diff options
Diffstat (limited to 'src/platforms/ros/nodes/commander/commander.cpp')
| -rw-r--r-- | src/platforms/ros/nodes/commander/commander.cpp | 161 |
1 files changed, 161 insertions, 0 deletions
diff --git a/src/platforms/ros/nodes/commander/commander.cpp b/src/platforms/ros/nodes/commander/commander.cpp new file mode 100644 index 000000000..2673122c7 --- /dev/null +++ b/src/platforms/ros/nodes/commander/commander.cpp @@ -0,0 +1,161 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * 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 commander.cpp + * Dummy commander node that publishes the various status topics + * + * @author Thomas Gubler <thomasgubler@gmail.com> +*/ + +#include "commander.h" + +#include <platforms/px4_middleware.h> + +Commander::Commander() : + _n(), + _man_ctrl_sp_sub(_n.subscribe("manual_control_setpoint", 10, &Commander::ManualControlInputCallback, this)), + _vehicle_control_mode_pub(_n.advertise<px4::vehicle_control_mode>("vehicle_control_mode", 10)), + _actuator_armed_pub(_n.advertise<px4::actuator_armed>("actuator_armed", 10)), + _vehicle_status_pub(_n.advertise<px4::vehicle_status>("vehicle_status", 10)), + _parameter_update_pub(_n.advertise<px4::parameter_update>("parameter_update", 10)), + _msg_parameter_update(), + _msg_actuator_armed(), + _msg_vehicle_control_mode() +{ +} + +void Commander::ManualControlInputCallback(const px4::manual_control_setpointConstPtr &msg) +{ + px4::vehicle_status msg_vehicle_status; + + /* fill vehicle control mode based on (faked) stick positions*/ + EvalSwitches(msg, msg_vehicle_status, _msg_vehicle_control_mode); + _msg_vehicle_control_mode.timestamp = px4::get_time_micros(); + + /* fill actuator armed */ + float arm_th = 0.95; + _msg_actuator_armed.timestamp = px4::get_time_micros(); + + if (_msg_actuator_armed.armed) { + /* Check for disarm */ + if (msg->r < -arm_th && msg->z < (1 - arm_th)) { + _msg_actuator_armed.armed = false; + _msg_vehicle_control_mode.flag_armed = false; + msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_STANDBY; + } + + } else { + /* Check for arm */ + if (msg->r > arm_th && msg->z < (1 - arm_th)) { + _msg_actuator_armed.armed = true; + _msg_vehicle_control_mode.flag_armed = true; + msg_vehicle_status.arming_state = msg_vehicle_status.ARMING_STATE_ARMED; + } + } + + /* fill vehicle status */ + msg_vehicle_status.timestamp = px4::get_time_micros(); + msg_vehicle_status.hil_state = msg_vehicle_status.HIL_STATE_OFF; + msg_vehicle_status.hil_state = msg_vehicle_status.VEHICLE_TYPE_QUADROTOR; + msg_vehicle_status.is_rotary_wing = true; + + _vehicle_control_mode_pub.publish(_msg_vehicle_control_mode); + _actuator_armed_pub.publish(_msg_actuator_armed); + _vehicle_status_pub.publish(msg_vehicle_status); + + /* Fill parameter update */ + if (px4::get_time_micros() - _msg_parameter_update.timestamp > 1e6) { + _msg_parameter_update.timestamp = px4::get_time_micros(); + _parameter_update_pub.publish(_msg_parameter_update); + } +} + +void Commander::EvalSwitches(const px4::manual_control_setpointConstPtr &msg, + px4::vehicle_status &msg_vehicle_status, + px4::vehicle_control_mode &msg_vehicle_control_mode) { + // XXX this is a minimal implementation. If more advanced functionalities are + // needed consider a full port of the commander + + switch (msg->mode_switch) { + case px4::manual_control_setpoint::SWITCH_POS_NONE: + ROS_WARN("Joystick button mapping error, main mode not set"); + break; + + case px4::manual_control_setpoint::SWITCH_POS_OFF: // MANUAL + msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_MANUAL; + msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_MANUAL; + msg_vehicle_control_mode.flag_control_manual_enabled = true; + msg_vehicle_control_mode.flag_control_rates_enabled = true; + msg_vehicle_control_mode.flag_control_attitude_enabled = true; + msg_vehicle_control_mode.flag_control_altitude_enabled = false; + msg_vehicle_control_mode.flag_control_climb_rate_enabled = false; + msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; + + break; + + case px4::manual_control_setpoint::SWITCH_POS_MIDDLE: // ASSIST + if (msg->posctl_switch == px4::manual_control_setpoint::SWITCH_POS_ON) { + msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_POSCTL; + msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_POSCTL; + msg_vehicle_control_mode.flag_control_manual_enabled = true; + msg_vehicle_control_mode.flag_control_rates_enabled = true; + msg_vehicle_control_mode.flag_control_attitude_enabled = true; + msg_vehicle_control_mode.flag_control_altitude_enabled = true; + msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; + msg_vehicle_control_mode.flag_control_position_enabled = true; + msg_vehicle_control_mode.flag_control_velocity_enabled = true; + } else { + msg_vehicle_status.main_state = msg_vehicle_status.MAIN_STATE_ALTCTL; + msg_vehicle_status.nav_state = msg_vehicle_status.NAVIGATION_STATE_ALTCTL; + msg_vehicle_control_mode.flag_control_manual_enabled = true; + msg_vehicle_control_mode.flag_control_rates_enabled = true; + msg_vehicle_control_mode.flag_control_attitude_enabled = true; + msg_vehicle_control_mode.flag_control_altitude_enabled = true; + msg_vehicle_control_mode.flag_control_climb_rate_enabled = true; + msg_vehicle_control_mode.flag_control_position_enabled = false; + msg_vehicle_control_mode.flag_control_velocity_enabled = false; + } + break; + } + +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "commander"); + Commander m; + ros::spin(); + return 0; +} |