/**************************************************************************** * * Copyright (c) 2012-2015 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. * ****************************************************************************/ /** * @file mavlink_mission.h * Implementation of the MAVLink mission protocol. * Documentation: * - http://qgroundcontrol.org/mavlink/mission_interface * - http://qgroundcontrol.org/mavlink/waypoint_protocol * * @author Lorenz Meier * @author Julian Oes * @author Anton Babushkin */ #pragma once #include #include #include #include #include "mavlink_bridge_header.h" #include "mavlink_rate_limiter.h" enum MAVLINK_WPM_STATES { MAVLINK_WPM_STATE_IDLE = 0, MAVLINK_WPM_STATE_SENDLIST, MAVLINK_WPM_STATE_GETLIST, MAVLINK_WPM_STATE_ENUM_END }; enum MAVLINK_WPM_CODES { MAVLINK_WPM_CODE_OK = 0, MAVLINK_WPM_CODE_ERR_WAYPOINT_ACTION_NOT_SUPPORTED, MAVLINK_WPM_CODE_ERR_WAYPOINT_FRAME_NOT_SUPPORTED, MAVLINK_WPM_CODE_ERR_WAYPOINT_OUT_OF_BOUNDS, MAVLINK_WPM_CODE_ERR_WAYPOINT_MAX_NUMBER_EXCEEDED, MAVLINK_WPM_CODE_ENUM_END }; static constexpr uint64_t MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT = 5000000; ///< Protocol action timeout in us static constexpr uint64_t MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT = 250000; ///< Protocol retry timeout in us class Mavlink; class MavlinkMissionManager { public: explicit MavlinkMissionManager(Mavlink *mavlink); ~MavlinkMissionManager() = default; /** * Handle sending of messages. Call this regularly at a fixed frequency. * @param t current time */ void send(const hrt_abstime t); void handle_message(const mavlink_message_t *msg); void check_active_mission(void); private: enum MAVLINK_WPM_STATES _state {MAVLINK_WPM_STATE_IDLE}; ///< Current state enum MAV_MISSION_TYPE _mission_type {MAV_MISSION_TYPE_MISSION}; ///< mission type of current transmission (only one at a time possible) uint64_t _time_last_recv{0}; uint64_t _time_last_sent{0}; uint8_t _reached_sent_count{0}; ///< last time when the vehicle reached a waypoint bool _int_mode{false}; ///< Use accurate int32 instead of float unsigned _filesystem_errcount{0}; ///< File system error count static dm_item_t _dataman_id; ///< Global Dataman storage ID for active mission dm_item_t _my_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_0}; ///< class Dataman storage ID static bool _dataman_init; ///< Dataman initialized static uint16_t _count[3]; ///< Count of items in (active) mission for each MAV_MISSION_TYPE static int32_t _current_seq; ///< Current item sequence in active mission int32_t _last_reached{-1}; ///< Last reached waypoint in active mission (-1 means nothing reached) dm_item_t _transfer_dataman_id{DM_KEY_WAYPOINTS_OFFBOARD_1}; ///< Dataman storage ID for current transmission uint16_t _transfer_count{0}; ///< Items count in current transmission uint16_t _transfer_seq{0}; ///< Item sequence in current transmission int32_t _transfer_current_seq{-1}; ///< Current item ID for current transmission (-1 means not initialized) uint8_t _transfer_partner_sysid{0}; ///< Partner system ID for current transmission uint8_t _transfer_partner_compid{0}; ///< Partner component ID for current transmission static bool _transfer_in_progress; ///< Global variable checking for current transmission uORB::Subscription _mission_result_sub{ORB_ID(mission_result)}; uORB::Publication _offboard_mission_pub{ORB_ID(mission)}; static uint16_t _geofence_update_counter; static uint16_t _safepoint_update_counter; bool _geofence_locked{false}; ///< if true, we currently hold the dm_lock for the geofence (transaction in progress) MavlinkRateLimiter _slow_rate_limiter{100 * 1000}; ///< Rate limit sending of the current WP sequence to 10 Hz Mavlink *_mavlink; static constexpr unsigned int FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT = 2; ///< Error count limit before stopping to report FS errors static constexpr uint16_t MAX_COUNT[] = { DM_KEY_WAYPOINTS_OFFBOARD_0_MAX, DM_KEY_FENCE_POINTS_MAX - 1, DM_KEY_SAFE_POINTS_MAX - 1 }; /**< Maximum number of mission items for each type (fence & safe points use the first item for the stats) */ /** get the maximum number of item count for the current _mission_type */ uint16_t current_max_item_count(); /** get the number of item count for the current _mission_type */ uint16_t current_item_count(); /* do not allow top copying this class */ MavlinkMissionManager(MavlinkMissionManager &); MavlinkMissionManager &operator = (const MavlinkMissionManager &); void init_offboard_mission(); int update_active_mission(dm_item_t dataman_id, uint16_t count, int32_t seq); /** store the geofence count to dataman */ int update_geofence_count(unsigned count); /** store the safepoint count to dataman */ int update_safepoint_count(unsigned count); /** load geofence stats from dataman */ int load_geofence_stats(); /** load safe point stats from dataman */ int load_safepoint_stats(); /** * @brief Sends an waypoint ack message */ void send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type); /** * @brief Broadcasts the new target waypoint and directs the MAV to fly there * * This function broadcasts its new active waypoint sequence number and * sends a message to the controller, advising it to fly to the coordinates * of the waypoint with a given orientation * * @param seq The waypoint sequence number the MAV should fly to. */ void send_mission_current(int32_t seq); void send_mission_count(uint8_t sysid, uint8_t compid, uint16_t count, MAV_MISSION_TYPE mission_type); void send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq); void send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq); /** * @brief emits a message that a waypoint reached * * This function broadcasts a message that a waypoint is reached. * * @param seq The waypoint sequence number the MAV has reached. */ void send_mission_item_reached(uint16_t seq); void handle_mission_ack(const mavlink_message_t *msg); void handle_mission_set_current(const mavlink_message_t *msg); void handle_mission_request_list(const mavlink_message_t *msg); void handle_mission_request(const mavlink_message_t *msg); void handle_mission_request_int(const mavlink_message_t *msg); void handle_mission_request_both(const mavlink_message_t *msg); void handle_mission_count(const mavlink_message_t *msg); void handle_mission_item(const mavlink_message_t *msg); void handle_mission_item_int(const mavlink_message_t *msg); void handle_mission_item_both(const mavlink_message_t *msg); void handle_mission_clear_all(const mavlink_message_t *msg); /** * Parse mavlink MISSION_ITEM message to get mission_item_s. * * @param mavlink_mission_item pointer to mavlink_mission_item_t or mavlink_mission_item_int_t * depending on _int_mode * @param mission_item pointer to mission_item to construct */ int parse_mavlink_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item); /** * Format mission_item_s as mavlink MISSION_ITEM(_INT) message. * * @param mission_item: pointer to the existing mission item * @param mavlink_mission_item: pointer to mavlink_mission_item_t or mavlink_mission_item_int_t * depending on _int_mode. */ int format_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item); /** * set _state to idle (and do necessary cleanup) */ void switch_to_idle_state(); };