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bresch
105 lines
3.7 KiB
C++
105 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file CollisionPrevention.hpp
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* @author Tanja Baumann <tanja@auterion.com>
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*
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* CollisionPrevention controller.
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*
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*/
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#pragma once
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#include <px4_module_params.h>
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#include <float.h>
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#include <matrix/matrix/math.hpp>
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#include <uORB/topics/obstacle_distance.h>
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#include <uORB/topics/collision_constraints.h>
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#include <mathlib/mathlib.h>
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#include <drivers/drv_hrt.h>
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#include <uORB/topics/mavlink_log.h>
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#include <uORB/uORB.h>
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#include <systemlib/mavlink_log.h>
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#include <lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp>
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class CollisionPrevention : public ModuleParams
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{
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public:
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CollisionPrevention(ModuleParams *parent);
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~CollisionPrevention();
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/**
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* Initialize the uORB subscriptions using an array
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* @return true on success, false on error
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*/
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bool initializeSubscriptions(SubscriptionArray &subscription_array);
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bool is_active() { return _param_mpc_col_prev_d.get() > 0; }
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void modifySetpoint(matrix::Vector2f &original_setpoint, const float max_speed);
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private:
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bool _interfering = false; /**< states if the collision prevention interferes with the user input */
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orb_advert_t _constraints_pub{nullptr}; /**< constraints publication */
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orb_advert_t _mavlink_log_pub{nullptr}; /**< Mavlink log uORB handle */
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uORB::Subscription<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
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static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000;
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static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000;
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hrt_abstime _last_message;
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matrix::Vector2f _move_constraints_x_normalized;
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matrix::Vector2f _move_constraints_y_normalized;
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matrix::Vector2f _move_constraints_x;
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matrix::Vector2f _move_constraints_y;
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::MPC_COL_PREV_D>) _param_mpc_col_prev_d /**< collision prevention keep minimum distance */
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)
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void update();
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void update_range_constraints();
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void reset_constraints();
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void publish_constraints(const matrix::Vector2f &original_setpoint, const matrix::Vector2f &adapted_setpoint);
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};
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