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/****************************************************************************
*
* Copyright (c) 2013, 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 navigator_main.cpp
*
* Handles mission items, geo fencing and failsafe navigation behavior.
* Published the position setpoint triplet for the position controller.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Jean Cyr <jean.m.cyr@gmail.com>
* @author Julian Oes <julian@oes.ch>
* @author Anton Babushkin <anton.babushkin@me.com>
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <sys/ioctl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <drivers/device/device.h>
#include <drivers/drv_hrt.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fence.h>
#include <uORB/topics/navigation_capabilities.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <drivers/drv_baro.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include <geo/geo.h>
#include <dataman/dataman.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include "navigator.h"
/**
* navigator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
namespace navigator
{
Navigator *g_navigator;
}
Navigator::Navigator() :
SuperBlock(NULL, "NAV"),
_task_should_exit(false),
_navigator_task(-1),
_mavlink_fd(-1),
_global_pos_sub(-1),
_home_pos_sub(-1),
_vstatus_sub(-1),
_capabilities_sub(-1),
_offboard_control_sp_sub(-1),
_control_mode_sub(-1),
_onboard_mission_sub(-1),
_offboard_mission_sub(-1),
_param_update_sub(-1),
_pos_sp_triplet_pub(-1),
_mission_result_pub(-1),
_vstatus{},
_control_mode{},
_global_pos{},
_sensor_combined{},
_home_pos{},
_mission_item{},
_nav_caps{},
_pos_sp_triplet{},
_mission_result{},
_mission_item_valid(false),
_loop_perf(perf_alloc(PC_ELAPSED, "navigator")),
_geofence{},
_geofence_violation_warning_sent(false),
_fence_valid(false),
_inside_fence(true),
_navigation_mode(nullptr),
_mission(this, "MIS"),
_loiter(this, "LOI"),
_rtl(this, "RTL"),
_offboard(this, "OFF"),
_dataLinkLoss(this, "DLL"),
_engineFailure(this, "EF"),
_gpsFailure(this, "GPSF"),
_can_loiter_at_sp(false),
_pos_sp_triplet_updated(false),
_param_loiter_radius(this, "LOITER_RAD"),
_param_acceptance_radius(this, "ACC_RAD"),
_param_datalinkloss_obc(this, "DLL_OBC")
{
/* Create a list of our possible navigation types */
_navigation_mode_array[0] = &_mission;
_navigation_mode_array[1] = &_loiter;
_navigation_mode_array[2] = &_rtl;
_navigation_mode_array[3] = &_offboard;
_navigation_mode_array[4] = &_dataLinkLoss;
_navigation_mode_array[5] = &_engineFailure;
_navigation_mode_array[6] = &_gpsFailure;
updateParams();
}
Navigator::~Navigator()
{
if (_navigator_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(_navigator_task);
break;
}
} while (_navigator_task != -1);
}
navigator::g_navigator = nullptr;
}
void
Navigator::global_position_update()
{
orb_copy(ORB_ID(vehicle_global_position), _global_pos_sub, &_global_pos);
}
void
Navigator::sensor_combined_update()
{
orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined);
}
void
Navigator::home_position_update()
{
orb_copy(ORB_ID(home_position), _home_pos_sub, &_home_pos);
}
void
Navigator::navigation_capabilities_update()
{
orb_copy(ORB_ID(navigation_capabilities), _capabilities_sub, &_nav_caps);
}
void
Navigator::vehicle_status_update()
{
if (orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus) != OK) {
/* in case the commander is not be running */
_vstatus.arming_state = ARMING_STATE_STANDBY;
}
}
void
Navigator::vehicle_control_mode_update()
{
if (orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode) != OK) {
/* in case the commander is not be running */
_control_mode.flag_control_auto_enabled = false;
_control_mode.flag_armed = false;
}
}
void
Navigator::params_update()
{
parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), _param_update_sub, ¶m_update);
}
void
Navigator::task_main_trampoline(int argc, char *argv[])
{
navigator::g_navigator->task_main();
}
void
Navigator::task_main()
{
/* inform about start */
warnx("Initializing..");
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
/* Try to load the geofence:
* if /fs/microsd/etc/geofence.txt load from this file
* else clear geofence data in datamanager */
struct stat buffer;
if (stat(GEOFENCE_FILENAME, &buffer) == 0) {
warnx("Try to load geofence.txt");
_geofence.loadFromFile(GEOFENCE_FILENAME);
} else {
if (_geofence.clearDm() > 0)
warnx("Geofence cleared");
else
warnx("Could not clear geofence");
}
/* do subscriptions */
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_capabilities_sub = orb_subscribe(ORB_ID(navigation_capabilities));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
_onboard_mission_sub = orb_subscribe(ORB_ID(onboard_mission));
_offboard_mission_sub = orb_subscribe(ORB_ID(offboard_mission));
_param_update_sub = orb_subscribe(ORB_ID(parameter_update));
_offboard_control_sp_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
/* copy all topics first time */
vehicle_status_update();
vehicle_control_mode_update();
global_position_update();
sensor_combined_update();
home_position_update();
navigation_capabilities_update();
params_update();
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
hrt_abstime mavlink_open_time = 0;
const hrt_abstime mavlink_open_interval = 500000;
/* wakeup source(s) */
struct pollfd fds[7];
/* Setup of loop */
fds[0].fd = _global_pos_sub;
fds[0].events = POLLIN;
fds[1].fd = _home_pos_sub;
fds[1].events = POLLIN;
fds[2].fd = _capabilities_sub;
fds[2].events = POLLIN;
fds[3].fd = _vstatus_sub;
fds[3].events = POLLIN;
fds[4].fd = _control_mode_sub;
fds[4].events = POLLIN;
fds[5].fd = _param_update_sub;
fds[5].events = POLLIN;
fds[6].fd = _sensor_combined_sub;
fds[6].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
if (pret == 0) {
/* timed out - periodic check for _task_should_exit, etc. */
continue;
} else if (pret < 0) {
/* this is undesirable but not much we can do - might want to flag unhappy status */
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
if (_mavlink_fd < 0 && hrt_absolute_time() > mavlink_open_time) {
/* try to reopen the mavlink log device with specified interval */
mavlink_open_time = hrt_abstime() + mavlink_open_interval;
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
}
/* sensors combined updated */
if (fds[6].revents & POLLIN) {
sensor_combined_update();
}
/* parameters updated */
if (fds[5].revents & POLLIN) {
params_update();
updateParams();
}
/* vehicle control mode updated */
if (fds[4].revents & POLLIN) {
vehicle_control_mode_update();
}
/* vehicle status updated */
if (fds[3].revents & POLLIN) {
vehicle_status_update();
}
/* navigation capabilities updated */
if (fds[2].revents & POLLIN) {
navigation_capabilities_update();
}
/* home position updated */
if (fds[1].revents & POLLIN) {
home_position_update();
}
/* global position updated */
if (fds[0].revents & POLLIN) {
global_position_update();
/* Check geofence violation */
bool inside = false;
if (_geofence.getAltitudeMode() == Geofence::GF_ALT_MODE_GPS) {
inside = _geofence.inside(_global_pos);
} else {
inside = _geofence.inside(_global_pos, _sensor_combined.baro_alt_meter);
}
if (!inside) {
/* inform other apps via the sp triplet */
_pos_sp_triplet.geofence_violated = true;
if (_pos_sp_triplet.geofence_violated != true) {
_pos_sp_triplet_updated = true;
}
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(_mavlink_fd, "#audio: Geofence violation");
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the sp triplet */
_pos_sp_triplet.geofence_violated = false;
if (_pos_sp_triplet.geofence_violated != false) {
_pos_sp_triplet_updated = true;
}
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
}
/* Do stuff according to navigation state set by commander */
switch (_vstatus.nav_state) {
case NAVIGATION_STATE_MANUAL:
case NAVIGATION_STATE_ACRO:
case NAVIGATION_STATE_ALTCTL:
case NAVIGATION_STATE_POSCTL:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
case NAVIGATION_STATE_AUTO_MISSION:
/* Some failsafe modes prohibit the fallback to mission
* usually this is done after some time to make sure
* that the full failsafe operation is performed */
_navigation_mode = &_mission;
break;
case NAVIGATION_STATE_AUTO_LOITER:
_navigation_mode = &_loiter;
break;
case NAVIGATION_STATE_AUTO_RTL:
_navigation_mode = &_rtl;
break;
case NAVIGATION_STATE_AUTO_RTGS: //XXX OBC: differentiate between rc loss and dl loss here
/* Use complex data link loss mode only when enabled via param
* otherwise use rtl */
if (_param_datalinkloss_obc.get() != 0) {
_navigation_mode = &_dataLinkLoss;
} else {
_navigation_mode = &_rtl; /* TODO: change this to something else */
}
break;
case NAVIGATION_STATE_AUTO_LANDENGFAIL:
_navigation_mode = &_engineFailure;
break;
case NAVIGATION_STATE_AUTO_LANDGPSFAIL:
_navigation_mode = &_gpsFailure;
break;
case NAVIGATION_STATE_LAND:
case NAVIGATION_STATE_TERMINATION:
case NAVIGATION_STATE_OFFBOARD:
_navigation_mode = &_offboard;
break;
default:
_navigation_mode = nullptr;
_can_loiter_at_sp = false;
break;
}
/* iterate through navigation modes and set active/inactive for each */
for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
_navigation_mode_array[i]->run(_navigation_mode == _navigation_mode_array[i]);
}
/* if nothing is running, set position setpoint triplet invalid */
if (_navigation_mode == nullptr) {
// TODO publish empty sp only once
_pos_sp_triplet.previous.valid = false;
_pos_sp_triplet.current.valid = false;
_pos_sp_triplet.next.valid = false;
_pos_sp_triplet_updated = true;
}
if (_pos_sp_triplet_updated) {
publish_position_setpoint_triplet();
_pos_sp_triplet_updated = false;
}
perf_end(_loop_perf);
}
warnx("exiting.");
_navigator_task = -1;
_exit(0);
}
int
Navigator::start()
{
ASSERT(_navigator_task == -1);
/* start the task */
_navigator_task = task_spawn_cmd("navigator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
(main_t)&Navigator::task_main_trampoline,
nullptr);
if (_navigator_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
void
Navigator::status()
{
/* TODO: add this again */
// warnx("Global position is %svalid", _global_pos_valid ? "" : "in");
// if (_global_pos.global_valid) {
// warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
// warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
// (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
// warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
// (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
// warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
// }
if (_fence_valid) {
warnx("Geofence is valid");
/* TODO: needed? */
// warnx("Vertex longitude latitude");
// for (unsigned i = 0; i < _fence.count; i++)
// warnx("%6u %9.5f %8.5f", i, (double)_fence.vertices[i].lon, (double)_fence.vertices[i].lat);
} else {
warnx("Geofence not set");
}
}
void
Navigator::publish_position_setpoint_triplet()
{
/* update navigation state */
_pos_sp_triplet.nav_state = _vstatus.nav_state;
/* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub > 0) {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
} else {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
}
}
void Navigator::add_fence_point(int argc, char *argv[])
{
_geofence.addPoint(argc, argv);
}
void Navigator::load_fence_from_file(const char *filename)
{
_geofence.loadFromFile(filename);
}
static void usage()
{
errx(1, "usage: navigator {start|stop|status|fence|fencefile}");
}
int navigator_main(int argc, char *argv[])
{
if (argc < 2) {
usage();
}
if (!strcmp(argv[1], "start")) {
if (navigator::g_navigator != nullptr) {
errx(1, "already running");
}
navigator::g_navigator = new Navigator;
if (navigator::g_navigator == nullptr) {
errx(1, "alloc failed");
}
if (OK != navigator::g_navigator->start()) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
err(1, "start failed");
}
return 0;
}
if (navigator::g_navigator == nullptr)
errx(1, "not running");
if (!strcmp(argv[1], "stop")) {
delete navigator::g_navigator;
navigator::g_navigator = nullptr;
} else if (!strcmp(argv[1], "status")) {
navigator::g_navigator->status();
} else if (!strcmp(argv[1], "fence")) {
navigator::g_navigator->add_fence_point(argc - 2, argv + 2);
} else if (!strcmp(argv[1], "fencefile")) {
navigator::g_navigator->load_fence_from_file(GEOFENCE_FILENAME);
} else {
usage();
}
return 0;
}
void
Navigator::publish_mission_result()
{
/* lazily publish the mission result only once available */
if (_mission_result_pub > 0) {
/* publish mission result */
orb_publish(ORB_ID(mission_result), _mission_result_pub, &_mission_result);
} else {
/* advertise and publish */
_mission_result_pub = orb_advertise(ORB_ID(mission_result), &_mission_result);
}
/* reset reached bool */
_mission_result.reached = false;
_mission_result.finished = false;
}
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