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modes: make available modes user selectable with a registration option

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Some modes should only be run within the context of a mode executor and the user should not be able
to select them in the GCS. With this change, the external component registration request can be
used to set if a mode is selectable or not.
This commit is contained in:
Michael Schaeuble
2025-11-26 10:04:53 +01:00
committed by Beat Küng
parent 276cab8d3c
commit a2299b02c8
9 changed files with 155 additions and 3 deletions
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msg/translation_node/translations/all_translations.h
+2
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@@ -12,6 +12,8 @@
#include "translation_battery_status_v1.h"
#include "translation_event_v1.h"
#include "translation_home_position_v1.h"
#include "translation_register_ext_component_reply_v1.h"
#include "translation_register_ext_component_request_v1.h"
#include "translation_vehicle_attitude_setpoint_v1.h"
#include "translation_vehicle_status_v1.h"
#include "translation_vehicle_local_position_v1.h"
msg/translation_node/translations/translation_register_ext_component_reply_v1.h
+45
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@@ -0,0 +1,45 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate RegisterExtComponentReply v0 <--> v1
#include <px4_msgs_old/msg/register_ext_component_reply_v0.hpp>
#include <px4_msgs/msg/register_ext_component_reply.hpp>
class RegisterExtComponentReplyV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::RegisterExtComponentReplyV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::RegisterExtComponentReply;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/out/register_ext_component_reply";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.request_id = msg_older.request_id;
msg_newer.name = msg_older.name;
msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
msg_newer.success = msg_older.success;
msg_newer.arming_check_id = msg_older.arming_check_id;
msg_newer.mode_id = msg_older.mode_id;
msg_newer.mode_executor_id = msg_older.mode_executor_id;
msg_newer.not_user_selectable = false;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.request_id = msg_newer.request_id;
msg_older.name = msg_newer.name;
msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
msg_older.success = msg_newer.success;
msg_older.arming_check_id = msg_newer.arming_check_id;
msg_older.mode_id = msg_newer.mode_id;
msg_older.mode_executor_id = msg_newer.mode_executor_id;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentReplyV1Translation);
msg/translation_node/translations/translation_register_ext_component_request_v1.h
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@@ -0,0 +1,49 @@
/****************************************************************************
* Copyright (c) 2025 PX4 Development Team.
* SPDX-License-Identifier: BSD-3-Clause
****************************************************************************/
#pragma once
// Translate RegisterExtComponentRequest v0 <--> v1
#include <px4_msgs_old/msg/register_ext_component_request_v0.hpp>
#include <px4_msgs/msg/register_ext_component_request.hpp>
class RegisterExtComponentRequestV1Translation {
public:
using MessageOlder = px4_msgs_old::msg::RegisterExtComponentRequestV0;
static_assert(MessageOlder::MESSAGE_VERSION == 0);
using MessageNewer = px4_msgs::msg::RegisterExtComponentRequest;
static_assert(MessageNewer::MESSAGE_VERSION == 1);
static constexpr const char* kTopic = "fmu/in/register_ext_component_request";
static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
msg_newer.timestamp = msg_older.timestamp;
msg_newer.request_id = msg_older.request_id;
msg_newer.name = msg_older.name;
msg_newer.px4_ros2_api_version = msg_older.px4_ros2_api_version;
msg_newer.register_arming_check = msg_older.register_arming_check;
msg_newer.register_mode = msg_older.register_mode;
msg_newer.register_mode_executor = msg_older.register_mode_executor;
msg_newer.enable_replace_internal_mode = msg_older.enable_replace_internal_mode;
msg_newer.replace_internal_mode = msg_older.replace_internal_mode;
msg_newer.activate_mode_immediately = msg_older.activate_mode_immediately;
msg_newer.not_user_selectable = false;
}
static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
msg_older.timestamp = msg_newer.timestamp;
msg_older.request_id = msg_newer.request_id;
msg_older.name = msg_newer.name;
msg_older.px4_ros2_api_version = msg_newer.px4_ros2_api_version;
msg_older.register_arming_check = msg_newer.register_arming_check;
msg_older.register_mode = msg_newer.register_mode;
msg_older.register_mode_executor = msg_newer.register_mode_executor;
msg_older.enable_replace_internal_mode = msg_newer.enable_replace_internal_mode;
msg_older.replace_internal_mode = msg_newer.replace_internal_mode;
msg_older.activate_mode_immediately = msg_newer.activate_mode_immediately;
}
};
REGISTER_TOPIC_TRANSLATION_DIRECT(RegisterExtComponentRequestV1Translation);