Add boiler plate for mode register

ModeRegister

WIP do register mode

Mode registration

Add mode register

Mode reigster

Add exit

Internal mode

boards/px4/sitl/default.px4board

@@ -40,6 +40,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MODE_REGISTER=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_PAYLOAD_DELIVERER=y

src/modules/mode_register/CMakeLists.txt

@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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 modules__mode_register
+	MAIN mode_register
+	SRCS
+		ModeRegister.cpp
+		ModeRegister.hpp
+	DEPENDS
+	)

src/modules/mode_register/Kconfig

@@ -0,0 +1,5 @@
+menuconfig MODULES_MODE_REGISTER
+	bool "mode_register"
+	default n
+	---help---
+		Enable support for internal mode reigstration

src/modules/mode_register/ModeRegister.cpp

@@ -0,0 +1,180 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+#include "ModeRegister.hpp"
+
+#include <px4_platform_common/log.h>
+
+ModeRegister::ModeRegister() :
+	ModuleParams(nullptr),
+	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
+	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
+{
+	// PX4_INFO("Hello Mode Register");
+	doRegister();
+}
+
+ModeRegister::~ModeRegister()
+{
+	perf_free(_loop_perf);
+}
+
+bool
+ModeRegister::init()
+{
+	if (!_register_ext_component_reply_sub.registerCallback()) {
+		PX4_ERR("callback registration failed");
+		return false;
+	}
+
+	return true;
+}
+
+bool ModeRegister::doRegister()
+{
+//   assert(!_registration->registered());
+
+//   if (!_skip_message_compatibility_check &&
+//     !messageCompatibilityCheck(node(), {ALL_PX4_ROS2_MESSAGES}, topicNamespacePrefix()))
+//   {
+//     return false;
+//   }
+
+//   onAboutToRegister();
+	register_ext_component_request_s request;
+	strcpy(request.name, "Internal Mode");
+	request.register_arming_check = true;
+	request.register_mode = true;
+	request.register_mode_executor = true;
+	request.enable_replace_internal_mode = true;
+	request.replace_internal_mode = true;
+	request.activate_mode_immediately = false;
+	request.px4_ros2_api_version = 1;
+	request.request_id = 123;
+	_register_ext_component_request_pub.publish(request);
+
+//   _health_and_arming_checks.overrideRegistration(_registration);
+//   const RegistrationSettings settings = getRegistrationSettings();
+	bool ret = true;
+//    = _registration->doRegister(settings);
+
+//   if (ret) {
+//     if (!onRegistered()) {
+//       ret = false;
+//     }
+//   }
+
+	return ret;
+}
+
+void
+ModeRegister::Run()
+{
+	if (should_exit()) {
+		_register_ext_component_reply_sub.unregisterCallback();
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_loop_perf);
+	PX4_INFO("Fuuuuuuuuuck");
+
+	if (!_requested) {
+		PX4_INFO("Do Register");
+		doRegister();
+		_requested = true;
+	}
+
+	register_ext_component_reply_s reply;
+
+	if (_register_ext_component_reply_sub.update(&reply)) {
+		PX4_INFO("Replied!");
+		PX4_INFO("  - success: %f", double(reply.success));
+	}
+
+	perf_end(_loop_perf);
+}
+
+int ModeRegister::task_spawn(int argc, char *argv[])
+{
+
+	ModeRegister *instance = new ModeRegister();
+
+	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 ModeRegister::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int ModeRegister::print_usage(const char *reason)
+{
+	if (reason) {
+		PX4_WARN("%s\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This implements an internal mode registration.
+
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("mode_register", "controller");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+extern "C" __EXPORT int mode_register_main(int argc, char *argv[])
+{
+	return ModeRegister::main(argc, argv);
+}

src/modules/mode_register/ModeRegister.hpp

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/register_ext_component_reply.h>
+#include <uORB/topics/register_ext_component_request.h>
+#include <uORB/topics/unregister_ext_component.h>
+
+class ModeRegister : public ModuleBase<ModeRegister>, public ModuleParams, public px4::WorkItem
+{
+public:
+	ModeRegister();
+	~ModeRegister() 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 doRegister();
+
+	bool init();
+
+private:
+	void Run() override;
+
+	uORB::SubscriptionCallbackWorkItem _register_ext_component_reply_sub{this, ORB_ID(register_ext_component_reply)};
+
+	uORB::Publication<register_ext_component_request_s>	_register_ext_component_request_pub{ORB_ID(register_ext_component_request)};
+	uORB::Publication<unregister_ext_component_s>	_unregister_ext_component_pub{ORB_ID(unregister_ext_component)};
+
+	bool _requested{false};
+	perf_counter_t	_loop_perf;			/**< loop duration performance counter */
+
+};