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feat(mavlink): adopt the kaptan-native dialect

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Onur Özkan committed 2026-08-24 00:56:06 +03:00
1 parent 1c90870634
commit 5f91465e66
87 files changed
+7733 -6850
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firmware/libs/kaptan-data-channel/Cargo.toml
+2 -1
View File
@@ -11,6 +11,7 @@ workspace = true
[dependencies]
kaptan-err-reportable = { path = "../kaptan-err-reportable" }
kaptan-dma = { path = "../kaptan-dma" }
kaptan-mavlink = { path = "../kaptan-mavlink" }
kaptan-mavlink = { path = "../kaptan-mavlink", default-features = false, features = ["sensor-telemetry"] }
kaptan-sensor = { path = "../kaptan-sensor" }
kaptan-time = { path = "../kaptan-time" }
mavlink-core = { version = "0.18", default-features = false }
firmware/libs/kaptan-data-channel/src/lib.rs
+36 -68
View File
@@ -2,21 +2,21 @@
//!
//! This crate owns fixed-rate scheduling, mailbox consumption, vertical-data
//! freshness, MAVLink encoding, and bounded queue classification. A platform
//! supplies only mailbox references, a declared MAVLink state, arming state,
//! and a transport sink.
//! supplies only mailbox references, vertical-data freshness, and a transport
//! sink.
#![no_std]
use kaptan_dma::TxCompletion;
use kaptan_err_reportable::KaptanError;
use kaptan_mavlink::message::MessageData;
use kaptan_mavlink::{
MavlinkFrame,
encoder::{DistanceSensorConfig, MavlinkEncoder},
message::MavState,
encoder::MavlinkEncoder,
generated::kaptan::MavMessage,
transmitter::{EnqueueResult, FrameClass},
};
use kaptan_sensor::{optical_flow::OpticalFlowSnapshot, range::RangeSnapshot};
use mavlink_core::MessageData;
mod mailbox;
@@ -29,10 +29,8 @@ pub use mailbox::{LatestImuMailbox, LatestOpticalFlowMailbox, LatestRangeMailbox
/// after validating the active user configuration against immutable hardware.
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
pub struct DataChannelRates {
/// Frequency of the platform service tick.
pub service_hz: usize,
/// Raw-IMU publication rate.
pub raw_imu_hz: usize,
/// IMU publication rate.
pub imu_hz: usize,
/// Range publication rate; `None` disables the stream.
pub range_hz: Option<usize>,
/// Optical-flow publication rate; `None` disables the stream.
@@ -65,17 +63,6 @@ pub struct DataSources<'a> {
pub optical_flow: &'a LatestOpticalFlowMailbox,
}
/// Vertical-sensor metadata and freshness policy for an outbound data channel.
#[derive(Clone, Copy)]
pub struct VerticalDataConfig {
/// Metadata required to encode `DISTANCE_SENSOR`; `None` disables it.
pub distance: Option<DistanceSensorConfig>,
/// MTF-01 sensor ID for `OPTICAL_FLOW`; `None` disables it.
pub optical_flow_sensor_id: Option<u8>,
/// Maximum age, in service ticks, for cached vertical observations.
pub maximum_age_ticks: u8,
}
/// Data-channel construction failure.
#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
pub enum DataChannelError {
@@ -96,7 +83,7 @@ pub struct DataChannel<'a, Sink, const SERVICE_HZ: usize> {
encoder: MavlinkEncoder,
schedule: Schedule<SERVICE_HZ>,
sources: DataSources<'a>,
vertical: VerticalDataConfig,
maximum_vertical_age_ticks: u8,
observed_imu: u32,
observed_range: u32,
last_range: Option<RangeSnapshot>,
@@ -116,7 +103,7 @@ where
system_id: u8,
component_id: u8,
rates: DataChannelRates,
vertical: VerticalDataConfig,
maximum_vertical_age_ticks: u8,
sources: DataSources<'a>,
) -> Result<Self, DataChannelError> {
let schedule = Schedule::from_rates(rates)?;
@@ -125,7 +112,7 @@ where
encoder: MavlinkEncoder::new(system_id, component_id),
schedule,
sources,
vertical,
maximum_vertical_age_ticks,
observed_imu: 0,
observed_range: 0,
last_range: None,
@@ -141,43 +128,36 @@ where
/// No schedule token escapes this method. It refreshes cached vertical
/// observations, selects due data, encodes the MAVLink message, and admits
/// it with the correct bounded-queue class.
pub fn on_service_tick(&mut self, system_status: MavState, motors_armed: bool) {
pub fn on_service_tick(&mut self) {
self.refresh_vertical_data();
match self.schedule.next_due() {
Some(DueData::RawImu) => {
Some(DueData::Imu) => {
if let Some(sample) = self.sources.imu.take_newer(&mut self.observed_imu) {
let _ = self.sink.send(
FrameClass::BestEffort,
self.encoder.raw_imu_snapshot(&sample),
);
let _ = self
.sink
.send(FrameClass::BestEffort, self.encoder.imu_snapshot(&sample));
}
}
Some(DueData::Distance) if self.range_age_ticks <= self.vertical.maximum_age_ticks => {
if let (Some(range), Some(config)) = (self.last_range, self.vertical.distance) {
let _ = self.sink.send(
FrameClass::BestEffort,
self.encoder.distance_sensor_snapshot(&range, config),
);
Some(DueData::Distance) if self.range_age_ticks <= self.maximum_vertical_age_ticks => {
if let Some(range) = self.last_range {
let _ = self
.sink
.send(FrameClass::BestEffort, self.encoder.range_snapshot(&range));
}
}
Some(DueData::OpticalFlow)
if self.optical_flow_age_ticks <= self.vertical.maximum_age_ticks =>
if self.optical_flow_age_ticks <= self.maximum_vertical_age_ticks =>
{
if let (Some(flow), Some(sensor_id)) =
(self.last_optical_flow, self.vertical.optical_flow_sensor_id)
{
if let Some(flow) = self.last_optical_flow {
let _ = self.sink.send(
FrameClass::BestEffort,
self.encoder.optical_flow_snapshot(&flow, sensor_id),
self.encoder.optical_flow_snapshot(&flow),
);
}
}
Some(DueData::Heartbeat) => {
let _ = self.sink.send(
FrameClass::Vital,
self.encoder.heartbeat(system_status, motors_armed),
);
let _ = self.sink.send(FrameClass::Vital, self.encoder.heartbeat());
}
Some(DueData::Distance | DueData::OpticalFlow) | None => {}
}
@@ -190,8 +170,12 @@ where
/// Encodes an adapter-owned generated MAVLink data record through the
/// channel's sole encoder and bounded transport sink.
pub fn send_custom<M: MessageData>(&mut self, class: FrameClass, message: &M) -> EnqueueResult {
self.sink.send(class, self.encoder.custom(message))
pub fn send_message<M: MessageData<Message = MavMessage>>(
&mut self,
class: FrameClass,
message: &M,
) -> EnqueueResult {
self.sink.send(class, self.encoder.encode(message))
}
fn refresh_vertical_data(&mut self) {
@@ -217,7 +201,7 @@ where
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
enum DueData {
Heartbeat,
RawImu,
Imu,
Distance,
OpticalFlow,
}
@@ -233,15 +217,11 @@ impl<const SERVICE_HZ: usize> Schedule<SERVICE_HZ> {
SERVICE_HZ != 0,
"data-channel service frequency must be nonzero"
);
if rates.service_hz != SERVICE_HZ {
return Err(DataChannelError::RateExceedsServiceFrequency);
}
let schedule = Self {
phase: 0,
due: [None; SERVICE_HZ],
}
.with(DueData::RawImu, rates.raw_imu_hz)?
.with(DueData::Imu, rates.imu_hz)?
.with(DueData::Heartbeat, rates.heartbeat_hz)?;
let schedule = match rates.range_hz {
Some(hertz) => schedule.with(DueData::Distance, hertz)?,
@@ -297,12 +277,11 @@ impl<const SERVICE_HZ: usize> Schedule<SERVICE_HZ> {
mod tests {
use super::{
DataChannel, DataChannelRates, DataSources, FrameSink, LatestImuMailbox,
LatestOpticalFlowMailbox, LatestRangeMailbox, VerticalDataConfig,
LatestOpticalFlowMailbox, LatestRangeMailbox,
};
use kaptan_dma::TxCompletion;
use kaptan_mavlink::{
MavlinkFrame,
message::MavState,
transmitter::{EnqueueResult, FrameClass},
};
use kaptan_sensor::{
@@ -332,8 +311,7 @@ mod tests {
}
const RATES: DataChannelRates = DataChannelRates {
service_hz: 100,
raw_imu_hz: 20,
imu_hz: 20,
range_hz: Some(20),
optical_flow_hz: Some(20),
heartbeat_hz: 2,
@@ -353,17 +331,7 @@ mod tests {
1,
1,
RATES,
VerticalDataConfig {
distance: Some(kaptan_mavlink::encoder::DistanceSensorConfig {
sensor_id: 0,
orientation:
kaptan_mavlink::message::MavSensorOrientation::MAV_SENSOR_ROTATION_NONE,
minimum_distance_centimetres: 1,
maximum_distance_centimetres: 1_000,
}),
optical_flow_sensor_id: Some(0),
maximum_age_ticks: 10,
},
10,
DataSources {
imu: &imu,
range: &range,
@@ -386,7 +354,7 @@ mod tests {
100,
100,
));
channel.on_service_tick(MavState::MAV_STATE_STANDBY, false);
channel.on_service_tick();
}
channel.on_dma_complete(TxCompletion::Complete);
let sink = channel.sink;