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UAVCAN: Receive commands from the GCS

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This commit is contained in:
Lorenz Meier
2015-08-23 13:50:59 +02:00
committed by Ben Dyer
parent 96d90c0fe6
commit a3b863bdd9
3 changed files with 28 additions and 3 deletions
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msg/vehicle_command.msg
+1
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@@ -53,6 +53,7 @@ uint32 VEHICLE_CMD_DO_TRIGGER_CONTROL = 2003 # Enable or disable on-b
uint32 VEHICLE_CMD_DO_VTOL_TRANSITION = 3000 # Command VTOL transition
uint32 VEHICLE_CMD_PAYLOAD_PREPARE_DEPLOY = 30001 # Prepare a payload deployment in the flight plan
uint32 VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY = 30002 # Control a pre-programmed payload deployment
uint32 VEHICLE_CMD_PREFLIGHT_UAVCAN = 243 # UAVCAN configuration. If param 1 == 1 actuator mapping and direction assignment should be started
uint32 VEHICLE_CMD_RESULT_ACCEPTED = 0 # Command ACCEPTED and EXECUTED |
uint32 VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED = 1 # Command TEMPORARY REJECTED/DENIED |
src/modules/commander/commander.cpp
+1
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@@ -802,6 +802,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_STORAGE:
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_UAVCAN:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_0:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_1:
case vehicle_command_s::VEHICLE_CMD_CUSTOM_2:
src/modules/uavcan/uavcan_servers.cpp
+26 -3
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@@ -53,9 +53,11 @@
#include "uavcan_servers.hpp"
#include "uavcan_virtual_can_driver.hpp"
# include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
# include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
# include <uavcan_posix/firmware_version_checker.hpp>
#include <uavcan_posix/dynamic_node_id_server/file_event_tracer.hpp>
#include <uavcan_posix/dynamic_node_id_server/file_storage_backend.hpp>
#include <uavcan_posix/firmware_version_checker.hpp>
#include <uORB/topics/vehicle_command.h>
//todo:The Inclusion of file_server_backend is killing
// #include <sys/types.h> and leaving OK undefined
@@ -277,6 +279,10 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
Lock lock(_subnode_mutex);
/* the subscribe call needs to happen in the same thread,
* so not in the constructor */
int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
while (1) {
if (_check_fw == true) {
@@ -286,6 +292,23 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
const int spin_res = _subnode.spin(uavcan::MonotonicDuration::fromMSec(100));
/* check if new commands are pending */
bool cmd_ready;
orb_check(cmd_sub, &cmd_ready);
if (cmd_ready) {
struct vehicle_command_s cmd;
orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
if (cmd.command == vehicle_command_s::VEHICLE_CMD_PREFLIGHT_UAVCAN) {
warnx("received UAVCAN CONFIG command");
if (static_cast<int>(cmd.param1 + 0.5f) == 1) {
warnx("UAVCAN CONFIG: Actuator assignment requested");
}
}
}
if (spin_res < 0) {
warnx("node spin error %i", spin_res);
}