From a953167a6a928acc3b8b3a30bf5bcd2b78e1a384 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Thu, 24 Nov 2022 13:19:02 +0100 Subject: [PATCH] Remove unmaintained uuv_example_app --- boards/beaglebone/blue/default.px4board | 1 - boards/emlid/navio2/default.px4board | 1 - boards/px4/raspberrypi/default.px4board | 1 - boards/px4/sitl/default.px4board | 1 - boards/scumaker/pilotpi/default.px4board | 1 - src/examples/uuv_example_app/CMakeLists.txt | 39 ---- src/examples/uuv_example_app/Kconfig | 5 - .../uuv_example_app/uuv_example_app.cpp | 178 ------------------ 8 files changed, 227 deletions(-) delete mode 100644 src/examples/uuv_example_app/CMakeLists.txt delete mode 100644 src/examples/uuv_example_app/Kconfig delete mode 100644 src/examples/uuv_example_app/uuv_example_app.cpp diff --git a/boards/beaglebone/blue/default.px4board b/boards/beaglebone/blue/default.px4board index edb01b3b89..0228115f99 100644 --- a/boards/beaglebone/blue/default.px4board +++ b/boards/beaglebone/blue/default.px4board @@ -83,5 +83,4 @@ CONFIG_EXAMPLES_HELLO=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y -CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y CONFIG_EXAMPLES_WORK_ITEM=y diff --git a/boards/emlid/navio2/default.px4board b/boards/emlid/navio2/default.px4board index 0eee7a73c3..17be50b5fc 100644 --- a/boards/emlid/navio2/default.px4board +++ b/boards/emlid/navio2/default.px4board @@ -86,5 +86,4 @@ CONFIG_EXAMPLES_HELLO=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y -CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y CONFIG_EXAMPLES_WORK_ITEM=y diff --git a/boards/px4/raspberrypi/default.px4board b/boards/px4/raspberrypi/default.px4board index 4533da476f..00ac572798 100644 --- a/boards/px4/raspberrypi/default.px4board +++ b/boards/px4/raspberrypi/default.px4board @@ -82,5 +82,4 @@ CONFIG_EXAMPLES_HELLO=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y -CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y CONFIG_EXAMPLES_WORK_ITEM=y diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board index 1dcc9d36ca..3a7e15afc9 100644 --- a/boards/px4/sitl/default.px4board +++ b/boards/px4/sitl/default.px4board @@ -70,5 +70,4 @@ CONFIG_EXAMPLES_HELLO=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y -CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y CONFIG_EXAMPLES_WORK_ITEM=y diff --git a/boards/scumaker/pilotpi/default.px4board b/boards/scumaker/pilotpi/default.px4board index 26b5e0cf8c..a62f5fb37a 100644 --- a/boards/scumaker/pilotpi/default.px4board +++ b/boards/scumaker/pilotpi/default.px4board @@ -76,5 +76,4 @@ CONFIG_EXAMPLES_HELLO=y CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y CONFIG_EXAMPLES_PX4_SIMPLE_APP=y CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y -CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y CONFIG_EXAMPLES_WORK_ITEM=y diff --git a/src/examples/uuv_example_app/CMakeLists.txt b/src/examples/uuv_example_app/CMakeLists.txt deleted file mode 100644 index 647b52168c..0000000000 --- a/src/examples/uuv_example_app/CMakeLists.txt +++ /dev/null @@ -1,39 +0,0 @@ -############################################################################ -# -# Copyright (c) 2015 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 examples__uuv_example_app - MAIN uuv_example_app - SRCS - uuv_example_app.cpp - DEPENDS - ) diff --git a/src/examples/uuv_example_app/Kconfig b/src/examples/uuv_example_app/Kconfig deleted file mode 100644 index a24e18acd1..0000000000 --- a/src/examples/uuv_example_app/Kconfig +++ /dev/null @@ -1,5 +0,0 @@ -menuconfig EXAMPLES_UUV_EXAMPLE_APP - bool "uuv_example_app" - default n - ---help--- - Enable support for uuv_example_app \ No newline at end of file diff --git a/src/examples/uuv_example_app/uuv_example_app.cpp b/src/examples/uuv_example_app/uuv_example_app.cpp deleted file mode 100644 index 7c33fe384a..0000000000 --- a/src/examples/uuv_example_app/uuv_example_app.cpp +++ /dev/null @@ -1,178 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012-2016 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 uuv_example_app.cpp - * - * This file let the hippocampus drive in a circle and prints the orientation as well as the acceleration data. - * The HippoCampus is an autonomous underwater vehicle (AUV) designed by the Technical University Hamburg-Harburg (TUHH). - * https://www.tuhh.de/mum/forschung/forschungsgebiete-und-projekte/flow-field-estimation-with-a-swarm-of-auvs.html - * - * @author Nils Rottann - */ - -#include -#include -#include -#include -#include -#include -#include -#include - -// system libraries -#include -#include -#include - -// internal libraries -#include -#include -#include - -// Include uORB and the required topics for this app -#include -#include // this topics hold the acceleration data -#include // this topic gives the actuators control input -#include // this topic holds the orientation of the hippocampus - -extern "C" __EXPORT int uuv_example_app_main(int argc, char *argv[]); - -int uuv_example_app_main(int argc, char *argv[]) -{ - PX4_INFO("auv_hippocampus_example_app has been started!"); - - /* subscribe to vehicle_acceleration topic */ - int sensor_sub_fd = orb_subscribe(ORB_ID(vehicle_acceleration)); - /* limit the update rate to 5 Hz */ - orb_set_interval(sensor_sub_fd, 200); - - /* subscribe to control_state topic */ - int vehicle_attitude_sub_fd = orb_subscribe(ORB_ID(vehicle_attitude)); - /* limit the update rate to 5 Hz */ - orb_set_interval(vehicle_attitude_sub_fd, 200); - - /* advertise to actuator_control topic */ - struct actuator_controls_s act; - memset(&act, 0, sizeof(act)); - orb_advert_t act_pub = orb_advertise(ORB_ID(actuator_controls_0), &act); - - /* one could wait for multiple topics with this technique, just using one here */ - px4_pollfd_struct_t fds[2] = {}; - fds[0].fd = sensor_sub_fd; - fds[0].events = POLLIN; - fds[1].fd = vehicle_attitude_sub_fd; - fds[1].events = POLLIN; - - int error_counter = 0; - - for (int i = 0; i < 10; i++) { - /* wait for sensor update of 1 file descriptor for 1000 ms (1 second) */ - int poll_ret = px4_poll(fds, 1, 1000); - - /* handle the poll result */ - if (poll_ret == 0) { - /* this means none of our providers is giving us data */ - PX4_ERR("Got no data within a second"); - - } else if (poll_ret < 0) { - /* this is seriously bad - should be an emergency */ - if (error_counter < 10 || error_counter % 50 == 0) { - /* use a counter to prevent flooding (and slowing us down) */ - PX4_ERR("ERROR return value from poll(): %d", poll_ret); - } - - error_counter++; - - } else { - - if (fds[0].revents & POLLIN) { - /* obtained data for the first file descriptor */ - vehicle_acceleration_s sensor{}; - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(vehicle_acceleration), sensor_sub_fd, &sensor); - // printing the sensor data into the terminal - PX4_INFO("Acc:\t%8.4f\t%8.4f\t%8.4f", - (double)sensor.xyz[0], - (double)sensor.xyz[1], - (double)sensor.xyz[2]); - - /* obtained data for the third file descriptor */ - vehicle_attitude_s raw_ctrl_state{}; - /* copy sensors raw data into local buffer */ - orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub_fd, &raw_ctrl_state); - - // get current rotation matrix from control state quaternions, the quaternions are generated by the - // attitude_estimator_q application using the sensor data - matrix::Quatf q_att(raw_ctrl_state.q); // control_state is frequently updated - matrix::Dcmf R = q_att; // create rotation matrix for the quaternion when post multiplying with a column vector - - // orientation vectors - matrix::Vector3f x_B(R(0, 0), R(1, 0), R(2, 0)); // orientation body x-axis (in world coordinates) - matrix::Vector3f y_B(R(0, 1), R(1, 1), R(2, 1)); // orientation body y-axis (in world coordinates) - matrix::Vector3f z_B(R(0, 2), R(1, 2), R(2, 2)); // orientation body z-axis (in world coordinates) - - PX4_INFO("x_B:\t%8.4f\t%8.4f\t%8.4f", - (double)x_B(0), - (double)x_B(1), - (double)x_B(2)); - - PX4_INFO("y_B:\t%8.4f\t%8.4f\t%8.4f", - (double)y_B(0), - (double)y_B(1), - (double)y_B(2)); - - PX4_INFO("z_B:\t%8.4f\t%8.4f\t%8.4f \n", - (double)z_B(0), - (double)z_B(1), - (double)z_B(2)); - } - } - - // Give actuator input to the HippoC, this will result in a circle - act.control[0] = 0.0f; // roll - act.control[1] = 0.0f; // pitch - act.control[2] = 1.0f; // yaw - act.control[3] = 1.0f; // thrust - orb_publish(ORB_ID(actuator_controls_0), act_pub, &act); - - } - - - PX4_INFO("Exiting uuv_example_app!"); - - - return 0; -} - -