fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-11 23:05:35 +08:00
Code Issues Packages Projects Releases Wiki Activity
PX4-Autopilot/msg/CMakeLists.txt
Junwoo Hwang 2542b1bb26 Implement Pacakge delivery via Gripper during mission 
This feature allows user to use a Gripper type pacakge delivery
mechanism on a drone to trigger the delivery during a mission via the
mission item `DO_GRIPPER`.

This is a minimal change that is intended to have simplest pacakge
delivery feature on PX4, however the future scope would extend this
feature out of Navigator, and rather move towards a federated PX4
(flight-mode flexibility) architecture. But until then, this will serve
the purpose.

Update Tools/sitl_gazebo submodule to remove sdf file overwrite error

- There was an error happening due to .sdf file being overwritten, it
was caused by a wrongfully added. sdf file.
- This update pulls in the PR commit: https://github.com/Auterion/sitl_gazebo/pull/147

Initial cut on supporing PAYLOAD_PLACE mission item

Tidy and comment on navigation.h to clarify mission item definition

- Convert vehicle command ack subscription data type to
SubscriptionData, to not care about having a dedicated struct for
copying the latest data
- Tidy and comment on navigation.h to clarify the definition of
mission_item_s, which is confusing as it is an intergration of MAVLink
Standard into PX4's internal Mission Item structure

Rename mission_block's mission item reached function & cleanup navigator

- Isolated Handle Vehicle Commands function inside the Navigator
- Rename mission_block's mission item reached function to 'reached or
completed', as the navigation command can also be an action (e.g.
DO_SET_SERVO, which doesn't make sense to refer to as 'reached' when we
have successfully done executed the command)

Include MAVLink PR commit to include payload_drop message

More changes to add payload_drop MAVLink message support

- Comitting for testing purposes

Add mission item payload_drop to vehicle command payload drop link

- Now with a mission item with the nav_cmd set to 'payload drop', the
appropriate 'payload drop' vehicle command will be issued

Make Payload drop executable via Mission Plan

Implement payload_drop module to simulate payload delivery

- Simple module that acknowledges the payload drop vehicle command after
certain time, to simulate a successful delivery

Additional changes - payload drop module not working yet

- Need to do more thread stuff to make it work :(

Fix Payload Drop enum mismatch in vehicle_command enums

- First functional Payload Drop Implementation MVP
- Simple Ack & resuming mission from Navigator tested successfully

Hold the position while executing payload drop mission item

- Still the position hold is not solid, maybe I am missing something in
the position setpoint part and all the internal implications of
Navigator :(

Add DO_WINCH command support

Some fixes after rebase on develop branch

- Some missed brackets
- Some comment edits, etc

Add DO_WINCH command support

- Still has a problem of flying away from the waypoint while the
DO_WINCH is being executed, probably position setpoint related stuff :(

Apply braking of the vehicle for DO_WINCH command

- Copies the behavior of NAV_CMD_DELAY, which executes a smooth, braking
behavior when executing the delay because of the braking condition in
`set_mission_items` function
- This will not apply to Fixed wings
- The payload deploy getting triggered may be too early, as right now as
soon as the vehicle approaches the waypoint within the acceptance
threshold, the payload gets deployed

Add DO_GRIPPER support

Implement Gripper actual Hardware triggering support

- Currently not working, possibly in the mixer there's a bug
- Implemented the publishing of actuator_controls_1 uORB topic
- Implemented the test command for the payload_drop module, to test the
grpiper functionality
- Edited px4board file to include the payload_drop module
- Added Holybro X500 V2 airframe file, to enable testing on X500 V2
- Created new Quad X Payload Delivery mixer, which maps the actuator
controls 1 topic's data into the MAIN pin 5 output

Make Payload Drop Gripper Work

- Initialization of the Gripper position to CLOSED on Constructor of the
payload_drop module
- Setting the OPEN and CLOSED value to the appropriate actuator controls
input

Set vehicle_command_ack message's timestamp correctly

- By not setting the timestamp, the ack commands were not correctly
graphed in PlotJuggler!

Rename payload drop module to payload deliverer

- I think it's a more complex name (harder to type), but more generic

Add Gripper class (WIP)

Add Gripper class functionalities

- Add gripper uORB message
- Add gripper state machine

Use Gripper class as main interface in payload_deliverer

- Utilizes Gripper class functions for doing Gripper functionality

Remove mixer based package delivery trigger logic

- Remove custom mixer files that mapped actuator controls to outputs
statically

Additional improvements of the payload_deliverer

Fix payload_deliverer module not starting

- _task_id wasn't geting set appropriately in task_spawn function, which
led to runtime failure

Add Gripper Function to mixer_module

- Still not showing up as function mapping in QGC, needs fix

Add parameters to control gripper behavior

- Now user can enable / disable gripper
- Also select which type of gripper to use

Applying review from nuno

Remove timeout fetching from mission item and use gripper's timeout

- Previously, it was planned to use a custom DO_GRIPPER and DO_WINCH
MAVLink message definitions with information on timeout, but since now
we are using original message definition, only relevant timeout
information is defined in the payload_deliverer class

- This change brings in the timeout parameter to the Navigator, which
then sets the timeout in the mission_block class level, which then
processes the timeout logic

Make payload deployment work for Allmend test :P

Support gripper open/close test commands in payload_deliverer

Move enum definition for GRIPPER_ACTION to vehicle_command.msg

Remove double call for ` ${R}etc/init.d/rc.vehicle_setup`

- Was introduced during the rebase
- Was causing module already running & uORB topic can't be advertised
errors

Fix format via `make format` command

Modify S500 airframe file to use for control allocation usage

- Added Control allocation related parameters as default to not have it
reset every time the airframe is selected

Implement mission specific payload deploy timeout and more changes

Switch payload_deliverer to run on work queue

Remove unnecessary files

- Airframe changes from enabling control allocation are removed

Address review comments

- Remove debug messages
- Remove unnecessary or verbose comments & code
- Properly call parameter_update() function

Switch payload_deliverer to scheduled interval work item & refactor

- Switch to Schedeuled on Interval Work Item, as previous vehicle
command subscription callback based behavior led to vehicle comamnd ack
not being sent accordingly (since the Run() wouldn't be called unless
there's a new vehicle command), leading to ack command not being sent
out
- Also, old vehicle commands were getting fetched due to the
subscription callback as well, which was removed with this patch
- Fix the wrong population of floating point param2 field of vehicle
command by int8_t type gripper action by creating dedicated function
- Refactor and add comments to increase readability

Add gripper::grabbing() method and handle this in parameter update

- Previously, the intermediate state 'grabbing' was not considered, and
when the parameter update was called after the first initialization of
the gripper, the grab() function was being called again, which would
produce unnecessary duplicate vehicle command.
- Also replaced direct .grab() access to sending vehicle comamnd, which
unifies the gripper actuation mechanism through vehicle commands.

Navigator: Change SubscriptionData to Subscription to reduce memory usage

- Also removed unused vehicle command ack sub

PayloadDeliverer: Remove unnecessary changes & Bring back vehicle_command sub cb
2022-09-07 08:11:52 +02:00

363 lines
10 KiB
CMake
Raw Permalink Blame History

############################################################################
#
# Copyright (c) 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.
#
############################################################################
# Support IN_LIST if() operator
cmake_policy(SET CMP0057 NEW)
include(px4_list_make_absolute)
set(msg_files
action_request.msg
actuator_armed.msg
actuator_controls.msg
actuator_controls_status.msg
actuator_motors.msg
actuator_outputs.msg
actuator_servos.msg
actuator_servos_trim.msg
actuator_test.msg
adc_report.msg
airspeed.msg
airspeed_validated.msg
airspeed_wind.msg
autotune_attitude_control_status.msg
battery_status.msg
button_event.msg
camera_capture.msg
camera_status.msg
camera_trigger.msg
cellular_status.msg
collision_constraints.msg
collision_report.msg
commander_state.msg
control_allocator_status.msg
cpuload.msg
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
esc_report.msg
esc_status.msg
estimator_aid_source_1d.msg
estimator_aid_source_2d.msg
estimator_aid_source_3d.msg
estimator_bias.msg
estimator_event_flags.msg
estimator_gps_status.msg
estimator_innovations.msg
estimator_selector_status.msg
estimator_sensor_bias.msg
estimator_states.msg
estimator_status.msg
estimator_status_flags.msg
event.msg
failure_detector_status.msg
follow_target.msg
follow_target_estimator.msg
follow_target_status.msg
generator_status.msg
geofence_result.msg
gimbal_device_attitude_status.msg
gimbal_device_information.msg
gimbal_device_set_attitude.msg
gimbal_manager_information.msg
gimbal_manager_set_attitude.msg
gimbal_manager_set_manual_control.msg
gimbal_manager_status.msg
gps_dump.msg
gps_inject_data.msg
health_report.msg
gripper.msg
heater_status.msg
home_position.msg
hover_thrust_estimate.msg
input_rc.msg
internal_combustion_engine_status.msg
iridiumsbd_status.msg
irlock_report.msg
landing_gear.msg
landing_target_innovations.msg
landing_target_pose.msg
led_control.msg
log_message.msg
logger_status.msg
mag_worker_data.msg
magnetometer_bias_estimate.msg
manual_control_setpoint.msg
manual_control_switches.msg
mavlink_log.msg
mavlink_tunnel.msg
mission.msg
mission_result.msg
mount_orientation.msg
navigator_mission_item.msg
npfg_status.msg
obstacle_distance.msg
offboard_control_mode.msg
onboard_computer_status.msg
orbit_status.msg
parameter_update.msg
ping.msg
position_controller_landing_status.msg
position_controller_status.msg
position_setpoint.msg
position_setpoint_triplet.msg
power_button_state.msg
power_monitor.msg
pps_capture.msg
pwm_input.msg
px4io_status.msg
radio_status.msg
rate_ctrl_status.msg
rc_channels.msg
rc_parameter_map.msg
rpm.msg
rtl_time_estimate.msg
satellite_info.msg
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gnss_relative.msg
sensor_gps.msg
sensor_gyro.msg
sensor_gyro_fft.msg
sensor_gyro_fifo.msg
sensor_hygrometer.msg
sensor_mag.msg
sensor_optical_flow.msg
sensor_preflight_mag.msg
sensor_selection.msg
sensors_status.msg
sensors_status_imu.msg
system_power.msg
takeoff_status.msg
task_stack_info.msg
tecs_status.msg
telemetry_status.msg
test_motor.msg
timesync.msg
timesync_status.msg
trajectory_bezier.msg
trajectory_setpoint.msg
trajectory_waypoint.msg
transponder_report.msg
tune_control.msg
uavcan_parameter_request.msg
uavcan_parameter_value.msg
ulog_stream.msg
ulog_stream_ack.msg
uwb_distance.msg
uwb_grid.msg
vehicle_acceleration.msg
vehicle_air_data.msg
vehicle_angular_acceleration.msg
vehicle_angular_acceleration_setpoint.msg
vehicle_angular_velocity.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
vehicle_command.msg
vehicle_command_ack.msg
vehicle_constraints.msg
vehicle_control_mode.msg
vehicle_global_position.msg
vehicle_imu.msg
vehicle_imu_status.msg
vehicle_land_detected.msg
vehicle_local_position.msg
vehicle_local_position_setpoint.msg
vehicle_magnetometer.msg
vehicle_odometry.msg
vehicle_optical_flow.msg
vehicle_optical_flow_vel.msg
vehicle_rates_setpoint.msg
vehicle_roi.msg
vehicle_status.msg
vehicle_status_flags.msg
vehicle_thrust_setpoint.msg
vehicle_torque_setpoint.msg
vehicle_trajectory_bezier.msg
vehicle_trajectory_waypoint.msg
vtol_vehicle_status.msg
wheel_encoders.msg
wind.msg
yaw_estimator_status.msg
)
if(NOT px4_constrained_flash_build)
list(APPEND msg_files
debug_array.msg
debug_key_value.msg
debug_value.msg
debug_vect.msg
)
endif()
if(PX4_TESTING)
list(APPEND msg_files
orb_test.msg
orb_test_large.msg
orb_test_medium.msg
)
endif()
list(SORT msg_files)
set(deprecated_msgs
ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
)
foreach(msg IN LISTS deprecated_msgs)
if(msg IN_LIST msg_files)
get_filename_component(msg_we ${msg} NAME_WE)
list(APPEND invalid_msgs ${msg_we})
endif()
endforeach()
if(invalid_msgs)
list(LENGTH invalid_msgs invalid_msgs_size)
if(${invalid_msgs_size} GREATER 1)
foreach(msg IN LISTS invalid_msgs)
string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
endforeach()
STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
else()
message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
endif()
endif()
px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})
if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
# Check that the msg directory and the CMakeLists.txt file exists
if(EXISTS ${EXTERNAL_MODULES_LOCATION}/msg/CMakeLists.txt)
add_subdirectory(${EXTERNAL_MODULES_LOCATION}/msg external_msg)
# Add each of the external message files to the global msg_files list
foreach(external_msg_file ${config_msg_list_external})
list(APPEND msg_files ${EXTERNAL_MODULES_LOCATION}/msg/${external_msg_file})
endforeach()
endif()
endif()
# headers
set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
set(ucdr_out_path ${PX4_BINARY_DIR}/uORB/ucdr)
set(msg_source_out_path ${CMAKE_CURRENT_BINARY_DIR}/topics_sources)
set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
set(uorb_ucdr_headers)
foreach(msg_file ${msg_files})
get_filename_component(msg ${msg_file} NAME_WE)
list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
list(APPEND uorb_ucdr_headers ${ucdr_out_path}/${msg}.h)
endforeach()
if (px4_constrained_flash_build)
set(added_arguments --constrained-flash)
endif()
# set parent scope msg_files for other modules to consume (eg topic_listener)
set(msg_files ${msg_files} PARENT_SCOPE)
# Generate uORB headers
add_custom_command(OUTPUT ${uorb_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.h.em
templates/uorb/uORBTopics.hpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_headers DEPENDS ${uorb_headers})
add_custom_command(OUTPUT ${uorb_ucdr_headers}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--headers
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${ucdr_out_path}
-e templates/ucdr
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/ucdr_headers
-q
${added_arguments}
DEPENDS
${msg_files}
templates/ucdr/msg.h.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic ucdr headers"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_custom_target(uorb_ucdr_headers DEPENDS ${uorb_ucdr_headers})
# Generate uORB sources
add_custom_command(OUTPUT ${uorb_sources}
COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
--sources
-f ${msg_files}
-i ${CMAKE_CURRENT_SOURCE_DIR}
-o ${msg_source_out_path}
-e templates/uorb
-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-q
${added_arguments}
DEPENDS
${msg_files}
templates/uorb/msg.cpp.em
templates/uorb/uORBTopics.cpp.em
tools/px_generate_uorb_topic_files.py
tools/px_generate_uorb_topic_helper.py
COMMENT "Generating uORB topic sources"
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
VERBATIM
)
add_library(uorb_msgs ${uorb_sources})
add_dependencies(uorb_msgs prebuild_targets uorb_headers)
Reference in New Issue View Git Blame Copy Permalink