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85 lines
3.7 KiB
C++
85 lines
3.7 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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const bool update_existing_input = _setpoint.valid && input.data_source == _setpoint.data_source;
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const bool start_using_new_input = !_setpoint.valid;
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// Switch to new input if it's valid and we don't already have a valid one
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if (isInputValid(input, now) && (update_existing_input || start_using_new_input)) {
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_setpoint = input;
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_setpoint.valid = true;
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_instance = instance;
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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_from_the_past = now >= input.timestamp_sample;
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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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const bool source_rc_matched = (_rc_in_mode == 0) && (input.data_source == manual_control_setpoint_s::SOURCE_RC);
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const bool source_mavlink_matched = (_rc_in_mode == 1) &&
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(input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_0
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|| input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_1
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|| input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_2
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|| input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3
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|| input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_4
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|| input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_5);
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const bool source_any_matched = (_rc_in_mode == 3);
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return sample_from_the_past && sample_newer_than_timeout
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&& (source_rc_matched || source_mavlink_matched || source_any_matched);
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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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