int mavlink_waypoint_eventloop(uint64_t now, const struct vehicle_global_position_s *global_position, struct vehicle_local_position_s *local_position) { /* check for timed-out operations */ if (now - wpm->timestamp_lastaction > wpm->timeout && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("Operation timeout switching -> IDLE"); #else if (MAVLINK_WPM_VERBOSE) printf("Last operation (state=%u) timed out, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_state); #endif wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_count = 0; wpm->current_partner_sysid = 0; wpm->current_partner_compid = 0; wpm->current_wp_id = -1; if (wpm->size == 0) { wpm->current_active_wp_id = -1; } } // Do NOT continously send the current WP, since we're not loosing messages // if (now - wpm->timestamp_last_send_setpoint > wpm->delay_setpoint && wpm->current_active_wp_id < wpm->size) { // mavlink_wpm_send_setpoint(wpm->current_active_wp_id); // } check_waypoints_reached(now, global_position , local_position); return OK; }
/** * Mission waypoint manager main function */ void *mission_waypoint_manager_thread_main(void* args) { absolute_time now; int updated; float turn_distance; /* initialize waypoint manager */ // ************************************* subscribe ****************************************** global_position_setpoint_pub = orb_advertise (ORB_ID(vehicle_global_position_setpoint)); if (global_position_setpoint_pub == -1) { fprintf (stderr, "Waypoint manager thread failed to advertise the vehicle_global_position_setpoint topic\n"); exit (-1); } global_position_set_triplet_pub = orb_advertise (ORB_ID(vehicle_global_position_set_triplet)); if (global_position_set_triplet_pub == -1) { fprintf (stderr, "Waypoint manager thread failed to advertise the vehicle_global_position_set_triplet topic\n"); exit (-1); } // ************************************* subscribe ****************************************** struct vehicle_global_position_s global_pos; orb_subscr_t global_pos_sub = orb_subscribe (ORB_ID(vehicle_global_position)); if (global_pos_sub == -1) { fprintf (stderr, "Waypoint manager thread failed to subscribe the vehicle_global_position topic\n"); exit (-1); } struct vehicle_control_flags_s control_flags; orb_subscr_t control_flags_sub = orb_subscribe(ORB_ID(vehicle_control_flags)); if (control_flags_sub < 0) { fprintf (stderr, "Waypoint manager thread failed to subscribe to vehicle_control_flags topic\n"); exit(-1); } struct navigation_capabilities_s nav_cap; orb_subscr_t nav_cap_sub = orb_subscribe (ORB_ID(navigation_capabilities)); if (nav_cap_sub == -1) { fprintf (stderr, "Waypoint manager thread failed to subscribe the navigation_capabilities topic\n"); exit (-1); } struct parameter_update_s params; orb_subscr_t param_sub = orb_subscribe (ORB_ID(parameter_update)); if (param_sub == -1) { fprintf (stderr, "Waypoint manager thread failed to subscribe the parameter_update topic\n"); exit (-1); } orb_subscr_t mission_sub = orb_subscribe (ORB_ID(mission)); if (mission_sub == -1) { fprintf (stderr, "Waypoint manager thread failed to subscribe the mission topic\n"); exit (-1); } orb_subscr_t home_sub = orb_subscribe (ORB_ID(home_position)); if (home_sub == -1) { fprintf (stderr, "Waypoint manager thread failed to subscribe the home_position topic\n"); exit (-1); } /* abort on a nonzero return value from the parameter init */ if (mission_waypoint_manager_params_init() != 0 || wp_manager_init (mission_sub, home_sub) != 0) { fprintf (stderr, "Waypoint manager exiting on startup due to an error\n"); exit (-1); } turn_distance = (is_rotary_wing)? mission_waypoint_manager_parameters.mr_turn_distance : mission_waypoint_manager_parameters.fw_turn_distance; /* welcome user */ fprintf (stdout, "Waypoint manager started\n"); fflush(stdout); /* waypoint main eventloop */ while (!_shutdown_all_systems) { // wait for the position estimation for a max of 500ms updated = orb_poll (ORB_ID(vehicle_global_position), global_pos_sub, 500000); if (updated < 0) { // that's undesiderable but there is not much we can do fprintf (stderr, "Waypoint manager thread experienced an error waiting for actuator_controls topic\n"); continue; } else if (updated == 0) { continue; } else orb_copy (ORB_ID(vehicle_global_position), global_pos_sub, (void *) &global_pos); updated = orb_check (ORB_ID(vehicle_control_flags), control_flags_sub); if (updated) { orb_copy(ORB_ID(vehicle_control_flags), control_flags_sub, &control_flags); } updated = orb_check (ORB_ID(navigation_capabilities), nav_cap_sub); if (updated) { orb_copy (ORB_ID(navigation_capabilities), nav_cap_sub, (void *) &nav_cap); turn_distance = (nav_cap.turn_distance > 0)? nav_cap.turn_distance : turn_distance; } updated = orb_check (ORB_ID(parameter_update), param_sub); if (updated) { /* clear updated flag */ orb_copy(ORB_ID(parameter_update), param_sub, ¶ms); /* update multirotor_position_control_parameters */ mission_waypoint_manager_params_update(); } if (!control_flags.flag_control_manual_enabled && control_flags.flag_control_auto_enabled) { orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &g_sp); orb_publish(ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, &triplet); } now = get_absolute_time(); /* check if waypoint has been reached against the last positions */ check_waypoints_reached(now, &global_pos, turn_distance); /* sleep 25 ms */ usleep(25000); } /* * do unsubscriptions */ if (orb_unsubscribe (ORB_ID(vehicle_global_position), global_pos_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to vehicle_global_position topic\n"); if (orb_unsubscribe(ORB_ID(vehicle_control_flags), control_flags_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to vehicle_control_flags topic\n"); if (orb_unsubscribe (ORB_ID(navigation_capabilities), nav_cap_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to navigation_capabilities topic\n"); if (orb_unsubscribe (ORB_ID(parameter_update), param_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to parameter_update topic\n"); if (orb_unsubscribe (ORB_ID(mission), mission_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to mission topic\n"); if (orb_unsubscribe (ORB_ID(home_position), home_sub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unsubscribe to home_position topic\n"); /* * do unadvertises */ if (orb_unadvertise (ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unadvertise the global_position_setpoint_pub topic\n"); if (orb_unadvertise (ORB_ID(vehicle_global_position_set_triplet), global_position_set_triplet_pub, pthread_self()) < 0) fprintf (stderr, "Waypoint manager thread failed to unadvertise the vehicle_global_position_set_triplet topic\n"); return 0; }
void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) { uint64_t now = mavlink_missionlib_get_system_timestamp(); switch (msg->msgid) { // case MAVLINK_MSG_ID_ATTITUDE: // { // if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) // { // mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); // if(wp->frame == MAV_FRAME_LOCAL_ENU || wp->frame == MAV_FRAME_LOCAL_NED) // { // mavlink_attitude_t att; // mavlink_msg_attitude_decode(msg, &att); // float yaw_tolerance = wpm->accept_range_yaw; // //compare current yaw // if (att.yaw - yaw_tolerance >= 0.0f && att.yaw + yaw_tolerance < 2.f*FM_PI) // { // if (att.yaw - yaw_tolerance <= wp->param4 && att.yaw + yaw_tolerance >= wp->param4) // wpm->yaw_reached = true; // } // else if(att.yaw - yaw_tolerance < 0.0f) // { // float lowerBound = 360.0f + att.yaw - yaw_tolerance; // if (lowerBound < wp->param4 || wp->param4 < att.yaw + yaw_tolerance) // wpm->yaw_reached = true; // } // else // { // float upperBound = att.yaw + yaw_tolerance - 2.f*FM_PI; // if (att.yaw - yaw_tolerance < wp->param4 || wp->param4 < upperBound) // wpm->yaw_reached = true; // } // } // } // break; // } // // case MAVLINK_MSG_ID_LOCAL_POSITION_NED: // { // if(msg->sysid == mavlink_system.sysid && wpm->current_active_wp_id < wpm->size) // { // mavlink_mission_item_t *wp = &(wpm->waypoints[wpm->current_active_wp_id]); // // if(wp->frame == MAV_FRAME_LOCAL_ENU || MAV_FRAME_LOCAL_NED) // { // mavlink_local_position_ned_t pos; // mavlink_msg_local_position_ned_decode(msg, &pos); // //// if (debug) // printf("Received new position: x: %f | y: %f | z: %f\n", pos.x, pos.y, pos.z); // // wpm->pos_reached = false; // // // compare current position (given in message) with current waypoint // float orbit = wp->param1; // // float dist; //// if (wp->param2 == 0) //// { //// // FIXME segment distance //// //dist = mavlink_wpm_distance_to_segment(current_active_wp_id, pos.x, pos.y, pos.z); //// } //// else //// { // dist = mavlink_wpm_distance_to_point(wpm->current_active_wp_id, pos.x, pos.y, pos.z); //// } // // if (dist >= 0.f && dist <= orbit && wpm->yaw_reached) // { // wpm->pos_reached = true; // } // } // } // break; // } // case MAVLINK_MSG_ID_CMD: // special action from ground station // { // mavlink_cmd_t action; // mavlink_msg_cmd_decode(msg, &action); // if(action.target == mavlink_system.sysid) // { // // if (verbose) std::cerr << "Waypoint: received message with action " << action.action << std::endl; // switch (action.action) // { // // case MAV_ACTION_LAUNCH: // // // if (verbose) std::cerr << "Launch received" << std::endl; // // current_active_wp_id = 0; // // if (wpm->size>0) // // { // // setActive(waypoints[current_active_wp_id]); // // } // // else // // // if (verbose) std::cerr << "No launch, waypointList empty" << std::endl; // // break; // // // case MAV_ACTION_CONTINUE: // // // if (verbose) std::c // // err << "Continue received" << std::endl; // // idle = false; // // setActive(waypoints[current_active_wp_id]); // // break; // // // case MAV_ACTION_HALT: // // // if (verbose) std::cerr << "Halt received" << std::endl; // // idle = true; // // break; // // // default: // // // if (verbose) std::cerr << "Unknown action received with id " << action.action << ", no action taken" << std::endl; // // break; // } // } // break; // } 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) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); #else if (MAVLINK_WPM_VERBOSE) printf("Received ACK after having sent last waypoint, going to state MAVLINK_WPM_STATE_IDLE\n"); #endif wpm->current_state = MAVLINK_WPM_STATE_IDLE; wpm->current_wp_id = 0; } } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: curr partner id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } 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) { // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); wpm->current_active_wp_id = wpc.seq; uint32_t i; for (i = 0; i < wpm->size; i++) { if (i == wpm->current_active_wp_id) { wpm->waypoints[i].current = true; } else { wpm->waypoints[i].current = false; } } #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("NEW WP SET"); #else if (MAVLINK_WPM_VERBOSE) printf("New current waypoint %u\n", wpm->current_active_wp_id); #endif wpm->yaw_reached = false; wpm->pos_reached = false; mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); mavlink_wpm_send_setpoint(wpm->current_active_wp_id); wpm->timestamp_firstinside_orbit = 0; } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT: Index out of bounds\n"); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE NOT IN IDLE STATE\n"); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } 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) { //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); 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) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); } wpm->current_count = wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); } else { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); } } else { // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); } 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; //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 && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; wpm->current_wp_id = wpr.seq; mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq); } else { // if (verbose) { if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); #endif break; } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpr.seq != 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); #endif } } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); #endif } else if (wpr.seq >= wpm->size) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); #endif } } } } 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)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } } 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 || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { // printf("wpc count in: %d\n",wpc.count); // printf("Comp id: %d\n",msg->compid); // printf("Current partner sysid: %d\n",wpm->current_partner_sysid); if (wpc.count > 0) { if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); #endif } 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; #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); #else if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); #endif wpm->rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) // { // delete waypoints_receive_buffer->back(); // waypoints_receive_buffer->pop_back(); // } mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } else if (wpc.count == 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("COUNT 0"); #else if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); #endif wpm->rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) // { // delete waypoints->back(); // waypoints->pop_back(); // } wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; break; } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("IGN WP CMD"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); #endif } } else { if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); #endif } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); #endif } } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } } break; case MAVLINK_MSG_ID_MISSION_ITEM: { mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); mavlink_missionlib_send_gcs_string("GOT WP"); // printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); // printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); // if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { wpm->timestamp_lastaction = now; // printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); // wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO //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 && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { //mavlink_missionlib_send_gcs_string("DEBUG 2"); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); // wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); // printf("WP seq: %d\n",wp.seq); wpm->current_wp_id = wp.seq + 1; // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); // printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { mavlink_missionlib_send_gcs_string("GOT ALL WPS"); // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); if (wpm->current_active_wp_id > wpm->rcv_size - 1) { wpm->current_active_wp_id = wpm->rcv_size - 1; } // switch the waypoints list // FIXME CHECK!!! uint32_t i; for (i = 0; i < wpm->current_count; ++i) { wpm->waypoints[i] = wpm->rcv_waypoints[i]; } wpm->size = wpm->current_count; //get the new current waypoint for (i = 0; i < wpm->size; i++) { if (wpm->waypoints[i].current == 1) { wpm->current_active_wp_id = i; //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); wpm->yaw_reached = false; wpm->pos_reached = false; mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); mavlink_wpm_send_setpoint(wpm->current_active_wp_id); wpm->timestamp_firstinside_orbit = 0; break; } } if (i == wpm->size) { wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; wpm->timestamp_firstinside_orbit = 0; } 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 { if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { //we're done receiving waypoints, answer with ack. mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); } // if (verbose) { if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); break; } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { if (!(wp.seq == 0)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (!(wp.seq == wpm->current_wp_id)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } else if (!(wp.seq < wpm->current_count)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } } } else { //we we're target but already communicating with someone else if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); } } 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 */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { wpm->timestamp_lastaction = now; // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); // Delete all waypoints wpm->size = 0; wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); } break; } default: { // if (debug) // printf("Waypoint: received message of unknown type"); break; } } check_waypoints_reached(now, global_pos, local_pos); }
void mavlink_wpm_message_handler(const mavlink_message_t *msg, const struct vehicle_global_position_s *global_pos , struct vehicle_local_position_s *local_pos) { uint64_t now = mavlink_missionlib_get_system_timestamp(); 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) { mavlink_missionlib_send_gcs_string("Got last WP ACK state -> IDLE"); 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"); } 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) { // if (verbose) // printf("Received MAVLINK_MSG_ID_MISSION_ITEM_SET_CURRENT\n"); wpm->current_active_wp_id = wpc.seq; uint32_t i; for (i = 0; i < wpm->size; i++) { if (i == wpm->current_active_wp_id) { wpm->waypoints[i].current = true; } else { wpm->waypoints[i].current = false; } } mavlink_missionlib_send_gcs_string("NEW WP SET"); wpm->yaw_reached = false; wpm->pos_reached = false; mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); mavlink_wpm_send_setpoint(wpm->current_active_wp_id); wpm->timestamp_firstinside_orbit = 0; } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Not in list"); } } else { mavlink_missionlib_send_gcs_string("IGN WP CURR CMD: Busy"); } } else { mavlink_missionlib_send_gcs_string("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) { //if (verbose && wpm->current_state == MAVLINK_WPM_STATE_IDLE) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u changing state to MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST again from %u staying in state MAVLINK_WPM_STATE_SENDLIST\n", msg->sysid); 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) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST from %u but have no waypoints, staying in \n", msg->sysid); } wpm->current_count = wpm->size; mavlink_wpm_send_waypoint_count(msg->sysid, msg->compid, wpm->current_count); } else { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST_LIST because i'm doing something else already (state=%i).\n", wpm->current_state); } } else { // if (verbose) // printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT MISMATCH\n"); } 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; //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 && wpr.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && (wpr.seq == wpm->current_wp_id || wpr.seq == wpm->current_wp_id + 1) && wpr.seq < wpm->size)) { if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT WP REQ, state -> SEND"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u changing state to MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS && wpr.seq == wpm->current_wp_id) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("GOT 2nd WP REQ"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_REQUEST of waypoint %u (again) from %u staying in state MAVLINK_WPM_STATE_SENDLIST_SENDWPS\n", wpr.seq, msg->sysid); #endif } wpm->current_state = MAVLINK_WPM_STATE_SENDLIST_SENDWPS; wpm->current_wp_id = wpr.seq; mavlink_wpm_send_waypoint(wpm->current_partner_sysid, wpm->current_partner_compid, wpr.seq); } else { // if (verbose) { if (!(wpm->current_state == MAVLINK_WPM_STATE_SENDLIST || wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because i'm doing something else already (state=%i).\n", wpm->current_state); #endif break; } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST) { if (wpr.seq != 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: First id != 0"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the first requested waypoint ID (%u) was not 0.\n", wpr.seq); #endif } } else if (wpm->current_state == MAVLINK_WPM_STATE_SENDLIST_SENDWPS) { if (wpr.seq != wpm->current_wp_id && wpr.seq != wpm->current_wp_id + 1) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP was unexpected"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was not the expected (%u or %u).\n", wpr.seq, wpm->current_wp_id, wpm->current_wp_id + 1); #endif } else if (wpr.seq >= wpm->size) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Req. WP not in list"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST because the requested waypoint ID (%u) was out of bounds.\n", wpr.seq); #endif } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST - FIXME: missed error description\n"); #endif } } } } 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)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_REQUEST from ID %u because i'm already talking to ID %u.\n", msg->sysid, wpm->current_partner_sysid); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } } 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 || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id == 0)) { // printf("wpc count in: %d\n",wpc.count); // printf("Comp id: %d\n",msg->compid); // printf("Current partner sysid: %d\n",wpm->current_partner_sysid); if (wpc.count > 0) { if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("WP CMD OK: state -> GETLIST"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) from %u changing state to MAVLINK_WPM_STATE_GETLIST\n", wpc.count, msg->sysid); #endif } if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("WP CMD OK AGAIN"); #else if (MAVLINK_WPM_VERBOSE) printf("Got MAVLINK_MSG_ID_MISSION_ITEM_COUNT (%u) again from %u\n", wpc.count, msg->sysid); #endif } 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; #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("CLR RCV BUF: READY"); #else if (MAVLINK_WPM_VERBOSE) printf("clearing receive buffer and readying for receiving waypoints\n"); #endif wpm->rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) // { // delete waypoints_receive_buffer->back(); // waypoints_receive_buffer->pop_back(); // } mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } else if (wpc.count == 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("COUNT 0"); #else if (MAVLINK_WPM_VERBOSE) printf("got waypoint count of 0, clearing waypoint list and staying in state MAVLINK_WPM_STATE_IDLE\n"); #endif wpm->rcv_size = 0; //while(waypoints_receive_buffer->size() > 0) // { // delete waypoints->back(); // waypoints->pop_back(); // } wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; break; } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("IGN WP CMD"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignoring MAVLINK_MSG_ID_MISSION_ITEM_COUNT from %u with count of %u\n", msg->sysid, wpc.count); #endif } } else { if (!(wpm->current_state == MAVLINK_WPM_STATE_IDLE || wpm->current_state == MAVLINK_WPM_STATE_GETLIST)) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm doing something else already (state=%i).\n", wpm->current_state); #endif } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST && wpm->current_wp_id != 0) { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: Busy"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT because i'm already receiving waypoint %u.\n", wpm->current_wp_id); #endif } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: ?"); #else if (MAVLINK_WPM_VERBOSE) printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_COUNT - FIXME: missed error description\n"); #endif } } } else { #ifdef MAVLINK_WPM_NO_PRINTF mavlink_missionlib_send_gcs_string("REJ. WP CMD: target id mismatch"); #else if (MAVLINK_WPM_VERBOSE) printf("IGNORED WAYPOINT COMMAND BECAUSE TARGET SYSTEM AND COMPONENT OR COMM PARTNER ID MISMATCH\n"); #endif } } break; case MAVLINK_MSG_ID_MISSION_ITEM: { mavlink_mission_item_t wp; mavlink_msg_mission_item_decode(msg, &wp); mavlink_missionlib_send_gcs_string("GOT WP"); // printf("sysid=%d, current_partner_sysid=%d\n", msg->sysid, wpm->current_partner_sysid); // printf("compid=%d, current_partner_compid=%d\n", msg->compid, wpm->current_partner_compid); // if((msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && (wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/)) if (wp.target_system == mavlink_system.sysid && wp.target_component == mavlink_wpm_comp_id) { wpm->timestamp_lastaction = now; // printf("wpm->current_state=%u, wp.seq = %d, wpm->current_wp_id=%d\n", wpm->current_state, wp.seq, wpm->current_wp_id); // wpm->current_state = MAVLINK_WPM_STATE_GETLIST;//removeme debug XXX TODO //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 && wp.seq == 0) || (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id && wp.seq < wpm->current_count)) { //mavlink_missionlib_send_gcs_string("DEBUG 2"); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u changing state to MAVLINK_WPM_STATE_GETLIST_GETWPS\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u from %u\n", wp.seq, msg->sysid); // if (verbose && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS && wp.seq-1 == wpm->current_wp_id) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM %u (again) from %u\n", wp.seq, msg->sysid); // wpm->current_state = MAVLINK_WPM_STATE_GETLIST_GETWPS; mavlink_mission_item_t *newwp = &(wpm->rcv_waypoints[wp.seq]); memcpy(newwp, &wp, sizeof(mavlink_mission_item_t)); // printf("WP seq: %d\n",wp.seq); wpm->current_wp_id = wp.seq + 1; // if (verbose) // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); // printf ("Added new waypoint to list. X= %f\t Y= %f\t Z= %f\t Yaw= %f\n", newwp->x, newwp->y, newwp->z, newwp->param4); // printf ("wpm->current_wp_id =%d, wpm->current_count=%d\n\n", wpm->current_wp_id, wpm->current_count); if (wpm->current_wp_id == wpm->current_count && wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { mavlink_missionlib_send_gcs_string("GOT ALL WPS"); // if (verbose) // printf("Got all %u waypoints, changing state to MAVLINK_WPM_STATE_IDLE\n", wpm->current_count); mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); if (wpm->current_active_wp_id > wpm->rcv_size - 1) { wpm->current_active_wp_id = wpm->rcv_size - 1; } // switch the waypoints list // FIXME CHECK!!! uint32_t i; for (i = 0; i < wpm->current_count; ++i) { wpm->waypoints[i] = wpm->rcv_waypoints[i]; } wpm->size = wpm->current_count; //get the new current waypoint for (i = 0; i < wpm->size; i++) { if (wpm->waypoints[i].current == 1) { wpm->current_active_wp_id = i; //// if (verbose) // printf("New current waypoint %u\n", current_active_wp_id); wpm->yaw_reached = false; wpm->pos_reached = false; mavlink_wpm_send_waypoint_current(wpm->current_active_wp_id); mavlink_wpm_send_setpoint(wpm->current_active_wp_id); wpm->timestamp_firstinside_orbit = 0; break; } } if (i == wpm->size) { wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; wpm->timestamp_firstinside_orbit = 0; } 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 { if (wpm->current_state == MAVLINK_WPM_STATE_IDLE) { //we're done receiving waypoints, answer with ack. mavlink_wpm_send_waypoint_ack(wpm->current_partner_sysid, wpm->current_partner_compid, 0); printf("Received MAVLINK_MSG_ID_MISSION_ITEM while state=MAVLINK_WPM_STATE_IDLE, answered with WAYPOINT_ACK.\n"); } // if (verbose) { if (!(wpm->current_state == MAVLINK_WPM_STATE_GETLIST || wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u because i'm doing something else already (state=%i).\n", wp.seq, wpm->current_state); break; } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST) { if (!(wp.seq == 0)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the first waypoint ID (%u) was not 0.\n", wp.seq); } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else if (wpm->current_state == MAVLINK_WPM_STATE_GETLIST_GETWPS) { if (!(wp.seq == wpm->current_wp_id)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was not the expected %u.\n", wp.seq, wpm->current_wp_id); mavlink_wpm_send_waypoint_request(wpm->current_partner_sysid, wpm->current_partner_compid, wpm->current_wp_id); } else if (!(wp.seq < wpm->current_count)) { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM because the waypoint ID (%u) was out of bounds.\n", wp.seq); } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } else { // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u - FIXME: missed error description\n", wp.seq); } } } } else { //we we're target but already communicating with someone else if ((wp.target_system == mavlink_system.sysid /*&& wp.target_component == mavlink_wpm_comp_id*/) && !(msg->sysid == wpm->current_partner_sysid && msg->compid == wpm->current_partner_compid) && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i'm already talking to ID %u.\n", wp.seq, msg->sysid, wpm->current_partner_sysid); } else if (wp.target_system == mavlink_system.sysid /* && wp.target_component == mavlink_wpm_comp_id*/) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM %u from ID %u because i have no idea what to do with it\n", wp.seq, msg->sysid); } } 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 */ && wpm->current_state == MAVLINK_WPM_STATE_IDLE) { wpm->timestamp_lastaction = now; // if (verbose) // printf("Got MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u deleting all waypoints\n", msg->sysid); // Delete all waypoints wpm->size = 0; wpm->current_active_wp_id = -1; wpm->yaw_reached = false; wpm->pos_reached = false; } else if (wpca.target_system == mavlink_system.sysid /*&& wpca.target_component == mavlink_wpm_comp_id */ && wpm->current_state != MAVLINK_WPM_STATE_IDLE) { // if (verbose) // printf("Ignored MAVLINK_MSG_ID_MISSION_ITEM_CLEAR_LIST from %u because i'm doing something else already (state=%i).\n", msg->sysid, wpm->current_state); } break; } default: { // if (debug) // printf("Waypoint: received message of unknown type"); break; } } check_waypoints_reached(now, global_pos, local_pos); }