// try to send a message, return false if it won't fit in the serial tx buffer
static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id, uint16_t packet_drops)
{
int16_t payload_space = serial_free();
if (telemetry_delayed(chan)) {
return false;
}
switch(id) {
case MSG_HEARTBEAT:
CHECK_PAYLOAD_SIZE(HEARTBEAT);
send_heartbeat(chan);
break;
case MSG_ATTITUDE:
CHECK_PAYLOAD_SIZE(ATTITUDE);
send_attitude(chan);
break;
case MSG_LOCATION:
CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
send_location(chan);
break;
case MSG_AHRS:
CHECK_PAYLOAD_SIZE(AHRS);
send_ahrs(chan);
break;
case MSG_STATUSTEXT:
CHECK_PAYLOAD_SIZE(STATUSTEXT);
send_statustext(chan);
break;
default:
break;
}
return true;
}
static int init_server_connection()
{
char *connection, *rankinfo_s, *opts_s, *cachesize_s;
debug_printf("Initializing connection to server\n");
if (ldcsid != -1)
return 0;
if (!use_ldcs)
return 0;
location = getenv("LDCS_LOCATION");
number = atoi(getenv("LDCS_NUMBER"));
connection = getenv("LDCS_CONNECTION");
rankinfo_s = getenv("LDCS_RANKINFO");
opts_s = getenv("LDCS_OPTIONS");
cachesize_s = getenv("LDCS_CACHESIZE");
opts = atol(opts_s);
shm_cachesize = atoi(cachesize_s) * 1024;
if (strchr(location, '$')) {
location = parse_location(location);
}
if (!(opts & OPT_FOLLOWFORK)) {
debug_printf("Disabling environment variables because we're not following forks\n");
unsetenv("LD_AUDIT");
unsetenv("LDCS_LOCATION");
unsetenv("LDCS_NUMBER");
unsetenv("LDCS_CONNECTION");
unsetenv("LDCS_RANKINFO");
unsetenv("LDCS_OPTIONS");
}
if (opts & OPT_SHMCACHE) {
assert(shm_cachesize);
#if defined(COMM_BITER)
shm_cache_limit = shm_cachesize > 512*1024 ? shm_cachesize - 512*1024 : 0;
#else
shm_cache_limit = shm_cachesize;
#endif
shmcache_init(location, number, shm_cachesize, shm_cache_limit);
}
if (connection) {
/* boostrapper established the connection for us. Reuse it. */
debug_printf("Recreating existing connection to server\n");
debug_printf3("location = %s, number = %d, connection = %s, rankinfo = %s\n",
location, number, connection, rankinfo_s);
ldcsid = client_register_connection(connection);
if (ldcsid == -1)
return -1;
assert(rankinfo_s);
sscanf(rankinfo_s, "%d %d %d %d", rankinfo+0, rankinfo+1, rankinfo+2, rankinfo+3);
unsetenv("LDCS_CONNECTION");
}
else {
/* Establish a new connection */
debug_printf("open connection to ldcs %s %d\n", location, number);
ldcsid = client_open_connection(location, number);
if (ldcsid == -1)
return -1;
send_pid(ldcsid);
send_location(ldcsid, location);
send_rankinfo_query(ldcsid, rankinfo+0, rankinfo+1, rankinfo+2, rankinfo+3);
}
snprintf(debugging_name, 32, "Client.%d", rankinfo[0]);
LOGGING_INIT(debugging_name);
sync_cwd();
if (opts & OPT_RELOCPY)
parse_python_prefixes(ldcsid);
return 0;
}
