diff options
author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-09 16:10:24 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-09 16:10:24 +0200 |
commit | cad0877f67c393b698b8fc4f242944c9e1ba1bc5 (patch) | |
tree | 663c4aa172bd5f2424352a65e4e01534830548ef | |
parent | 4ad435b483510158ea8a5b303cd680f9e982df84 (diff) | |
download | px4-firmware-cad0877f67c393b698b8fc4f242944c9e1ba1bc5.tar.gz px4-firmware-cad0877f67c393b698b8fc4f242944c9e1ba1bc5.tar.bz2 px4-firmware-cad0877f67c393b698b8fc4f242944c9e1ba1bc5.zip |
mavlink: waypoint manager fixes, mission saving on reboot
-rw-r--r-- | src/modules/mavlink/mavlink_main.cpp | 432 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_main.h | 13 | ||||
-rw-r--r-- | src/modules/navigator/navigator_main.cpp | 6 | ||||
-rw-r--r-- | src/modules/uORB/topics/mission.h | 4 |
4 files changed, 227 insertions, 228 deletions
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index cb1b762a7..4e0597e80 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -954,20 +954,53 @@ void Mavlink::mavlink_wpm_init(mavlink_wpm_storage *state) { persistent_system_state_t sys_state; + /* init WPM state */ state->size = 0; state->max_size = MAVLINK_WPM_MAX_WP_COUNT; + state->dataman_id = 0; state->current_state = MAVLINK_WPM_STATE_IDLE; state->current_partner_sysid = 0; state->current_partner_compid = 0; + state->current_dataman_id = 0; state->timestamp_lastaction = 0; state->timestamp_last_send_setpoint = 0; state->timestamp_last_send_request = 0; state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; - state->current_dataman_id = 0; - if (dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state)) == sizeof(sys_state)) { - if ((sys_state.current_offboard_waypoint_id >= 0) && (sys_state.current_offboard_waypoint_id <= 1)) - state->current_dataman_id = sys_state.current_offboard_waypoint_id; + + int sys_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state)); + if (sys_state_size == sizeof(sys_state)) { + if ((sys_state.offboard_waypoint_id >= 0) && (sys_state.offboard_waypoint_id <= 1)) { + state->dataman_id = sys_state.offboard_waypoint_id; + + if (_verbose) { warnx("WPM init: using dataman ID %d", state->dataman_id); } + + /* count waypoints in current waypoints storage */ + dm_item_t dm_id = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; + struct mission_item_s mission_item; + + int seq = 0; + while (seq < state->max_size && dm_read(dm_id, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) { + seq++; + } + + if (_verbose) { warnx("WPM init: found %d items", seq); } + + state->size = seq; + + } else { + if (_verbose) { warnx("WPM init: invalid dataman ID %d stored in SYSTEM_STATE", sys_state.offboard_waypoint_id); } + } + + } else { + if (_verbose) { warnx("WPM init: dataman SYSTEM_STATE item has wrong size (%i, should be %u), ignoring", sys_state_size, sizeof(sys_state)); } } + + /* init mission topic */ + mission.count = state->size; + mission.dataman_id = state->dataman_id; + mission.current_index = -1; // TODO store current index in dataman? + + publish_mission(); } /* @@ -985,7 +1018,7 @@ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8 mavlink_msg_mission_ack_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpa); mavlink_missionlib_send_message(&msg); - if (_verbose) { warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } + if (_verbose) { warnx("WPM: Send MISSION_ACK type %u to ID %u", wpa.type, wpa.target_system); } } /* @@ -1009,13 +1042,12 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t seq) mavlink_missionlib_send_message(&msg); } else if (seq == 0 && _wpm->size == 0) { - /* don't broadcast if no WPs */ } else { - mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + if (_verbose) { warnx("WPM: Send WAYPOINT_CURRENT ERROR: seq %u out of bounds", seq); } - if (_verbose) { warnx("ERROR: index out of bounds"); } + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); } } @@ -1031,25 +1063,15 @@ void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uin mavlink_msg_mission_count_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wpc); mavlink_missionlib_send_message(&msg); - if (_verbose) { warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); } + if (_verbose) { warnx("WPM: Send WAYPOINT_COUNT %u to ID %u", wpc.count, wpc.target_system); } } void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) { - + dm_item_t dm_id = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; struct mission_item_s mission_item; - ssize_t len = sizeof(struct mission_item_s); - dm_item_t dm_current; - - if (_wpm->current_dataman_id == 0) { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_0; - - } else { - dm_current = DM_KEY_WAYPOINTS_OFFBOARD_1; - } - - if (dm_read(dm_current, seq, &mission_item, len) == len) { + if (dm_read(dm_id, seq, &mission_item, sizeof(struct mission_item_s)) == sizeof(struct mission_item_s)) { /* create mission_item_s from mavlink_mission_item_t */ mavlink_mission_item_t wp; @@ -1062,13 +1084,13 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t mavlink_msg_mission_item_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp); mavlink_missionlib_send_message(&msg); - if (_verbose) { warnx("Sent waypoint %u to ID %u", wp.seq, wp.target_system); } + if (_verbose) { warnx("WPM: Send WAYPOINT seq %u to ID %u", wp.seq, wp.target_system); } } else { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); mavlink_missionlib_send_gcs_string("#audio: Unable to read from micro SD"); - if (_verbose) { warnx("ERROR: could not read WP%u", seq); } + if (_verbose) { warnx("WPM: Send WAYPOINT ERROR: could not read seq %u from dataman ID %i", seq, dm_id); } } } @@ -1084,12 +1106,12 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u mavlink_missionlib_send_message(&msg); _wpm->timestamp_last_send_request = hrt_absolute_time(); - if (_verbose) { warnx("Sent waypoint request %u to ID %u", wpr.seq, wpr.target_system); } + if (_verbose) { warnx("WPM: Send WAYPOINT_REQUEST seq %u to ID %u", wpr.seq, wpr.target_system); } } else { mavlink_missionlib_send_gcs_string("ERROR: Waypoint index exceeds list capacity"); - if (_verbose) { warnx("ERROR: Waypoint index exceeds list capacity"); } + if (_verbose) { warnx("WPM: Send WAYPINT_REQUEST ERROR: seq %u exceeds list capacity", seq); } } } @@ -1110,7 +1132,7 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t seq) mavlink_msg_mission_item_reached_encode_chan(mavlink_system.sysid, _mavlink_wpm_comp_id, _channel, &msg, &wp_reached); mavlink_missionlib_send_message(&msg); - if (_verbose) { warnx("Sent waypoint %u reached message", wp_reached.seq); } + if (_verbose) { warnx("WPM: Send WAYPOINT_REACHED seq %u", wp_reached.seq); } } void Mavlink::mavlink_waypoint_eventloop(uint64_t now) @@ -1120,7 +1142,7 @@ void Mavlink::mavlink_waypoint_eventloop(uint64_t now) mavlink_missionlib_send_gcs_string("Operation timeout"); - if (_verbose) { warnx("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); } + if (_verbose) { warnx("WPM: Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_state); } _wpm->current_state = MAVLINK_WPM_STATE_IDLE; _wpm->current_partner_sysid = 0; @@ -1143,23 +1165,25 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) mavlink_mission_ack_t wpa; mavlink_msg_mission_ack_decode(msg, &wpa); - if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) && (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/)) { - _wpm->timestamp_lastaction = now; + if (wpa.target_system == mavlink_system.sysid /*&& wpa.target_component == mavlink_wpm_comp_id*/) { + if ((msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) { + _wpm->timestamp_lastaction = now; - if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { - if (_wpm->current_wp_id == _wpm->size - 1) { + if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (_wpm->current_wp_id == _wpm->size - 1) { + if (_verbose) { warnx("WPM: MISSION_ACK all items sent, switch to MAVLINK_WPM_STATE_IDLE"); } - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - _wpm->current_wp_id = 0; + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + _wpm->current_wp_id = 0; + } } - } - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch"); - if (_verbose) { warnx("REJ. WP CMD: curr partner id mismatch"); } + if (_verbose) { warnx("WPM: MISSION_ACK ERROR: rejected, partner ID mismatch"); } + } } - break; } @@ -1172,6 +1196,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.seq < _wpm->size) { + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT OK (%d)", wpc.seq); } mission.current_index = wpc.seq; publish_mission(); @@ -1180,16 +1205,15 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) // mavlink_wpm_send_waypoint_current(wpc.seq); } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: not in list (%d)", wpc.seq); } - if (_verbose) { warnx("IGN WP CURR CMD: Not in list"); } + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); } } else { - mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); - - if (_verbose) { warnx("IGN WP CURR CMD: Busy"); } + if (_verbose) { warnx("WPM: MISSION_SET_CURRENT ERROR: busy"); } + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); } } @@ -1205,23 +1229,22 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE || _wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (_wpm->size > 0) { - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST; _wpm->current_wp_id = 0; _wpm->current_partner_sysid = msg->sysid; _wpm->current_partner_compid = msg->compid; } else { - if (_verbose) { warnx("No waypoints send"); } + if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST nothing to send, mission is empty"); } } _wpm->current_count = _wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, _wpm->current_count); } else { - mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); + if (_verbose) { warnx("WPM: MISSION_REQUEST_LIST ERROR: busy"); } - if (_verbose) { warnx("IGN REQUEST LIST: Busy"); } + mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); } } @@ -1232,88 +1255,73 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) mavlink_mission_request_t wpr; mavlink_msg_mission_request_decode(msg, &wpr); - if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid && wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { - _wpm->timestamp_lastaction = now; - - if (wpr.seq >= _wpm->size) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); - - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); } - - break; - } + if (wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) { + if (msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid) { + _wpm->timestamp_lastaction = now; - /* - * Ensure that we are in the correct state and that the first request has id 0 - * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) - */ - if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpr.seq >= _wpm->size) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: ignored, requested seq %u was out of bounds [0 %d]", wpr.seq, _wpm->size - 1); } - if (wpr.seq == 0) { - if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); + break; + } - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + /* + * Ensure that we are in the correct state and that the first request has id 0 + * and the following requests have either the last id (re-send last waypoint) or last_id+1 (next waypoint) + */ + if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { + if (wpr.seq == 0) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - if (_verbose) { warnx("REJ. WP CMD: First id != 0"); } - - break; - } + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: first id != 0 (%d)", wpr.seq); } - } else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + break; + } - if (wpr.seq == _wpm->current_wp_id) { + } else if (_wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpr.seq == _wpm->current_wp_id) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u (again) from ID %u, staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + } else if (wpr.seq == _wpm->current_wp_id + 1) { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST seq %u from ID %u, staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } - } else if (wpr.seq == _wpm->current_wp_id + 1) { + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u from ID %u unexpected, should be %i or %i", wpr.seq, msg->sysid, _wpm->current_wp_id, _wpm->current_wp_id + 1); } - if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); + break; + } } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); - - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).", wpr.seq, _wpm->current_wp_id, _wpm->current_wp_id + 1); } + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: busy (state %d).", _wpm->current_state); } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); break; } - } else { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); - - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", _wpm->current_state); } + _wpm->current_wp_id = wpr.seq; + _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - break; - } + if (wpr.seq < _wpm->size) { + mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); - _wpm->current_wp_id = wpr.seq; - _wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; - - if (wpr.seq < _wpm->size) { + } else { + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: seq %u out of bounds", wpr.seq); } - mavlink_wpm_send_waypoint(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + } } else { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - - if (_verbose) { warnx("ERROR: Waypoint %u out of bounds", wpr.seq); } - } - - - } else { - //we we're target but already communicating with someone else - if ((wpr.target_system == mavlink_system.sysid /*&& wpr.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == _wpm->current_partner_sysid && msg->compid == _wpm->current_partner_compid)) { - - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + mavlink_missionlib_send_gcs_string("REJ. WP CMD: partner id mismatch"); - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.", msg->sysid, _wpm->current_partner_sysid); } + if (_verbose) { warnx("WPM: MISSION_ITEM_REQUEST ERROR: rejected, partner ID mismatch"); } } } - break; } @@ -1327,48 +1335,51 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { if (wpc.count > NUM_MISSIONS_SUPPORTED) { - if (_verbose) { warnx("Too many waypoints: %d, supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); } + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: too many waypoints (%d), supported: %d", wpc.count, NUM_MISSIONS_SUPPORTED); } mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_NO_SPACE); break; } if (wpc.count == 0) { - mavlink_missionlib_send_gcs_string("COUNT 0"); - - if (_verbose) { warnx("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE"); } + if (_verbose) { warnx("WPM: MISSION_COUNT 0, clearing waypoints list and staying in state MAVLINK_WPM_STATE_IDLE"); } + mavlink_missionlib_send_gcs_string("WP COUNT 0: CLEAR MISSION"); break; } - if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); } - - _wpm->current_state = MAVLINK_WPM_STATE_GETLIST; - _wpm->current_wp_id = 0; - _wpm->current_partner_sysid = msg->sysid; - _wpm->current_partner_compid = msg->compid; - _wpm->current_count = wpc.count; - - mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); + if (_verbose) { warnx("WPM: MISSION_COUNT %u from ID %u, changing state to MAVLINK_WPM_STATE_GETLIST", wpc.count, msg->sysid); } } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { if (_wpm->current_wp_id == 0) { - mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + /* looks like our WAYPOINT_REQUEST was lost, try again */ + if (_verbose) { warnx("WPM: MISSION_COUNT %u (again) from ID %u", wpc.count, msg->sysid); } - if (_verbose) { warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); } + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); } else { - mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, already receiving seq %u", _wpm->current_wp_id); } - if (_verbose) { warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", _wpm->current_wp_id); } + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + break; } } else { - mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + if (_verbose) { warnx("WPM: MISSION_COUNT ERROR: busy, state %i", _wpm->current_state); } - if (_verbose) { warnx("IGN MISSION_COUNT CMD: Busy"); } + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + break; } + + _wpm->current_state = MAVLINK_WPM_STATE_GETLIST; + _wpm->current_wp_id = 0; + _wpm->current_partner_sysid = msg->sysid; + _wpm->current_partner_compid = msg->compid; + _wpm->current_count = wpc.count; + _wpm->current_dataman_id = _wpm->dataman_id == 0 ? 1 : 0; // use inactive storage for transmission + + mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } } break; @@ -1378,32 +1389,28 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) mavlink_msg_mission_item_decode(msg, &wp); if (wp.target_system == mavlink_system.sysid && wp.target_component == _mavlink_wpm_comp_id) { - _wpm->timestamp_lastaction = now; - /* - * ensure that we are in the correct state and that the first waypoint has id 0 + /* Ensure that we are in the correct state and that the first waypoint has id 0 * and the following waypoints have the correct ids */ - if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { - if (wp.seq != 0) { - mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP not 0"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.", wp.seq); + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq != 0 (%d)", wp.seq); } break; } } else if (_wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { - if (wp.seq >= _wpm->current_count) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: first item seq %d out of bounds [0 %d]", wp.seq, _wpm->current_count - 1); } + mavlink_missionlib_send_gcs_string("Ignored MISSION_ITEM WP out of bounds"); - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.", wp.seq); break; } if (wp.seq != _wpm->current_wp_id) { - warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.", wp.seq, _wpm->current_wp_id); + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _wpm->current_wp_id); } + mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); break; } @@ -1412,86 +1419,92 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) _wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; struct mission_item_s mission_item; - int ret = map_mavlink_mission_item_to_mission_item(&wp, &mission_item); if (ret != OK) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); } + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, ret); _wpm->current_state = MAVLINK_WPM_STATE_IDLE; break; } - ssize_t len = sizeof(struct mission_item_s); + dm_item_t dm_id = _wpm->current_dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; - dm_item_t dm_next; + if (dm_write(dm_id, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, dm_id); } - if (_wpm->current_dataman_id == 0) { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_1; - mission.dataman_id = 1; - - } else { - dm_next = DM_KEY_WAYPOINTS_OFFBOARD_0; - mission.dataman_id = 0; - } - - if (dm_write(dm_next, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, len) != len) { mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD"); _wpm->current_state = MAVLINK_WPM_STATE_IDLE; break; } - // offboard mission data saved correctly, now update the persistent system state - { + + if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); } + + _wpm->current_wp_id = wp.seq + 1; + + if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + /* got all new mission items successfully */ + if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); } + + _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + + /* write terminator item */ + if (_wpm->current_count < _wpm->max_size) { + if (dm_write(dm_id, _wpm->current_count, DM_PERSIST_POWER_ON_RESET, nullptr, 0) != 0) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR writing terminator item"); } + + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + break; + } + } + + /* offboard mission data saved correctly, now update the persistent system state */ persistent_system_state_t state; bool dm_result; - // Since we are doing a read-modify-write we must lock the item type + + /* since we are doing a read-modify-write we must lock the item type */ dm_lock(DM_KEY_SYSTEM_STATE); - // first read in the current state data. There may eventually be data other than the offboard index - // and we must preserve it - if (dm_read(DM_KEY_SYSTEM_STATE, 0, &state, sizeof(state)) != sizeof(state)) { - // Not sure how to handle this? It means that either the item was never - // written, or fields have been added to the system state struct. In any case - // fields that may not be ours need to be initialized to sane values. - // For now the offboard index is the only field, so for now there - // is nothing to do here. - } - state.current_offboard_waypoint_id = mission.dataman_id; - dm_result = dm_write(DM_KEY_SYSTEM_STATE, 0, DM_PERSIST_POWER_ON_RESET, &state, sizeof(state)) != sizeof(state); - dm_unlock(DM_KEY_SYSTEM_STATE); - if (dm_result) { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD"); - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; - break; - } - } + /* first read in the current state data, there may eventually be data other than the offboard index + * and we must preserve it */ + ssize_t dm_state_size = dm_read(DM_KEY_SYSTEM_STATE, 0, &state, sizeof(state)); + if (dm_state_size != sizeof(state)) { + warnx("dataman SYSTEM_STATE size invalid: %d, should be %d", dm_state_size, sizeof(state)); + } -// if (wp.current) { -// warnx("current is: %d", wp.seq); -// mission.current_index = wp.seq; -// } - // XXX ignore current set - mission.current_index = -1; + /* set new dataman storage ID */ + state.offboard_waypoint_id = _wpm->current_dataman_id; - _wpm->current_wp_id = wp.seq + 1; + /* write back to dataman */ + dm_result = dm_write(DM_KEY_SYSTEM_STATE, 0, DM_PERSIST_POWER_ON_RESET, &state, sizeof(state)) != sizeof(state); - if (_wpm->current_wp_id == _wpm->current_count && _wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + dm_unlock(DM_KEY_SYSTEM_STATE); - if (_verbose) { warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", _wpm->current_count); } + if (dm_result) { + if (_verbose) { warnx("WPM: MISSION_ITEM ERROR unable to write storage ID = %d to dataman SYSTEM_STATE", state.offboard_waypoint_id); } - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); + mavlink_missionlib_send_gcs_string("#audio: Unable to write on micro SD"); - mission.count = _wpm->current_count; + } else { + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - publish_mission(); + /* update WPM state */ + _wpm->dataman_id = _wpm->current_dataman_id; + _wpm->size = _wpm->current_count; - _wpm->current_dataman_id = mission.dataman_id; - _wpm->size = _wpm->current_count; + /* update mission topic */ + mission.dataman_id = _wpm->dataman_id; + mission.count = _wpm->current_count; + mission.current_index = 0; - _wpm->current_state = MAVLINK_WPM_STATE_IDLE; + publish_mission(); + } } else { + /* request next item */ mavlink_wpm_send_waypoint_request(_wpm->current_partner_sysid, _wpm->current_partner_compid, _wpm->current_wp_id); } } @@ -1506,46 +1519,34 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */) { if (_wpm->current_state == MAVLINK_WPM_STATE_IDLE) { - _wpm->timestamp_lastaction = now; + /* clear only active dataman storage, don't change storage id */ + dm_item_t dm_id = _wpm->dataman_id == 0 ? DM_KEY_WAYPOINTS_OFFBOARD_0 : DM_KEY_WAYPOINTS_OFFBOARD_1; - _wpm->size = 0; - - /* prepare mission topic */ - mission.dataman_id = -1; - mission.count = 0; - mission.current_index = -1; - publish_mission(); - - if (dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_0) == OK && dm_clear(DM_KEY_WAYPOINTS_OFFBOARD_1) == OK) { - persistent_system_state_t state; - bool dm_result; - dm_lock(DM_KEY_SYSTEM_STATE); - // first read in the current state data. There may eventually be data other than the offboard index - // and we must preserve it - if (dm_read(DM_KEY_SYSTEM_STATE, 0, &state, sizeof(state)) != sizeof(state)) { - // Not sure how to handle this? It means that either the item was never - // written, or fields have been added to the system state struct. In any case - // fields that may not be ours need to be initialized to sane values. - // For now the offboard index is the only field, so we can deal with it here. - } - state.current_offboard_waypoint_id = -1; - dm_result = dm_write(DM_KEY_SYSTEM_STATE, 0, DM_PERSIST_POWER_ON_RESET, &state, sizeof(state)) == sizeof(state); - dm_unlock(DM_KEY_SYSTEM_STATE); - if (dm_result) { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); - } else { - mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); - } + if (dm_clear(dm_id) == OK) { + if (_verbose) { warnx("WPM: CLEAR_ALL OK"); } + + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + /* update WPM state */ + _wpm->timestamp_lastaction = now; + _wpm->size = 0; + + /* update mission topic */ + mission.count = 0; + mission.current_index = -1; + + publish_mission(); } else { + if (_verbose) { warnx("WPM: CLEAR_ALL ERROR: can't clear dataman mission storage"); } + mavlink_wpm_send_waypoint_ack(_wpm->current_partner_sysid, _wpm->current_partner_compid, MAV_MISSION_ERROR); } - } else { mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); - if (_verbose) { warnx("IGN WP CLEAR CMD: Busy"); } + if (_verbose) { warnx("WPM: CLEAR_ALL IGNORED: busy"); } } } @@ -1570,7 +1571,6 @@ Mavlink::mavlink_missionlib_send_message(mavlink_message_t *msg) } - int Mavlink::mavlink_missionlib_send_gcs_string(const char *string) { diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h index 40edc4b85..fbb25029d 100644 --- a/src/modules/mavlink/mavlink_main.h +++ b/src/modules/mavlink/mavlink_main.h @@ -84,18 +84,19 @@ enum MAVLINK_WPM_CODES { struct mavlink_wpm_storage { - uint16_t size; - uint16_t max_size; - enum MAVLINK_WPM_STATES current_state; - int16_t current_wp_id; ///< Waypoint in current transmission - uint16_t current_count; + uint16_t size; ///< Count of waypoints in active mission + uint16_t max_size; ///< Maximal count of waypoints + int dataman_id; ///< Dataman storage ID for active mission + enum MAVLINK_WPM_STATES current_state; ///< Current waypoint manager state + int16_t current_wp_id; ///< Waypoint ID in current transmission + uint16_t current_count; ///< Waypoints count in current transmission uint8_t current_partner_sysid; uint8_t current_partner_compid; + int current_dataman_id; ///< Dataman storage ID for current transmission uint64_t timestamp_lastaction; uint64_t timestamp_last_send_setpoint; uint64_t timestamp_last_send_request; uint32_t timeout; - int current_dataman_id; }; diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 04ea7da0e..a3426e65e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -603,14 +603,12 @@ Navigator::task_main() warnx("Could not clear geofence"); } -#if 0 // *** UNTESTED... Anton, this is for you /* Get the last offboard mission id */ persistent_system_state_t sys_state; if (dm_read(DM_KEY_SYSTEM_STATE, 0, &sys_state, sizeof(sys_state)) == sizeof(sys_state)) { - if ((sys_state.current_offboard_waypoint_id >= 0) && (sys_state.current_offboard_waypoint_id <= 1)) - _mission.set_offboard_dataman_id(sys_state.current_offboard_waypoint_id); + if ((sys_state.offboard_waypoint_id >= 0) && (sys_state.offboard_waypoint_id <= 1)) + _mission.set_offboard_dataman_id(sys_state.offboard_waypoint_id); } -#endif /* * do subscriptions diff --git a/src/modules/uORB/topics/mission.h b/src/modules/uORB/topics/mission.h index ef4bc1def..5f3cbcb1d 100644 --- a/src/modules/uORB/topics/mission.h +++ b/src/modules/uORB/topics/mission.h @@ -95,8 +95,8 @@ struct mission_item_s { struct mission_s { - int dataman_id; /**< default -1, there are two offboard storage places in the dataman: 0 or 1 */ - unsigned count; /**< count of the missions stored in the datamanager */ + int dataman_id; /**< default 0, there are two offboard storage places in the dataman: 0 or 1 */ + unsigned count; /**< count of the missions stored in the dataman */ int current_index; /**< default -1, start at the one changed latest */ }; |