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AP_Mission: return true if cmd-do was handled, false otherwise

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This commit is contained in:
Peter Barker 2018-10-30 12:56:06 +11:00 committed by Peter Barker
parent a01c915173
commit 1e39c17908
2 changed files with 24 additions and 25 deletions
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1
libraries/AP_Mission/AP_Mission.cpp
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@ -268,7 +268,6 @@ bool AP_Mission::verify_command(const Mission_Command& cmd)
case MAV_CMD_DO_SET_RELAY:
case MAV_CMD_DO_REPEAT_SERVO:
case MAV_CMD_DO_REPEAT_RELAY:
case MAV_CMD_DO_CONTROL_VIDEO:
case MAV_CMD_DO_DIGICAM_CONFIGURE:
case MAV_CMD_DO_DIGICAM_CONTROL:
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:

48
libraries/AP_Mission/AP_Mission_Commands.cpp
View File

@ -8,7 +8,7 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
{
AP_Gripper *gripper = AP::gripper();
if (gripper == nullptr) {
return true;
return false;
}
// Note: we ignore the gripper num parameter because we only
@ -18,65 +18,64 @@ bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd
gripper->release();
// Log_Write_Event(DATA_GRIPPER_RELEASE);
gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
break;
return true;
case GRIPPER_ACTION_GRAB:
gripper->grab();
// Log_Write_Event(DATA_GRIPPER_GRAB);
gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
break;
return true;
default:
// do nothing
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled gripper case");
#endif
return false;
}
return true;
}
bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
{
AP_ServoRelayEvents *sre = AP::servorelayevents();
if (sre == nullptr) {
return true;
return false;
}
switch (cmd.id) {
case MAV_CMD_DO_SET_SERVO:
sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
break;
return true;
case MAV_CMD_DO_SET_RELAY:
sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
break;
return true;
case MAV_CMD_DO_REPEAT_SERVO:
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);
break;
return true;
case MAV_CMD_DO_REPEAT_RELAY:
sre->do_repeat_relay(cmd.content.repeat_relay.num,
cmd.content.repeat_relay.repeat_count,
cmd.content.repeat_relay.cycle_time * 1000.0f);
break;
return true;
default:
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled servo/relay case");
#endif
return false;
}
return true;
}
bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
{
AP_Camera *camera = AP::camera();
if (camera == nullptr) {
return true;
return false;
}
switch (cmd.id) {
case MAV_CMD_DO_CONTROL_VIDEO: // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
break;
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(
@ -87,7 +86,7 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
cmd.content.digicam_configure.exposure_type,
cmd.content.digicam_configure.cmd_id,
cmd.content.digicam_configure.engine_cutoff_time);
break;
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(
@ -97,16 +96,17 @@ bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
cmd.content.digicam_control.focus_lock,
cmd.content.digicam_control.shooting_cmd,
cmd.content.digicam_control.cmd_id);
break;
return true;
case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
camera->set_trigger_distance(cmd.content.cam_trigg_dist.meters);
break;
return true;
default:
return true;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
AP_HAL::panic("Unhandled camera case");
#endif
return false;
}
return true;
}