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128 lines
4.9 KiB
C++
128 lines
4.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2017 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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#ifndef COMMANDER_HPP_
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#define COMMANDER_HPP_
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#include "state_machine_helper.h"
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#include <controllib/blocks.hpp>
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#include <px4_module.h>
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#include <px4_module_params.h>
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// publications
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#include <uORB/Publication.hpp>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/home_position.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/vehicle_status_flags.h>
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// subscriptions
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/geofence_result.h>
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#include <uORB/topics/mission_result.h>
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#include <uORB/topics/safety.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_local_position.h>
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using uORB::Publication;
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using uORB::Subscription;
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class Commander : public ModuleBase<Commander>, public ModuleParams
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{
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public:
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Commander() :
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ModuleParams(nullptr),
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_mission_result_sub(ORB_ID(mission_result))
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{
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}
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static Commander *instantiate(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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/** @see ModuleBase::run() */
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void run() override;
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void enable_hil();
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private:
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// Subscriptions
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Subscription<mission_result_s> _mission_result_sub;
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bool handle_command(vehicle_status_s *status_local, const safety_s &safety_local, const vehicle_command_s &cmd,
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actuator_armed_s *armed_local, home_position_s *home, const vehicle_global_position_s &global_pos,
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const vehicle_local_position_s &local_pos, orb_advert_t *home_pub, orb_advert_t *command_ack_pub, bool *changed);
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bool set_home_position(orb_advert_t &homePub, home_position_s &home, const vehicle_local_position_s &localPosition,
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const vehicle_global_position_s &globalPosition, bool set_alt_only_to_lpos_ref);
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// Set the main system state based on RC and override device inputs
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transition_result_t set_main_state(const vehicle_status_s &status, const vehicle_global_position_s &global_position,
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const vehicle_local_position_s &local_position, bool *changed);
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// Enable override (manual reversion mode) on the system
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transition_result_t set_main_state_override_on(const vehicle_status_s &status_local, bool *changed);
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// Set the system main state based on the current RC inputs
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transition_result_t set_main_state_rc(const vehicle_status_s &status_local,
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const vehicle_global_position_s &global_position, const vehicle_local_position_s &local_position, bool *changed);
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void check_valid(const hrt_abstime ×tamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
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bool *changed);
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bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
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const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
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bool *validity_changed);
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void reset_posvel_validity(const vehicle_global_position_s &global_position,
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const vehicle_local_position_s &local_position, bool *changed);
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void mission_init();
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};
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#endif /* COMMANDER_HPP_ */
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