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Merge pull request #2732 from PX4/uorb_topics3

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uORB topics: Moved all to auto-generated
This commit is contained in:
Lorenz Meier
2015-08-23 16:34:36 +02:00
parent ef3374b0c2 d08f4c747e
commit 9965ad2ccf
37 changed files with 174 additions and 353 deletions
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src/modules/commander/commander.cpp
+1
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@@ -108,6 +108,7 @@
#include <geo/geo.h>
#include <systemlib/state_table.h>
#include <dataman/dataman.h>
#include <navigator/navigation.h>
#include "px4_custom_mode.h"
#include "commander_helper.h"
src/modules/dataman/dataman.h
+1
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@@ -39,6 +39,7 @@
#ifndef _DATAMANAGER_H
#define _DATAMANAGER_H
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
src/modules/mavlink/mavlink_mission.cpp
+1
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@@ -49,6 +49,7 @@
#include <drivers/drv_hrt.h>
#include <dataman/dataman.h>
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
src/modules/mavlink/mavlink_parameters.cpp
+2 -2
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@@ -159,9 +159,9 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
/* Copy values from msg to uorb using the parameter_rc_channel_index as index */
size_t i = map_rc.parameter_rc_channel_index;
_rc_param_map.param_index[i] = map_rc.param_index;
strncpy(&(_rc_param_map.param_id[i][0]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
strncpy(&(_rc_param_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]), map_rc.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
/* enforce null termination */
_rc_param_map.param_id[i][MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = '\0';
_rc_param_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1) + rc_parameter_map_s::PARAM_ID_LEN] = '\0';
_rc_param_map.scale[i] = map_rc.scale;
_rc_param_map.value0[i] = map_rc.param_value0;
_rc_param_map.value_min[i] = map_rc.param_value_min;
src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -1050,7 +1050,7 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = RC_INPUT_SOURCE_MAVLINK;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = RC_INPUT_RSSI_MAX;
/* channels */
@@ -1094,7 +1094,7 @@ MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
rc.rc_lost_frame_count = 0;
rc.rc_total_frame_count = 1;
rc.rc_ppm_frame_length = 0;
rc.input_source = RC_INPUT_SOURCE_MAVLINK;
rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
rc.rssi = RC_INPUT_RSSI_MAX;
/* roll */
src/modules/navigator/datalinkloss.cpp
+1
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@@ -45,6 +45,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
src/modules/navigator/enginefailure.cpp
+1
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@@ -44,6 +44,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
src/modules/navigator/gpsfailure.cpp
+1
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@@ -45,6 +45,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
src/modules/navigator/mission.cpp
+1
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@@ -55,6 +55,7 @@
#include <systemlib/err.h>
#include <geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
src/modules/navigator/mission_block.h
+2
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@@ -43,6 +43,8 @@
#include <drivers/drv_hrt.h>
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/position_setpoint_triplet.h>
src/modules/uORB/topics/mission.h → src/modules/navigator/navigation.h
+4 -13
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@@ -32,19 +32,18 @@
****************************************************************************/
/**
* @file mission.h
* @file navigation.h
* Definition of a mission consisting of mission items.
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#ifndef TOPIC_MISSION_H_
#define TOPIC_MISSION_H_
#ifndef NAVIGATION_H_
#define NAVIGATION_H_
#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"
#define NUM_MISSIONS_SUPPORTED 256
@@ -103,15 +102,7 @@ struct mission_item_s {
int actuator_value; /**< new value for selected actuator in ms 900...2000 */
};
/**
* 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_seq; /**< default -1, start at the one changed latest */
};
#include <uORB/topics/mission.h>
/**
* @}
src/modules/navigator/navigator.h
+1
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@@ -45,6 +45,7 @@
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
src/modules/navigator/rcloss.cpp
+1 -1
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@@ -47,7 +47,7 @@
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
src/modules/navigator/rtl.cpp
+1 -1
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@@ -47,7 +47,7 @@
#include <geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>
#include "navigator.h"
src/modules/navigator/rtl.h
+1 -2
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@@ -44,8 +44,7 @@
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission.h>
#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
src/modules/sensors/sensors.cpp
+15 -15
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@@ -165,7 +165,7 @@ public:
int start();
private:
static const unsigned _rc_max_chan_count = RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
static const unsigned _rc_max_chan_count = input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */
/**
* Get and limit value for specified RC function. Returns NAN if not mapped.
@@ -249,7 +249,7 @@ private:
struct differential_pressure_s _diff_pres;
struct airspeed_s _airspeed;
struct rc_parameter_map_s _rc_parameter_map;
float _param_rc_values[RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */
@@ -294,7 +294,7 @@ private:
int rc_map_aux4;
int rc_map_aux5;
int rc_map_param[RC_PARAM_MAP_NCHAN];
int rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
int32_t rc_fails_thr;
float rc_assist_th;
@@ -350,8 +350,8 @@ private:
param_t rc_map_aux4;
param_t rc_map_aux5;
param_t rc_map_param[RC_PARAM_MAP_NCHAN];
param_t rc_param[RC_PARAM_MAP_NCHAN]; /**< param handles for the paramters which are bound
param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< param handles for the paramters which are bound
to a RC channel, equivalent float values in the
_parameters struct are not existing
because these parameters are never read. */
@@ -603,9 +603,9 @@ Sensors::Sensors() :
_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
/* RC to parameter mapping for changing parameters with RC */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
char name[PARAM_ID_LEN];
snprintf(name, PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
char name[rc_parameter_map_s::PARAM_ID_LEN];
snprintf(name, rc_parameter_map_s::PARAM_ID_LEN, "RC_MAP_PARAM%d", i + 1); // shifted by 1 because param name starts at 1
_parameter_handles.rc_map_param[i] = param_find(name);
}
@@ -783,7 +783,7 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
param_get(_parameter_handles.rc_map_param[i], &(_parameters.rc_map_param[i]));
}
@@ -831,7 +831,7 @@ Sensors::parameters_update()
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_4] = _parameters.rc_map_aux4 - 1;
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_AUX_5] = _parameters.rc_map_aux5 - 1;
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] = _parameters.rc_map_param[i] - 1;
}
@@ -1678,7 +1678,7 @@ Sensors::rc_parameter_map_poll(bool forced)
orb_copy(ORB_ID(rc_parameter_map), _rc_parameter_map_sub, &_rc_parameter_map);
/* update paramter handles to which the RC channels are mapped */
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
@@ -1691,17 +1691,17 @@ Sensors::rc_parameter_map_poll(bool forced)
_parameter_handles.rc_param[i] = param_for_used_index((unsigned)_rc_parameter_map.param_index[i]);
} else {
_parameter_handles.rc_param[i] = param_find(_rc_parameter_map.param_id[i]);
_parameter_handles.rc_param[i] = param_find(&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)]);
}
}
warnx("rc to parameter map updated");
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
warnx("\ti %d param_id %s scale %.3f value0 %.3f, min %.3f, max %.3f",
i,
_rc_parameter_map.param_id[i],
&_rc_parameter_map.param_id[i * (rc_parameter_map_s::PARAM_ID_LEN + 1)],
(double)_rc_parameter_map.scale[i],
(double)_rc_parameter_map.value0[i],
(double)_rc_parameter_map.value_min[i],
@@ -1893,7 +1893,7 @@ Sensors::get_rc_sw2pos_position(uint8_t func, float on_th, bool on_inv)
void
Sensors::set_params_from_rc()
{
for (int i = 0; i < RC_PARAM_MAP_NCHAN; i++) {
for (int i = 0; i < rc_parameter_map_s::RC_PARAM_MAP_NCHAN; i++) {
if (_rc.function[rc_channels_s::RC_CHANNELS_FUNCTION_PARAM_1 + i] < 0 || !_rc_parameter_map.valid[i]) {
/* This RC channel is not mapped to a RC-Parameter Channel (e.g. RC_MAP_PARAM1 == 0)
* or no request to map this channel to a param has been sent via mavlink
src/modules/uORB/objects_common.cpp
+16 -12
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@@ -45,23 +45,23 @@
#include <drivers/drv_orb_dev.h>
#include <drivers/drv_mag.h>
ORB_DEFINE(sensor_mag, struct mag_report);
#include "topics/sensor_mag.h"
ORB_DEFINE(sensor_mag, struct sensor_mag_s);
#include <drivers/drv_accel.h>
ORB_DEFINE(sensor_accel, struct accel_report);
#include "topics/sensor_accel.h"
ORB_DEFINE(sensor_accel, struct sensor_accel_s);
#include <drivers/drv_gyro.h>
ORB_DEFINE(sensor_gyro, struct gyro_report);
#include "topics/sensor_gyro.h"
ORB_DEFINE(sensor_gyro, struct sensor_gyro_s);
#include <drivers/drv_baro.h>
ORB_DEFINE(sensor_baro, struct baro_report);
#include "topics/sensor_baro.h"
ORB_DEFINE(sensor_baro, struct sensor_baro_s);
#include <drivers/drv_pwm_output.h>
ORB_DEFINE(output_pwm, struct pwm_output_values);
#include "topics/output_pwm.h"
ORB_DEFINE(output_pwm, struct output_pwm_s);
#include <drivers/drv_rc_input.h>
ORB_DEFINE(input_rc, struct rc_input_values);
#include "topics/input_rc.h"
ORB_DEFINE(input_rc, struct input_rc_s);
#include "topics/pwm_input.h"
ORB_DEFINE(pwm_input, struct pwm_input_s);
@@ -140,6 +140,10 @@ ORB_DEFINE(position_setpoint_triplet, struct position_setpoint_triplet_s);
ORB_DEFINE(vehicle_global_velocity_setpoint, struct vehicle_global_velocity_setpoint_s);
#include "topics/mission.h"
ORB_DEFINE(mission, struct mission_s);
// XXX onboard and offboard mission are still declared here until this is
// generator supported
#include <navigator/navigation.h>
ORB_DEFINE(offboard_mission, struct mission_s);
ORB_DEFINE(onboard_mission, struct mission_s);
src/modules/uORB/topics/rc_parameter_map.h
-76
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@@ -1,76 +0,0 @@
/****************************************************************************
*
* Copyright (C) 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 rc_parameter_map.h
* Maps RC channels to parameters
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef TOPIC_RC_PARAMETER_MAP_H
#define TOPIC_RC_PARAMETER_MAP_H
#include <stdint.h>
#include "../uORB.h"
#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
/**
* @addtogroup topics
* @{
*/
struct rc_parameter_map_s {
uint64_t timestamp; /**< time at which the map was updated */
bool valid[RC_PARAM_MAP_NCHAN]; /**< true for RC-Param channels which are mapped to a param */
int param_index[RC_PARAM_MAP_NCHAN]; /**< corresponding param index, this
this field is ignored if set to -1, in this case param_id will
be used*/
char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1]; /**< corresponding param id, null terminated */
float scale[RC_PARAM_MAP_NCHAN]; /** scale to map the RC input [-1, 1] to a parameter value */
float value0[RC_PARAM_MAP_NCHAN]; /** inital value around which the parameter value is changed */
float value_min[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
float value_max[RC_PARAM_MAP_NCHAN]; /** minimal parameter value */
};
/**
* @}
*/
ORB_DECLARE(rc_parameter_map);
#endif