feat(core): add heartbeat watchdog (deadman timer) (#2895)#2905
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tpayne-censystech wants to merge 3 commits into
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feat(core): add heartbeat watchdog (deadman timer) (#2895)#2905tpayne-censystech wants to merge 3 commits into
tpayne-censystech wants to merge 3 commits into
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While a watchdog timeout is configured, MAVSDK's periodic heartbeats are only sent as long as the watchdog keeps being fed at least once per timeout period, so heartbeats reflect the liveness of the client application. - Configure via Configuration::set_heartbeat_watchdog_timeout_s() or at runtime via Mavsdk::set_heartbeat_watchdog_timeout_s(); must be 0 (disabled) or at least 1 second. - Feed via Mavsdk::feed_heartbeat_watchdog() (C++/C API) or the FeedHeartbeatWatchdog gRPC RPC. Also exposed as the SetHeartbeatWatchdogTimeout RPC (proto submodule bump) and the mavsdk_server --heartbeat-watchdog-timeout CLI option. - Heartbeats latch off until fed: on enable, timeout change, expiry, and any other stop (e.g. disconnect), so a dead client cannot emit heartbeats across reconnects or discovery. A feed only restarts heartbeats that are supposed to be sent (always_send_heartbeats or a connected system). - Watchdog state is guarded by _heartbeat_mutex with a generation counter against in-flight expiries; configuration writers are serialized on a dedicated mutex, and heartbeat starts/stops self-heal against stale policy snapshots. - Unit tests (expiry, latching, policy, feed restart, reconfiguration, stress) and gRPC service tests.
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Thanks @tpayne-censystech, let me check CI, once that passes I'll merge the proto PR, and then update this PR and then merge it. |
Use a checked-out MAVLink channel for test inject packing, and define MavlinkChannels::Instance() in the .cpp so shared builds share one allocator.
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@julianoes , I tried to fix the CI but I can't get it to run. |
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Implements external control of MAVSDK heartbeat emission, per the API added in mavlink/MAVSDK-Proto#415.
When enabled, this disables MAVSDK's internally generated HEARTBEAT sending and drives emission from the client via a runtime-configurable deadman timeout. The client refreshes within the timeout to keep heartbeats flowing; if it crashes, disconnects, or stops servicing the path, MAVSDK stops sending, so PX4 sees the GCS/companion component go offline and triggers the configured lost-link failsafe (e.g. RTL). MAVSDK continues to own heartbeat content (sysid, compid, mav_type, etc.); the client only controls whether emission continues. Default behavior is unchanged.
Includes the proto submodule bump to the merged commit, regenerated mavsdk_server code, and the core implementation with tests.
Depends on mavlink/MAVSDK-Proto#415 (merge first).
Closes #2895
Contributed by Tyler Payne on behalf of Censys Technologies, Inc.