Handle and log onboard_computer_status messages

msg/CMakeLists.txt

@@ -80,6 +80,7 @@ set(msg_files
 	multirotor_motor_limits.msg
 	obstacle_distance.msg
 	offboard_control_mode.msg
+	onboard_computer_status.msg
 	optical_flow.msg
 	orbit_status.msg
 	parameter_update.msg

msg/onboard_computer_status.msg

@@ -0,0 +1,23 @@
+# ONBOARD_COMPUTER_STATUS message data
+uint64 timestamp # [us] time since system start (microseconds)
+uint32 uptime	 # [ms] time since system boot of the companion (milliseconds)
+
+uint8 type	 # type of onboard computer 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
+
+uint8[8] cpu_cores # CPU usage on the component in percent
+uint8[10] cpu_combined # Combined CPU usage as the last 10 slices of 100 MS
+uint8[4] gpu_cores # GPU usage on the component in percent
+uint8[10] gpu_combined # Combined GPU usage as the last 10 slices of 100 MS
+int8 temperature_board # [degC] Temperature of the board
+int8[8] temperature_core # [degC] Temperature of the CPU core
+int16[4] fan_speed # [rpm] Fan speeds
+uint32 ram_usage # [MB] Amount of used RAM on the component system
+uint32 ram_total # [MB] Total amount of RAM on the component system
+uint32[4] storage_type # Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable)
+uint32[4] storage_usage # [MB] Amount of used storage space on the component system
+uint32[4] storage_total # [MB] Total amount of storage space on the component system
+uint32[6] link_type # [Kb/s] Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
+uint32[6] link_tx_rate # [Kb/s] Network traffic from the component system
+uint32[6] link_rx_rate # [Kb/s] Network traffic to the component system
+uint32[6] link_tx_max # [Kb/s] Network capacity from the component system
+uint32[6] link_rx_max # [Kb/s] Network capacity to the component system

msg/tools/uorb_rtps_message_ids.yaml

@@ -262,6 +262,8 @@ rtps:
     id: 114
   - msg: airspeed_validated
     id: 115
+  - msg: onboard_computer_status
+    id: 116
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

src/modules/logger/logger.cpp

@@ -639,6 +639,7 @@ void Logger::add_vision_and_avoidance_topics()
 {
 	add_topic("collision_constraints");
 	add_topic("obstacle_distance_fused");
+	add_topic("onboard_computer_status", 200);
 	add_topic("vehicle_mocap_odometry", 30);
 	add_topic("vehicle_trajectory_waypoint", 200);
 	add_topic("vehicle_trajectory_waypoint_desired", 200);

src/modules/mavlink/mavlink_receiver.cpp

@@ -245,6 +245,10 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_debug_float_array(msg);
 		break;
 
+	case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
+		handle_message_onboard_computer_status(msg);
+		break;
+
 	default:
 		break;
 	}
@@ -2535,6 +2539,41 @@ MavlinkReceiver::handle_message_debug_float_array(mavlink_message_t *msg)
 	_debug_array_pub.publish(debug_topic);
 }
 
+void
+MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
+{
+	mavlink_onboard_computer_status_t status_msg;
+	mavlink_msg_onboard_computer_status_decode(msg, &status_msg);
+
+	onboard_computer_status_s onboard_computer_status_topic{};
+
+	onboard_computer_status_topic.timestamp = hrt_absolute_time();
+	onboard_computer_status_topic.uptime = status_msg.uptime;
+
+	onboard_computer_status_topic.type = status_msg.type;
+
+	memcpy(onboard_computer_status_topic.cpu_cores, status_msg.cpu_cores, sizeof(status_msg.cpu_cores));
+	memcpy(onboard_computer_status_topic.cpu_combined, status_msg.cpu_combined, sizeof(status_msg.cpu_combined));
+	memcpy(onboard_computer_status_topic.gpu_cores, status_msg.gpu_cores, sizeof(status_msg.gpu_cores));
+	memcpy(onboard_computer_status_topic.gpu_combined, status_msg.gpu_combined, sizeof(status_msg.gpu_combined));
+	onboard_computer_status_topic.temperature_board = status_msg.temperature_board;
+	memcpy(onboard_computer_status_topic.temperature_core, status_msg.temperature_core,
+	       sizeof(status_msg.temperature_core));
+	memcpy(onboard_computer_status_topic.fan_speed, status_msg.fan_speed, sizeof(status_msg.fan_speed));
+	onboard_computer_status_topic.ram_usage = status_msg.ram_usage;
+	onboard_computer_status_topic.ram_total = status_msg.ram_total;
+	memcpy(onboard_computer_status_topic.storage_type, status_msg.storage_type, sizeof(status_msg.storage_type));
+	memcpy(onboard_computer_status_topic.storage_usage, status_msg.storage_usage, sizeof(status_msg.storage_usage));
+	memcpy(onboard_computer_status_topic.storage_total, status_msg.storage_total, sizeof(status_msg.storage_total));
+	memcpy(onboard_computer_status_topic.link_type, status_msg.link_type, sizeof(status_msg.link_type));
+	memcpy(onboard_computer_status_topic.link_tx_rate, status_msg.link_tx_rate, sizeof(status_msg.link_tx_rate));
+	memcpy(onboard_computer_status_topic.link_rx_rate, status_msg.link_rx_rate, sizeof(status_msg.link_rx_rate));
+	memcpy(onboard_computer_status_topic.link_tx_max, status_msg.link_tx_max, sizeof(status_msg.link_tx_max));
+	memcpy(onboard_computer_status_topic.link_rx_max, status_msg.link_rx_max, sizeof(status_msg.link_rx_max));
+
+	_onboard_computer_status_pub.publish(onboard_computer_status_topic);
+}
+
 /**
  * Receive data from UART/UDP
  */

src/modules/mavlink/mavlink_receiver.h

@@ -71,6 +71,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/obstacle_distance.h>
 #include <uORB/topics/offboard_control_mode.h>
+#include <uORB/topics/onboard_computer_status.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/ping.h>
 #include <uORB/topics/position_setpoint_triplet.h>
@@ -165,6 +166,7 @@ class MavlinkReceiver : public ModuleParams
 	void handle_message_trajectory_representation_waypoints(mavlink_message_t *msg);
 	void handle_message_utm_global_position(mavlink_message_t *msg);
 	void handle_message_vision_position_estimate(mavlink_message_t *msg);
+	void handle_message_onboard_computer_status(mavlink_message_t *msg);
 
 
 	void Run();
@@ -227,6 +229,7 @@ class MavlinkReceiver : public ModuleParams
 	uORB::Publication<landing_target_pose_s>		_landing_target_pose_pub{ORB_ID(landing_target_pose)};
 	uORB::Publication<obstacle_distance_s>			_obstacle_distance_pub{ORB_ID(obstacle_distance)};
 	uORB::Publication<offboard_control_mode_s>		_offboard_control_mode_pub{ORB_ID(offboard_control_mode)};
+	uORB::Publication<onboard_computer_status_s>		_onboard_computer_status_pub{ORB_ID(onboard_computer_status)};
 	uORB::Publication<optical_flow_s>			_flow_pub{ORB_ID(optical_flow)};
 	uORB::Publication<position_setpoint_triplet_s>		_pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
 	uORB::Publication<vehicle_attitude_s>			_attitude_pub{ORB_ID(vehicle_attitude)};