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mavlink: mission manager moved to separate class and reworked

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This commit is contained in:
Anton Babushkin
2014-06-14 23:57:29 +02:00
parent ffd9ac7e08
commit 5be741607c
14 changed files with 1167 additions and 1016 deletions
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src/modules/commander/commander.cpp
+18 -7
View File
@@ -715,17 +715,27 @@ int commander_thread_main(int argc, char *argv[])
struct home_position_s home;
memset(&home, 0, sizeof(home));
/* init mission state */
/* init mission state, do it here to allow navigator to use stored mission even if mavlink failed to start */
orb_advert_t mission_pub = -1;
mission_s mission;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
mavlink_log_info(mavlink_fd, "[cmd] dataman ID: %i, count: %u, current: %i",
mission.dataman_id, mission.count, mission.current_index);
orb_advert_t mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
close(mission_pub);
warnx("loaded mission state: dataman_id=%d, count=%u, current=%d", mission.dataman_id, mission.count, mission.current_seq);
mavlink_log_info(mavlink_fd, "[cmd] dataman_id=%d, count=%u, current=%d",
mission.dataman_id, mission.count, mission.current_seq);
} else {
warnx("reading mission state failed");
mavlink_log_info(mavlink_fd, "[cmd] reading mission state failed");
/* initialize mission state in dataman */
mission.dataman_id = 0;
mission.count = 0;
mission.current_seq = 0;
dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
}
mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
orb_publish(ORB_ID(offboard_mission), mission_pub, &mission);
}
mavlink_log_info(mavlink_fd, "[cmd] started");
@@ -1310,7 +1320,7 @@ int commander_thread_main(int argc, char *argv[])
status.rc_signal_lost = true;
status_changed = true;
if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.mission_finished)) {
if (!(status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION && !mission_result.finished)) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
@@ -1327,7 +1337,7 @@ int commander_thread_main(int argc, char *argv[])
/* hack to detect if we finished a mission after we lost RC, so that we can trigger RTL now */
if (status.rc_signal_lost && status.set_nav_state == NAVIGATION_STATE_AUTO_MISSION &&
mission_result.mission_finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
mission_result.finished && status.failsafe_state != FAILSAFE_STATE_RC_LOSS) {
/* if we have a global position, we can switch to RTL, if not, we can try to land */
if (status.condition_global_position_valid) {
status.failsafe_state = FAILSAFE_STATE_RC_LOSS;
@@ -1488,6 +1498,7 @@ int commander_thread_main(int argc, char *argv[])
close(diff_pres_sub);
close(param_changed_sub);
close(battery_sub);
close(mission_pub);
thread_running = false;
src/modules/mavlink/mavlink_main.cpp
+55 -711
View File
@@ -102,6 +102,8 @@ static struct file_operations fops;
*/
extern "C" __EXPORT int mavlink_main(int argc, char *argv[]);
extern mavlink_system_t mavlink_system;
static uint64_t last_write_success_times[6] = {0};
static uint64_t last_write_try_times[6] = {0};
@@ -200,9 +202,6 @@ mavlink_send_uart_bytes(mavlink_channel_t channel, const uint8_t *ch, int length
last_write_success_times[(unsigned)channel] = last_write_try_times[(unsigned)channel];
}
}
}
static void usage(void);
@@ -221,6 +220,7 @@ Mavlink::Mavlink() :
_main_loop_delay(1000),
_subscriptions(nullptr),
_streams(nullptr),
_mission_result_sub(-1),
_mission_pub(-1),
_mode(MAVLINK_MODE_NORMAL),
_total_counter(0),
@@ -238,12 +238,11 @@ Mavlink::Mavlink() :
_param_component_id(0),
_param_system_type(0),
_param_use_hil_gps(0),
_mission_manager(nullptr),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "mavlink"))
{
_wpm = &_wpm_s;
fops.ioctl = (int (*)(file *, int, long unsigned int))&mavlink_dev_ioctl;
_instance_id = Mavlink::instance_count();
@@ -421,7 +420,7 @@ Mavlink::instance_exists(const char *device_name, Mavlink *self)
}
void
Mavlink::forward_message(mavlink_message_t *msg, Mavlink *self)
Mavlink::forward_message(const mavlink_message_t *msg, Mavlink *self)
{
Mavlink *inst;
@@ -497,7 +496,6 @@ Mavlink::mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
void Mavlink::mavlink_update_system(void)
{
if (!_param_initialized) {
_param_system_id = param_find("MAV_SYS_ID");
_param_component_id = param_find("MAV_COMP_ID");
@@ -701,9 +699,32 @@ Mavlink::set_hil_enabled(bool hil_enabled)
return ret;
}
extern mavlink_system_t mavlink_system;
void
Mavlink::send_message(const mavlink_message_t *msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
int Mavlink::mavlink_pm_queued_send()
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
mavlink_send_uart_bytes(_channel, buf, len);
}
void
Mavlink::handle_message(const mavlink_message_t *msg)
{
/* handle packet with mission manager */
_mission_manager->handle_message(msg);
/* handle packet with parameter component */
mavlink_pm_message_handler(_channel, msg);
if (get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(msg, this);
}
}
int
Mavlink::mavlink_pm_queued_send()
{
if (_mavlink_param_queue_index < param_count()) {
mavlink_pm_send_param(param_for_index(_mavlink_param_queue_index));
@@ -780,7 +801,7 @@ int Mavlink::mavlink_pm_send_param(param_t param)
mavlink_type,
param_count(),
param_get_index(param));
mavlink_missionlib_send_message(&tx_msg);
send_message(&tx_msg);
return OK;
}
@@ -794,7 +815,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
(req.target_component == mavlink_system.compid || req.target_component == MAV_COMP_ID_ALL)) {
/* Start sending parameters */
mavlink_pm_start_queued_send();
mavlink_missionlib_send_gcs_string("[mavlink pm] sending list");
send_statustext("[mavlink pm] sending list");
}
} break;
@@ -818,7 +839,7 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
if (param == PARAM_INVALID) {
char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN];
sprintf(buf, "[pm] unknown: %s", name);
mavlink_missionlib_send_gcs_string(buf);
send_statustext(buf);
} else {
/* set and send parameter */
@@ -854,677 +875,18 @@ void Mavlink::mavlink_pm_message_handler(const mavlink_channel_t chan, const mav
}
}
void Mavlink::publish_mission()
int
Mavlink::send_statustext(const char *string)
{
/* Initialize mission publication if necessary */
if (_mission_pub < 0) {
_mission_pub = orb_advertise(ORB_ID(offboard_mission), &_mission);
} else {
orb_publish(ORB_ID(offboard_mission), _mission_pub, &_mission);
}
return send_statustext(MAV_SEVERITY_INFO, string);
}
int Mavlink::map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return OK;
}
int Mavlink::map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state)
{
/* get offboard_mission topic */
int mission_sub = orb_subscribe(ORB_ID(offboard_mission));
if (orb_copy(ORB_ID(offboard_mission), mission_sub, &_mission)) {
/* error getting topic, init to safe values */
_mission.dataman_id = 0;
_mission.count = 0;
_mission.current_index = -1;
}
close(mission_sub);
/* init WPM state */
state->size = _mission.count;
state->max_size = MAVLINK_WPM_MAX_WP_COUNT;
state->dataman_id = _mission.dataman_id;
state->current_state = MAVLINK_WPM_STATE_IDLE;
state->current_partner_sysid = 0;
state->current_partner_compid = 0;
state->current_dataman_id = 0;
state->timestamp_lastaction = 0;
state->timestamp_last_send_setpoint = 0;
state->timestamp_last_send_request = 0;
state->action_timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT;
state->retry_timeout = MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT;
warnx("wpm init: dataman_id=%d, count=%u, current=%d", state->dataman_id, state->size, _mission.current_index);
}
/*
* @brief Sends an waypoint ack message
*/
void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
}
/*
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq)
{
if (seq < _wpm->size) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
} else if (seq == 0 && _wpm->size == 0) {
/* don't broadcast if no WPs */
} else {
if (_verbose) { warnx("WPM: Send WAYPOINT_CURRENT ERROR: seq %u out of bounds", seq); }
mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds");
}
}
void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = _wpm->size;
mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("WPM: Send WAYPOINT_COUNT %u to ID %u", wpc.count, wpc.target_system); }
}
void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
map_mission_item_to_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_mission_result.index_current_mission == seq) ? 1 : 0;
mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("WPM: Send WAYPOINT seq %u to ID %u", wp.seq, wp.target_system); }
} else {
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD");
if (_verbose) { warnx("WPM: Send WAYPOINT ERROR: could not read seq %u from dataman ID %i", seq, _wpm->dataman_id); }
}
}
void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < _wpm->max_size) {
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpr);
mavlink_missionlib_send_message(&msg);
_wpm->timestamp_last_send_request = hrt_absolute_time();
if (_verbose) { warnx("WPM: Send WAYPOINT_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
} else {
mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity");
if (_verbose) { warnx("WPM: Send WAYPINT_REQUEST ERROR: seq %u exceeds list capacity", seq); }
}
}
/*
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached);
mavlink_missionlib_send_message(&msg);
if (_verbose) { warnx("WPM: Send WAYPOINT_REACHED seq %u", wp_reached.seq); }
}
void Mavlink::mavlink_waypoint_eventloop(uint64_t now)
{
/* check for timed-out operations */
if (now - _wpm->timestamp_lastaction > _wpm->action_timeout && _wpm->current_state != MAVLINK_WPM_STATE_IDLE) {
mavlink_missionlib_send_gcs_string("Operation timeout");
if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); }
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
_wpm->current_partner_sysid = 0;
_wpm->current_partner_compid = 0;
} else if (now - _wpm->timestamp_last_send_request > _wpm->retry_timeout && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
/* try to get WP again after short timeout */
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg)
{
uint64_t now = hrt_absolute_time();
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK: {
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (_wpm->current_wp_id == _wpm->size - 1) {
if (_verbose) { warnx("WPM: MISSION_ACK all items sent, switch to MAVLINK_WPM_STATE_IDLE"); }
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
_wpm->current_wp_id = 0;
}
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_SET_CURRENT: {
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.seq < _wpm->size) {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT OK (%d)", wpc.seq); }
_mission.current_index = wpc.seq;
publish_mission();
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: not in list (%d)", wpc.seq); }
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list");
}
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: {
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (_wpm->size > 0) {
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST;
_wpm->current_wp_id = 0;
_wpm->current_partner_sysid = msg->sysid;
_wpm->current_partner_compid = msg->compid;
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST nothing to send, mission is empty"); }
}
_wpm->current_count = _wpm->size;
mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count);
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy");
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_REQUEST: {
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) {
_wpm->timestamp_lastaction = now;
if (wpr.seq >= _wpm->size) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: ignored, requested seq %u was out of bounds [0 %d]", wpr.seq, _wpm->size - 1); }
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list");
break;
}
/*
* Ensure that we are in the correct state and that the first request has id 0
* and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint)
*/
if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) {
if (wpr.seq == 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: first id != 0 (%d)", wpr.seq); }
mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0");
break;
}
} else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) {
if (wpr.seq == _wpm->current_wp_id) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u (again) from ID %u, staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
} else if (wpr.seq == _wpm->current_wp_id + 1) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); }
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, should be %i or %i", wpr.seq, msg->sysid, _wpm->current_wp_id, _wpm->current_wp_id + 1); }
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected");
break;
}
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _wpm->current_state); }
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
break;
}
_wpm->current_wp_id = wpr.seq;
_wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS;
if (wpr.seq < _wpm->size) {
mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bounds", wpr.seq); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
}
} else {
mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_COUNT: {
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
_wpm->timestamp_lastaction = now;
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
if (wpc.count > NUM_MISSIONS_SUPPORTED) {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE);
break;
}
if (wpc.count == 0) {
if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
mavlink_missionlib_send_gcs_string("WP COUNT 0: CLEAR MISSION");
break;
}
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (_wpm->current_wp_id == 0) {
/* looks like our WAYPOINT_REQUEST was lost, try again */
if (_verbose) { warnx("WPM: MISSION_COUNT %u (again) from ID %u", wpc.count, msg->sysid); }
mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN");
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _wpm->current_wp_id); }
mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy");
break;
}
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _wpm->current_state); }
mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy");
break;
}
_wpm->current_state = MAVLINK_WPM_STATE_GETLIST;
_wpm->current_wp_id = 0;
_wpm->current_partner_sysid = msg->sysid;
_wpm->current_partner_compid = msg->compid;
_wpm->current_count = wpc.count;
_wpm->current_dataman_id = _wpm->dataman_id == 0 ? 1 : 0; // use inactive storage for transmission
_mission.current_index = -1;
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
break;
case MAVLINK_MSG_ID_MISSION_ITEM: {
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) {
_wpm->timestamp_lastaction = now;
/* Ensure that we are in the correct state and that the first waypoint has id 0
* and the following waypoints have the correct ids
*/
if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) {
if (wp.seq != 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq != 0 (%d)", wp.seq); }
break;
}
} else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
if (wp.seq >= _wpm->current_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq %d out of bounds [0 %d]", wp.seq, _wpm->current_count - 1); }
mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds");
break;
}
if (wp.seq != _wpm->current_wp_id) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _wpm->current_wp_id); }
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
break;
}
}
_wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS;
struct mission_item_s mission_item;
int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item);
if (ret != OK) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret);
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
dm_item_t dm_item = _wpm->current_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _wpm->current_dataman_id); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD");
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
break;
}
/* waypoint marked as current */
if (wp.current) {
_mission.current_index = wp.seq;
}
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
_wpm->current_wp_id = wp.seq + 1;
if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) {
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); }
_wpm->current_state = MAVLINK_WPM_STATE_IDLE;
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
/* update WPM state */
_wpm->dataman_id = _wpm->current_dataman_id;
_wpm->size = _wpm->current_count;
/* update mission topic */
_mission.dataman_id = _wpm->dataman_id;
_mission.count = _wpm->current_count;
publish_mission();
} else {
/* request next item */
mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id);
}
}
break;
}
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: {
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) {
/* clear only active dataman storage, don't change storage id */
dm_item_t dm_id = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
if (dm_clear(dm_id) == OK) {
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED);
/* update WPM state */
_wpm->timestamp_lastaction = now;
_wpm->size = 0;
/* update mission topic */
_mission.dataman_id = _wpm->dataman_id;
_mission.count = 0;
_mission.current_index = -1;
publish_mission();
} else {
if (_verbose) { warnx("WPM: CLEAR_ALL ERROR: can't clear dataman mission storage"); }
mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR);
}
} else {
mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy");
if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
}
}
break;
}
default: {
/* other messages might should get caught by mavlink and others */
break;
}
}
}
void
Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
uint16_t len = mavlink_msg_to_send_buffer(buf, msg);
mavlink_send_uart_bytes(_channel, buf, len);
}
int
Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
Mavlink::send_statustext(enum MAV_SEVERITY severity, const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
statustext.severity = MAV_SEVERITY_INFO;
statustext.severity = severity;
int i = 0;
@@ -1546,7 +908,7 @@ Mavlink::mavlink_missionlib_send_gcs_string(const char *string)
return OK;
} else {
return 1;
return ERROR;
}
}
@@ -1684,7 +1046,7 @@ Mavlink::message_buffer_is_empty()
bool
Mavlink::message_buffer_write(void *ptr, int size)
Mavlink::message_buffer_write(const void *ptr, int size)
{
// bytes available to write
int available = _message_buffer.read_ptr - _message_buffer.write_ptr - 1;
@@ -1751,7 +1113,7 @@ Mavlink::message_buffer_mark_read(int n)
}
void
Mavlink::pass_message(mavlink_message_t *msg)
Mavlink::pass_message(const mavlink_message_t *msg)
{
if (_passing_on) {
/* size is 8 bytes plus variable payload */
@@ -1762,6 +1124,11 @@ Mavlink::pass_message(mavlink_message_t *msg)
}
}
float
Mavlink::get_rate_mult()
{
return _datarate / 1000.0f;
}
int
Mavlink::task_main(int argc, char *argv[])
@@ -1879,8 +1246,6 @@ Mavlink::task_main(int argc, char *argv[])
break;
}
_mavlink_wpm_comp_id = MAV_COMP_ID_MISSIONPLANNER;
warnx("data rate: %d Bytes/s, port: %s, baud: %d", _datarate, _device_name, _baudrate);
/* flush stdout in case MAVLink is about to take it over */
@@ -1922,11 +1287,11 @@ Mavlink::task_main(int argc, char *argv[])
/* start the MAVLink receiver */
_receive_thread = MavlinkReceiver::receive_start(this);
/* initialize waypoint manager */
mavlink_wpm_init(_wpm);
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
int mission_result_sub = orb_subscribe(ORB_ID(mission_result));
memset(&_mission_result, 0, sizeof(_mission_result));
/* create mission manager */
_mission_manager = new MavlinkMissionManager(this);
_mission_manager->set_verbose(_verbose);
_task_running = true;
@@ -1941,7 +1306,7 @@ Mavlink::task_main(int argc, char *argv[])
MavlinkCommandsStream commands_stream(this, _channel);
/* add default streams depending on mode and intervals depending on datarate */
float rate_mult = _datarate / 1000.0f;
float rate_mult = get_rate_mult();
configure_stream("HEARTBEAT", 1.0f);
@@ -1976,7 +1341,6 @@ Mavlink::task_main(int argc, char *argv[])
/* don't send parameters on startup without request */
_mavlink_param_queue_index = param_count();
MavlinkRateLimiter slow_rate_limiter(2000000.0f / rate_mult);
MavlinkRateLimiter fast_rate_limiter(30000.0f / rate_mult);
/* set main loop delay depending on data rate to minimize CPU overhead */
@@ -2030,36 +1394,16 @@ Mavlink::task_main(int argc, char *argv[])
stream->update(t);
}
bool updated;
orb_check(mission_result_sub, &updated);
if (updated) {
orb_copy(ORB_ID(mission_result), mission_result_sub, &_mission_result);
if (_verbose) { warnx("WPM: got mission result, new current: %d", _mission_result.index_current_mission); }
if (_mission_result.mission_reached) {
mavlink_wpm_send_waypoint_reached((uint16_t)_mission_result.mission_index_reached);
}
mavlink_wpm_send_waypoint_current((uint16_t)_mission_result.index_current_mission);
} else {
if (slow_rate_limiter.check(t)) {
mavlink_wpm_send_waypoint_current((uint16_t)_mission_result.index_current_mission);
}
}
if (fast_rate_limiter.check(t)) {
mavlink_pm_queued_send();
mavlink_waypoint_eventloop(hrt_absolute_time());
_mission_manager->eventloop();
if (!mavlink_logbuffer_is_empty(&_logbuffer)) {
struct mavlink_logmessage msg;
int lb_ret = mavlink_logbuffer_read(&_logbuffer, &msg);
if (lb_ret == OK) {
mavlink_missionlib_send_gcs_string(msg.text);
send_statustext(msg.text);
}
}
}
@@ -2093,11 +1437,11 @@ Mavlink::task_main(int argc, char *argv[])
}
}
perf_end(_loop_perf);
}
delete _mission_manager;
delete _subscribe_to_stream;
_subscribe_to_stream = nullptr;
src/modules/mavlink/mavlink_main.h
+17 -73
View File
@@ -56,51 +56,7 @@
#include "mavlink_orb_subscription.h"
#include "mavlink_stream.h"
#include "mavlink_messages.h"
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication action timeout in useconds
#define MAVLINK_WPM_RETRY_TIMEOUT_DEFAULT 500000 ///< Protocol communication retry timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size; ///< Count of waypoints in active mission
uint16_t max_size; ///< Maximal count of waypoints
int dataman_id; ///< Dataman storage ID for active mission
enum MAVLINK_WPM_STATES current_state; ///< Current waypoint manager state
int16_t current_wp_id; ///< Waypoint ID in current transmission
uint16_t current_count; ///< Waypoints count in current transmission
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
int current_dataman_id; ///< Dataman storage ID for current transmission
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint64_t timestamp_last_send_request;
uint32_t action_timeout;
uint32_t retry_timeout;
};
#include "mavlink_mission.h"
class Mavlink
@@ -143,7 +99,7 @@ public:
static bool instance_exists(const char *device_name, Mavlink *self);
static void forward_message(mavlink_message_t *msg, Mavlink *self);
static void forward_message(const mavlink_message_t *msg, Mavlink *self);
static int get_uart_fd(unsigned index);
@@ -168,10 +124,6 @@ public:
bool get_forwarding_on() { return _forwarding_on; }
/**
* Handle waypoint related messages.
*/
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
static int start_helper(int argc, char *argv[]);
@@ -192,6 +144,10 @@ public:
*/
int set_hil_enabled(bool hil_enabled);
void send_message(const mavlink_message_t *msg);
void handle_message(const mavlink_message_t *msg);
MavlinkOrbSubscription *add_orb_subscription(const orb_id_t topic);
int get_instance_id();
@@ -209,6 +165,10 @@ public:
int get_mavlink_fd() { return _mavlink_fd; }
int send_statustext(const char *string);
int send_statustext(enum MAV_SEVERITY severity, const char *string);
float get_rate_mult();
/* Functions for waiting to start transmission until message received. */
void set_has_received_messages(bool received_messages) { _received_messages = received_messages; }
@@ -238,12 +198,12 @@ private:
MavlinkOrbSubscription *_subscriptions;
MavlinkStream *_streams;
MavlinkMissionManager *_mission_manager;
orb_advert_t _mission_pub;
struct mission_s _mission;
struct mission_result_s _mission_result;
int _mission_result_sub;
MAVLINK_MODE _mode;
uint8_t _mavlink_wpm_comp_id;
mavlink_channel_t _channel;
struct mavlink_logbuffer _logbuffer;
@@ -251,10 +211,6 @@ private:
pthread_t _receive_thread;
/* Allocate storage space for waypoints */
mavlink_wpm_storage _wpm_s;
mavlink_wpm_storage *_wpm;
bool _verbose;
bool _forwarding_on;
bool _passing_on;
@@ -336,20 +292,9 @@ private:
void mavlink_update_system();
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_send_waypoint_reached(uint16_t seq);
void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq);
void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count);
void mavlink_wpm_send_waypoint_current(uint16_t seq);
void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type);
void mavlink_wpm_init(mavlink_wpm_storage *state);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
void publish_mission();
uint8_t get_system_id();
void mavlink_missionlib_send_message(mavlink_message_t *msg);
int mavlink_missionlib_send_gcs_string(const char *string);
uint8_t get_component_id();
int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
@@ -364,13 +309,13 @@ private:
int message_buffer_is_empty();
bool message_buffer_write(void *ptr, int size);
bool message_buffer_write(const void *ptr, int size);
int message_buffer_get_ptr(void **ptr, bool *is_part);
void message_buffer_mark_read(int n);
void pass_message(mavlink_message_t *msg);
void pass_message(const mavlink_message_t *msg);
static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
@@ -378,5 +323,4 @@ private:
* Main mavlink task.
*/
int task_main(int argc, char *argv[]);
};
src/modules/mavlink/mavlink_mission.cpp
+823
View File
@@ -0,0 +1,823 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file mavlink_mission.cpp
* MAVLink mission manager implementation.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#include "mavlink_mission.h"
#include "mavlink_main.h"
#include <math.h>
#include <lib/geo/geo.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
_mavlink(mavlink),
_channel(mavlink->get_channel()),
_comp_id(MAV_COMP_ID_MISSIONPLANNER),
_state(MAVLINK_WPM_STATE_IDLE),
_time_last_recv(0),
_time_last_sent(0),
_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
_count(0),
_current_seq(0),
_dataman_id(0),
_transfer_dataman_id(0),
_transfer_count(0),
_transfer_seq(0),
_transfer_current_seq(0),
_transfer_partner_sysid(0),
_transfer_partner_compid(0),
_offboard_mission_sub(-1),
_mission_result_sub(-1),
_offboard_mission_pub(-1),
_slow_rate_limiter(2000000.0f / mavlink->get_rate_mult()),
_verbose(false)
{
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
init_offboard_mission();
}
MavlinkMissionManager::~MavlinkMissionManager()
{
close(_offboard_mission_pub);
close(_mission_result_sub);
}
void
MavlinkMissionManager::init_offboard_mission()
{
mission_s mission_state;
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s)) == sizeof(mission_s)) {
_dataman_id = mission_state.dataman_id;
_count = mission_state.count;
_current_seq = mission_state.current_seq;
warnx("offboard mission init: dataman_id=%d, count=%u, current_seq=%d", _dataman_id, _count, _current_seq);
} else {
_dataman_id = 0;
_count = 0;
_current_seq = 0;
warnx("offboard mission init: ERROR, reading mission state failed");
}
}
/**
* Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
*/
int
MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
{
struct mission_s mission;
mission.dataman_id = dataman_id;
mission.count = count;
mission.current_seq = seq;
/* update mission state in dataman */
/* lock MISSION_STATE item */
dm_lock(DM_KEY_MISSION_STATE);
int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
/* unlock MISSION_STATE item */
dm_unlock(DM_KEY_MISSION_STATE);
if (res == sizeof(mission_s)) {
/* update active mission state */
_dataman_id = dataman_id;
_count = count;
_current_seq = seq;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub < 0) {
_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
}
return OK;
} else {
warnx("ERROR: can't save mission state");
_mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state");
return ERROR;
}
}
void
MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
{
mavlink_message_t msg;
mavlink_mission_ack_t wpa;
wpa.target_system = sysid;
wpa.target_component = compid;
wpa.type = type;
mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpa);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); }
}
void
MavlinkMissionManager::send_mission_current(uint16_t seq)
{
if (seq < _count) {
mavlink_message_t msg;
mavlink_mission_current_t wpc;
wpc.seq = seq;
mavlink_msg_mission_current_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
_mavlink->send_message(&msg);
} else if (seq == 0 && _count == 0) {
/* don't broadcast if no WPs */
} else {
if (_verbose) { warnx("WPM: Send MISSION_CURRENT ERROR: seq %u out of bounds", seq); }
_mavlink->send_statustext("ERROR: wp index out of bounds");
}
}
void
MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count)
{
_time_last_sent = hrt_absolute_time();
mavlink_message_t msg;
mavlink_mission_count_t wpc;
wpc.target_system = sysid;
wpc.target_component = compid;
wpc.count = _count;
mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpc);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_COUNT %u to ID %u", wpc.count, wpc.target_system); }
}
void
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
{
dm_item_t dm_item = _dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
struct mission_item_s mission_item;
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
_time_last_sent = hrt_absolute_time();
/* create mission_item_s from mavlink_mission_item_t */
mavlink_mission_item_t wp;
format_mavlink_mission_item(&mission_item, &wp);
mavlink_message_t msg;
wp.target_system = sysid;
wp.target_component = compid;
wp.seq = seq;
wp.current = (_current_seq == seq) ? 1 : 0;
mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ITEM seq %u to ID %u", wp.seq, wp.target_system); }
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext("#audio: Unable to read from micro SD");
if (_verbose) { warnx("WPM: Send MISSION_ITEM ERROR: could not read seq %u from dataman ID %i", seq, _dataman_id); }
}
}
void
MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
{
if (seq < _max_count) {
_time_last_sent = hrt_absolute_time();
mavlink_message_t msg;
mavlink_mission_request_t wpr;
wpr.target_system = sysid;
wpr.target_component = compid;
wpr.seq = seq;
mavlink_msg_mission_request_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wpr);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); }
} else {
_mavlink->send_statustext("ERROR: Waypoint index exceeds list capacity");
if (_verbose) { warnx("WPM: Send MISSION_REQUEST ERROR: seq %u exceeds list capacity", seq); }
}
}
void
MavlinkMissionManager::send_mission_item_reached(uint16_t seq)
{
mavlink_message_t msg;
mavlink_mission_item_reached_t wp_reached;
wp_reached.seq = seq;
mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _comp_id, _channel, &msg, &wp_reached);
_mavlink->send_message(&msg);
if (_verbose) { warnx("WPM: Send MISSION_ITEM_REACHED reached_seq %u", wp_reached.seq); }
}
void
MavlinkMissionManager::eventloop()
{
hrt_abstime now = hrt_absolute_time();
bool updated = false;
orb_check(_mission_result_sub, &updated);
if (updated) {
mission_result_s mission_result;
orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
_current_seq = mission_result.seq_current;
if (_verbose) { warnx("WPM: got mission result, new current_seq: %d", _current_seq); }
if (mission_result.reached) {
send_mission_item_reached((uint16_t)mission_result.seq_reached);
}
send_mission_current(_current_seq);
} else {
if (_slow_rate_limiter.check(now)) {
send_mission_current(_current_seq);
}
}
/* check for timed-out operations */
if (_state != MAVLINK_WPM_STATE_IDLE && hrt_elapsed_time(&_time_last_recv) > _action_timeout) {
_mavlink->send_statustext("Operation timeout");
if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _state); }
_state = MAVLINK_WPM_STATE_IDLE;
} else if (_state == MAVLINK_WPM_STATE_GETLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
/* try to request item again after timeout */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
} else if (_state == MAVLINK_WPM_STATE_SENDLIST && hrt_elapsed_time(&_time_last_sent) > _retry_timeout) {
if (_transfer_seq == 0) {
/* try to send items count again after timeout */
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _transfer_count);
} else {
/* try to send item again after timeout */
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq - 1);
}
}
}
void
MavlinkMissionManager::handle_message(const mavlink_message_t *msg)
{
switch (msg->msgid) {
case MAVLINK_MSG_ID_MISSION_ACK:
handle_mission_ack(msg);
break;
case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
handle_mission_set_current(msg);
break;
case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
handle_mission_request_list(msg);
break;
case MAVLINK_MSG_ID_MISSION_REQUEST:
handle_mission_request(msg);
break;
case MAVLINK_MSG_ID_MISSION_COUNT:
handle_mission_count(msg);
break;
case MAVLINK_MSG_ID_MISSION_ITEM:
handle_mission_item(msg);
break;
case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
handle_mission_clear_all(msg);
break;
default:
break;
}
}
void
MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
{
mavlink_mission_ack_t wpa;
mavlink_msg_mission_ack_decode(msg, &wpa);
if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) {
if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
if (_transfer_seq == _count) {
if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
} else {
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: not all items sent, switch to state IDLE anyway"); }
}
_state = MAVLINK_WPM_STATE_IDLE;
}
} else {
_mavlink->send_statustext("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); }
}
}
}
void
MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
{
mavlink_mission_set_current_t wpc;
mavlink_msg_mission_set_current_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if (wpc.seq < _count) {
if (update_active_mission(_dataman_id, _count, wpc.seq) == OK) {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR", wpc.seq); }
}
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
_mavlink->send_statustext("IGN WP CURR CMD: Not in list");
}
} else {
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); }
_mavlink->send_statustext("IGN WP CURR CMD: Busy");
}
}
}
void
MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
{
mavlink_mission_request_list_t wprl;
mavlink_msg_mission_request_list_decode(msg, &wprl);
if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
if (_count > 0) {
_state = MAVLINK_WPM_STATE_SENDLIST;
_transfer_seq = 0;
_transfer_count = _count;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
}
send_mission_count(msg->sysid, msg->compid, _count);
} else {
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
_mavlink->send_statustext("IGN REQUEST LIST: Busy");
}
}
}
void
MavlinkMissionManager::handle_mission_request(const mavlink_message_t *msg)
{
mavlink_mission_request_t wpr;
mavlink_msg_mission_request_decode(msg, &wpr);
if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) {
if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
_time_last_recv = hrt_absolute_time();
/* _transfer_seq contains sequence of expected request */
if (wpr.seq == _transfer_seq && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u", wpr.seq, msg->sysid); }
_transfer_seq++;
} else if (wpr.seq == _transfer_seq - 1 && wpr.seq >= 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u (again)", wpr.seq, msg->sysid); }
} else {
if (_transfer_seq > 0 && _transfer_seq < _transfer_count) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i or %i", wpr.seq, msg->sysid, _transfer_seq - 1, _transfer_seq); }
} else if (_transfer_seq <= 0) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq); }
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, must be %i", wpr.seq, msg->sysid, _transfer_seq - 1); }
}
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext("REJ. WP CMD: Req. WP was unexpected");
return;
}
/* double check bounds in case of items count changed */
if (wpr.seq >= 0 && wpr.seq < _count) {
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bound [0, %u]", wpr.seq, msg->sysid, wpr.seq, _count - 1); }
_state = MAVLINK_WPM_STATE_IDLE;
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext("REJ. WP CMD: Req. WP was unexpected");
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: no transfer"); }
_mavlink->send_statustext("IGN MISSION_ITEM_REQUEST: No transfer");
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _state); }
_mavlink->send_statustext("REJ. WP CMD: Busy");
}
} else {
_mavlink->send_statustext("REJ. WP CMD: partner id mismatch");
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); }
}
}
}
void
MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
{
mavlink_mission_count_t wpc;
mavlink_msg_mission_count_decode(msg, &wpc);
if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
_time_last_recv = hrt_absolute_time();
if (wpc.count > _max_count) {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
return;
}
if (wpc.count == 0) {
if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
/* alternate dataman ID anyway to let navigator know about changes */
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
_mavlink->send_statustext("WP COUNT 0: CLEAR MISSION");
// TODO send ACK?
return;
}
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); }
_state = MAVLINK_WPM_STATE_GETLIST;
_transfer_seq = 0;
_transfer_partner_sysid = msg->sysid;
_transfer_partner_compid = msg->compid;
_transfer_count = wpc.count;
_transfer_dataman_id = _dataman_id == 0 ? 1 : 0; // use inactive storage for transmission
_transfer_current_seq = -1;
} else if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (_transfer_seq == 0) {
/* looks like our MISSION_REQUEST was lost, try again */
if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u (again)", wpc.count, msg->sysid); }
_mavlink->send_statustext("WP CMD OK AGAIN");
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _transfer_seq); }
_mavlink->send_statustext("REJ. WP CMD: Busy");
return;
}
} else {
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _state); }
_mavlink->send_statustext("IGN MISSION_COUNT: Busy");
return;
}
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
{
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (wp.target_system == mavlink_system.sysid && wp.target_component == _comp_id) {
if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (wp.seq != _transfer_seq) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
/* don't send request here, it will be performed in eventloop after timeout */
return;
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
_mavlink->send_statustext("IGN MISSION_ITEM: No transfer");
return;
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
_mavlink->send_statustext("IGN MISSION_ITEM: Busy");
return;
}
struct mission_item_s mission_item;
int ret = parse_mavlink_mission_item(&wp, &mission_item);
if (ret != OK) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
_state = MAVLINK_WPM_STATE_IDLE;
return;
}
dm_item_t dm_item = _transfer_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1;
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext("#audio: Unable to write on micro SD");
_state = MAVLINK_WPM_STATE_IDLE;
return;
}
/* waypoint marked as current */
if (wp.current) {
_transfer_current_seq = wp.seq;
}
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
_transfer_seq = wp.seq + 1;
if (_transfer_seq == _transfer_count) {
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
} else {
/* request next item */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
}
void
MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
{
mavlink_mission_clear_all_t wpca;
mavlink_msg_mission_clear_all_decode(msg, &wpca);
if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) {
if (_state == MAVLINK_WPM_STATE_IDLE) {
/* don't touch mission items storage itself, but only items count in mission state */
_time_last_recv = hrt_absolute_time();
if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == OK) {
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
} else {
_mavlink->send_statustext("IGN WP CLEAR CMD: Busy");
if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); }
}
}
}
int
MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item)
{
/* only support global waypoints for now */
switch (mavlink_mission_item->frame) {
case MAV_FRAME_GLOBAL:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = false;
break;
case MAV_FRAME_GLOBAL_RELATIVE_ALT:
mission_item->lat = (double)mavlink_mission_item->x;
mission_item->lon = (double)mavlink_mission_item->y;
mission_item->altitude = mavlink_mission_item->z;
mission_item->altitude_is_relative = true;
break;
case MAV_FRAME_LOCAL_NED:
case MAV_FRAME_LOCAL_ENU:
return MAV_MISSION_UNSUPPORTED_FRAME;
case MAV_FRAME_MISSION:
default:
return MAV_MISSION_ERROR;
}
switch (mavlink_mission_item->command) {
case MAV_CMD_NAV_TAKEOFF:
mission_item->pitch_min = mavlink_mission_item->param1;
break;
case MAV_CMD_DO_JUMP:
mission_item->do_jump_mission_index = mavlink_mission_item->param1;
mission_item->do_jump_repeat_count = mavlink_mission_item->param2;
break;
default:
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->time_inside = mavlink_mission_item->param1;
break;
}
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->loiter_radius = fabsf(mavlink_mission_item->param3);
mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->autocontinue = mavlink_mission_item->autocontinue;
// mission_item->index = mavlink_mission_item->seq;
mission_item->origin = ORIGIN_MAVLINK;
/* reset DO_JUMP count */
mission_item->do_jump_current_count = 0;
return MAV_MISSION_ACCEPTED;
}
int
MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item)
{
if (mission_item->altitude_is_relative) {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL;
} else {
mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
}
switch (mission_item->nav_cmd) {
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
break;
case NAV_CMD_DO_JUMP:
mavlink_mission_item->param1 = mission_item->do_jump_mission_index;
mavlink_mission_item->param2 = mission_item->do_jump_repeat_count;
break;
default:
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param1 = mission_item->time_inside;
break;
}
mavlink_mission_item->x = (float)mission_item->lat;
mavlink_mission_item->y = (float)mission_item->lon;
mavlink_mission_item->z = mission_item->altitude;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param3 = mission_item->loiter_radius * (float)mission_item->loiter_direction;
mavlink_mission_item->command = mission_item->nav_cmd;
mavlink_mission_item->autocontinue = mission_item->autocontinue;
// mavlink_mission_item->seq = mission_item->index;
return OK;
}
src/modules/mavlink/mavlink_mission.h
+176
View File
@@ -0,0 +1,176 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file mavlink_mission.h
* MAVLink mission manager interface definition.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
*/
#pragma once
#include "mavlink_bridge_header.h"
#include "mavlink_rate_limiter.h"
#include <uORB/uORB.h>
// FIXME XXX - TO BE MOVED TO XML
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication action timeout in useconds
#define MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT 500000 ///< Protocol communication retry timeout in useconds
class Mavlink;
class MavlinkMissionManager {
public:
MavlinkMissionManager(Mavlink *parent);
~MavlinkMissionManager();
void init_offboard_mission();
int update_active_mission(int dataman_id, unsigned count, int seq);
void send_message(mavlink_message_t *msg);
/**
* @brief Sends an waypoint ack message
*/
void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type);
/**
* @brief Broadcasts the new target waypoint and directs the MAV to fly there
*
* This function broadcasts its new active waypoint sequence number and
* sends a message to the controller, advising it to fly to the coordinates
* of the waypoint with a given orientation
*
* @param seq The waypoint sequence number the MAV should fly to.
*/
void send_mission_current(uint16_t seq);
void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count);
void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq);
void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq);
/**
* @brief emits a message that a waypoint reached
*
* This function broadcasts a message that a waypoint is reached.
*
* @param seq The waypoint sequence number the MAV has reached.
*/
void send_mission_item_reached(uint16_t seq);
void eventloop();
void handle_message(const mavlink_message_t *msg);
void handle_mission_ack(const mavlink_message_t *msg);
void handle_mission_set_current(const mavlink_message_t *msg);
void handle_mission_request_list(const mavlink_message_t *msg);
void handle_mission_request(const mavlink_message_t *msg);
void handle_mission_count(const mavlink_message_t *msg);
void handle_mission_item(const mavlink_message_t *msg);
void handle_mission_clear_all(const mavlink_message_t *msg);
/**
* Parse mavlink MISSION_ITEM message to get mission_item_s.
*/
int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
/**
* Format mission_item_s as mavlink MISSION_ITEM message.
*/
int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
void set_verbose(bool v) { _verbose = v; }
private:
Mavlink* _mavlink;
mavlink_channel_t _channel;
uint8_t _comp_id;
enum MAVLINK_WPM_STATES _state; ///< Current state
uint64_t _time_last_recv;
uint64_t _time_last_sent;
uint32_t _action_timeout;
uint32_t _retry_timeout;
unsigned _max_count; ///< Maximal count of mission items
int _dataman_id; ///< Dataman storage ID for active mission
unsigned _count; ///< Count of items in active mission
int _current_seq; ///< Current item sequence in active mission
int _transfer_dataman_id; ///< Dataman storage ID for current transmission
unsigned _transfer_count; ///< Items count in current transmission
int _transfer_seq; ///< Item sequence in current transmission
int _transfer_current_seq; ///< Current item ID for current transmission (-1 means not initialized)
uint8_t _transfer_partner_sysid; ///< Partener SysID for current transmission
uint8_t _transfer_partner_compid; ///< Partner ComponentID for current transmission
int _offboard_mission_sub;
int _mission_result_sub;
orb_advert_t _offboard_mission_pub;
MavlinkRateLimiter _slow_rate_limiter;
bool _verbose;
};
src/modules/mavlink/mavlink_receiver.cpp
+2 -11
View File
@@ -79,7 +79,6 @@ __BEGIN_DECLS
#include "mavlink_bridge_header.h"
#include "mavlink_receiver.h"
#include "mavlink_main.h"
#include "util.h"
__END_DECLS
@@ -902,16 +901,8 @@ MavlinkReceiver::receive_thread(void *arg)
/* handle generic messages and commands */
handle_message(&msg);
/* handle packet with waypoint component */
_mavlink->mavlink_wpm_message_handler(&msg);
/* handle packet with parameter component */
_mavlink->mavlink_pm_message_handler(_mavlink->get_channel(), &msg);
if (_mavlink->get_forwarding_on()) {
/* forward any messages to other mavlink instances */
Mavlink::forward_message(&msg, _mavlink);
}
/* handle packet with parent object */
_mavlink->handle_message(&msg);
}
}
}
src/modules/mavlink/mavlink_receiver.h
-2
View File
@@ -100,8 +100,6 @@ public:
static void *start_helper(void *context);
private:
perf_counter_t _loop_perf; /**< loop performance counter */
Mavlink *_mavlink;
void handle_message(mavlink_message_t *msg);
src/modules/mavlink/module.mk
+1
View File
@@ -39,6 +39,7 @@ MODULE_COMMAND = mavlink
SRCS += mavlink_main.cpp \
mavlink.c \
mavlink_receiver.cpp \
mavlink_mission.cpp \
mavlink_orb_subscription.cpp \
mavlink_messages.cpp \
mavlink_stream.cpp \
src/modules/mavlink/util.h
-53
View File
@@ -1,53 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 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.
*
****************************************************************************/
/**
* @file util.h
* Utility and helper functions and data.
*/
#pragma once
/** MAVLink communications channel */
extern uint8_t chan;
/** Shutdown marker */
extern volatile bool thread_should_exit;
/** Waypoint storage */
extern mavlink_wpm_storage *wpm;
/**
* Translate the custom state into standard mavlink modes and state.
*/
extern void get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);
src/modules/mavlink/waypoints.h
-111
View File
@@ -1,111 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2009-2014 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.
*
****************************************************************************/
/**
* @file waypoints.h
* MAVLink waypoint protocol definition (BSD-relicensed).
*
* @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*/
#ifndef WAYPOINTS_H_
#define WAYPOINTS_H_
/* This assumes you have the mavlink headers on your include path
or in the same folder as this source file */
#include <v1.0/mavlink_types.h>
#include "mavlink_bridge_header.h"
#include <stdbool.h>
#include <uORB/topics/mission.h>
enum MAVLINK_WPM_STATES {
MAVLINK_WPM_STATE_IDLE = 0,
MAVLINK_WPM_STATE_SENDLIST,
MAVLINK_WPM_STATE_SENDLIST_SENDWPS,
MAVLINK_WPM_STATE_GETLIST,
MAVLINK_WPM_STATE_GETLIST_GETWPS,
MAVLINK_WPM_STATE_GETLIST_GOTALL,
MAVLINK_WPM_STATE_ENUM_END
};
enum MAVLINK_WPM_CODES {
MAVLINK_WPM_CODE_OK = 0,
MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED,
MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS,
MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED,
MAVLINK_WPM_CODE_ENUM_END
};
#define MAVLINK_WPM_MAX_WP_COUNT 255
#define MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT 5000000 ///< Protocol communication timeout in useconds
#define MAVLINK_WPM_SETPOINT_DELAY_DEFAULT 1000000 ///< When to send a new setpoint
#define MAVLINK_WPM_PROTOCOL_DELAY_DEFAULT 40000
struct mavlink_wpm_storage {
uint16_t size;
uint16_t max_size;
enum MAVLINK_WPM_STATES current_state;
int16_t current_wp_id; ///< Waypoint in current transmission
uint16_t current_count;
uint8_t current_partner_sysid;
uint8_t current_partner_compid;
uint64_t timestamp_lastaction;
uint64_t timestamp_last_send_setpoint;
uint32_t action_timeout;
int current_dataman_id;
};
typedef struct mavlink_wpm_storage mavlink_wpm_storage;
int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item);
int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item);
void mavlink_wpm_init(mavlink_wpm_storage *state);
void mavlink_waypoint_eventloop(uint64_t now);
void mavlink_wpm_message_handler(const mavlink_message_t *msg);
extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command);
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
#endif /* WAYPOINTS_H_ */
src/modules/navigator/mission.cpp
+64 -43
View File
@@ -67,13 +67,11 @@ Mission::Mission(Navigator *navigator, const char *name) :
_current_offboard_mission_index(-1),
_mission_result_pub(-1),
_mission_result({0}),
_mission_type(MISSION_TYPE_NONE)
_mission_type(MISSION_TYPE_NONE),
_inited(false)
{
/* load initial params */
updateParams();
/* set initial mission items */
on_inactive();
}
Mission::~Mission()
@@ -85,16 +83,25 @@ Mission::on_inactive()
{
_first_run = true;
/* check anyway if missions have changed so that feedback to groundstation is given */
bool onboard_updated;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
if (_inited) {
/* check if missions have changed so that feedback to ground station is given */
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
}
} else {
/* read mission topics on initialization */
_inited = true;
update_onboard_mission();
update_offboard_mission();
}
}
@@ -105,13 +112,13 @@ Mission::on_active(struct position_setpoint_triplet_s *pos_sp_triplet)
bool updated = false;
/* check if anything has changed */
bool onboard_updated;
bool onboard_updated = false;
orb_check(_navigator->get_onboard_mission_sub(), &onboard_updated);
if (onboard_updated) {
update_onboard_mission();
}
bool offboard_updated;
bool offboard_updated = false;
orb_check(_navigator->get_offboard_mission_sub(), &offboard_updated);
if (offboard_updated) {
update_offboard_mission();
@@ -139,9 +146,9 @@ Mission::update_onboard_mission()
{
if (orb_copy(ORB_ID(onboard_mission), _navigator->get_onboard_mission_sub(), &_onboard_mission) == OK) {
/* accept the current index set by the onboard mission if it is within bounds */
if (_onboard_mission.current_index >=0
&& _onboard_mission.current_index < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_index;
if (_onboard_mission.current_seq >=0
&& _onboard_mission.current_seq < (int)_onboard_mission.count) {
_current_onboard_mission_index = _onboard_mission.current_seq;
} else {
/* if less WPs available, reset to first WP */
if (_current_onboard_mission_index >= (int)_onboard_mission.count) {
@@ -154,7 +161,7 @@ Mission::update_onboard_mission()
}
} else {
_onboard_mission.count = 0;
_onboard_mission.current_index = 0;
_onboard_mission.current_seq = 0;
_current_onboard_mission_index = 0;
}
}
@@ -163,13 +170,12 @@ void
Mission::update_offboard_mission()
{
if (orb_copy(ORB_ID(offboard_mission), _navigator->get_offboard_mission_sub(), &_offboard_mission) == OK) {
warnx("offboard mission updated: dataman_id=%d, count=%d, current_seq=%d", _offboard_mission.dataman_id, _offboard_mission.count, _offboard_mission.current_seq);
/* determine current index */
if (_offboard_mission.current_index >= 0
&& _offboard_mission.current_index < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_index;
if (_offboard_mission.current_seq >= 0 && _offboard_mission.current_seq < (int)_offboard_mission.count) {
_current_offboard_mission_index = _offboard_mission.current_seq;
} else {
/* if less WPs available, reset to first WP */
/* if less items available, reset to first item */
if (_current_offboard_mission_index >= (int)_offboard_mission.count) {
_current_offboard_mission_index = 0;
/* if not initialized, set it to 0 */
@@ -194,10 +200,12 @@ Mission::update_offboard_mission()
_navigator->get_geofence(),
_navigator->get_home_position()->alt);
} else {
warnx("offboard mission update failed");
_offboard_mission.count = 0;
_offboard_mission.current_index = 0;
_offboard_mission.current_seq = 0;
_current_offboard_mission_index = 0;
}
report_current_offboard_mission_item();
}
@@ -326,10 +334,10 @@ Mission::is_current_offboard_mission_item_set(struct position_setpoint_s *curren
void
Mission::get_next_onboard_mission_item(struct position_setpoint_s *next_pos_sp)
{
int next_temp_mission_index = _onboard_mission.current_index + 1;
int next_temp_mission_index = _onboard_mission.current_seq + 1;
/* try if there is a next onboard mission */
if (_onboard_mission.current_index >= 0 &&
if (_onboard_mission.current_seq >= 0 &&
next_temp_mission_index < (int)_onboard_mission.count) {
struct mission_item_s new_mission_item;
if (read_mission_item(DM_KEY_WAYPOINTS_ONBOARD, false, &next_temp_mission_index, &new_mission_item)) {
@@ -349,9 +357,9 @@ void
Mission::get_next_offboard_mission_item(struct position_setpoint_s *next_pos_sp)
{
/* try if there is a next offboard mission */
int next_temp_mission_index = _offboard_mission.current_index + 1;
int next_temp_mission_index = _offboard_mission.current_seq + 1;
warnx("next index: %d, count; %d", next_temp_mission_index, _offboard_mission.count);
if (_offboard_mission.current_index >= 0 &&
if (_offboard_mission.current_seq >= 0 &&
next_temp_mission_index < (int)_offboard_mission.count) {
dm_item_t dm_current;
if (_offboard_mission.dataman_id == 0) {
@@ -441,19 +449,31 @@ Mission::save_offboard_mission_state()
/* read current state */
int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));
/* check if state actually changed to save flash write cycles */
if (read_res != sizeof(mission_s) || mission_state.dataman_id != _offboard_mission.dataman_id ||
mission_state.count != _offboard_mission.count ||
mission_state.current_index != _current_offboard_mission_index) {
if (read_res == sizeof(mission_s)) {
/* data read successfully, check dataman ID and items count */
if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
/* navigator may modify only sequence, write modified state only if it changed */
if (mission_state.current_seq != _current_offboard_mission_index) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
}
}
}
} else {
/* invalid data, this must not happen and indicates error in offboard_mission publisher */
mission_state.dataman_id = _offboard_mission.dataman_id;
mission_state.count = _offboard_mission.count;
mission_state.current_index = _current_offboard_mission_index;
mission_state.current_seq = _current_offboard_mission_index;
/* write modifyed state only if changed */
warnx("ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: invalid mission state");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state, sizeof(mission_s)) != sizeof(mission_s)) {
mavlink_log_critical(_navigator->get_mavlink_fd(), "error saving mission state");
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_fd(), "ERROR: can't save mission state");
}
}
@@ -465,8 +485,8 @@ void
Mission::report_mission_item_reached()
{
if (_mission_type == MISSION_TYPE_OFFBOARD) {
_mission_result.mission_reached = true;
_mission_result.mission_index_reached = _current_offboard_mission_index;
_mission_result.reached = true;
_mission_result.seq_reached = _current_offboard_mission_index;
}
publish_mission_result();
}
@@ -474,7 +494,8 @@ Mission::report_mission_item_reached()
void
Mission::report_current_offboard_mission_item()
{
_mission_result.index_current_mission = _current_offboard_mission_index;
warnx("current offboard mission index: %d", _current_offboard_mission_index);
_mission_result.seq_current = _current_offboard_mission_index;
publish_mission_result();
save_offboard_mission_state();
@@ -483,7 +504,7 @@ Mission::report_current_offboard_mission_item()
void
Mission::report_mission_finished()
{
_mission_result.mission_finished = true;
_mission_result.finished = true;
publish_mission_result();
}
@@ -500,6 +521,6 @@ Mission::publish_mission_result()
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.mission_reached = false;
_mission_result.mission_finished = false;
_mission_result.reached = false;
_mission_result.finished = false;
}
src/modules/navigator/mission.h
+2
View File
@@ -183,6 +183,8 @@ private:
MISSION_TYPE_OFFBOARD
} _mission_type;
bool _inited;
MissionFeasibilityChecker missionFeasiblityChecker; /**< class that checks if a mission is feasible */
};
src/modules/uORB/topics/mission.h
+5 -1
View File
@@ -97,11 +97,15 @@ struct mission_item_s {
unsigned do_jump_current_count; /**< count how many times the jump has been done */
};
/**
* This topic used to notify navigator about mission changes, mission itself and new mission state
* must be stored in dataman before publication.
*/
struct mission_s
{
int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */
unsigned count; /**< count of the missions stored in the dataman */
int current_index; /**< default -1, start at the one changed latest */
int current_seq; /**< default -1, start at the one changed latest */
};
/**
src/modules/uORB/topics/mission_result.h
+4 -4
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@@ -53,10 +53,10 @@
struct mission_result_s
{
bool mission_reached; /**< true if mission has been reached */
unsigned mission_index_reached; /**< index of the mission which has been reached */
unsigned index_current_mission; /**< index of the current mission */
bool mission_finished; /**< true if mission has been completed */
unsigned seq_reached; /**< Sequence of the mission item which has been reached */
unsigned seq_current; /**< Sequence of the current mission item */
bool reached; /**< true if mission has been reached */
bool finished; /**< true if mission has been completed */
};
/**