[WIP] manual_control selector hacks

src/modules/manual_control/ManualControl.hpp

@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/hysteresis/hysteresis.h>
+#include <lib/perf/perf_counter.h>
+#include <uORB/topics/manual_control_input.h>
+#include <uORB/topics/manual_control_setpoint.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+
+using namespace time_literals;
+
+namespace manual_control
+{
+
+class ManualControl : public ModuleBase<ManualControl>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	ManualControl();
+	~ManualControl() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+	int print_status() override;
+
+private:
+	static constexpr int MAX_MANUAL_INPUT_COUNT = 3;
+
+
+	enum OverrideBits {
+		OVERRIDE_AUTO_MODE_BIT       = (1 << 0),
+		OVERRIDE_OFFBOARD_MODE_BIT   = (1 << 1),
+		OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
+	};
+
+	void Run() override;
+
+	uORB::Publication<manual_control_setpoint_s> _manual_control_setpoint_pub{ORB_ID(manual_control_setpoint)};
+
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
+	uORB::SubscriptionCallbackWorkItem _manual_control_input_subs[MAX_MANUAL_INPUT_COUNT] {
+		{this, ORB_ID(manual_control_input), 0},
+		{this, ORB_ID(manual_control_input), 1},
+		{this, ORB_ID(manual_control_input), 2},
+	};
+
+	manual_control_input_s _manual_control_input[MAX_MANUAL_INPUT_COUNT] {};
+
+	bool _available[MAX_MANUAL_INPUT_COUNT] {};
+
+	int8_t _selected_manual_input{-1};
+
+	systemlib::Hysteresis _stick_arm_hysteresis{false};
+	systemlib::Hysteresis _stick_disarm_hysteresis{false};
+
+	perf_counter_t	_loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
+	perf_counter_t	_loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::COM_RC_IN_MODE>) _param_com_rc_in_mode,
+		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t,
+		(ParamInt<px4::params::COM_RC_OVERRIDE>) _param_rc_override,
+		(ParamFloat<px4::params::COM_RC_STICK_OV>) _param_com_rc_stick_ov,
+		(ParamInt<px4::params::COM_RC_ARM_HYST>) _param_rc_arm_hyst
+	)
+};
+}; // namespace manual_control