mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 11:30:35 +08:00
Benjamin Perseghetti
684b4a4b8a
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
127 lines
4.0 KiB
C++
127 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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 "GZMixingInterfaceESC.hpp"
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bool GZMixingInterfaceESC::init(const std::string &model_name)
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{
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// ESC feedback: /x500/command/motor_speed
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std::string motor_speed_topic = "/" + model_name + "/command/motor_speed";
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if (!_node.Subscribe(motor_speed_topic, &GZMixingInterfaceESC::motorSpeedCallback, this)) {
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PX4_ERR("failed to subscribe to %s", motor_speed_topic.c_str());
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return false;
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}
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// output eg /X500/command/motor_speed
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std::string actuator_topic = "/" + model_name + "/command/motor_speed";
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_actuators_pub = _node.Advertise<gz::msgs::Actuators>(actuator_topic);
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if (!_actuators_pub.Valid()) {
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PX4_ERR("failed to advertise %s", actuator_topic.c_str());
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return false;
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}
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ScheduleNow();
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return true;
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}
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bool GZMixingInterfaceESC::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
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unsigned num_control_groups_updated)
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{
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unsigned active_output_count = 0;
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for (unsigned i = 0; i < num_outputs; i++) {
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if (_mixing_output.isFunctionSet(i)) {
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active_output_count++;
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} else {
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break;
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}
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}
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if (active_output_count > 0) {
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gz::msgs::Actuators rotor_velocity_message;
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rotor_velocity_message.mutable_velocity()->Resize(active_output_count, 0);
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for (unsigned i = 0; i < active_output_count; i++) {
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rotor_velocity_message.set_velocity(i, outputs[i]);
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}
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if (_actuators_pub.Valid()) {
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return _actuators_pub.Publish(rotor_velocity_message);
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}
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}
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return false;
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}
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void GZMixingInterfaceESC::Run()
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{
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pthread_mutex_lock(&_node_mutex);
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_mixing_output.update();
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_mixing_output.updateSubscriptions(false);
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pthread_mutex_unlock(&_node_mutex);
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}
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void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuators)
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{
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if (hrt_absolute_time() == 0) {
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return;
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}
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pthread_mutex_lock(&_node_mutex);
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esc_status_s esc_status{};
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esc_status.esc_count = actuators.velocity_size();
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for (int i = 0; i < actuators.velocity_size(); i++) {
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esc_status.esc[i].timestamp = hrt_absolute_time();
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esc_status.esc[i].esc_rpm = actuators.velocity(i);
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esc_status.esc_online_flags |= 1 << i;
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if (actuators.velocity(i) > 0) {
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esc_status.esc_armed_flags |= 1 << i;
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}
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}
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if (esc_status.esc_count > 0) {
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esc_status.timestamp = hrt_absolute_time();
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_esc_status_pub.publish(esc_status);
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}
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pthread_mutex_unlock(&_node_mutex);
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}
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