mirror of https://github.com/ArduPilot/ardupilot
306 lines
11 KiB
C++
306 lines
11 KiB
C++
#include "AP_Mission.h"
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#include <GCS_MAVLink/GCS.h>
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#include <AP_Camera/AP_Camera.h>
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#include <AP_Gripper/AP_Gripper.h>
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#include <AP_Parachute/AP_Parachute.h>
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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#include <AC_Sprayer/AC_Sprayer.h>
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#include <AP_Scripting/AP_Scripting.h>
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#include <RC_Channel/RC_Channel.h>
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#include <AP_Mount/AP_Mount.h>
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bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
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{
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const RC_Channel::AUX_FUNC function = (RC_Channel::AUX_FUNC)cmd.content.auxfunction.function;
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const RC_Channel::AuxSwitchPos pos = (RC_Channel::AuxSwitchPos)cmd.content.auxfunction.switchpos;
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// sanity check the switch position. Could map from the mavlink
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// enumeration if we were really keen
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switch (pos) {
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case RC_Channel::AuxSwitchPos::HIGH:
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case RC_Channel::AuxSwitchPos::MIDDLE:
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case RC_Channel::AuxSwitchPos::LOW:
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break;
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default:
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return false;
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}
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rc().run_aux_function(function, pos, RC_Channel::AuxFuncTriggerSource::MISSION);
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return true;
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}
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#if AP_GRIPPER_ENABLED
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bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)
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{
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AP_Gripper *gripper = AP::gripper();
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if (gripper == nullptr) {
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return false;
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}
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// Note: we ignore the gripper num parameter because we only
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// support one gripper
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switch (cmd.content.gripper.action) {
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case GRIPPER_ACTION_RELEASE:
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gripper->release();
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// Log_Write_Event(DATA_GRIPPER_RELEASE);
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Released");
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return true;
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case GRIPPER_ACTION_GRAB:
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gripper->grab();
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// Log_Write_Event(DATA_GRIPPER_GRAB);
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gcs().send_text(MAV_SEVERITY_INFO, "Gripper Grabbed");
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return true;
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled gripper case");
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#endif
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return false;
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}
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}
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#endif // AP_GRIPPER_ENABLED
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#if AP_SERVORELAYEVENTS_ENABLED
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bool AP_Mission::start_command_do_servorelayevents(const AP_Mission::Mission_Command& cmd)
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{
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AP_ServoRelayEvents *sre = AP::servorelayevents();
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if (sre == nullptr) {
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return false;
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}
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switch (cmd.id) {
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case MAV_CMD_DO_SET_SERVO:
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return sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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#if AP_RELAY_ENABLED
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case MAV_CMD_DO_SET_RELAY:
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return sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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#endif
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case MAV_CMD_DO_REPEAT_SERVO:
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return sre->do_repeat_servo(cmd.content.repeat_servo.channel,
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cmd.content.repeat_servo.pwm,
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cmd.content.repeat_servo.repeat_count,
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cmd.content.repeat_servo.cycle_time * 1000.0f);
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#if AP_RELAY_ENABLED
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case MAV_CMD_DO_REPEAT_RELAY:
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return sre->do_repeat_relay(cmd.content.repeat_relay.num,
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cmd.content.repeat_relay.repeat_count,
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cmd.content.repeat_relay.cycle_time * 1000.0f);
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#endif
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled servo/relay case");
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#endif
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return false;
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}
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}
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#endif // AP_SERVORELAYEVENTS_ENABLED
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#if AP_CAMERA_ENABLED
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bool AP_Mission::start_command_camera(const AP_Mission::Mission_Command& cmd)
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{
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AP_Camera *camera = AP::camera();
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if (camera == nullptr) {
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return false;
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}
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switch (cmd.id) {
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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)|
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camera->configure(
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cmd.content.digicam_configure.shooting_mode,
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cmd.content.digicam_configure.shutter_speed,
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cmd.content.digicam_configure.aperture,
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cmd.content.digicam_configure.ISO,
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cmd.content.digicam_configure.exposure_type,
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cmd.content.digicam_configure.cmd_id,
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cmd.content.digicam_configure.engine_cutoff_time);
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return true;
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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|
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camera->control(
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cmd.content.digicam_control.session,
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cmd.content.digicam_control.zoom_pos,
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cmd.content.digicam_control.zoom_step,
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cmd.content.digicam_control.focus_lock,
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cmd.content.digicam_control.shooting_cmd,
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cmd.content.digicam_control.cmd_id);
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return true;
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case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
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camera->set_trigger_distance(cmd.content.cam_trigg_dist.meters);
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if (cmd.content.cam_trigg_dist.trigger == 1) {
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camera->take_picture();
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}
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return true;
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case MAV_CMD_SET_CAMERA_ZOOM:
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if (cmd.content.set_camera_zoom.zoom_type == ZOOM_TYPE_CONTINUOUS) {
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return camera->set_zoom(ZoomType::RATE, cmd.content.set_camera_zoom.zoom_value);
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}
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if (cmd.content.set_camera_zoom.zoom_type == ZOOM_TYPE_RANGE) {
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return camera->set_zoom(ZoomType::PCT, cmd.content.set_camera_zoom.zoom_value);
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}
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return false;
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case MAV_CMD_SET_CAMERA_FOCUS:
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// accept any of the auto focus types
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if ((cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO) ||
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(cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO_SINGLE) ||
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(cmd.content.set_camera_focus.focus_type == FOCUS_TYPE_AUTO_CONTINUOUS)) {
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return camera->set_focus(FocusType::AUTO, 0);
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}
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// accept continuous manual focus
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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);
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}
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// accept range manual focus
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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);
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}
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return false;
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case MAV_CMD_IMAGE_START_CAPTURE:
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camera->take_picture();
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return true;
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case MAV_CMD_VIDEO_START_CAPTURE:
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case MAV_CMD_VIDEO_STOP_CAPTURE:
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{
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const bool start_recording = (cmd.id == MAV_CMD_VIDEO_START_CAPTURE);
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if (cmd.content.video_start_capture.video_stream_id == 0) {
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// stream id of zero interpreted as primary camera
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return camera->record_video(start_recording);
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} else {
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// non-zero stream id is converted to camera instance
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return camera->record_video(cmd.content.video_start_capture.video_stream_id - 1, start_recording);
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}
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}
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default:
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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AP_HAL::panic("Unhandled camera case");
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#endif
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return false;
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}
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}
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#endif
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bool AP_Mission::start_command_parachute(const AP_Mission::Mission_Command& cmd)
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{
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#if HAL_PARACHUTE_ENABLED
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AP_Parachute *parachute = AP::parachute();
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if (parachute == nullptr) {
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return false;
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}
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switch (cmd.p1) {
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case PARACHUTE_DISABLE:
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parachute->enabled(false);
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break;
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case PARACHUTE_ENABLE:
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parachute->enabled(true);
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break;
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case PARACHUTE_RELEASE:
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parachute->release();
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break;
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default:
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// do nothing
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return false;
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}
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return true;
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#else
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return false;
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#endif // HAL_PARACHUTE_ENABLED
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}
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bool AP_Mission::command_do_set_repeat_dist(const AP_Mission::Mission_Command& cmd)
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{
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_repeat_dist = cmd.p1;
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gcs().send_text(MAV_SEVERITY_INFO, "Resume repeat dist set to %u m",_repeat_dist);
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return true;
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}
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bool AP_Mission::start_command_do_sprayer(const AP_Mission::Mission_Command& cmd)
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{
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#if HAL_SPRAYER_ENABLED
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AC_Sprayer *sprayer = AP::sprayer();
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if (sprayer == nullptr) {
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return false;
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}
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if (cmd.p1 == 1) {
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sprayer->run(true);
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} else {
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sprayer->run(false);
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}
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return true;
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#else
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return false;
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#endif // HAL_SPRAYER_ENABLED
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}
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bool AP_Mission::start_command_do_scripting(const AP_Mission::Mission_Command& cmd)
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{
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#if AP_SCRIPTING_ENABLED
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AP_Scripting *scripting = AP_Scripting::get_singleton();
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if (scripting == nullptr) {
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return false;
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}
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scripting->handle_mission_command(cmd);
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return true;
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#else
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return false;
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#endif // AP_SCRIPTING_ENABLED
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}
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bool AP_Mission::start_command_do_gimbal_manager_pitchyaw(const AP_Mission::Mission_Command& cmd)
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{
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#if HAL_MOUNT_ENABLED
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AP_Mount *mount = AP::mount();
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if (mount == nullptr) {
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return false;
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}
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// check gimbal device id. 0 is primary, 1 is 1st gimbal, 2 is 2nd gimbal, etc
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uint8_t gimbal_instance = mount->get_primary_instance();
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if (cmd.content.gimbal_manager_pitchyaw.gimbal_id > 0) {
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gimbal_instance = cmd.content.gimbal_manager_pitchyaw.gimbal_id - 1;
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}
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// check flags for change to RETRACT
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if ((cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_RETRACT) > 0) {
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mount->set_mode(gimbal_instance, MAV_MOUNT_MODE_RETRACT);
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return true;
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}
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// check flags for change to NEUTRAL
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if ((cmd.content.gimbal_manager_pitchyaw.flags & GIMBAL_MANAGER_FLAGS_NEUTRAL) > 0) {
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mount->set_mode(gimbal_instance, MAV_MOUNT_MODE_NEUTRAL);
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return true;
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}
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// handle angle target
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const bool pitch_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) && (fabsf(cmd.content.gimbal_manager_pitchyaw.pitch_angle_deg) <= 90);
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const bool yaw_angle_valid = !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) && (fabsf(cmd.content.gimbal_manager_pitchyaw.yaw_angle_deg) <= 360);
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if (pitch_angle_valid && yaw_angle_valid) {
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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);
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return true;
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}
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// handle rate target
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if (!isnan(cmd.content.gimbal_manager_pitchyaw.pitch_rate_degs) && !isnan(cmd.content.gimbal_manager_pitchyaw.yaw_rate_degs)) {
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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);
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return true;
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}
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#endif // HAL_MOUNT_ENABLED
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// if we got this far then message is not handled
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return false;
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}
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