From 03c543aba6440c25c5d349791b5a6b33914cb74c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 9 Jan 2014 08:10:35 +0100 Subject: MAVLink multi-port WIP, not compiling yet --- src/modules/mavlink/mavlink_main.cpp | 1819 ++++++++++++++++++++++++++++++++++ 1 file changed, 1819 insertions(+) create mode 100644 src/modules/mavlink/mavlink_main.cpp (limited to 'src/modules/mavlink/mavlink_main.cpp') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp new file mode 100644 index 000000000..339030a86 --- /dev/null +++ b/src/modules/mavlink/mavlink_main.cpp @@ -0,0 +1,1819 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 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 mavlink_main.cpp + * MAVLink 1.0 protocol implementation. + * + * @author Lorenz Meier + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + + +#include "mavlink_bridge_header.h" +#include "mavlink_parameters.h" +#include +#include "math.h" /* isinf / isnan checks */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +/** + * mavlink app start / stop handling function + * + * @ingroup apps + */ +extern "C" __EXPORT int mavlink_main(int argc, char *argv[]); + + + +namespace mavlink +{ + + Mavlink *g_mavlink; +} + +Mavlink::Mavlink(const char *port, unsigned baud_rate) : + + _task_should_exit(false), + _mavlink_task(-1), + _mavlink_fd(-1), + _mavlink_incoming_fd(-1), + +/* performance counters */ + _loop_perf(perf_alloc(PC_ELAPSED, "mavlink")), + _mavlink_hil_enabled(false) + // _params_sub(-1) +{ + // _parameter_handles.min_altitude = param_find("NAV_MIN_ALT"); + +} + +Mavlink::~Mavlink() +{ + if (_mavlink_task != -1) { + + /* task wakes up every 100ms or so at the longest */ + _task_should_exit = true; + + /* wait for a second for the task to quit at our request */ + unsigned i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_mavlink_task); + break; + } + } while (_mavlink_task != -1); + } +} + +int Mavlink::instance_count() +{ + /* note: a local buffer count will help if this ever is called often */ + Mavlink* inst = _head; + unsigned inst_index = 0; + while (inst->_head != nullptr) { + inst = inst->_head; + inst_index++; + } + + return inst_index + 1; +} + +Mavlink* Mavlink::new_instance(const char *port, unsigned baud_rate) +{ + Mavlink* inst = new Mavlink(port, baud_rate); + Mavlink* parent = _head; + while (parent->_head != nullptr) + parent = parent->_head; + + /* now parent points to a null pointer, fill it */ + parent->_head = inst; + + return inst; +} + +Mavlink* Mavlink::get_instance(unsigned instance) +{ + Mavlink* inst = _head; + unsigned inst_index = 0; + while (inst->_head != nullptr && inst_index < instance) { + inst = inst->_head; + inst_index++; + } + + if (inst_index < instance) { + inst = nullptr; + } + + return inst; +} + +void +Mavlink::parameters_update() +{ + /* read from param to clear updated flag */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), _params_sub, &update); + + // param_get(_parameter_handles.min_altitude, &(_parameters.min_altitude)); + +} + +/* XXX not widely used */ +uint8_t chan = MAVLINK_COMM_0; + +/* XXX probably should be in a header... */ +extern pthread_t receive_start(int uart); + +/* Allocate storage space for waypoints */ +static mavlink_wpm_storage wpm_s; +mavlink_wpm_storage *wpm = &wpm_s; + +bool mavlink_hil_enabled = false; + +/* protocol interface */ +static int uart; +static int baudrate; +bool gcs_link = true; + +/* interface mode */ +static enum { + MAVLINK_INTERFACE_MODE_OFFBOARD, + MAVLINK_INTERFACE_MODE_ONBOARD +} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD; + +static struct mavlink_logbuffer lb; + +static void mavlink_update_system(void); +static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb); +static void usage(void); +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval); + +/**************************************************************************** + * MAVLink text message logger + ****************************************************************************/ + +static int mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg); + +static const struct file_operations mavlink_fops = { + .ioctl = mavlink_dev_ioctl +}; + +static int +mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg) +{ + static unsigned int total_counter = 0; + + switch (cmd) { + case (int)MAVLINK_IOC_SEND_TEXT_INFO: + case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL: + case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: { + const char *txt = (const char *)arg; + struct mavlink_logmessage msg; + strncpy(msg.text, txt, sizeof(msg.text)); + mavlink_logbuffer_write(&lb, &msg); + total_counter++; + return OK; + } + + default: + return ENOTTY; + } +} + +void mavlink_update_system(void) +{ + static bool initialized = false; + static param_t param_system_id; + static param_t param_component_id; + static param_t param_system_type; + + if (!initialized) { + param_system_id = param_find("MAV_SYS_ID"); + param_component_id = param_find("MAV_COMP_ID"); + param_system_type = param_find("MAV_TYPE"); + initialized = true; + } + + /* update system and component id */ + int32_t system_id; + param_get(param_system_id, &system_id); + + if (system_id > 0 && system_id < 255) { + mavlink_system.sysid = system_id; + } + + int32_t component_id; + param_get(param_component_id, &component_id); + + if (component_id > 0 && component_id < 255) { + mavlink_system.compid = component_id; + } + + int32_t system_type; + param_get(param_system_type, &system_type); + + if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) { + mavlink_system.type = system_type; + } +} + +int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb) +{ + /* process baud rate */ + int speed; + + switch (baud) { + case 0: speed = B0; break; + + case 50: speed = B50; break; + + case 75: speed = B75; break; + + case 110: speed = B110; break; + + case 134: speed = B134; break; + + case 150: speed = B150; break; + + case 200: speed = B200; break; + + case 300: speed = B300; break; + + case 600: speed = B600; break; + + case 1200: speed = B1200; break; + + case 1800: speed = B1800; break; + + case 2400: speed = B2400; break; + + case 4800: speed = B4800; break; + + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + + case 460800: speed = B460800; break; + + case 921600: speed = B921600; break; + + default: + warnx("ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud); + return -EINVAL; + } + + /* open uart */ + warnx("UART is %s, baudrate is %d\n", uart_name, baud); + uart = open(uart_name, O_RDWR | O_NOCTTY); + + /* Try to set baud rate */ + struct termios uart_config; + int termios_state; + *is_usb = false; + + /* Back up the original uart configuration to restore it after exit */ + if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { + warnx("ERROR get termios config %s: %d\n", uart_name, termios_state); + close(uart); + return -1; + } + + /* Fill the struct for the new configuration */ + tcgetattr(uart, &uart_config); + + /* Clear ONLCR flag (which appends a CR for every LF) */ + uart_config.c_oflag &= ~ONLCR; + + /* USB serial is indicated by /dev/ttyACM0*/ + if (strcmp(uart_name, "/dev/ttyACM0") != OK && strcmp(uart_name, "/dev/ttyACM1") != OK) { + + /* Set baud rate */ + if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { + warnx("ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state); + close(uart); + return -1; + } + + } + + if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { + warnx("ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name); + close(uart); + return -1; + } + + return uart; +} + +int +set_hil_on_off(bool hil_enabled) +{ + int ret = OK; + + /* Enable HIL */ + if (hil_enabled && !mavlink_hil_enabled) { + + mavlink_hil_enabled = true; + + /* ramp up some HIL-related subscriptions */ + unsigned hil_rate_interval; + + if (baudrate < 19200) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 38400) { + /* 10 Hz */ + hil_rate_interval = 100; + + } else if (baudrate < 115200) { + /* 20 Hz */ + hil_rate_interval = 50; + + } else { + /* 200 Hz */ + hil_rate_interval = 5; + } + + orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, hil_rate_interval); + } + + if (!hil_enabled && mavlink_hil_enabled) { + mavlink_hil_enabled = false; + orb_set_interval(mavlink_subs.spa_sub, 200); + + } else { + ret = ERROR; + } + + return ret; +} + +void +get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode) +{ + /* reset MAVLink mode bitfield */ + *mavlink_base_mode = 0; + *mavlink_custom_mode = 0; + + /** + * Set mode flags + **/ + + /* HIL */ + if (v_status.hil_state == HIL_STATE_ON) { + *mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED; + } + + /* arming state */ + if (v_status.arming_state == ARMING_STATE_ARMED + || v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED; + } + + /* main state */ + *mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED; + union px4_custom_mode custom_mode; + custom_mode.data = 0; + if (v_status.main_state == MAIN_STATE_MANUAL) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (v_status.is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; + } else if (v_status.main_state == MAIN_STATE_SEATBELT) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_SEATBELT; + } else if (v_status.main_state == MAIN_STATE_EASY) { + *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_EASY; + } else if (v_status.main_state == MAIN_STATE_AUTO) { + *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO; + if (control_mode.nav_state == NAV_STATE_NONE) { // failsafe, shouldn't happen + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } else if (control_mode.nav_state == NAV_STATE_READY) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_READY; + } else if (control_mode.nav_state == NAV_STATE_LOITER) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER; + } else if (control_mode.nav_state == NAV_STATE_MISSION) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION; + } else if (control_mode.nav_state == NAV_STATE_RTL) { + custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL; + } + } + *mavlink_custom_mode = custom_mode.data; + + /** + * Set mavlink state + **/ + + /* set calibration state */ + if (v_status.arming_state == ARMING_STATE_INIT + || v_status.arming_state == ARMING_STATE_IN_AIR_RESTORE + || v_status.arming_state == ARMING_STATE_STANDBY_ERROR) { // TODO review + *mavlink_state = MAV_STATE_UNINIT; + } else if (v_status.arming_state == ARMING_STATE_ARMED) { + *mavlink_state = MAV_STATE_ACTIVE; + } else if (v_status.arming_state == ARMING_STATE_ARMED_ERROR) { + *mavlink_state = MAV_STATE_CRITICAL; + } else if (v_status.arming_state == ARMING_STATE_STANDBY) { + *mavlink_state = MAV_STATE_STANDBY; + } else if (v_status.arming_state == ARMING_STATE_REBOOT) { + *mavlink_state = MAV_STATE_POWEROFF; + } else { + warnx("Unknown mavlink state"); + *mavlink_state = MAV_STATE_CRITICAL; + } +} + + +int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval) +{ + int ret = OK; + + switch (mavlink_msg_id) { + case MAVLINK_MSG_ID_SCALED_IMU: + /* sensor sub triggers scaled IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_HIGHRES_IMU: + /* sensor sub triggers highres IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_RAW_IMU: + /* sensor sub triggers RAW IMU */ + orb_set_interval(subs->sensor_sub, min_interval); + break; + + case MAVLINK_MSG_ID_ATTITUDE: + /* attitude sub triggers attitude */ + orb_set_interval(subs->att_sub, min_interval); + break; + + case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: + /* actuator_outputs triggers this message */ + orb_set_interval(subs->act_0_sub, min_interval); + orb_set_interval(subs->act_1_sub, min_interval); + orb_set_interval(subs->act_2_sub, min_interval); + orb_set_interval(subs->act_3_sub, min_interval); + orb_set_interval(subs->actuators_sub, min_interval); + orb_set_interval(subs->actuators_effective_sub, min_interval); + orb_set_interval(subs->spa_sub, min_interval); + orb_set_interval(mavlink_subs.rates_setpoint_sub, min_interval); + break; + + case MAVLINK_MSG_ID_MANUAL_CONTROL: + /* manual_control_setpoint triggers this message */ + orb_set_interval(subs->man_control_sp_sub, min_interval); + break; + + case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT: + orb_set_interval(subs->debug_key_value, min_interval); + break; + + default: + /* not found */ + ret = ERROR; + break; + } + + return ret; +} + +extern mavlink_system_t mavlink_system; + +extern int mavlink_missionlib_send_message(mavlink_message_t *msg); +extern int mavlink_missionlib_send_gcs_string(const char *string); + +/** + * If the queue index is not at 0, the queue sending + * logic will send parameters from the current index + * to len - 1, the end of the param list. + */ +static unsigned int mavlink_param_queue_index = 0; + +/** + * Callback for param interface. + */ +void mavlink_pm_callback(void *arg, param_t param); + +void mavlink_pm_callback(void *arg, param_t param) +{ + mavlink_pm_send_param(param); + usleep(*(unsigned int *)arg); +} + +void mavlink_pm_send_all_params(unsigned int delay) +{ + unsigned int dbuf = delay; + param_foreach(&mavlink_pm_callback, &dbuf, false); +} + +int mavlink_pm_queued_send() +{ + if (mavlink_param_queue_index < param_count()) { + mavlink_pm_send_param(param_for_index(mavlink_param_queue_index)); + mavlink_param_queue_index++; + return 0; + + } else { + return 1; + } +} + +void mavlink_pm_start_queued_send() +{ + mavlink_param_queue_index = 0; +} + +int mavlink_pm_send_param_for_index(uint16_t index) +{ + return mavlink_pm_send_param(param_for_index(index)); +} + +int mavlink_pm_send_param_for_name(const char *name) +{ + return mavlink_pm_send_param(param_find(name)); +} + +int mavlink_pm_send_param(param_t param) +{ + if (param == PARAM_INVALID) return 1; + + /* buffers for param transmission */ + static char name_buf[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN]; + float val_buf; + static mavlink_message_t tx_msg; + + /* query parameter type */ + param_type_t type = param_type(param); + /* copy parameter name */ + strncpy((char *)name_buf, param_name(param), MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + + /* + * Map onboard parameter type to MAVLink type, + * endianess matches (both little endian) + */ + uint8_t mavlink_type; + + if (type == PARAM_TYPE_INT32) { + mavlink_type = MAVLINK_TYPE_INT32_T; + + } else if (type == PARAM_TYPE_FLOAT) { + mavlink_type = MAVLINK_TYPE_FLOAT; + + } else { + mavlink_type = MAVLINK_TYPE_FLOAT; + } + + /* + * get param value, since MAVLink encodes float and int params in the same + * space during transmission, copy param onto float val_buf + */ + + int ret; + + if ((ret = param_get(param, &val_buf)) != OK) { + return ret; + } + + mavlink_msg_param_value_pack_chan(mavlink_system.sysid, + mavlink_system.compid, + MAVLINK_COMM_0, + &tx_msg, + name_buf, + val_buf, + mavlink_type, + param_count(), + param_get_index(param)); + ret = mavlink_missionlib_send_message(&tx_msg); + return ret; +} + +void mavlink_pm_message_handler(const mavlink_channel_t chan, const mavlink_message_t *msg) +{ + switch (msg->msgid) { + case MAVLINK_MSG_ID_PARAM_REQUEST_LIST: { + /* Start sending parameters */ + mavlink_pm_start_queued_send(); + mavlink_missionlib_send_gcs_string("[mavlink pm] sending list"); + } break; + + case MAVLINK_MSG_ID_PARAM_SET: { + + /* Handle parameter setting */ + + if (msg->msgid == MAVLINK_MSG_ID_PARAM_SET) { + mavlink_param_set_t mavlink_param_set; + mavlink_msg_param_set_decode(msg, &mavlink_param_set); + + if (mavlink_param_set.target_system == mavlink_system.sysid && ((mavlink_param_set.target_component == mavlink_system.compid) || (mavlink_param_set.target_component == MAV_COMP_ID_ALL))) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_set.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter, set and send it */ + param_t param = param_find(name); + + if (param == PARAM_INVALID) { + char buf[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN]; + sprintf(buf, "[mavlink pm] unknown: %s", name); + mavlink_missionlib_send_gcs_string(buf); + + } else { + /* set and send parameter */ + param_set(param, &(mavlink_param_set.param_value)); + mavlink_pm_send_param(param); + } + } + } + } break; + + case MAVLINK_MSG_ID_PARAM_REQUEST_READ: { + mavlink_param_request_read_t mavlink_param_request_read; + mavlink_msg_param_request_read_decode(msg, &mavlink_param_request_read); + + if (mavlink_param_request_read.target_system == mavlink_system.sysid && ((mavlink_param_request_read.target_component == mavlink_system.compid) || (mavlink_param_request_read.target_component == MAV_COMP_ID_ALL))) { + /* when no index is given, loop through string ids and compare them */ + if (mavlink_param_request_read.param_index == -1) { + /* local name buffer to enforce null-terminated string */ + char name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN + 1]; + strncpy(name, mavlink_param_request_read.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN); + /* enforce null termination */ + name[MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN] = '\0'; + /* attempt to find parameter and send it */ + mavlink_pm_send_param_for_name(name); + + } else { + /* when index is >= 0, send this parameter again */ + mavlink_pm_send_param_for_index(mavlink_param_request_read.param_index); + } + } + + } break; + } +} + +void publish_mission() +{ + /* Initialize mission publication if necessary */ + if (mission_pub < 0) { + mission_pub = orb_advertise(ORB_ID(mission), &mission); + + } else { + orb_publish(ORB_ID(mission), mission_pub, &mission); + } +} + +int map_mavlink_mission_item_to_mission_item(const mavlink_mission_item_t *mavlink_mission_item, struct mission_item_s *mission_item) +{ + /* only support global waypoints for now */ + switch (mavlink_mission_item->frame) { + case MAV_FRAME_GLOBAL: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = false; + break; + + case MAV_FRAME_GLOBAL_RELATIVE_ALT: + mission_item->lat = (double)mavlink_mission_item->x; + mission_item->lon = (double)mavlink_mission_item->y; + mission_item->altitude = mavlink_mission_item->z; + mission_item->altitude_is_relative = true; + break; + + case MAV_FRAME_LOCAL_NED: + case MAV_FRAME_LOCAL_ENU: + return MAV_MISSION_UNSUPPORTED_FRAME; + case MAV_FRAME_MISSION: + default: + return MAV_MISSION_ERROR; + } + + switch (mavlink_mission_item->command) { + case MAV_CMD_NAV_TAKEOFF: + mission_item->pitch_min = mavlink_mission_item->param2; + break; + default: + mission_item->acceptance_radius = mavlink_mission_item->param2; + break; + } + + mission_item->yaw = _wrap_pi(mavlink_mission_item->param4*M_DEG_TO_RAD_F); + mission_item->loiter_radius = fabsf(mavlink_mission_item->param3); + mission_item->loiter_direction = (mavlink_mission_item->param3 > 0) ? 1 : -1; /* 1 if positive CW, -1 if negative CCW */ + mission_item->nav_cmd = mavlink_mission_item->command; + + mission_item->time_inside = mavlink_mission_item->param1; + mission_item->autocontinue = mavlink_mission_item->autocontinue; + // mission_item->index = mavlink_mission_item->seq; + mission_item->origin = ORIGIN_MAVLINK; + + return OK; +} + +int map_mission_item_to_mavlink_mission_item(const struct mission_item_s *mission_item, mavlink_mission_item_t *mavlink_mission_item) +{ + if (mission_item->altitude_is_relative) { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL; + } else { + mavlink_mission_item->frame = MAV_FRAME_GLOBAL_RELATIVE_ALT; + } + + switch (mission_item->nav_cmd) { + case NAV_CMD_TAKEOFF: + mavlink_mission_item->param2 = mission_item->pitch_min; + break; + default: + mavlink_mission_item->param2 = mission_item->acceptance_radius; + break; + } + + mavlink_mission_item->x = (float)mission_item->lat; + mavlink_mission_item->y = (float)mission_item->lon; + mavlink_mission_item->z = mission_item->altitude; + + mavlink_mission_item->param4 = mission_item->yaw*M_RAD_TO_DEG_F; + mavlink_mission_item->param3 = mission_item->loiter_radius*(float)mission_item->loiter_direction; + mavlink_mission_item->command = mission_item->nav_cmd; + mavlink_mission_item->param1 = mission_item->time_inside; + mavlink_mission_item->autocontinue = mission_item->autocontinue; + // mavlink_mission_item->seq = mission_item->index; + + return OK; +} + +void mavlink_wpm_init(mavlink_wpm_storage *state) +{ + state->size = 0; + state->max_size = MAVLINK_WPM_MAX_WP_COUNT; + state->current_state = MAVLINK_WPM_STATE_IDLE; + state->current_partner_sysid = 0; + state->current_partner_compid = 0; + state->timestamp_lastaction = 0; + state->timestamp_last_send_setpoint = 0; + state->timeout = MAVLINK_WPM_PROTOCOL_TIMEOUT_DEFAULT; + state->current_dataman_id = 0; +} + +/* + * @brief Sends an waypoint ack message + */ +void mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8_t type) +{ + mavlink_message_t msg; + mavlink_mission_ack_t wpa; + + wpa.target_system = sysid; + wpa.target_component = compid; + wpa.type = type; + + mavlink_msg_mission_ack_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpa); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); +} + +/* + * @brief Broadcasts the new target waypoint and directs the MAV to fly there + * + * This function broadcasts its new active waypoint sequence number and + * sends a message to the controller, advising it to fly to the coordinates + * of the waypoint with a given orientation + * + * @param seq The waypoint sequence number the MAV should fly to. + */ +void mavlink_wpm_send_waypoint_current(uint16_t seq) +{ + if (seq < wpm->size) { + mavlink_message_t msg; + mavlink_mission_current_t wpc; + + wpc.seq = seq; + + mavlink_msg_mission_current_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Broadcasted new current waypoint %u", wpc.seq); + + } else { + mavlink_missionlib_send_gcs_string("ERROR: wp index out of bounds"); + if (verbose) warnx("ERROR: index out of bounds"); + } +} + +void mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uint16_t count) +{ + mavlink_message_t msg; + mavlink_mission_count_t wpc; + + wpc.target_system = sysid; + wpc.target_component = compid; + wpc.count = mission.count; + + mavlink_msg_mission_count_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpc); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint count (%u) to ID %u", wpc.count, wpc.target_system); +} + +void mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + + 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) { + + /* create mission_item_s from mavlink_mission_item_t */ + mavlink_mission_item_t wp; + map_mission_item_to_mavlink_mission_item(&mission_item, &wp); + + mavlink_message_t msg; + wp.target_system = sysid; + wp.target_component = compid; + wp.seq = seq; + mavlink_msg_mission_item_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint %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); + if (verbose) warnx("ERROR: could not read WP%u", seq); + } +} + +void mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, uint16_t seq) +{ + if (seq < wpm->max_size) { + mavlink_message_t msg; + mavlink_mission_request_t wpr; + wpr.target_system = sysid; + wpr.target_component = compid; + wpr.seq = seq; + mavlink_msg_mission_request_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wpr); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint request %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"); + } +} + +/* + * @brief emits a message that a waypoint reached + * + * This function broadcasts a message that a waypoint is reached. + * + * @param seq The waypoint sequence number the MAV has reached. + */ +void mavlink_wpm_send_waypoint_reached(uint16_t seq) +{ + mavlink_message_t msg; + mavlink_mission_item_reached_t wp_reached; + + wp_reached.seq = seq; + + mavlink_msg_mission_item_reached_encode(mavlink_system.sysid, mavlink_wpm_comp_id, &msg, &wp_reached); + mavlink_missionlib_send_message(&msg); + + if (verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); +} + + +void mavlink_waypoint_eventloop(uint64_t now) +{ + /* check for timed-out operations */ + if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + 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); + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + wpm->current_partner_sysid = 0; + wpm->current_partner_compid = 0; + } +} + + +void mavlink_wpm_message_handler(const mavlink_message_t *msg) +{ + uint64_t now = hrt_absolute_time(); + + switch (msg->msgid) { + + case MAVLINK_MSG_ID_MISSION_ACK: { + 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 (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + if (wpm->current_wp_id == wpm->size - 1) { + + 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"); + if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_SET_CURRENT: { + mavlink_mission_set_current_t wpc; + mavlink_msg_mission_set_current_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid /*&& wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { + if (wpc.seq < wpm->size) { + + mission.current_index = wpc.seq; + publish_mission(); + + mavlink_wpm_send_waypoint_current(wpc.seq); + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); + if (verbose) warnx("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"); + + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("REJ. WP CMD: target id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST_LIST: { + mavlink_mission_request_list_t wprl; + mavlink_msg_mission_request_list_decode(msg, &wprl); + + if (wprl.target_system == mavlink_system.sysid /*&& wprl.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + 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"); + } + + 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("IGN REQUEST LIST: Busy"); + } + } else { + mavlink_missionlib_send_gcs_string("REJ. REQUEST LIST: target id mismatch"); + if (verbose) warnx("REJ. REQUEST LIST: target id mismatch"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_REQUEST: { + 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; + } + + /* + * 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("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); + if (verbose) warnx("REJ. WP CMD: First id != 0"); + break; + } + + } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { + + if (wpr.seq == wpm->current_wp_id) { + + 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("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS", wpr.seq, msg->sysid); + + } 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); + 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); + break; + } + + wpm->current_wp_id = wpr.seq; + wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; + + if (wpr.seq < wpm->size) { + + mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid,wpm->current_wp_id); + + } 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"); + 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); + + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + } + break; + } + + case MAVLINK_MSG_ID_MISSION_COUNT: { + mavlink_mission_count_t wpc; + mavlink_msg_mission_count_decode(msg, &wpc); + + if (wpc.target_system == mavlink_system.sysid/* && wpc.target_component == mavlink_wpm_comp_id*/) { + wpm->timestamp_lastaction = now; + + 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); + 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"); + 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); + + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { + + if (wpm->current_wp_id == 0) { + mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); + if (verbose) warnx("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u", wpc.count, msg->sysid); + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); + if (verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.", wpm->current_wp_id); + } + } else { + mavlink_missionlib_send_gcs_string("IGN MISSION_COUNT CMD: Busy"); + if (verbose) warnx("IGN MISSION_COUNT CMD: Busy"); + } + } else { + + mavlink_missionlib_send_gcs_string("REJ. WP COUNT CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + } + break; + + case MAVLINK_MSG_ID_MISSION_ITEM: { + mavlink_mission_item_t wp; + 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 + * 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); + break; + } + } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { + + if (wp.seq >= wpm->current_count) { + 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); + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + break; + } + } + + 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) { + 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_next; + + 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_IN_FLIGHT_RESET, &mission_item, len) != len) { + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ERROR); + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + break; + } + + if (wp.current) { + mission.current_index = 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) { + + if (verbose) warnx("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE", wpm->current_count); + + mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, MAV_MISSION_ACCEPTED); + + mission.count = wpm->current_count; + + publish_mission(); + + wpm->current_dataman_id = mission.dataman_id; + wpm->size = wpm->current_count; + + wpm->current_state = MAVLINK_WPM_STATE_IDLE; + + } else { + mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); + } + + } else { + mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + + break; + } + + case MAVLINK_MSG_ID_MISSION_CLEAR_ALL: { + mavlink_mission_clear_all_t wpca; + mavlink_msg_mission_clear_all_decode(msg, &wpca); + + 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; + + 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) { + 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); + } + + + } else { + mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); + if (verbose) warnx("IGN WP CLEAR CMD: Busy"); + } + + + } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { + + mavlink_missionlib_send_gcs_string("REJ. WP CLERR CMD: target id mismatch"); + if (verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); + } + + break; + } + + default: { + /* other messages might should get caught by mavlink and others */ + break; + } + } +} + +void +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); +} + + + +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); + mavlink_missionlib_send_message(&msg); + return OK; + + } else { + return 1; + } +} + +void +Mavlink::task_main_trampoline(int argc, char *argv[]) +{ + mavlink::g_mavlink->task_main(); +} + +void +Mavlink::task_main() +{ + /* inform about start */ + warnx("Initializing.."); + fflush(stdout); + + /* initialize logging device */ + // YYY + + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + + mavlink_log_info(_mavlink_fd, "[mavlink] started"); + + /* wakeup source(s) */ + struct pollfd fds[1]; + + /* Setup of loop */ + fds[0].fd = _params_sub; + fds[0].events = POLLIN; + + while (!_task_should_exit) { + + /* wait for up to 100ms for data */ + int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100); + + /* timed out - periodic check for _task_should_exit, etc. */ + if (pret == 0) { + continue; + } + + /* this is undesirable but not much we can do - might want to flag unhappy status */ + if (pret < 0) { + warn("poll error %d, %d", pret, errno); + continue; + } + + perf_begin(_loop_perf); + + /* parameters updated */ + if (fds[0].revents & POLLIN) { + parameters_update(); + } + + + + + + /* initialize mavlink text message buffering */ + mavlink_logbuffer_init(&lb, 10); + + int ch; + char *device_name = "/dev/ttyS1"; + baudrate = 57600; + + /* work around some stupidity in task_create's argv handling */ + argc -= 2; + argv += 2; + + while ((ch = getopt(argc, argv, "b:d:eo")) != EOF) { + switch (ch) { + case 'b': + baudrate = strtoul(optarg, NULL, 10); + + if (baudrate < 9600 || baudrate > 921600) + errx(1, "invalid baud rate '%s'", optarg); + + break; + + case 'd': + device_name = optarg; + break; + + case 'e': + mavlink_link_termination_allowed = true; + break; + + case 'o': + mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD; + break; + + default: + usage(); + break; + } + } + + struct termios uart_config_original; + + bool usb_uart; + + /* print welcome text */ + warnx("MAVLink v1.0 serial interface starting..."); + + /* inform about mode */ + warnx((mavlink_link_mode == MAVLINK_INTERFACE_MODE_ONBOARD) ? "ONBOARD MODE" : "DOWNLINK MODE"); + + /* Flush stdout in case MAVLink is about to take it over */ + fflush(stdout); + + /* default values for arguments */ + uart = mavlink_open_uart(baudrate, device_name, &uart_config_original, &usb_uart); + + if (uart < 0) + err(1, "could not open %s", device_name); + + /* create the device node that's used for sending text log messages, etc. */ + register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL); + + /* Initialize system properties */ + mavlink_update_system(); + + /* start the MAVLink receiver */ + receive_thread = receive_start(uart); + + /* start the ORB receiver */ + uorb_receive_thread = uorb_receive_start(); + + /* initialize waypoint manager */ + mavlink_wpm_init(wpm); + + /* all subscriptions are now active, set up initial guess about rate limits */ + if (baudrate >= 230400) { + /* 200 Hz / 5 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); + /* 50 Hz / 20 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 100); + /* 10 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); + + } else if (baudrate >= 115200) { + /* 20 Hz / 50 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 200); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + + } else if (baudrate >= 57600) { + /* 10 Hz / 100 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 300); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 300); + /* 10 Hz / 100 ms ATTITUDE */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200); + /* 5 Hz / 200 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500); + /* 2 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_GPS_RAW_INT, 500); + + } else { + /* very low baud rate, limit to 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000); + /* 1 Hz / 1000 ms */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000); + /* 0.5 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000); + /* 0.1 Hz */ + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000); + } + + int mission_result_sub = orb_subscribe(ORB_ID(mission_result)); + struct mission_result_s mission_result; + memset(&mission_result, 0, sizeof(mission_result)); + + thread_running = true; + + /* arm counter to go off immediately */ + unsigned lowspeed_counter = 10; + + while (!thread_should_exit) { + + /* 1 Hz */ + if (lowspeed_counter == 10) { + mavlink_update_system(); + + /* translate the current system state to mavlink state and mode */ + uint8_t mavlink_state = 0; + uint8_t mavlink_base_mode = 0; + uint32_t mavlink_custom_mode = 0; + get_mavlink_mode_and_state(&mavlink_state, &mavlink_base_mode, &mavlink_custom_mode); + + /* send heartbeat */ + mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_base_mode, mavlink_custom_mode, mavlink_state); + + /* switch HIL mode if required */ + if (v_status.hil_state == HIL_STATE_ON) + set_hil_on_off(true); + else if (v_status.hil_state == HIL_STATE_OFF) + set_hil_on_off(false); + + /* send status (values already copied in the section above) */ + mavlink_msg_sys_status_send(chan, + v_status.onboard_control_sensors_present, + v_status.onboard_control_sensors_enabled, + v_status.onboard_control_sensors_health, + v_status.load * 1000.0f, + v_status.battery_voltage * 1000.0f, + v_status.battery_current * 1000.0f, + v_status.battery_remaining, + v_status.drop_rate_comm, + v_status.errors_comm, + v_status.errors_count1, + v_status.errors_count2, + v_status.errors_count3, + v_status.errors_count4); + lowspeed_counter = 0; + } + + lowspeed_counter++; + + bool updated; + orb_check(mission_result_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(mission_result), mission_result_sub, &mission_result); + + if (mission_result.mission_reached) { + mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index); + } + } + + mavlink_waypoint_eventloop(hrt_absolute_time()); + + /* sleep quarter the time */ + usleep(25000); + + /* check if waypoint has been reached against the last positions */ + mavlink_waypoint_eventloop(hrt_absolute_time()); + + /* sleep quarter the time */ + usleep(25000); + + /* send parameters at 20 Hz (if queued for sending) */ + mavlink_pm_queued_send(); + mavlink_waypoint_eventloop(hrt_absolute_time()); + + /* sleep quarter the time */ + usleep(25000); + + mavlink_waypoint_eventloop(hrt_absolute_time()); + + if (baudrate > 57600) { + mavlink_pm_queued_send(); + } + + /* sleep 10 ms */ + usleep(10000); + + /* send one string at 10 Hz */ + if (!mavlink_logbuffer_is_empty(&lb)) { + struct mavlink_logmessage msg; + int lb_ret = mavlink_logbuffer_read(&lb, &msg); + + if (lb_ret == OK) { + mavlink_missionlib_send_gcs_string(msg.text); + } + } + + /* sleep 15 ms */ + usleep(15000); + } + + /* wait for threads to complete */ + pthread_join(receive_thread, NULL); + pthread_join(uorb_receive_thread, NULL); + + /* Reset the UART flags to original state */ + tcsetattr(uart, TCSANOW, &uart_config_original); + + /* destroy log buffer */ + //mavlink_logbuffer_destroy(&lb); + + thread_running = false; + + return 0; + + + + + + + + perf_end(_loop_perf); + } + + warnx("exiting."); + + _mavlink_task = -1; + _exit(0); +} + +int +Mavlink::start() +{ + ASSERT(_mavlink_task == -1); + + /* start the task */ + char buf[32]; + sprintf(buf, "mavlink if%d", Mavlink::instance_count()); + + _mavlink_task = task_spawn_cmd(buf, + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 5, + 2048, + (main_t)&Mavlink::task_main_trampoline, + nullptr); + + // while (!this->is_running()) { + // usleep(200); + // } + + if (_mavlink_task < 0) { + warn("task start failed"); + return -errno; + } + + return OK; +} + +void +Mavlink::status() +{ + warnx("Running"); +} + +static void usage() +{ + errx(1, "usage: mavlink {start|stop|status}"); +} + +int mavlink_main(int argc, char *argv[]) +{ + if (argc < 2) { + usage(); + } + + if (!strcmp(argv[1], "start")) { + + Mavlink *instance = Mavlink::new_instance("/dev/ttyS0", 57600); + + if (mavlink::g_mavlink == nullptr) + mavlink::g_mavlink = instance; + + // if (mavlink::g_mavlink != nullptr) { + // errx(1, "already running"); + // } + + // mavlink::g_mavlink = new Mavlink; + + // if (mavlink::g_mavlink == nullptr) { + // errx(1, "alloc failed"); + // } + + // if (OK != mavlink::g_mavlink->start()) { + // delete mavlink::g_mavlink; + // mavlink::g_mavlink = nullptr; + // err(1, "start failed"); + // } + + return 0; + } + + // if (mavlink::g_mavlink == nullptr) + // errx(1, "not running"); + + // if (!strcmp(argv[1], "stop")) { + // delete mavlink::g_mavlink; + // mavlink::g_mavlink = nullptr; + + // } else if (!strcmp(argv[1], "status")) { + // mavlink::g_mavlink->status(); + + // } else { + // usage(); + // } + + return 0; +} -- cgit v1.2.3