ardupilot/libraries/AP_Mission/AP_Mission_Commands.cpp

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#include "AP_Mission.h"
#include <GCS_MAVLink/GCS.h>
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#include <AP_Camera/AP_Camera.h>
#include <AP_Gripper/AP_Gripper.h>
#include <AP_Parachute/AP_Parachute.h>
#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
#include <AC_Sprayer/AC_Sprayer.h>
#include <AP_Scripting/AP_Scripting.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_Mount/AP_Mount.h>
#if AP_RC_CHANNEL_ENABLED
bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
{
const RC_Channel::AUX_FUNC function = (RC_Channel::AUX_FUNC)cmd.content.auxfunction.function;
const RC_Channel::AuxSwitchPos pos = (RC_Channel::AuxSwitchPos)cmd.content.auxfunction.switchpos;
// sanity check the switch position. Could map from the mavlink
// enumeration if we were really keen
switch (pos) {
case RC_Channel::AuxSwitchPos::HIGH:
case RC_Channel::AuxSwitchPos::MIDDLE:
case RC_Channel::AuxSwitchPos::LOW:
break;
default:
return false;
}
rc().run_aux_function(function, pos, RC_Channel::AuxFuncTriggerSource::MISSION);
return true;
}
#endif // AP_RC_CHANNEL_ENABLED
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#if AP_GRIPPER_ENABLED
bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
return false;
}
// Note: we ignore the gripper num parameter because we only
// support one gripper
switch (cmd.content.gripper.action) {
case GRIPPER_ACTION_RELEASE:
gripper->release();
// Log_Write_Event(DATA_GRIPPER_RELEASE);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Released");
return true;
case GRIPPER_ACTION_GRAB:
gripper->grab();
// Log_Write_Event(DATA_GRIPPER_GRAB);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper Grabbed");
return true;
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled gripper case");
#endif
return false;
}
}
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#endif // AP_GRIPPER_ENABLED
#if AP_SERVORELAYEVENTS_ENABLED
bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
{
AP_ServoRelayEvents *sre = AP::servorelayevents();
if (sre == nullptr) {
return false;
}
switch (cmd.id) {
case MAV_CMD_DO_SET_SERVO:
return sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
#if AP_RELAY_ENABLED
case MAV_CMD_DO_SET_RELAY:
return sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
#endif
case MAV_CMD_DO_REPEAT_SERVO:
return sre->do_repeat_servo(cmd.content.repeat_servo.channel,
cmd.content.repeat_servo.pwm,
cmd.content.repeat_servo.repeat_count,
cmd.content.repeat_servo.cycle_time * 1000.0f);
#if AP_RELAY_ENABLED
case MAV_CMD_DO_REPEAT_RELAY:
return sre->do_repeat_relay(cmd.content.repeat_relay.num,
cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
#endif
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled servo/relay case");
#endif
return false;
}
}
#endif // AP_SERVORELAYEVENTS_ENABLED
#if AP_CAMERA_ENABLED
bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return false;
}
switch (cmd.id) {
case MAV_CMD_DO_DIGICAM_CONFIGURE: // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
camera->configure(
cmd.content.digicam_configure.shooting_mode,
cmd.content.digicam_configure.shutter_speed,
cmd.content.digicam_configure.aperture,
cmd.content.digicam_configure.ISO,
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
return true;
case MAV_CMD_DO_DIGICAM_CONTROL: // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
camera->control(
cmd.content.digicam_control.session,
cmd.content.digicam_control.zoom_pos,
cmd.content.digicam_control.zoom_step,
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id);
return true;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera->set_trigger_distance(cmd.content.cam_trigg_dist.meters);
if (cmd.content.cam_trigg_dist.trigger == 1) {
camera->take_picture();
}
return true;
case MAV_CMD_SET_CAMERA_ZOOM:
if (cmd.content.set_camera_zoom.zoom_type == ZOOM_TYPE_CONTINUOUS) {
return camera->set_zoom(ZoomType::RATE, cmd.content.set_camera_zoom.zoom_value);
}
if (cmd.content.set_camera_zoom.zoom_type == ZOOM_TYPE_RANGE) {
return camera->set_zoom(ZoomType::PCT, cmd.content.set_camera_zoom.zoom_value);
}
return false;
case MAV_CMD_SET_CAMERA_FOCUS:
// accept any of the auto focus types
if ((cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO) ||
(cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO_SINGLE) ||
(cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO_CONTINUOUS)) {
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return camera->set_focus(FocusType::AUTO, 0) == SetFocusResult::ACCEPTED;
}
// accept continuous manual focus
if (cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_CONTINUOUS) {
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return camera->set_focus(FocusType::RATE, cmd.content.set_camera_focus.focus_value) == SetFocusResult::ACCEPTED;
}
// accept range manual focus
if (cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_RANGE) {
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return camera->set_focus(FocusType::PCT, cmd.content.set_camera_focus.focus_value) == SetFocusResult::ACCEPTED;
}
return false;
case MAV_CMD_IMAGE_START_CAPTURE:
// check if this is a single picture request (e.g. total images is 1 or interval and total images are zero)
if ((cmd.content.image_start_capture.total_num_images == 1) ||
(cmd.content.image_start_capture.total_num_images == 0 && is_zero(cmd.content.image_start_capture.interval_s))) {
if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend
return camera->take_picture();
}
return camera->take_picture(cmd.content.image_start_capture.instance-1);
} else if (cmd.content.image_start_capture.total_num_images == 0) {
// multiple picture request, take pictures forever
if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend
return camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, -1);
}
return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, -1);
} else {
if (cmd.content.image_start_capture.instance == 0) {
// take pictures for every backend
return camera->take_multiple_pictures(cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images);
}
return camera->take_multiple_pictures(cmd.content.image_start_capture.instance-1, cmd.content.image_start_capture.interval_s*1000, cmd.content.image_start_capture.total_num_images);
}
case MAV_CMD_IMAGE_STOP_CAPTURE:
if (cmd.p1 == 0) {
// stop capture for each backend
camera->stop_capture();
return true;
}
return camera->stop_capture(cmd.p1 - 1);
case MAV_CMD_VIDEO_START_CAPTURE:
case MAV_CMD_VIDEO_STOP_CAPTURE:
{
const bool start_recording = (cmd.id == MAV_CMD_VIDEO_START_CAPTURE);
if (cmd.content.video_start_capture.video_stream_id == 0) {
// stream id of zero interpreted as primary camera
return camera->record_video(start_recording);
} else {
// non-zero stream id is converted to camera instance
return camera->record_video(cmd.content.video_start_capture.video_stream_id - 1, start_recording);
}
}
default:
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled camera case");
#endif
return false;
}
}
#endif
bool AP_Mission::start_command_parachute(const AP_Mission::Mission_Command& cmd)
{
#if HAL_PARACHUTE_ENABLED
AP_Parachute *parachute = AP::parachute();
if (parachute == nullptr) {
return false;
}
switch (cmd.p1) {
case PARACHUTE_DISABLE:
parachute->enabled(false);
break;
case PARACHUTE_ENABLE:
parachute->enabled(true);
break;
case PARACHUTE_RELEASE:
parachute->release();
break;
default:
// do nothing
return false;
}
return true;
#else
return false;
#endif // HAL_PARACHUTE_ENABLED
}
bool AP_Mission::command_do_set_repeat_dist(const AP_Mission::Mission_Command& cmd)
{
_repeat_dist = cmd.p1;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Resume repeat dist set to %u m",_repeat_dist);
return true;
}
bool AP_Mission::start_command_do_sprayer(const AP_Mission::Mission_Command& cmd)
{
#if HAL_SPRAYER_ENABLED
AC_Sprayer *sprayer = AP::sprayer();
if (sprayer == nullptr) {
return false;
}
if (cmd.p1 == 1) {
sprayer->run(true);
} else {
sprayer->run(false);
}
return true;
#else
return false;
#endif // HAL_SPRAYER_ENABLED
}
bool AP_Mission::start_command_do_scripting(const AP_Mission::Mission_Command& cmd)
{
#if AP_SCRIPTING_ENABLED
AP_Scripting *scripting = AP_Scripting::get_singleton();
if (scripting == nullptr) {
return false;
}
scripting->handle_mission_command(cmd);
return true;
#else
return false;
#endif // AP_SCRIPTING_ENABLED
}
bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Mission_Command& cmd)
{
#if HAL_MOUNT_ENABLED
AP_Mount *mount = AP::mount();
if (mount == nullptr) {
return false;
}
// check gimbal device id. 0 is primary, 1 is 1st gimbal, 2 is 2nd gimbal, etc
uint8_t gimbal_instance = mount->get_primary_instance();
if (cmd.content.gimbal_manager_pitchyaw.gimbal_id > 0) {
gimbal_instance = cmd.content.gimbal_manager_pitchyaw.gimbal_id - 1;
}
// check flags for change to RETRACT
if ((cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_RETRACT) > 0) {
mount->set_mode(gimbal_instance, MAV_MOUNT_MODE_RETRACT);
return true;
}
// check flags for change to NEUTRAL
if ((cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_NEUTRAL) > 0) {
mount->set_mode(gimbal_instance, MAV_MOUNT_MODE_NEUTRAL);
return true;
}
// handle angle target
const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsF(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
if (pitch_angle_valid && yaw_angle_valid) {
mount->set_angle_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg, cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return true;
}
// handle rate target
if (!isnan(cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs) && !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs)) {
mount->set_rate_target(gimbal_instance, 0, cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs, cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs, cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return true;
}
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#endif // HAL_MOUNT_ENABLED
// if we got this far then message is not handled
return false;
}