diff --git a/src/modules/fake_ev/CMakeLists.txt b/src/modules/fake_ev/CMakeLists.txt new file mode 100644 index 0000000000..3773f5eff3 --- /dev/null +++ b/src/modules/fake_ev/CMakeLists.txt @@ -0,0 +1,45 @@ +############################################################################ +# +# Copyright (c) 2023 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. +# +############################################################################ + +px4_add_module( + MODULE modules__fake_ev + MAIN fake_ev + COMPILE_FLAGS + ${MAX_CUSTOM_OPT_LEVEL} + SRCS + fake_ev.cpp + fake_ev.hpp + DEPENDS + px4_work_queue + mathlib +) diff --git a/src/modules/fake_ev/Kconfig b/src/modules/fake_ev/Kconfig new file mode 100644 index 0000000000..1df4a0ceea --- /dev/null +++ b/src/modules/fake_ev/Kconfig @@ -0,0 +1,12 @@ +menuconfig MODULES_FAKE_EV + bool "fake_ev" + default y + ---help--- + Enable fake external vision publisher + +menuconfig USER_FAKE_EV + bool "fake_ev running as userspace module" + default y + depends on BOARD_PROTECTED && MODULES_FAKE_EV + ---help--- + Put fake_ev in userspace memory diff --git a/src/modules/fake_ev/fake_ev.cpp b/src/modules/fake_ev/fake_ev.cpp new file mode 100644 index 0000000000..4328aa5c67 --- /dev/null +++ b/src/modules/fake_ev/fake_ev.cpp @@ -0,0 +1,199 @@ +/**************************************************************************** + * + * Copyright (c) 2023 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 fake_ev.cpp + */ + +#include "fake_ev.hpp" + +#include + +FakeEV::FakeEV() : + ModuleParams(nullptr), + WorkItem(MODULE_NAME, px4::wq_configurations::lp_default) +{ + updateParams(); +} + +FakeEV::~FakeEV() +{ + perf_free(_cycle_perf); +} + +bool FakeEV::init() +{ + if (!_vehicle_gps_position_sub.registerCallback()) { + PX4_ERR("callback registration failed"); + return false; + } + + return true; +} + +void FakeEV::updateParams() +{ + ModuleParams::updateParams(); +} + +void FakeEV::Run() +{ + if (should_exit()) { + _vehicle_gps_position_sub.unregisterCallback(); + exit_and_cleanup(); + return; + } + + if (!_vehicle_gps_position_sub.updated()) { + return; + } + + perf_begin(_cycle_perf); + + sensor_gps_s gps{}; + + if (_vehicle_gps_position_sub.copy(&gps)) { + vehicle_odometry_s odom = gpsToOdom(gps); + _vehicle_visual_odometry_pub.publish(odom); + } + + // check for parameter updates + if (_parameter_update_sub.updated()) { + // clear update + parameter_update_s pupdate; + _parameter_update_sub.copy(&pupdate); + + // update parameters from storage + updateParams(); + } + + perf_end(_cycle_perf); +} + +vehicle_odometry_s FakeEV::gpsToOdom(const sensor_gps_s &gps) +{ + vehicle_odometry_s odom{vehicle_odometry_empty}; + + /* odom.timestamp_sample = gps.timestamp_sample; */ // gps timestamp_sample isn't set in SITL + odom.timestamp_sample = gps.timestamp; + + if (gps.fix_type >= 3) { + if (PX4_ISFINITE(_alt_ref)) { + const matrix::Vector2f hpos = _pos_ref.project(gps.lat / 1.0e7, gps.lon / 1.0e7); + const float vpos = (float)gps.alt * 1e-3f - _alt_ref; + matrix::Vector3f(hpos(0), hpos(1), vpos).copyTo(odom.position); + + const float hvar = std::pow(gps.eph, 2.f); + const float vvar = std::pow(gps.epv, 2.f); + matrix::Vector3f(hvar, hvar, vvar).copyTo(odom.position_variance); + + odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; + + } else { + _pos_ref.initReference(gps.lat / 1.0e7, gps.lon / 1.0e7, gps.timestamp); + _alt_ref = (float)gps.alt * 1e-3f; + } + } + + if (gps.vel_ned_valid) { + matrix::Vector3f(gps.vel_n_m_s, gps.vel_e_m_s, gps.vel_d_m_s).copyTo(odom.velocity); + + matrix::Vector3f vel_var; + vel_var.setAll(std::pow(gps.s_variance_m_s, 2.f)); + vel_var.copyTo(odom.velocity_variance); + odom.velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_NED; + } + + odom.timestamp = hrt_absolute_time(); + + return odom; +} + +int FakeEV::task_spawn(int argc, char *argv[]) +{ + FakeEV *instance = new FakeEV(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int FakeEV::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int FakeEV::print_status() +{ + perf_print_counter(_cycle_perf); + + return 0; +} + +int FakeEV::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_DESCRIPTION( + R"DESCR_STR( +### Description + +)DESCR_STR"); + + PRINT_MODULE_USAGE_NAME("fake_ev", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +extern "C" __EXPORT int fake_ev_main(int argc, char *argv[]) +{ + return FakeEV::main(argc, argv); +} diff --git a/src/modules/fake_ev/fake_ev.hpp b/src/modules/fake_ev/fake_ev.hpp new file mode 100644 index 0000000000..36a68447b7 --- /dev/null +++ b/src/modules/fake_ev/fake_ev.hpp @@ -0,0 +1,112 @@ +/**************************************************************************** + * + * Copyright (c) 2023 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 fake_ev.hpp + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class FakeEV : public ModuleBase, public ModuleParams, + public px4::WorkItem +{ +public: + FakeEV(); + ~FakeEV() 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(); + + /** @see ModuleBase::print_status() */ + int print_status() override; + +private: + static constexpr vehicle_odometry_s vehicle_odometry_empty { + .timestamp = 0, + .timestamp_sample = 0, + .position = {NAN, NAN, NAN}, + .q = {NAN, NAN, NAN, NAN}, + .velocity = {NAN, NAN, NAN}, + .angular_velocity = {NAN, NAN, NAN}, + .position_variance = {NAN, NAN, NAN}, + .orientation_variance = {NAN, NAN, NAN}, + .velocity_variance = {NAN, NAN, NAN}, + .pose_frame = vehicle_odometry_s::POSE_FRAME_UNKNOWN, + .velocity_frame = vehicle_odometry_s::VELOCITY_FRAME_UNKNOWN, + .reset_counter = 0, + .quality = 0 + }; + + void Run() override; + void updateParams() override; + + vehicle_odometry_s gpsToOdom(const sensor_gps_s &gps); + + uORB::Publication _vehicle_visual_odometry_pub{ORB_ID(vehicle_visual_odometry)}; + + uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)}; + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + + hrt_abstime _timestamp_last{0}; + + MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude + float _alt_ref{NAN}; + + perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")}; +}; diff --git a/src/modules/fake_ev/fake_ev_params.c b/src/modules/fake_ev/fake_ev_params.c new file mode 100644 index 0000000000..a51a795a06 --- /dev/null +++ b/src/modules/fake_ev/fake_ev_params.c @@ -0,0 +1,36 @@ +/**************************************************************************** + * + * Copyright (c) 2023 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 fake_ev_params.c + */