mirror of https://github.com/ArduPilot/ardupilot
139 lines
4.6 KiB
C++
139 lines
4.6 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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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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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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sre->do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
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return true;
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case MAV_CMD_DO_SET_RELAY:
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sre->do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
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return true;
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case MAV_CMD_DO_REPEAT_SERVO:
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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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return true;
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case MAV_CMD_DO_REPEAT_RELAY:
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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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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 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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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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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 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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bool AP_Mission::start_command_parachute(const AP_Mission::Mission_Command& cmd)
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{
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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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}
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