forked from Archive/PX4-Autopilot
mavlink_mission: implement geofence & rally point protocol
- retrieve & store the geofence & rally point data from/to dataman - interleaved transmissions (of different types) are not possible. trying to do so will NACK the new transmission - only one storage backend for polygons & rally points (not alternating between 2 as the mission does)
This commit is contained in:
Beat Küng
Lorenz Meier
parent
40c696ff49
commit
b8fb8c610e
|
|
@ -43,23 +43,24 @@
|
|||
#include "mavlink_mission.h"
|
||||
#include "mavlink_main.h"
|
||||
|
||||
#include <errno.h>
|
||||
#include <math.h>
|
||||
#include <lib/geo/geo.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <px4_defines.h>
|
||||
|
||||
#include <dataman/dataman.h>
|
||||
#include <navigator/navigation.h>
|
||||
#include <uORB/topics/mission.h>
|
||||
#include <uORB/topics/mission_result.h>
|
||||
|
||||
int MavlinkMissionManager::_dataman_id = 0;
|
||||
bool MavlinkMissionManager::_dataman_init = false;
|
||||
unsigned MavlinkMissionManager::_count = 0;
|
||||
unsigned MavlinkMissionManager::_count[3] = { 0, 0, 0 };
|
||||
int MavlinkMissionManager::_current_seq = 0;
|
||||
int MavlinkMissionManager::_last_reached = -1;
|
||||
bool MavlinkMissionManager::_transfer_in_progress = false;
|
||||
constexpr unsigned MavlinkMissionManager::MAX_COUNT[];
|
||||
|
||||
#define CHECK_SYSID_COMPID_MISSION(_msg) (_msg.target_system == mavlink_system.sysid && \
|
||||
((_msg.target_component == mavlink_system.compid) || \
|
||||
|
|
@ -68,13 +69,13 @@ bool MavlinkMissionManager::_transfer_in_progress = false;
|
|||
|
||||
MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
|
||||
_state(MAVLINK_WPM_STATE_IDLE),
|
||||
_mission_type(MAV_MISSION_TYPE_MISSION),
|
||||
_time_last_recv(0),
|
||||
_time_last_sent(0),
|
||||
_time_last_reached(0),
|
||||
_action_timeout(MAVLINK_MISSION_PROTOCOL_TIMEOUT_DEFAULT),
|
||||
_retry_timeout(MAVLINK_MISSION_RETRY_TIMEOUT_DEFAULT),
|
||||
_int_mode(false),
|
||||
_max_count(DM_KEY_WAYPOINTS_OFFBOARD_0_MAX),
|
||||
_filesystem_errcount(0),
|
||||
_my_dataman_id(0),
|
||||
_transfer_dataman_id(0),
|
||||
|
|
@ -113,7 +114,7 @@ MavlinkMissionManager::init_offboard_mission()
|
|||
|
||||
if (ret > 0) {
|
||||
_dataman_id = mission_state.dataman_id;
|
||||
_count = mission_state.count;
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_MISSION] = mission_state.count;
|
||||
_current_seq = mission_state.current_seq;
|
||||
|
||||
} else if (ret == 0) {
|
||||
|
|
@ -127,11 +128,43 @@ MavlinkMissionManager::init_offboard_mission()
|
|||
_count = 0;
|
||||
_current_seq = 0;
|
||||
}
|
||||
|
||||
load_geofence_stats();
|
||||
|
||||
load_safepoint_stats();
|
||||
}
|
||||
|
||||
_my_dataman_id = _dataman_id;
|
||||
}
|
||||
|
||||
int
|
||||
MavlinkMissionManager::load_geofence_stats()
|
||||
{
|
||||
mission_stats_entry_s stats;
|
||||
// initialize fence points count
|
||||
int ret = dm_read(DM_KEY_FENCE_POINTS, 0, &stats, sizeof(mission_stats_entry_s));
|
||||
|
||||
if (ret == sizeof(mission_stats_entry_s)) {
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_FENCE] = stats.num_items;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
int
|
||||
MavlinkMissionManager::load_safepoint_stats()
|
||||
{
|
||||
mission_stats_entry_s stats;
|
||||
// initialize safe points count
|
||||
int ret = dm_read(DM_KEY_SAFE_POINTS, 0, &stats, sizeof(mission_stats_entry_s));
|
||||
|
||||
if (ret == sizeof(mission_stats_entry_s)) {
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_RALLY] = stats.num_items;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/**
|
||||
* Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
|
||||
*/
|
||||
|
|
@ -150,7 +183,7 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
|
|||
if (res == sizeof(mission_s)) {
|
||||
/* update active mission state */
|
||||
_dataman_id = dataman_id;
|
||||
_count = count;
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_MISSION] = count;
|
||||
_current_seq = seq;
|
||||
_my_dataman_id = _dataman_id;
|
||||
|
||||
|
|
@ -174,6 +207,57 @@ MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int
|
|||
return PX4_ERROR;
|
||||
}
|
||||
}
|
||||
int
|
||||
MavlinkMissionManager::update_geofence_count(unsigned count)
|
||||
{
|
||||
mission_stats_entry_s stats;
|
||||
stats.num_items = count;
|
||||
|
||||
/* update stats in dataman */
|
||||
int res = dm_write(DM_KEY_FENCE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s));
|
||||
|
||||
if (res == sizeof(mission_stats_entry_s)) {
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_FENCE] = count;
|
||||
// TODO: notify via orb
|
||||
|
||||
} else {
|
||||
warnx("WPM: ERROR: can't save mission state");
|
||||
|
||||
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
|
||||
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
|
||||
}
|
||||
|
||||
int
|
||||
MavlinkMissionManager::update_safepoint_count(unsigned count)
|
||||
{
|
||||
mission_stats_entry_s stats;
|
||||
stats.num_items = count;
|
||||
|
||||
/* update stats in dataman */
|
||||
int res = dm_write(DM_KEY_SAFE_POINTS, 0, DM_PERSIST_POWER_ON_RESET, &stats, sizeof(mission_stats_entry_s));
|
||||
|
||||
if (res == sizeof(mission_stats_entry_s)) {
|
||||
_count[(uint8_t)MAV_MISSION_TYPE_RALLY] = count;
|
||||
|
||||
} else {
|
||||
warnx("WPM: ERROR: can't save mission state");
|
||||
|
||||
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
|
||||
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
|
||||
}
|
||||
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
return PX4_OK;
|
||||
}
|
||||
|
||||
void
|
||||
MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t type)
|
||||
|
|
@ -183,6 +267,7 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
|
|||
wpa.target_system = sysid;
|
||||
wpa.target_component = compid;
|
||||
wpa.type = type;
|
||||
wpa.mission_type = _mission_type;
|
||||
|
||||
mavlink_msg_mission_ack_send_struct(_mavlink->get_channel(), &wpa);
|
||||
|
||||
|
|
@ -193,14 +278,14 @@ MavlinkMissionManager::send_mission_ack(uint8_t sysid, uint8_t compid, uint8_t t
|
|||
void
|
||||
MavlinkMissionManager::send_mission_current(uint16_t seq)
|
||||
{
|
||||
if (seq < _count) {
|
||||
if (seq < current_item_count()) {
|
||||
mavlink_mission_current_t wpc;
|
||||
|
||||
wpc.seq = seq;
|
||||
|
||||
mavlink_msg_mission_current_send_struct(_mavlink->get_channel(), &wpc);
|
||||
|
||||
} else if (seq == 0 && _count == 0) {
|
||||
} else if (seq == 0 && current_item_count() == 0) {
|
||||
/* don't broadcast if no WPs */
|
||||
|
||||
} else {
|
||||
|
|
@ -220,7 +305,7 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
|
|||
|
||||
wpc.target_system = sysid;
|
||||
wpc.target_component = compid;
|
||||
wpc.count = _count;
|
||||
wpc.count = count;
|
||||
|
||||
mavlink_msg_mission_count_send_struct(_mavlink->get_channel(), &wpc);
|
||||
|
||||
|
|
@ -231,10 +316,50 @@ MavlinkMissionManager::send_mission_count(uint8_t sysid, uint8_t compid, uint16_
|
|||
void
|
||||
MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t seq)
|
||||
{
|
||||
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
|
||||
struct mission_item_s mission_item;
|
||||
dm_item_t dm_item;
|
||||
struct mission_item_s mission_item {};
|
||||
bool read_success = false;
|
||||
|
||||
if (dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) {
|
||||
switch (_mission_type) {
|
||||
|
||||
case MAV_MISSION_TYPE_MISSION: {
|
||||
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_dataman_id);
|
||||
read_success = dm_read(dm_item, seq, &mission_item, sizeof(struct mission_item_s)) ==
|
||||
sizeof(struct mission_item_s);
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE: { // Read a geofence point
|
||||
mission_fence_point_s mission_fence_point;
|
||||
read_success = dm_read(DM_KEY_FENCE_POINTS, seq + 1, &mission_fence_point, sizeof(mission_fence_point_s)) ==
|
||||
sizeof(mission_fence_point_s);
|
||||
mission_item.nav_cmd = mission_fence_point.nav_cmd;
|
||||
mission_item.frame = mission_fence_point.frame;
|
||||
mission_item.lat = mission_fence_point.lat;
|
||||
mission_item.lon = mission_fence_point.lon;
|
||||
mission_item.altitude = mission_fence_point.alt;
|
||||
mission_item.vertex_count = mission_fence_point.vertex_count;
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY: { // Read a safe point / rally point
|
||||
mission_save_point_s mission_save_point;
|
||||
read_success = dm_read(DM_KEY_SAFE_POINTS, seq + 1, &mission_save_point, sizeof(mission_save_point_s)) ==
|
||||
sizeof(mission_save_point_s);
|
||||
mission_item.nav_cmd = MAV_CMD_NAV_RALLY_POINT;
|
||||
mission_item.frame = mission_save_point.frame;
|
||||
mission_item.lat = mission_save_point.lat;
|
||||
mission_item.lon = mission_save_point.lon;
|
||||
mission_item.altitude = mission_save_point.alt;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
_mavlink->send_statustext_critical("Received unknown mission type, abort.");
|
||||
break;
|
||||
}
|
||||
|
||||
if (read_success) {
|
||||
_time_last_sent = hrt_absolute_time();
|
||||
|
||||
if (_int_mode) {
|
||||
|
|
@ -279,12 +404,32 @@ MavlinkMissionManager::send_mission_item(uint8_t sysid, uint8_t compid, uint16_t
|
|||
}
|
||||
}
|
||||
|
||||
unsigned
|
||||
MavlinkMissionManager::current_max_item_count()
|
||||
{
|
||||
if ((unsigned)_mission_type >= sizeof(MAX_COUNT) / sizeof(MAX_COUNT[0])) {
|
||||
PX4_ERR("WPM: MAX_COUNT out of bounds (%u)", (unsigned)_mission_type);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return MAX_COUNT[(unsigned)_mission_type];
|
||||
}
|
||||
|
||||
unsigned
|
||||
MavlinkMissionManager::current_item_count()
|
||||
{
|
||||
if ((unsigned)_mission_type >= sizeof(_count) / sizeof(_count[0])) {
|
||||
PX4_ERR("WPM: _count out of bounds (%u)", (unsigned)_mission_type);
|
||||
return 0;
|
||||
}
|
||||
|
||||
return _count[(unsigned)_mission_type];
|
||||
}
|
||||
|
||||
void
|
||||
MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint16_t seq)
|
||||
{
|
||||
if (seq < _max_count) {
|
||||
|
||||
if (seq < current_max_item_count()) {
|
||||
_time_last_sent = hrt_absolute_time();
|
||||
|
||||
if (_int_mode) {
|
||||
|
|
@ -292,6 +437,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
|
|||
wpr.target_system = sysid;
|
||||
wpr.target_component = compid;
|
||||
wpr.seq = seq;
|
||||
wpr.mission_type = _mission_type;
|
||||
mavlink_msg_mission_request_int_send_struct(_mavlink->get_channel(), &wpr);
|
||||
|
||||
if (_verbose) {
|
||||
|
|
@ -304,6 +450,7 @@ MavlinkMissionManager::send_mission_request(uint8_t sysid, uint8_t compid, uint1
|
|||
wpr.target_system = sysid;
|
||||
wpr.target_component = compid;
|
||||
wpr.seq = seq;
|
||||
wpr.mission_type = _mission_type;
|
||||
|
||||
mavlink_msg_mission_request_send_struct(_mavlink->get_channel(), &wpr);
|
||||
|
||||
|
|
@ -469,10 +616,10 @@ MavlinkMissionManager::handle_mission_ack(const mavlink_message_t *msg)
|
|||
|
||||
if (CHECK_SYSID_COMPID_MISSION(wpa)) {
|
||||
if ((msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid)) {
|
||||
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
|
||||
if (_state == MAVLINK_WPM_STATE_SENDLIST && _mission_type == wpa.mission_type) {
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
if (_transfer_seq == _count) {
|
||||
if (_transfer_seq == current_item_count()) {
|
||||
if (_verbose) { warnx("WPM: MISSION_ACK OK all items sent, switch to state IDLE"); }
|
||||
|
||||
} else {
|
||||
|
|
@ -515,8 +662,10 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
|
|||
if (_state == MAVLINK_WPM_STATE_IDLE) {
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
if (wpc.seq < _count) {
|
||||
if (update_active_mission(_dataman_id, _count, wpc.seq) == PX4_OK) {
|
||||
if (wpc.seq < current_item_count()) {
|
||||
switch (_mission_type) {
|
||||
case MAV_MISSION_TYPE_MISSION:
|
||||
if (update_active_mission(_dataman_id, _count[(uint8_t)_mission_type], wpc.seq) == PX4_OK) {
|
||||
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d OK", wpc.seq); }
|
||||
|
||||
} else {
|
||||
|
|
@ -525,6 +674,21 @@ MavlinkMissionManager::handle_mission_set_current(const mavlink_message_t *msg)
|
|||
_mavlink->send_statustext_critical("WPM: WP CURR CMD: Error setting ID");
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE:
|
||||
update_geofence_count(_count[(uint8_t)_mission_type]);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY:
|
||||
update_safepoint_count(_count[(uint8_t)_mission_type]);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("mission type %u not handled", (unsigned)_mission_type);
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
if (_verbose) { warnx("WPM: MISSION_SET_CURRENT seq=%d ERROR: not in list", wpc.seq); }
|
||||
|
||||
|
|
@ -547,23 +711,40 @@ MavlinkMissionManager::handle_mission_request_list(const mavlink_message_t *msg)
|
|||
mavlink_msg_mission_request_list_decode(msg, &wprl);
|
||||
|
||||
if (CHECK_SYSID_COMPID_MISSION(wprl)) {
|
||||
if (_state == MAVLINK_WPM_STATE_IDLE || _state == MAVLINK_WPM_STATE_SENDLIST) {
|
||||
if (_state == MAVLINK_WPM_STATE_IDLE || (_state == MAVLINK_WPM_STATE_SENDLIST
|
||||
&& (uint8_t)_mission_type == wprl.mission_type)) {
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
_state = MAVLINK_WPM_STATE_SENDLIST;
|
||||
_mission_type = (MAV_MISSION_TYPE)wprl.mission_type;
|
||||
|
||||
// make sure our item counts are up-to-date
|
||||
switch (_mission_type) {
|
||||
case MAV_MISSION_TYPE_FENCE:
|
||||
load_geofence_stats();
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY:
|
||||
load_safepoint_stats();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
_transfer_seq = 0;
|
||||
_transfer_count = _count;
|
||||
_transfer_count = current_item_count();
|
||||
_transfer_partner_sysid = msg->sysid;
|
||||
_transfer_partner_compid = msg->compid;
|
||||
|
||||
if (_count > 0) {
|
||||
if (_transfer_count > 0) {
|
||||
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK, %u mission items to send", _transfer_count); }
|
||||
|
||||
} else {
|
||||
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST OK nothing to send, mission is empty"); }
|
||||
}
|
||||
|
||||
send_mission_count(msg->sysid, msg->compid, _count);
|
||||
send_mission_count(msg->sysid, msg->compid, _transfer_count);
|
||||
|
||||
} else {
|
||||
if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); }
|
||||
|
|
@ -607,6 +788,12 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
|||
if (CHECK_SYSID_COMPID_MISSION(wpr)) {
|
||||
if (msg->sysid == _transfer_partner_sysid && msg->compid == _transfer_partner_compid) {
|
||||
if (_state == MAVLINK_WPM_STATE_SENDLIST) {
|
||||
|
||||
if ((uint8_t)_mission_type != wpr.mission_type) {
|
||||
PX4_WARN("WPM: Unexpected mission type (%u %u)", (int)wpr.mission_type, (int)_mission_type);
|
||||
return;
|
||||
}
|
||||
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
/* _transfer_seq contains sequence of expected request */
|
||||
|
|
@ -637,11 +824,11 @@ MavlinkMissionManager::handle_mission_request_both(const mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
/* double check bounds in case of items count changed */
|
||||
if (wpr.seq < _count) {
|
||||
if (wpr.seq < current_item_count()) {
|
||||
send_mission_item(_transfer_partner_sysid, _transfer_partner_compid, wpr.seq);
|
||||
|
||||
} else {
|
||||
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)_count - 1); }
|
||||
if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST(_INT) ERROR: seq %u out of bound [%u, %u]", (unsigned)wpr.seq, (unsigned)wpr.seq, (unsigned)current_item_count() - 1); }
|
||||
|
||||
_state = MAVLINK_WPM_STATE_IDLE;
|
||||
|
||||
|
|
@ -686,9 +873,10 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
|||
}
|
||||
|
||||
_transfer_in_progress = true;
|
||||
_mission_type = (MAV_MISSION_TYPE)wpc.mission_type;
|
||||
|
||||
if (wpc.count > _max_count) {
|
||||
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, _max_count); }
|
||||
if (wpc.count > current_max_item_count()) {
|
||||
if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, current_max_item_count()); }
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_NO_SPACE);
|
||||
_transfer_in_progress = false;
|
||||
|
|
@ -698,8 +886,24 @@ MavlinkMissionManager::handle_mission_count(const mavlink_message_t *msg)
|
|||
if (wpc.count == 0) {
|
||||
if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); }
|
||||
|
||||
switch (_mission_type) {
|
||||
case MAV_MISSION_TYPE_MISSION:
|
||||
/* alternate dataman ID anyway to let navigator know about changes */
|
||||
update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE:
|
||||
update_geofence_count(0);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY:
|
||||
update_safepoint_count(0);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("mission type %u not handled", (unsigned)_mission_type);
|
||||
break;
|
||||
}
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
|
||||
_transfer_in_progress = false;
|
||||
|
|
@ -775,6 +979,12 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
|||
mavlink_msg_mission_item_decode(msg, &wp);
|
||||
|
||||
if (CHECK_SYSID_COMPID_MISSION(wp)) {
|
||||
|
||||
if (wp.mission_type != _mission_type) {
|
||||
PX4_WARN("WPM: Unexpected mission type (%u %u)", (int)wp.mission_type, (int)_mission_type);
|
||||
return;
|
||||
}
|
||||
|
||||
if (_state == MAVLINK_WPM_STATE_GETLIST) {
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
|
|
@ -813,14 +1023,71 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
|||
return;
|
||||
}
|
||||
|
||||
bool write_failed = false;
|
||||
bool check_failed = false;
|
||||
|
||||
switch (_mission_type) {
|
||||
|
||||
case MAV_MISSION_TYPE_MISSION: {
|
||||
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
|
||||
|
||||
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item,
|
||||
sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
|
||||
write_failed = dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item,
|
||||
sizeof(struct mission_item_s)) != sizeof(struct mission_item_s);
|
||||
|
||||
if (!write_failed) {
|
||||
/* waypoint marked as current */
|
||||
if (wp.current) {
|
||||
_transfer_current_seq = wp.seq;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE: { // Write a geofence point
|
||||
mission_fence_point_s mission_fence_point;
|
||||
mission_fence_point.nav_cmd = mission_item.nav_cmd;
|
||||
mission_fence_point.lat = mission_item.lat;
|
||||
mission_fence_point.lon = mission_item.lon;
|
||||
mission_fence_point.alt = mission_item.altitude;
|
||||
mission_fence_point.vertex_count = mission_item.vertex_count;
|
||||
mission_fence_point.frame = mission_item.frame;
|
||||
|
||||
write_failed = dm_write(DM_KEY_FENCE_POINTS, wp.seq + 1, DM_PERSIST_POWER_ON_RESET, &mission_fence_point,
|
||||
sizeof(mission_fence_point_s)) != sizeof(mission_fence_point_s);
|
||||
|
||||
if (mission_item.vertex_count < 3) { // feasibility check
|
||||
PX4_ERR("Fence: too few vertices");
|
||||
check_failed = true;
|
||||
update_geofence_count(0);
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY: { // Write a safe point / rally point
|
||||
mission_save_point_s mission_save_point;
|
||||
mission_save_point.lat = mission_item.lat;
|
||||
mission_save_point.lon = mission_item.lon;
|
||||
mission_save_point.alt = mission_item.altitude;
|
||||
mission_save_point.frame = mission_item.frame;
|
||||
write_failed = dm_write(DM_KEY_SAFE_POINTS, wp.seq + 1, DM_PERSIST_POWER_ON_RESET, &mission_save_point,
|
||||
sizeof(mission_save_point_s)) != sizeof(mission_save_point_s);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
_mavlink->send_statustext_critical("Received unknown mission type, abort.");
|
||||
break;
|
||||
}
|
||||
|
||||
if (write_failed || check_failed) {
|
||||
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
|
||||
|
||||
if (write_failed) {
|
||||
_mavlink->send_statustext_critical("Unable to write on micro SD");
|
||||
}
|
||||
|
||||
_state = MAVLINK_WPM_STATE_IDLE;
|
||||
_transfer_in_progress = false;
|
||||
return;
|
||||
|
|
@ -841,7 +1108,27 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
|
|||
|
||||
_state = MAVLINK_WPM_STATE_IDLE;
|
||||
|
||||
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == PX4_OK) {
|
||||
ret = 0;
|
||||
|
||||
switch (_mission_type) {
|
||||
case MAV_MISSION_TYPE_MISSION:
|
||||
ret = update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE:
|
||||
ret = update_geofence_count(_transfer_count);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY:
|
||||
ret = update_safepoint_count(_transfer_count);
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("mission type %u not handled", (unsigned)_mission_type);
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
|
||||
|
||||
} else {
|
||||
|
|
@ -870,7 +1157,34 @@ MavlinkMissionManager::handle_mission_clear_all(const mavlink_message_t *msg)
|
|||
/* don't touch mission items storage itself, but only items count in mission state */
|
||||
_time_last_recv = hrt_absolute_time();
|
||||
|
||||
if (update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0) == PX4_OK) {
|
||||
_mission_type = (MAV_MISSION_TYPE)wpca.mission_type; // this is needed for the returned ack
|
||||
int ret = 0;
|
||||
|
||||
switch (wpca.mission_type) {
|
||||
case MAV_MISSION_TYPE_MISSION:
|
||||
ret = update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_FENCE:
|
||||
ret = update_geofence_count(0);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_RALLY:
|
||||
ret = update_safepoint_count(0);
|
||||
break;
|
||||
|
||||
case MAV_MISSION_TYPE_ALL:
|
||||
ret = update_active_mission(_dataman_id == 0 ? 1 : 0, 0, 0);
|
||||
ret = update_geofence_count(0) || ret;
|
||||
ret = update_safepoint_count(0) || ret;
|
||||
break;
|
||||
|
||||
default:
|
||||
PX4_ERR("mission type %u not handled", (unsigned)_mission_type);
|
||||
break;
|
||||
}
|
||||
|
||||
if (ret == PX4_OK) {
|
||||
if (_verbose) { warnx("WPM: CLEAR_ALL OK"); }
|
||||
|
||||
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
|
||||
|
|
@ -980,6 +1294,20 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
|
|||
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_FENCE_RETURN_POINT:
|
||||
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION:
|
||||
case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
|
||||
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
|
||||
mission_item->vertex_count = (uint16_t)(mavlink_mission_item->param1 + 0.5f);
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_RALLY_POINT:
|
||||
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
|
||||
break;
|
||||
|
||||
default:
|
||||
mission_item->nav_cmd = NAV_CMD_INVALID;
|
||||
|
||||
|
|
@ -1192,6 +1520,18 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
|
|||
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_FENCE_RETURN_POINT:
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION:
|
||||
case MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION:
|
||||
mavlink_mission_item->param1 = (float)mission_item->vertex_count;
|
||||
break;
|
||||
|
||||
case MAV_CMD_NAV_RALLY_POINT:
|
||||
break;
|
||||
|
||||
|
||||
default:
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
|
@ -1207,6 +1547,6 @@ void MavlinkMissionManager::check_active_mission()
|
|||
if (_verbose) { warnx("WPM: New mission detected (possibly over different Mavlink instance) Updating"); }
|
||||
|
||||
_my_dataman_id = _dataman_id;
|
||||
this->send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count);
|
||||
send_mission_count(_transfer_partner_sysid, _transfer_partner_compid, _count[(uint8_t)MAV_MISSION_TYPE_MISSION]);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -33,7 +33,10 @@
|
|||
|
||||
/**
|
||||
* @file mavlink_mission.h
|
||||
* MAVLink mission manager interface definition.
|
||||
* Implementation of the MAVLink mission protocol.
|
||||
* Documentation:
|
||||
* - http://qgroundcontrol.org/mavlink/mission_interface
|
||||
* - http://qgroundcontrol.org/mavlink/waypoint_protocol
|
||||
*
|
||||
* @author Lorenz Meier <lorenz@px4.io>
|
||||
* @author Julian Oes <julian@px4.io>
|
||||
|
|
@ -42,6 +45,7 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#include <dataman/dataman.h>
|
||||
#include <uORB/uORB.h>
|
||||
|
||||
#include "mavlink_bridge_header.h"
|
||||
|
|
@ -89,6 +93,7 @@ public:
|
|||
|
||||
private:
|
||||
enum MAVLINK_WPM_STATES _state; ///< Current state
|
||||
enum MAV_MISSION_TYPE _mission_type; ///< mission type of current transmission (only one at a time possible)
|
||||
|
||||
uint64_t _time_last_recv;
|
||||
uint64_t _time_last_sent;
|
||||
|
|
@ -99,14 +104,13 @@ private:
|
|||
|
||||
bool _int_mode; ///< Use accurate int32 instead of float
|
||||
|
||||
unsigned _max_count; ///< Maximum number of mission items
|
||||
unsigned _filesystem_errcount; ///< File system error count
|
||||
|
||||
static int _dataman_id; ///< Global Dataman storage ID for active mission
|
||||
int _my_dataman_id; ///< class Dataman storage ID
|
||||
static bool _dataman_init; ///< Dataman initialized
|
||||
|
||||
static unsigned _count; ///< Count of items in active mission
|
||||
static unsigned _count[3]; ///< Count of items in (active) mission for each MAV_MISSION_TYPE
|
||||
static int _current_seq; ///< Current item sequence in active mission
|
||||
|
||||
static int _last_reached; ///< Last reached waypoint in active mission (-1 means nothing reached)
|
||||
|
|
@ -131,6 +135,18 @@ private:
|
|||
|
||||
static constexpr unsigned int FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT =
|
||||
2; ///< Error count limit before stopping to report FS errors
|
||||
static constexpr unsigned MAX_COUNT[] = {
|
||||
DM_KEY_WAYPOINTS_OFFBOARD_0_MAX,
|
||||
DM_KEY_FENCE_POINTS_MAX - 1,
|
||||
DM_KEY_SAFE_POINTS_MAX - 1
|
||||
}; /**< Maximum number of mission items for each type
|
||||
(fence & save points use the first item for the stats) */
|
||||
|
||||
/** get the maximum number of item count for the current _mission_type */
|
||||
inline unsigned current_max_item_count();
|
||||
|
||||
/** get the number of item count for the current _mission_type */
|
||||
inline unsigned current_item_count();
|
||||
|
||||
/* do not allow top copying this class */
|
||||
MavlinkMissionManager(MavlinkMissionManager &);
|
||||
|
|
@ -140,6 +156,18 @@ private:
|
|||
|
||||
int update_active_mission(int dataman_id, unsigned count, int seq);
|
||||
|
||||
/** store the geofence count to dataman */
|
||||
int update_geofence_count(unsigned count);
|
||||
|
||||
/** store the safepoint count to dataman */
|
||||
int update_safepoint_count(unsigned count);
|
||||
|
||||
/** load geofence stats from dataman */
|
||||
int load_geofence_stats();
|
||||
|
||||
/** load safe point stats from dataman */
|
||||
int load_safepoint_stats();
|
||||
|
||||
/**
|
||||
* @brief Sends an waypoint ack message
|
||||
*/
|
||||
|
|
|
|||
Loading…
Reference in New Issue