32_t packets_sent;
uint32_t parse_errors;
uint32_t radio_status_sent;
uint8_t queue_status;
};
Expand All @@ -96,7 +97,6 @@ class MavESP8266Bridge {
virtual void begin (MavESP8266Bridge* forwardTo);
virtual void readMessage () = 0;
virtual void readMessageRaw () = 0;
virtual int sendMessage (mavlink_message_t* message, int count) = 0;
virtual int sendMessage (mavlink_message_t* message) = 0;
virtual int sendMessageRaw (uint8_t *buffer, int len) = 0;
virtual bool heardFrom () { return _heard_from; }
Expand All @@ -107,7 +107,6 @@ class MavESP8266Bridge {
mavlink_channel_t _recv_chan;
protected:
virtual void _checkLinkErrors(mavlink_message_t* msg);
virtual void _sendRadioStatus() = 0;
protected:
bool _heard_from;
uint8_t _system_id;
Expand Down
89 changes: 41 additions & 48 deletions src/mavesp8266_gcs.cpp
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Expand Up @@ -73,12 +73,16 @@ MavESP8266GCS::readMessage()
_forwardTo->sendMessage(&_message);
memset(&_message, 0, sizeof(_message));
}
uint32_t now = millis();
//-- Update radio status (1Hz)
if(_heard_from && (millis() - _last_status_time > 1000)) {
if(_heard_from && (now - _last_status_time > 1000)) {
delay(0);
_sendRadioStatus();
_last_status_time = millis();
}
if (_sendbuf_ofs > 0 && (now - _send_start_ms > UDP_QUEUE_TIMEOUT || _packets_queued >= 20)) {
_send_pending();
}
}


Expand All @@ -97,11 +101,15 @@ MavESP8266GCS::_readMessage()
if (result >= 0)
{
// Parsing
uint8_t last_parse_error = _rxstatus.parse_error;
msgReceived = mavlink_frame_char_buffer(&_rxmsg,
&_rxstatus,
result,
&_message,
&_mav_status);
if (last_parse_error != _rxstatus.parse_error) {
_status.parse_errors++;
}
if(msgReceived) {
//-- We no longer need to broadcast
_status.packets_received++;
Expand All @@ -128,14 +136,19 @@ MavESP8266GCS::_readMessage()
_checkLinkErrors(&_message);
}

if (msgReceived == MAVLINK_FRAMING_BAD_CRC ||
msgReceived == MAVLINK_FRAMING_BAD_SIGNATURE) {
if (msgReceived == MAVLINK_FRAMING_BAD_CRC) {
// we don't process messages locally with bad CRC,
// but we do forward them, so when new messages
// are added we can bridge them
break;
}

#ifdef MAVLINK_FRAMING_BAD_SIGNATURE
if (msgReceived == MAVLINK_FRAMING_BAD_SIGNATURE) {
break;
}
#endif

//-- Check for message we might be interested
if(getWorld()->getComponent()->handleMessage(this, &_message)){
//-- Eat message (don't send it to FC)
Expand Down Expand Up @@ -192,36 +205,6 @@ MavESP8266GCS::readMessageRaw() {
}
}

//---------------------------------------------------------------------------------
//-- Forward message(s) to the GCS
int
MavESP8266GCS::sendMessage(mavlink_message_t* message, int count) {
int sentCount = 0;
_udp.beginPacket(_ip, _udp_port);
for(int i = 0; i < count; i++) {
// Translate message to buffer
char buf[300];
unsigned len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message[i]);
// Send it
_status.packets_sent++;
size_t sent = _udp.write((uint8_t*)(void*)buf, len);
if(sent != len) {
break;
//-- Fibble attempt at not losing data until we get access to the socket TX buffer
// status before we try to send.
_udp.endPacket();
delay(2);
_udp.beginPacket(_ip, _udp_port);
_udp.write((uint8_t*)(void*)&buf[sent], len - sent);
_udp.endPacket();
return sentCount;
}
sentCount++;
}
_udp.endPacket();
return sentCount;
}

//---------------------------------------------------------------------------------
//-- Forward message to the GCS
int
Expand All @@ -231,11 +214,11 @@ MavESP8266GCS::sendMessage(mavlink_message_t* message) {
}

int
MavESP8266GCS::sendMessageRaw(uint8_t *buffer, int len) {
MavESP8266GCS::sendMessageRaw(uint8_t *buffer, int len)
{
_udp.beginPacket(_ip, _udp_port);
size_t sent = _udp.write(buffer, len);
_udp.endPacket();
//_udp.flush();
return sent;
}

Expand Down Expand Up @@ -270,7 +253,7 @@ MavESP8266GCS::_sendRadioStatus()
&msg,
rssi, // RSSI Only valid in STA mode
0, // We don't have access to Remote RSSI
st->queue_status, // UDP queue status
100,
0, // We don't have access to noise data
lostVehicleMessages, // Percent of lost messages from Vehicle (UART)
lostGcsMessages, // Percent of lost messages from GCS (UDP)
Expand All @@ -289,17 +272,27 @@ MavESP8266GCS::_sendSingleUdpMessage(mavlink_message_t* msg)
// Translate message to buffer
char buf[300];
unsigned len = mavlink_msg_to_send_buffer((uint8_t*)buf, msg);
// Send it
_udp.beginPacket(_ip, _udp_port);
size_t sent = _udp.write((uint8_t*)(void*)buf, len);
_udp.endPacket();
//-- Fibble attempt at not losing data until we get access to the socket TX buffer
// status before we try to send.
if(sent != len) {
delay(1);
_udp.beginPacket(_ip, _udp_port);
_udp.write((uint8_t*)(void*)&buf[sent], len - sent);
_udp.endPacket();
if (len + _sendbuf_ofs > sizeof(_sendbuf)) {
_send_pending();
}
memcpy(&_sendbuf[_sendbuf_ofs], buf, len);
if (_sendbuf_ofs == 0) {
_send_start_ms = millis();
}
_packets_queued++;
_sendbuf_ofs += len;
}

/*
send pending data in _sendbuf
*/
void MavESP8266GCS::_send_pending(void)
{
if (_sendbuf_ofs > 0) {
if (sendMessageRaw(_sendbuf, _sendbuf_ofs) == _sendbuf_ofs) {
_sendbuf_ofs = 0;
_status.packets_sent += _packets_queued;
_packets_queued = 0;
}
}
_status.packets_sent++;
}
9 changes: 8 additions & 1 deletion src/mavesp8266_gcs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -38,6 +38,9 @@
#ifndef MAVESP8266_GCS_H
#define MAVESP8266_GCS_H

//-- UDP Outgoing buffer timeout
#define UDP_QUEUE_TIMEOUT 5 // 5ms

#include "mavesp8266.h"

class MavESP8266GCS : public MavESP8266Bridge {
Expand All @@ -47,7 +50,6 @@ class MavESP8266GCS : public MavESP8266Bridge {
void begin (MavESP8266Bridge* forwardTo, IPAddress gcsIP);
void readMessage ();
void readMessageRaw ();
int sendMessage (mavlink_message_t* message, int count);
int sendMessage (mavlink_message_t* message);
int sendMessageRaw (uint8_t *buffer, int len);
protected:
Expand All @@ -57,13 +59,18 @@ class MavESP8266GCS : public MavESP8266Bridge {
bool _readMessage ();
void _sendSingleUdpMessage (mavlink_message_t* msg);
void _checkUdpErrors (mavlink_message_t* msg);
void _send_pending ();

private:
WiFiUDP _udp;
IPAddress _ip;
uint16_t _udp_port;
mavlink_message_t _message;
unsigned long _last_status_time;
uint8_t _sendbuf[1400];
uint16_t _sendbuf_ofs;
uint16_t _packets_queued;
uint32_t _send_start_ms;
};

#endif
20 changes: 20 additions & 0 deletions src/mavesp8266_httpd.cpp
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Expand Up @@ -77,6 +77,13 @@ const char* kFlashMaps[7] = {
"4MB (1024/1024)"
};

// convert git version and build date to string
#define str(s) #s
#define xstr(s) str(s)
#define GIT_VERSION_STRING xstr(PIO_SRC_REV)
#define BUILD_DATE_STRING xstr(PIO_BUILD_DATE)
#define BUILD_TIME_STRING xstr(PIO_BUILD_TIME)

static uint32_t flash = 0;
static char paramCRC[12] = {""};

Expand Down Expand Up @@ -134,6 +141,7 @@ void handle_upload_status() {
DEBUG_SERIAL.setDebugOutput(true);
#endif
WiFiUDP::stopAll();
Serial.end();
#ifdef DEBUG_SERIAL
DEBUG_SERIAL.printf("Update: %s\n", upload.filename.c_str());
#endif
Expand Down Expand Up @@ -207,6 +215,14 @@ static void handle_root()
char vstr[30];
snprintf(vstr, sizeof(vstr), "%u.%u.%u", MAVESP8266_VERSION_MAJOR, MAVESP8266_VERSION_MINOR, MAVESP8266_VERSION_BUILD);
message += vstr;
message += "<br>\n";
message += "Git Version: ";
message += GIT_VERSION_STRING;
message += "<br>\n";
message += "Build Date: ";
message += BUILD_DATE_STRING;
message += " ";
message += BUILD_TIME_STRING;
message += "<p>\n";
message += "<ul>\n";
message += "<li><a href='/getstatus'>Get Status</a>\n";
Expand Down Expand Up @@ -321,12 +337,16 @@ static void handle_getStatus()
message += gcsStatus->packets_sent;
message += "</td></tr><tr><td>GCS Packets Lost</td><td>";
message += gcsStatus->packets_lost;
message += "</td></tr><tr><td>GCS Parse Errors</td><td>";
message += gcsStatus->parse_errors;
message += "</td></tr><tr><td>Packets Received from Vehicle</td><td>";
message += vehicleStatus->packets_received;
message += "</td></tr><tr><td>Packets Sent to Vehicle</td><td>";
message += vehicleStatus->packets_sent;
message += "</td></tr><tr><td>Vehicle Packets Lost</td><td>";
message += vehicleStatus->packets_lost;
message += "</td></tr><tr><td>Vehicle Parse Errors</td><td>";
message += vehicleStatus->parse_errors;
message += "</td></tr><tr><td>Radio Messages</td><td>";
message += gcsStatus->radio_status_sent;
message += "</td></tr></table>";
Expand Down
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