void Search::SetExample() {
// Test changing the missions waypoint count?
search_mission.count = 2;
search_mission.current_seq = 0;
getCoord(15.0);
dm_write(DM_KEY_WAYPOINTS_OFFBOARD(offboard), 0, DM_PERSIST_POWER_ON_RESET, &next_point, sizeof(struct mission_item_s));
offboard = (offboard == 0) ? 1 : 0;
getCoord(15.0, 90);
next_point.nav_cmd = NAV_CMD_WAYPOINT;
dm_write(DM_KEY_WAYPOINTS_OFFBOARD(offboard), 1, DM_PERSIST_POWER_ON_RESET, &next_point, sizeof(struct mission_item_s));
offboard = (offboard == 0) ? 1 : 0;
orb_publish(ORB_ID(offboard_mission), mission_pub, &search_mission);
}
void
Mission::reset_offboard_mission(struct mission_s &mission)
{
dm_lock(DM_KEY_MISSION_STATE);
if (dm_read(DM_KEY_MISSION_STATE, 0, &mission, sizeof(mission_s)) == sizeof(mission_s)) {
if (mission.dataman_id >= 0 && mission.dataman_id <= 1) {
/* set current item to 0 */
mission.current_seq = 0;
/* reset jump counters */
if (mission.count > 0) {
dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(mission.dataman_id);
for (unsigned index = 0; index < mission.count; index++) {
struct mission_item_s item;
const ssize_t len = sizeof(struct mission_item_s);
if (dm_read(dm_current, index, &item, len) != len) {
PX4_WARN("could not read mission item during reset");
break;
}
if (item.nav_cmd == NAV_CMD_DO_JUMP) {
item.do_jump_current_count = 0;
if (dm_write(dm_current, index, DM_PERSIST_POWER_ON_RESET,
&item, len) != len) {
PX4_WARN("could not save mission item during reset");
break;
}
}
}
}
} else {
mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
/* initialize mission state in dataman */
mission.dataman_id = 0;
mission.count = 0;
mission.current_seq = 0;
}
dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
}
dm_unlock(DM_KEY_MISSION_STATE);
}
/**
* Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
*/
int
MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
{
struct mission_s mission;
mission.dataman_id = dataman_id;
mission.count = count;
mission.current_seq = seq;
/* update mission state in dataman */
int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
if (res == sizeof(mission_s)) {
/* update active mission state */
_dataman_id = dataman_id;
_count = count;
_current_seq = seq;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub < 0) {
_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
}
return OK;
} else {
warnx("ERROR: can't save mission state");
_mavlink->send_statustext(MAV_SEVERITY_CRITICAL, "ERROR: can't save mission state");
return ERROR;
}
}
void
Mission::save_offboard_mission_state()
{
mission_s mission_state;
/* lock MISSION_STATE item */
dm_lock(DM_KEY_MISSION_STATE);
/* read current state */
int read_res = dm_read(DM_KEY_MISSION_STATE, 0, &mission_state, sizeof(mission_s));
if (read_res == sizeof(mission_s)) {
/* data read successfully, check dataman ID and items count */
if (mission_state.dataman_id == _offboard_mission.dataman_id && mission_state.count == _offboard_mission.count) {
/* navigator may modify only sequence, write modified state only if it changed */
if (mission_state.current_seq != _current_offboard_mission_index) {
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
}
}
} else {
/* invalid data, this must not happen and indicates error in offboard_mission publisher */
mission_state.dataman_id = _offboard_mission.dataman_id;
mission_state.count = _offboard_mission.count;
mission_state.current_seq = _current_offboard_mission_index;
warnx("ERROR: invalid mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: invalid mission state");
/* write modified state only if changed */
if (dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission_state,
sizeof(mission_s)) != sizeof(mission_s)) {
warnx("ERROR: can't save mission state");
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: can't save mission state");
}
}
/* unlock MISSION_STATE item */
dm_unlock(DM_KEY_MISSION_STATE);
}
void
Geofence::addPoint(int argc, char *argv[])
{
int ix, last;
double lon, lat;
struct fence_vertex_s vertex;
char *end;
if ((argc == 1) && (strcmp("-clear", argv[0]) == 0)) {
dm_clear(DM_KEY_FENCE_POINTS);
publishFence(0);
return;
}
if (argc < 3) {
PX4_WARN("Specify: -clear | sequence latitude longitude [-publish]");
}
ix = atoi(argv[0]);
if (ix >= DM_KEY_FENCE_POINTS_MAX) {
PX4_WARN("Sequence must be less than %d", DM_KEY_FENCE_POINTS_MAX);
}
lat = strtod(argv[1], &end);
lon = strtod(argv[2], &end);
last = 0;
if ((argc > 3) && (strcmp(argv[3], "-publish") == 0)) {
last = 1;
}
vertex.lat = (float)lat;
vertex.lon = (float)lon;
if (dm_write(DM_KEY_FENCE_POINTS, ix, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) == sizeof(vertex)) {
if (last) {
publishFence((unsigned)ix + 1);
}
return;
}
PX4_WARN("can't store fence point");
}
/**
* Write new mission state to dataman and publish offboard_mission topic to notify navigator about changes.
*/
int
MavlinkMissionManager::update_active_mission(int dataman_id, unsigned count, int seq)
{
struct mission_s mission;
mission.dataman_id = dataman_id;
mission.count = count;
mission.current_seq = seq;
/* update mission state in dataman */
int res = dm_write(DM_KEY_MISSION_STATE, 0, DM_PERSIST_POWER_ON_RESET, &mission, sizeof(mission_s));
if (res == sizeof(mission_s)) {
/* update active mission state */
_dataman_id = dataman_id;
_count = count;
_current_seq = seq;
_my_dataman_id = _dataman_id;
/* mission state saved successfully, publish offboard_mission topic */
if (_offboard_mission_pub == nullptr) {
_offboard_mission_pub = orb_advertise(ORB_ID(offboard_mission), &mission);
} else {
orb_publish(ORB_ID(offboard_mission), _offboard_mission_pub, &mission);
}
return OK;
} else {
warnx("WPM: ERROR: can't save mission state");
if (_filesystem_errcount++ < FILESYSTEM_ERRCOUNT_NOTIFY_LIMIT) {
_mavlink->send_statustext_critical("Mission storage: Unable to write to microSD");
}
return ERROR;
}
}
static int dm_write_shared_word(struct usbnet *dev, int phy, u8 reg, __le16 value)
{
int ret, i;
mutex_lock(&dev->phy_mutex);
ret = dm_write(dev, DM_SHARED_DATA, 2, &value);
if (ret < 0)
goto out;
dm_write_reg(dev, DM_SHARED_ADDR, phy ? (reg | 0x40) : reg);
dm_write_reg(dev, DM_SHARED_CTRL, phy ? 0x1a : 0x12);
for (i = 0; i < DM_TIMEOUT; i++) {
u8 tmp;
udelay(1);
ret = dm_read_reg(dev, DM_SHARED_CTRL, &tmp);
if (ret < 0)
goto out;
/* ready */
if ((tmp & 1) == 0)
break;
}
if (i == DM_TIMEOUT) {
netdev_err(dev->net, "%s write timed out!\n", phy ? "phy" : "eeprom");
ret = -EIO;
goto out;
}
dm_write_reg(dev, DM_SHARED_CTRL, 0x0);
out:
mutex_unlock(&dev->phy_mutex);
return ret;
}
void Search::SetMission(double search_radius) {
// Get the amount of waypoints needed for mission.
// Note: mission should already have a size of 1. For endpoint.
// Note: we won't need to manage the home waypoint ourselves.
// Note: We assume the last waypoint is the upper left corner of the square search pattern.
// Note: Only test on the field where the home position is correctly set
// Home position is not part of mission, Index 0 = First new waypoint
/* Waypoint ID
* Waypoint Count = Waypoint ID + 1*/
dm_clear(DM_KEY_WAYPOINTS_OFFBOARD(offboard));
offboard = 0;
int wp_id = 0;
// Note: Acceptance Radius not accounted for (it's in meters, not degrees))
while (next_point.lat - last.lat > search_radius && next_point.lon - last.lon > search_radius) {
if (wp_id % 2 == 0) {
// Do Latitudinal shifts here
if (next_point.lat - last.lat < search_radius) {
// Going Up
next_point.lat = last.lat;
} else {
// Going down
next_point.lat = home.lat;
}
} else {
// Do longitudinal shifts here
next_point.lon += -1 * search_radius;
}
if (wp_id)
next_point.nav_cmd = NAV_CMD_WAYPOINT;
dm_write(DM_KEY_WAYPOINTS_OFFBOARD(offboard), wp_id++, DM_PERSIST_POWER_ON_RESET, &next_point, sizeof(struct mission_item_s));
offboard = (offboard == 0) ? 1 : 0;
}
search_mission.count = wp_id + 1;
warnx("Waypoint count is: %d", search_mission.count);
search_mission.current_seq = 0;
orb_publish(ORB_ID(offboard_mission), mission_pub, &search_mission);
}
void
BottleDrop::task_main()
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(_mavlink_fd, "[bottle_drop] started");
_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_wind_estimate_sub = orb_subscribe(ORB_ID(wind_estimate));
bool updated = false;
float z_0; // ground properties
float turn_radius; // turn radius of the UAV
float precision; // Expected precision of the UAV
float ground_distance = _alt_clearance; // Replace by closer estimate in loop
// constant
float g = CONSTANTS_ONE_G; // constant of gravity [m/s^2]
float m = 0.5f; // mass of bottle [kg]
float rho = 1.2f; // air density [kg/m^3]
float A = ((0.063f * 0.063f) / 4.0f * M_PI_F); // Bottle cross section [m^2]
float dt_freefall_prediction = 0.01f; // step size of the free fall prediction [s]
// Has to be estimated by experiment
float cd = 0.86f; // Drag coefficient for a cylinder with a d/l ratio of 1/3 []
float t_signal =
0.084f; // Time span between sending the signal and the bottle top reaching level height with the bottom of the plane [s]
float t_door =
0.7f; // The time the system needs to open the door + safety, is also the time the palyload needs to safely escape the shaft [s]
// Definition
float h_0; // height over target
float az; // acceleration in z direction[m/s^2]
float vz; // velocity in z direction [m/s]
float z; // fallen distance [m]
float h; // height over target [m]
float ax; // acceleration in x direction [m/s^2]
float vx; // ground speed in x direction [m/s]
float x; // traveled distance in x direction [m]
float vw; // wind speed [m/s]
float vrx; // relative velocity in x direction [m/s]
float v; // relative speed vector [m/s]
float Fd; // Drag force [N]
float Fdx; // Drag force in x direction [N]
float Fdz; // Drag force in z direction [N]
float x_drop, y_drop; // coordinates of the drop point in reference to the target (projection of NED)
float x_t, y_t; // coordinates of the target in reference to the target x_t = 0, y_t = 0 (projection of NED)
float x_l, y_l; // local position in projected coordinates
float x_f, y_f; // to-be position of the UAV after dt_runs seconds in projected coordinates
double x_f_NED, y_f_NED; // to-be position of the UAV after dt_runs seconds in NED
float distance_open_door; // The distance the UAV travels during its doors open [m]
float approach_error = 0.0f; // The error in radians between current ground vector and desired ground vector
float distance_real = 0; // The distance between the UAVs position and the drop point [m]
float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m]
unsigned counter = 0;
param_t param_gproperties = param_find("BD_GPROPERTIES");
param_t param_turn_radius = param_find("BD_TURNRADIUS");
param_t param_precision = param_find("BD_PRECISION");
param_t param_cd = param_find("BD_OBJ_CD");
param_t param_mass = param_find("BD_OBJ_MASS");
param_t param_surface = param_find("BD_OBJ_SURFACE");
param_get(param_precision, &precision);
param_get(param_turn_radius, &turn_radius);
param_get(param_gproperties, &z_0);
param_get(param_cd, &cd);
param_get(param_mass, &m);
param_get(param_surface, &A);
int vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct parameter_update_s update;
memset(&update, 0, sizeof(update));
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
struct mission_item_s flight_vector_s {};
struct mission_item_s flight_vector_e {};
flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_s.acceptance_radius = 50; // TODO: make parameter
flight_vector_s.autocontinue = true;
flight_vector_s.altitude_is_relative = false;
flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_e.acceptance_radius = 50; // TODO: make parameter
flight_vector_e.autocontinue = true;
flight_vector_s.altitude_is_relative = false;
struct wind_estimate_s wind;
// wakeup source(s)
struct pollfd fds[1];
// Setup of loop
fds[0].fd = _command_sub;
fds[0].events = POLLIN;
// Whatever state the bay is in, we want it closed on startup
lock_release();
close_bay();
while (!_task_should_exit) {
/* wait for up to 100ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 50);
/* 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;
}
/* vehicle commands updated */
if (fds[0].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_command), _command_sub, &_command);
handle_command(&_command);
}
orb_check(vehicle_global_position_sub, &updated);
if (updated) {
/* copy global position */
orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &_global_pos);
}
if (_global_pos.timestamp == 0) {
continue;
}
const unsigned sleeptime_us = 9500;
hrt_abstime last_run = hrt_absolute_time();
float dt_runs = sleeptime_us / 1e6f;
// switch to faster updates during the drop
while (_drop_state > DROP_STATE_INIT) {
// Get wind estimate
orb_check(_wind_estimate_sub, &updated);
if (updated) {
orb_copy(ORB_ID(wind_estimate), _wind_estimate_sub, &wind);
}
// Get vehicle position
orb_check(vehicle_global_position_sub, &updated);
if (updated) {
// copy global position
orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &_global_pos);
}
// Get parameter updates
orb_check(parameter_update_sub, &updated);
if (updated) {
// copy global position
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
// update all parameters
param_get(param_gproperties, &z_0);
param_get(param_turn_radius, &turn_radius);
param_get(param_precision, &precision);
}
orb_check(_command_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_command), _command_sub, &_command);
handle_command(&_command);
}
float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east);
float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e);
ground_distance = _global_pos.alt - _target_position.alt;
// Distance to drop position and angle error to approach vector
// are relevant in all states greater than target valid (which calculates these positions)
if (_drop_state > DROP_STATE_TARGET_VALID) {
distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon));
float ground_direction = atan2f(_global_pos.vel_e, _global_pos.vel_n);
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
approach_error = _wrap_pi(ground_direction - approach_direction);
if (counter % 90 == 0) {
mavlink_log_info(_mavlink_fd, "drop distance %u, heading error %u", (unsigned)distance_real, (unsigned)math::degrees(approach_error));
}
}
switch (_drop_state) {
case DROP_STATE_INIT:
// do nothing
break;
case DROP_STATE_TARGET_VALID:
{
az = g; // acceleration in z direction[m/s^2]
vz = 0; // velocity in z direction [m/s]
z = 0; // fallen distance [m]
h_0 = _global_pos.alt - _target_position.alt; // height over target at start[m]
h = h_0; // height over target [m]
ax = 0; // acceleration in x direction [m/s^2]
vx = groundspeed_body;// XXX project // ground speed in x direction [m/s]
x = 0; // traveled distance in x direction [m]
vw = 0; // wind speed [m/s]
vrx = 0; // relative velocity in x direction [m/s]
v = groundspeed_body; // relative speed vector [m/s]
Fd = 0; // Drag force [N]
Fdx = 0; // Drag force in x direction [N]
Fdz = 0; // Drag force in z direction [N]
// Compute the distance the bottle will travel after it is dropped in body frame coordinates --> x
while (h > 0.05f) {
// z-direction
vz = vz + az * dt_freefall_prediction;
z = z + vz * dt_freefall_prediction;
h = h_0 - z;
// x-direction
vw = windspeed_norm * logf(h / z_0) / logf(ground_distance / z_0);
vx = vx + ax * dt_freefall_prediction;
x = x + vx * dt_freefall_prediction;
vrx = vx + vw;
// drag force
v = sqrtf(vz * vz + vrx * vrx);
Fd = 0.5f * rho * A * cd * (v * v);
Fdx = Fd * vrx / v;
Fdz = Fd * vz / v;
// acceleration
az = g - Fdz / m;
ax = -Fdx / m;
}
// compute drop vector
x = groundspeed_body * t_signal + x;
x_t = 0.0f;
y_t = 0.0f;
float wind_direction_n, wind_direction_e;
if (windspeed_norm < 0.5f) { // If there is no wind, an arbitrarily direction is chosen
wind_direction_n = 1.0f;
wind_direction_e = 0.0f;
} else {
wind_direction_n = wind.windspeed_north / windspeed_norm;
wind_direction_e = wind.windspeed_east / windspeed_norm;
}
x_drop = x_t + x * wind_direction_n;
y_drop = y_t + x * wind_direction_e;
map_projection_reproject(&ref, x_drop, y_drop, &_drop_position.lat, &_drop_position.lon);
_drop_position.alt = _target_position.alt + _alt_clearance;
// Compute flight vector
map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_e,
&(flight_vector_s.lat), &(flight_vector_s.lon));
flight_vector_s.altitude = _drop_position.alt;
map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_n, y_drop - turn_radius * wind_direction_e,
&flight_vector_e.lat, &flight_vector_e.lon);
flight_vector_e.altitude = _drop_position.alt;
// Save WPs in datamanager
const ssize_t len = sizeof(struct mission_item_s);
if (dm_write(DM_KEY_WAYPOINTS_ONBOARD, 0, DM_PERSIST_IN_FLIGHT_RESET, &flight_vector_s, len) != len) {
warnx("ERROR: could not save onboard WP");
}
if (dm_write(DM_KEY_WAYPOINTS_ONBOARD, 1, DM_PERSIST_IN_FLIGHT_RESET, &flight_vector_e, len) != len) {
warnx("ERROR: could not save onboard WP");
}
_onboard_mission.count = 2;
_onboard_mission.current_seq = 0;
if (_onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
} else {
_onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission);
}
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
mavlink_log_critical(_mavlink_fd, "position set, approach heading: %u", (unsigned)distance_real, (unsigned)math::degrees(approach_direction + M_PI_F));
_drop_state = DROP_STATE_TARGET_SET;
}
break;
case DROP_STATE_TARGET_SET:
{
float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon);
if (distance_wp2 < distance_real) {
_onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
} else {
// We're close enough - open the bay
distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body));
if (isfinite(distance_real) && distance_real < distance_open_door &&
fabsf(approach_error) < math::radians(20.0f)) {
open_bay();
_drop_state = DROP_STATE_BAY_OPEN;
mavlink_log_info(_mavlink_fd, "#audio: opening bay");
}
}
}
break;
case DROP_STATE_BAY_OPEN:
{
if (_drop_approval) {
map_projection_project(&ref, _global_pos.lat, _global_pos.lon, &x_l, &y_l);
x_f = x_l + _global_pos.vel_n * dt_runs;
y_f = y_l + _global_pos.vel_e * dt_runs;
map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED);
future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon);
if (isfinite(distance_real) &&
(distance_real < precision) && ((distance_real < future_distance))) {
drop();
_drop_state = DROP_STATE_DROPPED;
mavlink_log_info(_mavlink_fd, "#audio: payload dropped");
} else {
float distance_wp2 = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, flight_vector_e.lat, flight_vector_e.lon);
if (distance_wp2 < distance_real) {
_onboard_mission.current_seq = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
}
}
}
break;
case DROP_STATE_DROPPED:
/* 2s after drop, reset and close everything again */
if ((hrt_elapsed_time(&_doors_opened) > 2 * 1000 * 1000)) {
_drop_state = DROP_STATE_INIT;
_drop_approval = false;
lock_release();
close_bay();
mavlink_log_info(_mavlink_fd, "#audio: closing bay");
// remove onboard mission
_onboard_mission.current_seq = -1;
_onboard_mission.count = 0;
orb_publish(ORB_ID(onboard_mission), _onboard_mission_pub, &_onboard_mission);
}
break;
case DROP_STATE_BAY_CLOSED:
// do nothing
break;
}
counter++;
// update_actuators();
// run at roughly 100 Hz
usleep(sleeptime_us);
dt_runs = hrt_elapsed_time(&last_run) / 1e6f;
last_run = hrt_absolute_time();
}
}
warnx("exiting.");
_main_task = -1;
_exit(0);
}
void
MavlinkMissionManager::handle_mission_item(const mavlink_message_t *msg)
{
mavlink_mission_item_t wp;
mavlink_msg_mission_item_decode(msg, &wp);
if (CHECK_SYSID_COMPID_MISSION(wp)) {
if (_state == MAVLINK_WPM_STATE_GETLIST) {
_time_last_recv = hrt_absolute_time();
if (wp.seq != _transfer_seq) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u was not the expected %u", wp.seq, _transfer_seq); }
/* don't send request here, it will be performed in eventloop after timeout */
return;
}
} else if (_state == MAVLINK_WPM_STATE_IDLE) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: no transfer"); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: No transfer");
return;
} else {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: busy, state %i", _state); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
return;
}
struct mission_item_s mission_item;
int ret = parse_mavlink_mission_item(&wp, &mission_item);
if (ret != OK) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: seq %u invalid item", wp.seq); }
_mavlink->send_statustext_critical("IGN MISSION_ITEM: Busy");
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, ret);
_state = MAVLINK_WPM_STATE_IDLE;
_transfer_in_progress = false;
return;
}
dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
if (dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item, sizeof(struct mission_item_s)) != sizeof(struct mission_item_s)) {
if (_verbose) { warnx("WPM: MISSION_ITEM ERROR: error writing seq %u to dataman ID %i", wp.seq, _transfer_dataman_id); }
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
_mavlink->send_statustext_critical("Unable to write on micro SD");
_state = MAVLINK_WPM_STATE_IDLE;
_transfer_in_progress = false;
return;
}
/* waypoint marked as current */
if (wp.current) {
_transfer_current_seq = wp.seq;
}
if (_verbose) { warnx("WPM: MISSION_ITEM seq %u received", wp.seq); }
_transfer_seq = wp.seq + 1;
if (_transfer_seq == _transfer_count) {
/* got all new mission items successfully */
if (_verbose) { warnx("WPM: MISSION_ITEM got all %u items, current_seq=%u, changing state to MAVLINK_WPM_STATE_IDLE", _transfer_count, _transfer_current_seq); }
_mavlink->send_statustext_info("WPM: Transfer complete.");
_state = MAVLINK_WPM_STATE_IDLE;
if (update_active_mission(_transfer_dataman_id, _transfer_count, _transfer_current_seq) == OK) {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ACCEPTED);
} else {
send_mission_ack(_transfer_partner_sysid, _transfer_partner_compid, MAV_MISSION_ERROR);
}
_transfer_in_progress = false;
} else {
/* request next item */
send_mission_request(_transfer_partner_sysid, _transfer_partner_compid, _transfer_seq);
}
}
}
bool
Mission::read_mission_item(bool onboard, bool is_current, struct mission_item_s *mission_item)
{
/* select onboard/offboard mission */
int *mission_index_ptr;
dm_item_t dm_item;
struct mission_s *mission = (onboard) ? &_onboard_mission : &_offboard_mission;
int mission_index_next = (onboard) ? _current_onboard_mission_index : _current_offboard_mission_index;
/* do not work on empty missions */
if (mission->count == 0) {
return false;
}
/* move to next item if there is one */
if (mission_index_next < ((int)mission->count - 1)) {
mission_index_next++;
}
if (onboard) {
/* onboard mission */
mission_index_ptr = is_current ? &_current_onboard_mission_index : &mission_index_next;
dm_item = DM_KEY_WAYPOINTS_ONBOARD;
} else {
/* offboard mission */
mission_index_ptr = is_current ? &_current_offboard_mission_index : &mission_index_next;
dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
}
/* Repeat this several times in case there are several DO JUMPS that we need to follow along, however, after
* 10 iterations we have to assume that the DO JUMPS are probably cycling and give up. */
for (int i = 0; i < 10; i++) {
if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
/* mission item index out of bounds - if they are equal, we just reached the end */
if (*mission_index_ptr != (int)mission->count) {
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(), "[wpm] err: index: %d, max: %d", *mission_index_ptr, (int)mission->count);
}
return false;
}
const ssize_t len = sizeof(struct mission_item_s);
/* read mission item to temp storage first to not overwrite current mission item if data damaged */
struct mission_item_s mission_item_tmp;
/* read mission item from datamanager */
if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the SD card, etc. */
mavlink_and_console_log_critical(_navigator->get_mavlink_fd(),
"ERROR waypoint could not be read");
return false;
}
/* check for DO_JUMP item, and whether it hasn't not already been repeated enough times */
if (mission_item_tmp.nav_cmd == NAV_CMD_DO_JUMP) {
/* do DO_JUMP as many times as requested */
if (mission_item_tmp.do_jump_current_count < mission_item_tmp.do_jump_repeat_count) {
/* only raise the repeat count if this is for the current mission item
* but not for the next mission item */
if (is_current) {
(mission_item_tmp.do_jump_current_count)++;
/* save repeat count */
if (dm_write(dm_item, *mission_index_ptr, DM_PERSIST_POWER_ON_RESET,
&mission_item_tmp, len) != len) {
/* not supposed to happen unless the datamanager can't access the
* dataman */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP waypoint could not be written");
return false;
}
report_do_jump_mission_changed(*mission_index_ptr,
mission_item_tmp.do_jump_repeat_count);
}
/* set new mission item index and repeat
* we don't have to validate here, if it's invalid, we should realize this later .*/
*mission_index_ptr = mission_item_tmp.do_jump_mission_index;
} else {
if (is_current) {
mavlink_log_critical(_navigator->get_mavlink_fd(),
"DO JUMP repetitions completed");
}
/* no more DO_JUMPS, therefore just try to continue with next mission item */
(*mission_index_ptr)++;
}
} else {
/* if it's not a DO_JUMP, then we were successful */
memcpy(mission_item, &mission_item_tmp, sizeof(struct mission_item_s));
return true;
}
}
/* we have given up, we don't want to cycle forever */
mavlink_log_critical(_navigator->get_mavlink_fd(),
"ERROR DO JUMP is cycling, giving up");
return false;
}
int
Geofence::loadFromFile(const char *filename)
{
FILE *fp;
char line[120];
int pointCounter = 0;
bool gotVertical = false;
const char commentChar = '#';
int rc = ERROR;
/* Make sure no data is left in the datamanager */
clearDm();
/* open the mixer definition file */
fp = fopen(GEOFENCE_FILENAME, "r");
if (fp == NULL) {
return ERROR;
}
/* create geofence points from valid lines and store in DM */
for (;;) {
/* get a line, bail on error/EOF */
if (fgets(line, sizeof(line), fp) == NULL) {
break;
}
/* Trim leading whitespace */
size_t textStart = 0;
while ((textStart < sizeof(line) / sizeof(char)) && isspace(line[textStart])) { textStart++; }
/* if the line starts with #, skip */
if (line[textStart] == commentChar) {
continue;
}
/* if there is only a linefeed, skip it */
if (line[0] == '\n') {
continue;
}
if (gotVertical) {
/* Parse the line as a geofence point */
struct fence_vertex_s vertex;
/* if the line starts with DMS, this means that the coordinate is given as degree minute second instead of decimal degrees */
if (line[textStart] == 'D' && line[textStart + 1] == 'M' && line[textStart + 2] == 'S') {
/* Handle degree minute second format */
float lat_d, lat_m, lat_s, lon_d, lon_m, lon_s;
if (sscanf(line, "DMS %f %f %f %f %f %f", &lat_d, &lat_m, &lat_s, &lon_d, &lon_m, &lon_s) != 6) {
warnx("Scanf to parse DMS geofence vertex failed.");
goto error;
}
// warnx("Geofence DMS: %.5f %.5f %.5f ; %.5f %.5f %.5f", (double)lat_d, (double)lat_m, (double)lat_s, (double)lon_d, (double)lon_m, (double)lon_s);
vertex.lat = lat_d + lat_m / 60.0f + lat_s / 3600.0f;
vertex.lon = lon_d + lon_m / 60.0f + lon_s / 3600.0f;
} else {
/* Handle decimal degree format */
if (sscanf(line, "%f %f", &(vertex.lat), &(vertex.lon)) != 2) {
warnx("Scanf to parse geofence vertex failed.");
goto error;
}
}
if (dm_write(DM_KEY_FENCE_POINTS, pointCounter, DM_PERSIST_POWER_ON_RESET, &vertex, sizeof(vertex)) != sizeof(vertex)) {
goto error;
}
warnx("Geofence: point: %d, lat %.5f: lon: %.5f", pointCounter, (double)vertex.lat, (double)vertex.lon);
pointCounter++;
} else {
/* Parse the line as the vertical limits */
if (sscanf(line, "%f %f", &_altitude_min, &_altitude_max) != 2) {
goto error;
}
warnx("Geofence: alt min: %.4f, alt_max: %.4f", (double)_altitude_min, (double)_altitude_max);
gotVertical = true;
}
}
/* Check if import was successful */
if (gotVertical && pointCounter > 0) {
_vertices_count = pointCounter;
warnx("Geofence: imported successfully");
mavlink_log_info(_mavlinkFd, "Geofence imported");
rc = OK;
} else {
warnx("Geofence: import error");
mavlink_log_critical(_mavlinkFd, "Geofence import error");
}
error:
fclose(fp);
return rc;
}
static int
task_main(int argc, char *argv[])
{
char buffer[DM_MAX_DATA_SIZE];
hrt_abstime wstart, wend, rstart, rend;
warnx("Starting dataman test task %s", argv[1]);
/* try to read an invalid item */
int my_id = atoi(argv[1]);
/* try to read an invalid item */
if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid item failed", my_id);
goto fail;
}
/* try to read an invalid index */
if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid index failed", my_id);
goto fail;
}
srand(hrt_absolute_time() ^ my_id);
unsigned hit = 0, miss = 0;
wstart = hrt_absolute_time();
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
memset(buffer, my_id, sizeof(buffer));
buffer[1] = i;
unsigned hash = i ^ my_id;
unsigned len = (hash & 63) + 2;
int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
warnx("ret: %d", ret);
if (ret != len) {
warnx("%d write failed, index %d, length %d", my_id, hash, len);
goto fail;
}
usleep(rand() & ((64 * 1024) - 1));
}
rstart = hrt_absolute_time();
wend = rstart;
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
unsigned hash = i ^ my_id;
unsigned len2, len = (hash & 63) + 2;
if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
warnx("%d read failed length test, index %d", my_id, hash);
goto fail;
}
if (buffer[0] == my_id) {
hit++;
if (len2 != len) {
warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
goto fail;
}
if (buffer[1] != i) {
warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
goto fail;
}
} else {
miss++;
}
}
rend = hrt_absolute_time();
warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
sem_post(sems + my_id);
return 0;
fail:
warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
sem_post(sems + my_id);
return -1;
}
static int
task_main(int argc, char *argv[])
{
char buffer[DM_MAX_DATA_SIZE];
PX4_INFO("Starting dataman test task %s", argv[1]);
/* try to read an invalid item */
int my_id = atoi(argv[1]);
/* try to read an invalid item */
if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
PX4_ERR("%d read an invalid item failed", my_id);
goto fail;
}
/* try to read an invalid index */
if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
PX4_ERR("%d read an invalid index failed", my_id);
goto fail;
}
srand(hrt_absolute_time() ^ my_id);
unsigned hit = 0, miss = 0;
hrt_abstime wstart = hrt_absolute_time();
for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
memset(buffer, my_id, sizeof(buffer));
buffer[1] = i;
unsigned hash = i ^ my_id;
unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
//PX4_INFO("ret: %d", ret);
if (ret != len) {
PX4_WARN("task %d: write failed, index %d, length %d", my_id, hash, len);
goto fail;
}
if (i % (NUM_MISSIONS_TEST / 10) == 0) {
PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
}
usleep(rand() & ((64 * 1024) - 1));
}
hrt_abstime rstart = hrt_absolute_time();
hrt_abstime wend = rstart;
for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
unsigned hash = i ^ my_id;
unsigned len2;
unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
PX4_WARN("task %d: read failed length test, index %d", my_id, hash);
goto fail;
}
if (buffer[0] == my_id) {
hit++;
if (len2 != len) {
PX4_WARN("task %d: read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
goto fail;
}
if (buffer[1] != i) {
PX4_WARN("task %d: data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
goto fail;
}
} else {
miss++;
}
}
hrt_abstime rend = hrt_absolute_time();
PX4_INFO("task %d pass, hit %d, miss %d, io time read %llums. write %llums.",
my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_TEST / 1000, (wend - wstart) / NUM_MISSIONS_TEST / 1000);
px4_sem_post(sems + my_id);
return 0;
fail:
PX4_ERR("test_dataman FAILED: task %d, buffer %02x %02x %02x %02x %02x %02x",
my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
px4_sem_post(sems + my_id);
task_returned_error[my_id] = true;
return -1;
}
