/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file missionlib.h
* MAVLink missionlib components
*/
// XXX trim includes
#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <drivers/drv_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>
#include <systemlib/err.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <mavlink/mavlink_log.h>
#include "geo/geo.h"
#include "waypoints.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"
static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
static uint64_t loiter_start_time;
static bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
struct vehicle_global_position_setpoint_s *sp);
int
mavlink_missionlib_send_message(mavlink_message_t *msg)
{
uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
mavlink_send_uart_bytes(chan, missionlib_msg_buf, len);
return 0;
}
int
mavlink_missionlib_send_gcs_string(const char *string)
{
const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
mavlink_statustext_t statustext;
int i = 0;
while (i < len - 1) {
statustext.text[i] = string[i];
if (string[i] == '\0')
break;
i++;
}
if (i > 1) {
/* Enforce null termination */
statustext.text[i] = '\0';
mavlink_message_t msg;
mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
return mavlink_missionlib_send_message(&msg);
} else {
return 1;
}
}
/**
* Get system time since boot in microseconds
*
* @return the system time since boot in microseconds
*/
uint64_t mavlink_missionlib_get_system_timestamp()
{
return hrt_absolute_time();
}
/**
* Set special vehicle setpoint fields based on current mission item.
*
* @return true if the mission item could be interpreted
* successfully, it return false on failure.
*/
bool set_special_fields(float param1, float param2, float param3, float param4, uint16_t command,
struct vehicle_global_position_setpoint_s *sp)
{
switch (command) {
case MAV_CMD_NAV_LOITER_UNLIM:
sp->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
break;
case MAV_CMD_NAV_LOITER_TIME:
sp->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
loiter_start_time = hrt_absolute_time();
break;
// case MAV_CMD_NAV_LOITER_TURNS:
// sp->nav_cmd = NAV_CMD_LOITER_TURN_COUNT;
// break;
case MAV_CMD_NAV_WAYPOINT:
sp->nav_cmd = NAV_CMD_WAYPOINT;
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
sp->nav_cmd = NAV_CMD_RETURN_TO_LAUNCH;
break;
case MAV_CMD_NAV_LAND:
sp->nav_cmd = NAV_CMD_LAND;
break;
case MAV_CMD_NAV_TAKEOFF:
sp->nav_cmd = NAV_CMD_TAKEOFF;
break;
default:
/* abort */
return false;
}
sp->loiter_radius = param3;
sp->loiter_direction = (param3 >= 0) ? 1 : -1;
sp->param1 = param1;
sp->param2 = param2;
sp->param3 = param3;
sp->param4 = param4;
/* define the turn distance */
float orbit = 15.0f;
if (command == (int)MAV_CMD_NAV_WAYPOINT) {
orbit = param2;
} else if (command == (int)MAV_CMD_NAV_LOITER_TURNS ||
command == (int)MAV_CMD_NAV_LOITER_TIME ||
command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
orbit = param3;
} else {
// XXX set default orbit via param
// 15 initialized above
}
sp->turn_distance_xy = orbit;
sp->turn_distance_z = orbit;
}
/**
* This callback is executed each time a waypoint changes.
*
* It publishes the vehicle_global_position_setpoint_s or the
* vehicle_local_position_setpoint_s topic, depending on the type of waypoint
*/
void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
float param2, float param3, float param4, float param5_lat_x,
float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
{
static orb_advert_t global_position_setpoint_pub = -1;
static orb_advert_t global_position_set_triplet_pub = -1;
static orb_advert_t local_position_setpoint_pub = -1;
static unsigned last_waypoint_index = -1;
char buf[50] = {0};
// XXX include check if WP is supported, jump to next if not
/* Update controller setpoints */
if (frame == (int)MAV_FRAME_GLOBAL) {
/* global, absolute waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = false;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
set_special_fields(param1, param2, param3, param4, command, &sp);
/* Initialize setpoint publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
/* fill triplet: previous, current, next waypoint */
struct vehicle_global_position_set_triplet_s triplet;
/* current waypoint is same as sp */
memcpy(&(triplet.current), &sp, sizeof(sp));
/*
* Check if previous WP (in mission, not in execution order)
* is available and identify correct index
*/
int last_setpoint_index = -1;
bool last_setpoint_valid = false;
if (index > 0) {
last_setpoint_index = index - 1;
}
while (last_setpoint_index >= 0) {
if (wpm->waypoints[last_setpoint_index].frame == (int)MAV_FRAME_GLOBAL &&
(wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
wpm->waypoints[last_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
last_setpoint_valid = true;
break;
}
last_setpoint_index--;
}
/*
* Check if next WP (in mission, not in execution order)
* is available and identify correct index
*/
int next_setpoint_index = -1;
bool next_setpoint_valid = false;
/* next waypoint */
if (wpm->size > 1) {
next_setpoint_index = index + 1;
}
while (next_setpoint_index < wpm->size) {
if (wpm->waypoints[next_setpoint_index].frame == (int)MAV_FRAME_GLOBAL && (wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_TIME ||
wpm->waypoints[next_setpoint_index].command == (int)MAV_CMD_NAV_LOITER_UNLIM)) {
next_setpoint_valid = true;
break;
}
next_setpoint_index++;
}
/* populate last and next */
triplet.previous_valid = false;
triplet.next_valid = false;
if (last_setpoint_valid) {
triplet.previous_valid = true;
struct vehicle_global_position_setpoint_s sp;
sp.lat = wpm->waypoints[last_setpoint_index].x * 1e7f;
sp.lon = wpm->waypoints[last_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[last_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = _wrap_pi(wpm->waypoints[last_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[last_setpoint_index].param1,
wpm->waypoints[last_setpoint_index].param2,
wpm->waypoints[last_setpoint_index].param3,
wpm->waypoints[last_setpoint_index].param4,
wpm->waypoints[last_setpoint_index].command, &sp);
memcpy(&(triplet.previous), &sp, sizeof(sp));
}
if (next_setpoint_valid) {
triplet.next_valid = true;
struct vehicle_global_position_setpoint_s sp;
sp.lat = wpm->waypoints[next_setpoint_index].x * 1e7f;
sp.lon = wpm->waypoints[next_setpoint_index].y * 1e7f;
sp.altitude = wpm->waypoints[next_setpoint_index].z;
sp.altitude_is_relative = false;
sp.yaw = _wrap_pi(wpm->waypoints[next_setpoint_index].param4 / 180.0f * M_PI_F);
set_special_fields(wpm->waypoints[next_setpoint_index].param1,
wpm->waypoints[next_setpoint_index].param2,
wpm->waypoints[next_setpoint_index].param3,
wpm->waypoints[next_setpoint_index].param4,
wpm->waypoints[next_setpoint_index].command, &sp);
memcpy(&(triplet.next), &sp, sizeof(sp));
}
/* Initialize triplet publication if necessary */
if (global_position_set_triplet_pub < 0) {
global_position_set_triplet_pub = orb_advertise(ORB_ID(vehicle_global_position_set_triplet), &triplet);
} else {
orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet);
}
sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
/* global, relative alt (in relation to HOME) waypoint */
struct vehicle_global_position_setpoint_s sp;
sp.lat = param5_lat_x * 1e7f;
sp.lon = param6_lon_y * 1e7f;
sp.altitude = param7_alt_z;
sp.altitude_is_relative = true;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
set_special_fields(param1, param2, param3, param4, command, &sp);
/* Initialize publication if necessary */
if (global_position_setpoint_pub < 0) {
global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
/* local, absolute waypoint */
struct vehicle_local_position_setpoint_s sp;
sp.x = param5_lat_x;
sp.y = param6_lon_y;
sp.z = param7_alt_z;
sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F);
/* Initialize publication if necessary */
if (local_position_setpoint_pub < 0) {
local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
} else {
orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
}
sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
} else {
warnx("non-navigation WP, ignoring");
mavlink_missionlib_send_gcs_string("[mp] Unknown waypoint type, ignoring.");
return;
}
/* only set this for known waypoint types (non-navigation types would have returned earlier) */
last_waypoint_index = index;
mavlink_missionlib_send_gcs_string(buf);
printf("%s\n", buf);
//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
}
