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90 lines
3.9 KiB
C++
90 lines
3.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 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 "px4_sdk/components/setpoints.h"
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#include "px4_sdk/components/mode.h"
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#include <cassert>
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using namespace px4_sdk;
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SetpointSender::SetpointSender(rclcpp::Node &node, const ModeBase &mode, const std::string &topic_namespace_prefix)
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: _node(node), _mode(mode)
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{
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_config_control_setpoints_pub = node.create_publisher<px4_msgs::msg::VehicleControlMode>(
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topic_namespace_prefix + "/fmu/in/config_control_setpoints", 1);
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_trajectory_setpoint_pub = node.create_publisher<px4_msgs::msg::TrajectorySetpoint>(
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topic_namespace_prefix + "/fmu/in/trajectory_setpoint", 1);
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}
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SetpointSender::SetpointConfigurationResult SetpointSender::configureSetpointsSync(const SetpointConfiguration &config)
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{
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assert(_mode.id() != ModeBase::ID_INVALID); // Ensure mode is registered
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px4_msgs::msg::VehicleControlMode control_mode{};
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control_mode.source_id = (uint8_t)_mode.id();
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control_mode.flag_control_manual_enabled = config.manual_enabled;
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control_mode.flag_control_auto_enabled = config.auto_enabled;
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control_mode.flag_control_rates_enabled = config.rates_enabled;
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control_mode.flag_control_attitude_enabled = config.attitude_enabled;
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control_mode.flag_control_acceleration_enabled = config.acceleration_enabled;
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control_mode.flag_control_velocity_enabled = config.velocity_enabled;
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control_mode.flag_control_position_enabled = config.position_enabled;
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control_mode.flag_control_altitude_enabled = config.altitude_enabled;
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control_mode.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
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_config_control_setpoints_pub->publish(control_mode);
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// TODO: wait for feedback from FMU
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_setpoint_configuration = config;
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return SetpointConfigurationResult::Success;
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}
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void SetpointSender::sendTrajectorySetpoint(const Eigen::Vector3f &velocity)
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{
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// TODO: check if configured setpoints match
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// TODO: add mode id to setpoint
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px4_msgs::msg::TrajectorySetpoint sp{};
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sp.yaw = NAN;
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sp.yawspeed = NAN;
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sp.position[0] = sp.position[1] = sp.position[2] = NAN; // TODO ...
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sp.acceleration[0] = sp.acceleration[1] = sp.acceleration[2] = NAN;
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sp.velocity[0] = velocity(0);
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sp.velocity[1] = velocity(1);
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sp.velocity[2] = velocity(2);
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sp.timestamp = _node.get_clock()->now().nanoseconds() / 1000;
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_trajectory_setpoint_pub->publish(sp);
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}
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