From 30dacbd1541073f9e35b8de0d1410e23f3aaccda Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Sat, 15 Feb 2014 11:29:36 +0100 Subject: Mavlink and navigator: handle current waypoint onboard --- src/modules/mavlink/mavlink_main.cpp | 102 +++++++++++++++++++---------------- 1 file changed, 55 insertions(+), 47 deletions(-) (limited to 'src/modules/mavlink/mavlink_main.cpp') diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index d2c94ca92..38f753c39 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -59,11 +59,11 @@ #include #include #include -#include #include #include #include #include +#include #include #include #include @@ -958,7 +958,7 @@ void Mavlink::mavlink_wpm_send_waypoint_ack(uint8_t sysid, uint8_t compid, uint8 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); + if (_verbose) warnx("Sent waypoint ack (%u) to ID %u", wpa.type, wpa.target_system); } /* @@ -981,11 +981,11 @@ void Mavlink::mavlink_wpm_send_waypoint_current(uint16_t 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); + 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"); + if (_verbose) warnx("ERROR: index out of bounds"); } } @@ -1001,7 +1001,7 @@ void Mavlink::mavlink_wpm_send_waypoint_count(uint8_t sysid, uint8_t compid, uin 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); + if (_verbose) warnx("Sent 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) @@ -1031,10 +1031,10 @@ void Mavlink::mavlink_wpm_send_waypoint(uint8_t sysid, uint8_t compid, uint16_t 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); + 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); + if (_verbose) warnx("ERROR: could not read WP%u", seq); } } @@ -1049,11 +1049,11 @@ void Mavlink::mavlink_wpm_send_waypoint_request(uint8_t sysid, uint8_t compid, u 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); + 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"); + if (_verbose) warnx("ERROR: Waypoint index exceeds list capacity"); } } @@ -1074,10 +1074,9 @@ void Mavlink::mavlink_wpm_send_waypoint_reached(uint16_t 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); + if (_verbose) warnx("Sent waypoint %u reached message", wp_reached.seq); } - void Mavlink::mavlink_waypoint_eventloop(uint64_t now) { /* check for timed-out operations */ @@ -1085,7 +1084,7 @@ 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("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; @@ -1117,7 +1116,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } else { mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); - if (verbose) warnx("REJ. WP CMD: curr partner id mismatch"); + if (_verbose) warnx("REJ. WP CMD: curr partner id mismatch"); } break; @@ -1140,18 +1139,18 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); - if (verbose) warnx("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"); + 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"); + if (_verbose) warnx("REJ. WP CMD: target id mismatch"); } break; @@ -1173,7 +1172,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) wpm->current_partner_compid = msg->compid; } else { - if (verbose) warnx("No waypoints send"); + if (_verbose) warnx("No waypoints send"); } wpm->current_count = wpm->size; @@ -1181,11 +1180,11 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } else { mavlink_missionlib_send_gcs_string("IGN REQUEST LIST: Busy"); - if (verbose) warnx("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"); + if (_verbose) warnx("REJ. REQUEST LIST: target id mismatch"); } break; @@ -1201,7 +1200,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) 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); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.", wpr.seq); break; } @@ -1212,11 +1211,11 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) 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); + 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"); + if (_verbose) warnx("REJ. WP CMD: First id != 0"); break; } @@ -1224,22 +1223,22 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) 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); + 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); + 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); + 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); + if (_verbose) warnx("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).", wpm->current_state); break; } @@ -1252,7 +1251,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } 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); + if (_verbose) warnx("ERROR: Waypoint %u out of bounds", wpr.seq); } @@ -1261,12 +1260,12 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) 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); + 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"); + if (_verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } break; @@ -1282,18 +1281,18 @@ 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("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("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); + 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; @@ -1307,19 +1306,19 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) 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); + 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); + 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"); + 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"); + if (_verbose) warnx("IGNORED WAYPOINT COUNT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } } break; @@ -1389,15 +1388,18 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) break; } - if (wp.current) { - mission.current_index = wp.seq; - } +// if (wp.current) { +// warnx("current is: %d", wp.seq); +// mission.current_index = wp.seq; +// } + // XXX ignore current set + mission.current_index = -1; 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); + 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); @@ -1416,7 +1418,7 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } 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"); + if (_verbose) warnx("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; @@ -1448,14 +1450,14 @@ void Mavlink::mavlink_wpm_message_handler(const mavlink_message_t *msg) } else { mavlink_missionlib_send_gcs_string("IGN WP CLEAR CMD: Busy"); - if (verbose) warnx("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"); + if (_verbose) warnx("IGNORED WAYPOINT CLEAR COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH"); } break; @@ -1550,6 +1552,9 @@ Mavlink::task_main(int argc, char *argv[]) _mode = MODE_ONBOARD; break; + case 'v': + _verbose = true; + default: usage(); break; @@ -1767,9 +1772,12 @@ Mavlink::task_main(int argc, char *argv[]) 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); - } + if (_verbose) warnx("Got mission result"); + + if (mission_result.mission_reached) + mavlink_wpm_send_waypoint_reached((uint16_t)mission_result.mission_index_reached); + + mavlink_wpm_send_waypoint_current((uint16_t)mission_result.index_current_mission); } mavlink_waypoint_eventloop(hrt_absolute_time()); @@ -1842,7 +1850,7 @@ Mavlink::status() static void usage() { - errx(1, "usage: mavlink {start|stop-all} [-d device] [-b baudrate] [-o]"); + errx(1, "usage: mavlink {start|stop-all} [-d device] [-b baudrate] [-o] [-v]"); } int mavlink_main(int argc, char *argv[]) -- cgit v1.2.3