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/**
* @file gimbal.cpp
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Driver to control a gimbal - relies on input via telemetry or RC
* and output via the standardized control group #2 and a mixer.
*/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <stdlib.h>
#include <stdbool.h>
#include <semaphore.h>
#include <string.h>
#include <fcntl.h>
#include <poll.h>
#include <errno.h>
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <termios.h>
#include <nuttx/arch.h>
#include <nuttx/wqueue.h>
#include <nuttx/clock.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_range_finder.h>
#include <drivers/device/device.h>
#include <drivers/device/ringbuffer.h>
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_attitude.h>
#include <board_config.h>
/* Configuration Constants */
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
#ifndef CONFIG_SCHED_WORKQUEUE
# error This requires CONFIG_SCHED_WORKQUEUE.
#endif
#define GIMBAL_DEVICE_PATH "/dev/gimbal"
#define GIMBAL_UPDATE_INTERVAL (50 * 1000)
#define GIMBALIOCATTCOMPENSATE 1
class Gimbal : public device::CDev
{
public:
Gimbal();
virtual ~Gimbal();
virtual int init();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
protected:
virtual int probe();
private:
float _min_distance;
float _max_distance;
work_s _work;
int _vehicle_command_sub;
int _att_sub;
bool _attitude_compensation;
bool _initialized;
orb_advert_t _actuator_controls_2_topic;
perf_counter_t _sample_perf;
perf_counter_t _comms_errors;
perf_counter_t _buffer_overflows;
/**
* Initialise the automatic measurement state machine and start it.
*
* @note This function is called at open and error time. It might make sense
* to make it more aggressive about resetting the bus in case of errors.
*/
void start();
/**
* Stop the automatic measurement state machine.
*/
void stop();
/**
* Perform a poll cycle; collect from the previous measurement
* and start a new one.
*/
void cycle();
/**
* Static trampoline from the workq context; because we don't have a
* generic workq wrapper yet.
*
* @param arg Instance pointer for the driver that is polling.
*/
static void cycle_trampoline(void *arg);
};
/*
* Driver 'main' command.
*/
extern "C" __EXPORT int gimbal_main(int argc, char *argv[]);
Gimbal::Gimbal() :
CDev("Gimbal", GIMBAL_DEVICE_PATH),
_vehicle_command_sub(-1),
_att_sub(-1),
_attitude_compensation(false),
_initialized(false),
_actuator_controls_2_topic(-1),
_sample_perf(perf_alloc(PC_ELAPSED, "gimbal_read")),
_comms_errors(perf_alloc(PC_COUNT, "gimbal_comms_errors")),
_buffer_overflows(perf_alloc(PC_COUNT, "gimbal_buffer_overflows"))
{
// disable debug() calls
_debug_enabled = false;
// work_cancel in the dtor will explode if we don't do this...
memset(&_work, 0, sizeof(_work));
}
Gimbal::~Gimbal()
{
/* make sure we are truly inactive */
stop();
::close(_actuator_controls_2_topic);
::close(_vehicle_command_sub);
}
int
Gimbal::init()
{
int ret = ERROR;
/* do regular cdev init */
if (CDev::init() != OK) {
goto out;
}
start();
ret = OK;
out:
return ret;
}
int
Gimbal::probe()
{
return OK;
}
int
Gimbal::ioctl(struct file *filp, int cmd, unsigned long arg)
{
switch (cmd) {
case GIMBALIOCATTCOMPENSATE:
_attitude_compensation = (arg != 0);
return OK;
default:
/* give it to the superclass */
return CDev::ioctl(filp, cmd, arg);
}
}
ssize_t
Gimbal::read(struct file *filp, char *buffer, size_t buflen)
{
return 0;
}
void
Gimbal::start()
{
/* schedule a cycle to start things */
work_queue(LPWORK, &_work, (worker_t)&Gimbal::cycle_trampoline, this, 1);
}
void
Gimbal::stop()
{
work_cancel(LPWORK, &_work);
}
void
Gimbal::cycle_trampoline(void *arg)
{
Gimbal *dev = static_cast<Gimbal *>(arg);
dev->cycle();
}
void
Gimbal::cycle()
{
if (!_initialized) {
/* get a subscription handle on the vehicle command topic */
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
/* get a publication handle on actuator output topic */
struct actuator_controls_s zero_report;
memset(&zero_report, 0, sizeof(zero_report));
zero_report.timestamp = hrt_absolute_time();
_actuator_controls_2_topic = orb_advertise(ORB_ID(actuator_controls_2), &zero_report);
if (_actuator_controls_2_topic < 0) {
warnx("advert err");
}
_initialized = true;
}
bool updated = false;
perf_begin(_sample_perf);
float roll = 0.0f;
float pitch = 0.0f;
if (_attitude_compensation) {
if (_att_sub < 0) {
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
}
vehicle_attitude_s att;
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
roll = -att.roll;
pitch = -att.pitch;
updated = true;
}
struct vehicle_command_s cmd;
bool cmd_updated;
orb_check(_vehicle_command_sub, &cmd_updated);
if (cmd_updated) {
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
//debug("cmd: %d, param1: %8.4f param2: %8.4f", (double)cmd.command, (double)cmd.param1, (double)cmd.param2);
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL && cmd.param7 == 2) {
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
updated = true;
}
// XXX change this to the real quaternion command
if (cmd.command == VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT && cmd.param7 == 2) {
/* Convert to range -1 ... 1, which corresponds to -180deg ... 180deg */
roll += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param1;
pitch += 1.0f / M_PI_F * M_DEG_TO_RAD_F * cmd.param2;
updated = true;
}
}
if (updated) {
struct actuator_controls_s controls;
/* fill in the final control values */
controls.timestamp = hrt_absolute_time();
controls.control[0] = roll;
controls.control[1] = pitch;
/* publish it */
orb_publish(ORB_ID(actuator_controls_2), _actuator_controls_2_topic, &controls);
}
/* notify anyone waiting for data */
poll_notify(POLLIN);
perf_end(_sample_perf);
/* schedule a fresh cycle call when the measurement is done */
work_queue(LPWORK,
&_work,
(worker_t)&Gimbal::cycle_trampoline,
this,
USEC2TICK(GIMBAL_UPDATE_INTERVAL));
}
void
Gimbal::print_info()
{
perf_print_counter(_sample_perf);
perf_print_counter(_comms_errors);
perf_print_counter(_buffer_overflows);
}
/**
* Local functions in support of the shell command.
*/
namespace gimbal
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
Gimbal *g_dev;
void start();
void stop();
void test();
void reset();
void info();
/**
* Start the driver.
*/
void
start()
{
if (g_dev != nullptr) {
errx(1, "already started");
}
/* create the driver */
g_dev = new Gimbal();
if (g_dev == nullptr) {
goto fail;
}
if (OK != g_dev->init()) {
goto fail;
}
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
}
errx(1, "driver start failed");
}
/**
* Stop the driver
*/
void stop()
{
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
} else {
errx(1, "driver not running");
}
exit(0);
}
/**
* Perform some basic functional tests on the driver;
* make sure we can collect data from the sensor in polled
* and automatic modes.
*/
void
test()
{
int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
err(1, "failed enabling compensation");
}
errx(0, "PASS");
}
/**
* Reset the driver.
*/
void
reset()
{
int fd = open(GIMBAL_DEVICE_PATH, O_RDONLY);
if (fd < 0) {
err(1, "failed ");
}
// if (ioctl(fd, GIMBALIOCATTCOMPENSATE, 1) < 0) {
// err(1, "failed enabling compensation");
// }
exit(0);
}
/**
* Print a little info about the driver.
*/
void
info()
{
if (g_dev == nullptr) {
errx(1, "driver not running");
}
printf("state @ %p\n", g_dev);
g_dev->print_info();
exit(0);
}
} // namespace
int
gimbal_main(int argc, char *argv[])
{
/*
* Start/load the driver.
*/
if (!strcmp(argv[1], "start")) {
gimbal::start();
}
/*
* Stop the driver
*/
if (!strcmp(argv[1], "stop")) {
gimbal::stop();
}
/*
* Test the driver/device.
*/
if (!strcmp(argv[1], "test")) {
gimbal::test();
}
/*
* Reset the driver.
*/
if (!strcmp(argv[1], "reset")) {
gimbal::reset();
}
/*
* Print driver information.
*/
if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) {
gimbal::info();
}
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}