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136 lines
4.8 KiB
C++
136 lines
4.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 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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#include "ManualControlSelector.hpp"
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void ManualControlSelector::updateValidityOfChosenInput(uint64_t now)
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{
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if (!isInputValid(_setpoint, now)) {
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_setpoint.valid = false;
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_instance = -1;
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}
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}
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void ManualControlSelector::updateWithNewInputSample(uint64_t now, const manual_control_setpoint_s &input, int instance)
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{
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// First check if the chosen input got invalid, so it can get replaced
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updateValidityOfChosenInput(now);
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// Update with input sample if it's valid and should be chosen according to COM_RC_IN_MODE
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if (isInputValid(input, now)) {
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_setpoint = input;
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_setpoint.valid = true;
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_setpoint.timestamp = now; // timestamp_sample is preserved
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_instance = instance;
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if (_first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN) {
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// initialize first valid source once
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_first_valid_source = _setpoint.data_source;
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}
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}
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}
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bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input, uint64_t now) const
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{
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// Check for timeout
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const bool sample_newer_than_timeout = now < input.timestamp_sample + _timeout;
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// Check if source matches the configuration
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bool match = false;
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switch (_rc_in_mode) { // COM_RC_IN_MODE
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case RcInMode::RcOnly:
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match = isRc(input.data_source);
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break;
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case RcInMode::MavLinkOnly:
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match = isMavlink(input.data_source) && ((input.data_source == _setpoint.data_source) || !_setpoint.valid);
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break;
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case RcInMode::RcOrMavlinkWithFallback:
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match = (input.data_source == _setpoint.data_source) || !_setpoint.valid;
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break;
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case RcInMode::RcOrMavlinkKeepFirst:
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match = (input.data_source == _first_valid_source)
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|| (_first_valid_source == manual_control_setpoint_s::SOURCE_UNKNOWN);
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break;
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case RcInMode::PriorityRcThenMavlinkAscending:
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match = !_setpoint.valid || (input.data_source <= _setpoint.data_source);
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break;
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case RcInMode::PriorityMavlinkAscendingThenRc:
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match = !_setpoint.valid
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|| (isRc(input.data_source) && isRc(_setpoint.data_source))
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|| (isMavlink(input.data_source) && (isRc(_setpoint.data_source) || input.data_source <= _setpoint.data_source));
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break;
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case RcInMode::PriorityRcThenMavlinkDescending:
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match = !_setpoint.valid
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|| isRc(input.data_source)
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|| (isMavlink(input.data_source) && isMavlink(_setpoint.data_source) && input.data_source >= _setpoint.data_source);
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break;
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case RcInMode::PriorityMavlinkDescendingThenRc:
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match = !_setpoint.valid || (input.data_source >= _setpoint.data_source);
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break;
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case RcInMode::DisableManualControl:
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default:
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break;
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}
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return sample_newer_than_timeout && input.valid && match;
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}
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manual_control_setpoint_s &ManualControlSelector::setpoint()
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{
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return _setpoint;
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}
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bool ManualControlSelector::isRc(uint8_t source)
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{
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return source == manual_control_setpoint_s::SOURCE_RC;
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}
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bool ManualControlSelector::isMavlink(uint8_t source)
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{
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return (source == manual_control_setpoint_s::SOURCE_MAVLINK_0
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|| source == manual_control_setpoint_s::SOURCE_MAVLINK_1
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|| source == manual_control_setpoint_s::SOURCE_MAVLINK_2
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|| source == manual_control_setpoint_s::SOURCE_MAVLINK_3
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|| source == manual_control_setpoint_s::SOURCE_MAVLINK_4
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|| source == manual_control_setpoint_s::SOURCE_MAVLINK_5);
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}
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