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AP_Mount: replace check_instance with get_instance

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Peter Barker 2023-03-02 15:03:02 +11:00 committed by Peter Barker
parent b9d68355da
commit fb98ef21aa
2 changed files with 102 additions and 75 deletions
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169
libraries/AP_Mount/AP_Mount.cpp
View File

@ -181,91 +181,97 @@ AP_Mount::MountType AP_Mount::get_mount_type(uint8_t instance) const
// has_pan_control - returns true if the mount has yaw control (required for copters)
bool AP_Mount::has_pan_control(uint8_t instance) const
{
if (!check_instance(instance)) {
const auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
// ask backend if it support pan
return _backends[instance]->has_pan_control();
return backend->has_pan_control();
}
// get_mode - returns current mode of mount (i.e. Retracted, Neutral, RC_Targeting, GPS Point)
MAV_MOUNT_MODE AP_Mount::get_mode(uint8_t instance) const
{
// sanity check instance
if (!check_instance(instance)) {
const auto *backend = get_instance(instance);
if (backend == nullptr) {
return MAV_MOUNT_MODE_RETRACT;
}
// ask backend its mode
return _backends[instance]->get_mode();
return backend->get_mode();
}
// set_mode_to_default - restores the mode to it's default mode held in the MNTx__DEFLT_MODE parameter
// this operation requires 60us on a Pixhawk/PX4
void AP_Mount::set_mode_to_default(uint8_t instance)
{
if (instance > ARRAY_SIZE(_params)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
set_mode(instance, (enum MAV_MOUNT_MODE)_params[instance].default_mode.get());
backend->set_mode((enum MAV_MOUNT_MODE)_params[instance].default_mode.get());
}
// set_mode - sets mount's mode
void AP_Mount::set_mode(uint8_t instance, enum MAV_MOUNT_MODE mode)
{
// sanity check instance
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// call backend's set_mode
_backends[instance]->set_mode(mode);
backend->set_mode(mode);
}
// set yaw_lock. If true, the gimbal's yaw target is maintained in earth-frame meaning it will lock onto an earth-frame heading (e.g. North)
// If false (aka "follow") the gimbal's yaw is maintained in body-frame meaning it will rotate with the vehicle
void AP_Mount::set_yaw_lock(uint8_t instance, bool yaw_lock)
{
// sanity check instance
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// call backend's set_yaw_lock
_backends[instance]->set_yaw_lock(yaw_lock);
backend->set_yaw_lock(yaw_lock);
}
// set angle target in degrees
// yaw_is_earth_frame (aka yaw_lock) should be true if yaw angle is earth-frame, false if body-frame
void AP_Mount::set_angle_target(uint8_t instance, float roll_deg, float pitch_deg, float yaw_deg, bool yaw_is_earth_frame)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// send command to backend
_backends[instance]->set_angle_target(roll_deg, pitch_deg, yaw_deg, yaw_is_earth_frame);
backend->set_angle_target(roll_deg, pitch_deg, yaw_deg, yaw_is_earth_frame);
}
// sets rate target in deg/s
// yaw_lock should be true if the yaw rate is earth-frame, false if body-frame (e.g. rotates with body of vehicle)
void AP_Mount::set_rate_target(uint8_t instance, float roll_degs, float pitch_degs, float yaw_degs, bool yaw_lock)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// send command to backend
_backends[instance]->set_rate_target(roll_degs, pitch_degs, yaw_degs, yaw_lock);
backend->set_rate_target(roll_degs, pitch_degs, yaw_degs, yaw_lock);
}
MAV_RESULT AP_Mount::handle_command_do_mount_configure(const mavlink_command_long_t &packet)
{
if (!check_primary()) {
auto *backend = get_primary();
if (backend == nullptr) {
return MAV_RESULT_FAILED;
}
_backends[_primary]->set_mode((MAV_MOUNT_MODE)packet.param1);
backend->set_mode((MAV_MOUNT_MODE)packet.param1);
return MAV_RESULT_ACCEPTED;
}
@ -273,33 +279,40 @@ MAV_RESULT AP_Mount::handle_command_do_mount_configure(const mavlink_command_lon
MAV_RESULT AP_Mount::handle_command_do_mount_control(const mavlink_command_long_t &packet)
{
if (!check_primary()) {
auto *backend = get_primary();
if (backend == nullptr) {
return MAV_RESULT_FAILED;
}
return _backends[_primary]->handle_command_do_mount_control(packet);
return backend->handle_command_do_mount_control(packet);
}
MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_command_long_t &packet)
{
// check gimbal device id. 0 is primary, 1 is 1st gimbal, 2 is 2nd gimbal, etc
if ((packet.param7 < 0) || (packet.param7 > AP_MOUNT_MAX_INSTANCES)) {
return MAV_RESULT_FAILED;
AP_Mount_Backend *backend;
// check gimbal device id. 0 is primary, 1 is 1st gimbal, 2 is
// 2nd gimbal, etc
const uint8_t instance = packet.param7;
if (instance == 0) {
backend = get_primary();
} else {
backend = get_instance(instance - 1);
}
const uint8_t gimbal_instance = (packet.param7 < 1) ? get_primary() : (uint8_t)packet.param7 - 1;
if (!check_instance(gimbal_instance)) {
if (backend == nullptr) {
return MAV_RESULT_FAILED;
}
// check flags for change to RETRACT
uint32_t flags = (uint32_t)packet.param5;
if ((flags & GIMBAL_MANAGER_FLAGS_RETRACT) > 0) {
_backends[gimbal_instance]->set_mode(MAV_MOUNT_MODE_RETRACT);
backend->set_mode(MAV_MOUNT_MODE_RETRACT);
return MAV_RESULT_ACCEPTED;
}
// check flags for change to NEUTRAL
if ((flags & GIMBAL_MANAGER_FLAGS_NEUTRAL) > 0) {
_backends[gimbal_instance]->set_mode(MAV_MOUNT_MODE_NEUTRAL);
backend->set_mode(MAV_MOUNT_MODE_NEUTRAL);
return MAV_RESULT_ACCEPTED;
}
@ -308,7 +321,7 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
const float pitch_angle_deg = packet.param1;
const float yaw_angle_deg = packet.param2;
if (!isnan(pitch_angle_deg) && !isnan(yaw_angle_deg)) {
set_angle_target(gimbal_instance, 0, pitch_angle_deg, yaw_angle_deg, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
backend->set_angle_target(0, pitch_angle_deg, yaw_angle_deg, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return MAV_RESULT_ACCEPTED;
}
@ -317,7 +330,7 @@ MAV_RESULT AP_Mount::handle_command_do_gimbal_manager_pitchyaw(const mavlink_com
const float pitch_rate_degs = packet.param3;
const float yaw_rate_degs = packet.param4;
if (!isnan(pitch_rate_degs) && !isnan(yaw_rate_degs)) {
set_rate_target(gimbal_instance, 0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
backend->set_rate_target(0, pitch_rate_degs, yaw_rate_degs, flags & GIMBAL_MANAGER_FLAGS_YAW_LOCK);
return MAV_RESULT_ACCEPTED;
}
@ -359,7 +372,8 @@ void AP_Mount::handle_global_position_int(const mavlink_message_t &msg)
/// Change the configuration of the mount
void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
{
if (!check_primary()) {
auto *backend = get_primary();
if (backend == nullptr) {
return;
}
@ -367,13 +381,14 @@ void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
mavlink_msg_mount_configure_decode(&msg, &packet);
// send message to backend
_backends[_primary]->handle_mount_configure(packet);
backend->handle_mount_configure(packet);
}
/// Control the mount (depends on the previously set mount configuration)
void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
{
if (!check_primary()) {
auto *backend = get_primary();
if (backend == nullptr) {
return;
}
@ -381,7 +396,7 @@ void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
mavlink_msg_mount_control_decode(&msg, &packet);
// send message to backend
_backends[_primary]->handle_mount_control(packet);
backend->handle_mount_control(packet);
}
// send a GIMBAL_DEVICE_ATTITUDE_STATUS message to GCS
@ -399,13 +414,14 @@ void AP_Mount::send_gimbal_device_attitude_status(mavlink_channel_t chan)
// returns true on success
bool AP_Mount::get_attitude_euler(uint8_t instance, float& roll_deg, float& pitch_deg, float& yaw_bf_deg)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
// re-use get_attitude_quaternion and convert to Euler angles
Quaternion att_quat;
if (!_backends[instance]->get_attitude_quaternion(att_quat)) {
if (!backend->get_attitude_quaternion(att_quat)) {
return false;
}
@ -448,60 +464,68 @@ bool AP_Mount::pre_arm_checks(char *failure_msg, uint8_t failure_msg_len)
// accessors for scripting backends
bool AP_Mount::get_rate_target(uint8_t instance, float& roll_degs, float& pitch_degs, float& yaw_degs, bool& yaw_is_earth_frame)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->get_rate_target(roll_degs, pitch_degs, yaw_degs, yaw_is_earth_frame);
return backend->get_rate_target(roll_degs, pitch_degs, yaw_degs, yaw_is_earth_frame);
}
bool AP_Mount::get_angle_target(uint8_t instance, float& roll_deg, float& pitch_deg, float& yaw_deg, bool& yaw_is_earth_frame)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->get_angle_target(roll_deg, pitch_deg, yaw_deg, yaw_is_earth_frame);
return backend->get_angle_target(roll_deg, pitch_deg, yaw_deg, yaw_is_earth_frame);
}
bool AP_Mount::get_location_target(uint8_t instance, Location& target_loc)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->get_location_target(target_loc);
return backend->get_location_target(target_loc);
}
void AP_Mount::set_attitude_euler(uint8_t instance, float roll_deg, float pitch_deg, float yaw_bf_deg)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
_backends[instance]->set_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
backend->set_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
}
bool AP_Mount::get_camera_state(uint8_t instance, uint16_t& pic_count, bool& record_video, int8_t& zoom_step, int8_t& focus_step, bool& auto_focus)
{
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->get_camera_state(pic_count, record_video, zoom_step, focus_step, auto_focus);
return backend->get_camera_state(pic_count, record_video, zoom_step, focus_step, auto_focus);
}
// point at system ID sysid
void AP_Mount::set_target_sysid(uint8_t instance, uint8_t sysid)
{
// call instance's set_roi_cmd
if (check_instance(instance)) {
_backends[instance]->set_target_sysid(sysid);
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
// call instance's set_roi_cmd
backend->set_target_sysid(sysid);
}
// set_roi_target - sets target location that mount should attempt to point towards
void AP_Mount::set_roi_target(uint8_t instance, const Location &target_loc)
{
// call instance's set_roi_cmd
if (check_instance(instance)) {
_backends[instance]->set_roi_target(target_loc);
auto *backend = get_instance(instance);
if (backend == nullptr) {
return;
}
backend->set_roi_target(target_loc);
}
//
@ -511,65 +535,68 @@ void AP_Mount::set_roi_target(uint8_t instance, const Location &target_loc)
// take a picture. returns true on success
bool AP_Mount::take_picture(uint8_t instance)
{
// call instance's take_picture
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->take_picture();
return backend->take_picture();
}
// start or stop video recording. returns true on success
// set start_recording = true to start record, false to stop recording
bool AP_Mount::record_video(uint8_t instance, bool start_recording)
{
// call instance's record_video
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->record_video(start_recording);
return backend->record_video(start_recording);
}
// set camera zoom step. returns true on success
// zoom out = -1, hold = 0, zoom in = 1
bool AP_Mount::set_zoom_step(uint8_t instance, int8_t zoom_step)
{
// call instance's set_zoom_step
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->set_zoom_step(zoom_step);
return backend->set_zoom_step(zoom_step);
}
// set focus in, out or hold. returns true on success
// focus in = -1, focus hold = 0, focus out = 1
bool AP_Mount::set_manual_focus_step(uint8_t instance, int8_t focus_step)
{
// call instance's set_manual_focus_step
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->set_manual_focus_step(focus_step);
return backend->set_manual_focus_step(focus_step);
}
// auto focus. returns true on success
bool AP_Mount::set_auto_focus(uint8_t instance)
{
// call instance's set_auto_focus
if (!check_instance(instance)) {
auto *backend = get_instance(instance);
if (backend == nullptr) {
return false;
}
return _backends[instance]->set_auto_focus();
return backend->set_auto_focus();
}
bool AP_Mount::check_primary() const
AP_Mount_Backend *AP_Mount::get_primary() const
{
return check_instance(_primary);
return get_instance(_primary);
}
bool AP_Mount::check_instance(uint8_t instance) const
AP_Mount_Backend *AP_Mount::get_instance(uint8_t instance) const
{
return instance < AP_MOUNT_MAX_INSTANCES && _backends[instance] != nullptr;
if (instance >= ARRAY_SIZE(_backends)) {
return nullptr;
}
return _backends[instance];
}
// pass a GIMBAL_REPORT message to the backend

8
libraries/AP_Mount/AP_Mount.h
View File

@ -103,8 +103,8 @@ public:
// used for gimbals that need to read INS data at full rate
void update_fast();
// return primary instance
uint8_t get_primary() const { return _primary; }
// return primary instance ID
uint8_t get_primary_instance() const { return _primary; }
// get_mount_type - returns the type of mount
AP_Mount::MountType get_mount_type() const { return get_mount_type(_primary); }
@ -213,8 +213,8 @@ protected:
private:
// Check if instance backend is ok
bool check_primary() const;
bool check_instance(uint8_t instance) const;
AP_Mount_Backend *get_primary() const;
AP_Mount_Backend *get_instance(uint8_t instance) const;
void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
void handle_mount_configure(const mavlink_message_t &msg);