PX4-Autopilot/src/modules/rover_mecanum/RoverMecanum.hpp

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#pragma once

// PX4 includes
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>

// Libraries
#include <lib/rover_control/RoverControl.hpp>
#include <lib/slew_rate/SlewRate.hpp>

// uORB includes
#include <uORB/Subscription.hpp>
#include <uORB/Publication.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_motors.h>
#include <uORB/topics/rover_steering_setpoint.h>
#include <uORB/topics/rover_throttle_setpoint.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/manual_control_setpoint.h>

// Local includes
#include "MecanumRateControl/MecanumRateControl.hpp"
#include "MecanumAttControl/MecanumAttControl.hpp"
#include "MecanumPosVelControl/MecanumPosVelControl.hpp"

class RoverMecanum : public ModuleBase<RoverMecanum>, public ModuleParams,
	public px4::ScheduledWorkItem
{
public:
	/**
	 * @brief Constructor for RoverMecanum
	 */
	RoverMecanum();
	~RoverMecanum() override = default;

	/** @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 init();

protected:
	/**
	 * @brief Update the parameters of the module.
	 */
	void updateParams() override;

private:
	void Run() override;

	/**
	 * @brief Generate and publish roverSteeringSetpoint from manualControlSetpoint (Manual Mode).
	 */
	void generateSteeringSetpoint();

	/**
	 * @brief Generate and publish actuatorMotors setpoints from roverThrottleSetpoint/roverSteeringSetpoint.
	 */
	void generateActuatorSetpoint();

	/**
	 * @brief Compute normalized motor commands based on normalized setpoints.
	 * @param throttle_body_x Normalized speed in body x direction [-1, 1].
	 * @param throttle_body_y Normalized speed in body y direction [-1, 1].
	 * @param speed_diff_normalized Speed difference between left and right wheels [-1, 1].
	 * @return Motor speeds [-1, 1].
	 */
	Vector4f computeInverseKinematics(float throttle_body_x, float throttle_body_y, const float speed_diff_normalized);

	// uORB subscriptions
	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
	uORB::Subscription _rover_steering_setpoint_sub{ORB_ID(rover_steering_setpoint)};
	uORB::Subscription _rover_throttle_setpoint_sub{ORB_ID(rover_throttle_setpoint)};
	uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
	uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
	uORB::Subscription _actuator_motors_sub{ORB_ID(actuator_motors)};
	vehicle_control_mode_s    _vehicle_control_mode{};
	rover_steering_setpoint_s _rover_steering_setpoint{};
	rover_throttle_setpoint_s _rover_throttle_setpoint{};

	// uORB publications
	uORB::PublicationMulti<actuator_motors_s>    _actuator_motors_pub{ORB_ID(actuator_motors)};
	uORB::Publication<rover_throttle_setpoint_s> _rover_throttle_setpoint_pub{ORB_ID(rover_throttle_setpoint)};
	uORB::Publication<rover_steering_setpoint_s> _rover_steering_setpoint_pub{ORB_ID(rover_steering_setpoint)};

	// Class instances
	MecanumRateControl   _mecanum_rate_control{this};
	MecanumAttControl    _mecanum_att_control{this};
	MecanumPosVelControl _mecanum_pos_vel_control{this};

	// Variables
	hrt_abstime _timestamp{0};
	float _dt{0.f};
	float _current_throttle_body_x{0.f};
	float _current_throttle_body_y{0.f};

	// Controllers
	SlewRate<float> _throttle_body_x_setpoint{0.f};
	SlewRate<float> _throttle_body_y_setpoint{0.f};

	// Parameters
	DEFINE_PARAMETERS(
		(ParamInt<px4::params::CA_R_REV>)           _param_r_rev,
		(ParamFloat<px4::params::RO_ACCEL_LIM>)     _param_ro_accel_limit,
		(ParamFloat<px4::params::RO_DECEL_LIM>)     _param_ro_decel_limit,
		(ParamFloat<px4::params::RO_MAX_THR_SPEED>) _param_ro_max_thr_speed
	)
};